+ python -m lidar_slam --no-model /working/dd21d219-3608-42a3-beee-c46ef2a66c24 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/dd21d219-3608-42a3-beee-c46ef2a66c24 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 0.010385723 Adjusted end_distance from 9.223372036854776e+18 to 867.350385723 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010385723 meters 0.15663040933223904 Centerline is valid? [0, False] SLAMing on 0.070385723 meters 0.16358303065672627 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999662e-01 8.19758592e-04 6.03775219e-05 9.44818629e-04] [-8.19847403e-04 9.99998560e-01 1.48589250e-03 -3.33532847e-03] [-5.91593618e-05 -1.48594150e-03 9.99998894e-01 -1.69351206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130385723 meters 0.16990208795060985 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.01 [[ 9.99999886e-01 -1.53869208e-04 4.51616763e-04 3.28341358e-03] [ 1.53749694e-04 9.99999953e-01 2.64657603e-04 -2.98709558e-03] [-4.51657465e-04 -2.64588137e-04 9.99999863e-01 -5.22133991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.190385723 meters 0.18177427583385652 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99994992e-01 -3.14853868e-03 3.19147915e-04 5.18752596e-03] [ 3.14915778e-03 9.99993124e-01 -1.95828283e-03 -6.85724100e-03] [-3.12979992e-04 1.95927807e-03 9.99998032e-01 -7.87517169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250385723 meters 0.18858450882883235 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998283e-01 -1.81594867e-03 3.68520587e-04 6.99499922e-03] [ 1.81597791e-03 9.99998348e-01 -7.90460937e-05 -1.14523466e-02] [-3.68376435e-04 7.97151833e-05 9.99999929e-01 -1.05519774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.310385723 meters 0.19508892018119134 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.02 [[ 9.99999833e-01 -2.44860399e-04 5.24421915e-04 1.04376375e-02] [ 2.44001840e-04 9.99998631e-01 1.63659097e-03 -1.54842577e-02] [-5.24821934e-04 -1.63646274e-03 9.99998523e-01 -1.53016761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.370385723 meters 0.2033161125349773 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.02 [[ 9.99999092e-01 1.23387566e-03 5.41445706e-04 1.36952451e-02] [-1.23598452e-03 9.99991584e-01 3.91198206e-03 -1.83611161e-02] [-5.36614250e-04 -3.91264773e-03 9.99992202e-01 -2.05265885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430385723 meters 0.21239252627407176 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.03 [[ 9.99999687e-01 -2.77215663e-04 7.41210302e-04 1.79180374e-02] [ 2.75229738e-04 9.99996376e-01 2.67806187e-03 -1.87266323e-02] [-7.41950016e-04 -2.67785703e-03 9.99996139e-01 -2.69060695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.490385723 meters 0.21832834099029602 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.04 [[ 9.99979982e-01 -6.30760745e-03 4.99021174e-04 2.28369851e-02] [ 6.30817122e-03 9.99979458e-01 -1.13636718e-03 -2.66607018e-02] [-4.91843165e-04 1.13949234e-03 9.99999230e-01 -3.50557163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.550385723 meters 0.22498895381915607 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.04 [[ 9.99961993e-01 -8.60132076e-03 1.42466732e-03 2.56288742e-02] [ 8.60138210e-03 9.99963007e-01 -3.69297530e-05 -3.56010145e-02] [-1.42429698e-03 4.91824574e-05 9.99998984e-01 -4.45902834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6103857229999999 meters 0.22500944474896215 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.05 [[ 0.99993797 -0.01064791 0.00326797 0.02713656] [ 0.01064315 0.99994228 0.00146989 -0.04710868] [-0.00328343 -0.00143502 0.99999358 -0.05445673] [ 0. 0. 0. 1. ]] SLAMing on 0.6703857229999999 meters 0.2305909963575991 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.05, Z:-0.06 [[ 9.99920683e-01 -1.22853691e-02 2.77432659e-03 3.40959930e-02] [ 1.22831835e-02 9.99924236e-01 8.03440388e-04 -5.39750190e-02] [-2.78398696e-03 -7.69299099e-04 9.99995829e-01 -6.28004287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7303857229999999 meters 0.22942106049902514 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:-0.07 [[ 0.99989039 -0.01449375 0.00302365 0.03741464] [ 0.01448962 0.99989407 0.00138123 -0.06292856] [-0.00304335 -0.00133727 0.99999447 -0.07051285] [ 0. 0. 0. 1. ]] SLAMing on 0.790385723 meters 0.22879297682953434 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.07 [[ 0.99990104 -0.01373836 0.00302943 0.0391776 ] [ 0.01372952 0.99990149 0.00291887 -0.06533381] [-0.00306923 -0.00287699 0.99999115 -0.0735303 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8503857229999999 meters 0.22960958000271356 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:-0.08 [[ 9.99934353e-01 -1.14331065e-02 7.57120430e-04 4.89379860e-02] [ 1.14265425e-02 9.99901333e-01 8.17052734e-03 -7.23419505e-02] [-8.50460236e-04 -8.16133970e-03 9.99966334e-01 -8.49926718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9103857229999999 meters 0.23061435163136018 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.09 [[ 0.99998501 -0.00377865 -0.00396203 0.05758811] [ 0.00377131 0.99999116 -0.00185785 -0.08209107] [ 0.00396902 0.00184288 0.99999043 -0.09052603] [ 0. 0. 0. 1. ]] SLAMing on 0.9703857229999999 meters 0.2275958104210305 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:-0.10 [[ 0.99999398 -0.00101089 -0.00331846 0.06015674] [ 0.00102428 0.99999132 0.00403768 -0.09516662] [ 0.00331435 -0.00404106 0.99998634 -0.09824291] [ 0. 0. 0. 1. ]] SLAMing on 1.030385723 meters 0.22107462810709158 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.11, Z:-0.11 [[ 0.9999931 -0.00217361 -0.00301415 0.06293419] [ 0.00219434 0.99997385 0.00689138 -0.10780106] [ 0.00299909 -0.00689795 0.99997171 -0.10630903] [ 0. 0. 0. 1. ]] SLAMing on 1.090385723 meters 0.20961936510175946 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.12, Z:-0.12 [[ 0.99995715 -0.00816581 -0.00436168 0.07003767] [ 0.00819245 0.99994768 0.00612599 -0.1199812 ] [ 0.00431143 -0.00616146 0.99997172 -0.1183234 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1503857229999999 meters 0.2020537822935772 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.13, Z:-0.13 [[ 0.99986191 -0.01537782 -0.00629953 0.07972826] [ 0.01539204 0.99987908 0.0022155 -0.13021333] [ 0.0062647 -0.00231215 0.9999777 -0.13006537] [ 0. 0. 0. 1. ]] SLAMing on 1.210385723 meters 0.1901667513550903 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.14, Z:-0.13 [[ 0.99982042 -0.01817053 -0.00538207 0.07999591] [ 0.01817839 0.99983376 0.00141496 -0.13626422] [ 0.00535546 -0.00151255 0.99998452 -0.13407415] [ 0. 0. 0. 1. ]] SLAMing on 1.270385723 meters 0.18196702423600714 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.14, Z:-0.14 [[ 0.99982507 -0.01794994 -0.00525572 0.08111455] [ 0.01796869 0.99983227 0.00354351 -0.14287618] [ 0.00519123 -0.00363733 0.99997991 -0.13692504] [ 0. 0. 0. 1. ]] SLAMing on 1.3303857229999998 meters 0.17855466179217871 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.14, Z:-0.15 [[ 0.99987425 -0.0147747 -0.00576125 0.08377845] [ 0.0147281 0.99985915 -0.00804816 -0.14348522] [ 0.00587935 0.00796229 0.99995102 -0.14598119] [ 0. 0. 0. 1. ]] SLAMing on 1.3903857229999999 meters 0.17270894327751002 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.15, Z:-0.15 [[ 9.99935452e-01 -9.51179125e-03 -6.21434154e-03 8.80535553e-02] [ 9.50853072e-03 9.99954639e-01 -5.54013414e-04 -1.46450051e-01] [ 6.21932931e-03 4.94888396e-04 9.99980537e-01 -1.53551750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.450385723 meters 0.16629408680122515 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.15, Z:-0.16 [[ 0.99989459 -0.01290976 -0.00664397 0.09124852] [ 0.01290049 0.99991575 -0.00143676 -0.15171352] [ 0.00666195 0.00135089 0.9999769 -0.15897635] [ 0. 0. 0. 1. ]] SLAMing on 1.510385723 meters 0.1632485217862339 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.16, Z:-0.17 [[ 9.99846259e-01 -1.58711458e-02 -7.45413342e-03 9.51410744e-02] [ 1.58673897e-02 9.99873947e-01 -5.62769111e-04 -1.62265285e-01] [ 7.46212559e-03 4.44404950e-04 9.99972059e-01 -1.65902639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.570385723 meters 0.159482572616621 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.17, Z:-0.17 [[ 0.99986935 -0.01332719 -0.0091475 0.10149501] [ 0.01335524 0.99990628 0.00301266 -0.17220038] [ 0.00910649 -0.00313443 0.99995362 -0.17014012] [ 0. 0. 0. 1. ]] SLAMing on 1.6303857229999998 meters 0.1775615067303048 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.17, Z:-0.17 [[ 9.99913877e-01 -1.31174899e-02 4.11429509e-04 1.49996127e-01] [ 1.31159670e-02 9.99907828e-01 3.50821762e-03 -1.69860248e-01] [-4.57410596e-04 -3.50251918e-03 9.99993762e-01 -1.69444596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.690385723 meters 0.17825803683472197 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.17, Z:-0.16 [[ 0.99972235 -0.02084275 0.01099103 0.17322579] [ 0.02093423 0.99974662 -0.00827424 -0.16638252] [-0.01081579 0.00850203 0.99990536 -0.16344511] [ 0. 0. 0. 1. ]] SLAMing on 1.750385723 meters 0.15377134289157932 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.17, Z:-0.16 [[ 0.99932228 -0.03311856 0.01606657 0.14237827] [ 0.03343375 0.99924553 -0.01976267 -0.17105164] [-0.01539994 0.02028644 0.9996756 -0.1603991 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8103857229999998 meters 0.14893948870978876 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:-0.16 [[ 0.99942973 -0.03001912 0.01546198 0.14375032] [ 0.03024349 0.99943756 -0.01448794 -0.17505128] [-0.01501837 0.0149473 0.99977549 -0.16227674] [ 0. 0. 0. 1. ]] SLAMing on 1.8703857229999998 meters 0.14510691569568687 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:-0.16 [[ 0.99951378 -0.02707475 0.01546459 0.14220121] [ 0.02723934 0.99957345 -0.01053303 -0.17676754] [-0.01517282 0.01094915 0.99982494 -0.16025344] [ 0. 0. 0. 1. ]] SLAMing on 1.9303857229999999 meters 0.13716056928728945 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.18, Z:-0.16 [[ 0.99974825 -0.01500251 0.01668414 0.13117425] [ 0.01519398 0.99981947 -0.01140933 -0.17977482] [-0.01650996 0.01165996 0.99979571 -0.15793815] [ 0. 0. 0. 1. ]] SLAMing on 1.990385723 meters 0.13667937599405802 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:-0.15 [[ 0.99993916 0.00493365 0.00986618 0.13870646] [-0.00480014 0.99989721 -0.01351023 -0.18047351] [-0.00993182 0.01346205 0.99986006 -0.15491022] [ 0. 0. 0. 1. ]] SLAMing on 2.050385723 meters 0.13325491851001128 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.18, Z:-0.15 [[ 0.99989252 0.01343965 -0.00585874 0.14040039] [-0.01348463 0.99987939 -0.00770544 -0.18204548] [ 0.00575447 0.00778362 0.99995315 -0.14939969] [ 0. 0. 0. 1. ]] SLAMing on 2.1103857230000003 meters 0.1307547042302831 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.19, Z:-0.15 [[ 0.99991044 0.01210169 -0.00571441 0.13846654] [-0.01215012 0.99988992 -0.0085164 -0.18634999] [ 0.00561072 0.00858507 0.99994741 -0.14709035] [ 0. 0. 0. 1. ]] SLAMing on 2.1703857230000003 meters 0.12703247888709435 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.19, Z:-0.15 [[ 0.9999487 0.00884855 -0.00492998 0.13560641] [-0.00889795 0.9999095 -0.01009068 -0.19352546] [ 0.00484025 0.01013403 0.99993693 -0.14521963] [ 0. 0. 0. 1. ]] SLAMing on 2.230385723 meters 0.1232070315757061 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.20, Z:-0.15 [[ 0.99997577 0.00500473 -0.00483933 0.13610934] [-0.0050649 0.99990902 -0.01250212 -0.19868672] [ 0.00477632 0.01252633 0.99991013 -0.14640354] [ 0. 0. 0. 1. ]] SLAMing on 2.290385723 meters 0.11941841247673406 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.15 [[ 0.99998975 0.0013636 -0.00431676 0.13608729] [-0.00142276 0.9999047 -0.01373224 -0.20759475] [ 0.00429763 0.01373824 0.99989639 -0.14796771] [ 0. 0. 0. 1. ]] SLAMing on 2.350385723 meters 0.11634051289685285 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.14 [[ 0.99996262 -0.00665149 -0.00552351 0.14135794] [ 0.00661441 0.99995564 -0.00670505 -0.21607002] [ 0.00556786 0.00666826 0.99996227 -0.14444688] [ 0. 0. 0. 1. ]] SLAMing on 2.410385723 meters 0.1137246204537507 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.15 [[ 0.99996666 -0.00616238 -0.00535691 0.14175195] [ 0.00613432 0.99996747 -0.00523781 -0.22210912] [ 0.00538901 0.00520477 0.99997193 -0.14514193] [ 0. 0. 0. 1. ]] SLAMing on 2.470385723 meters 0.10976367320723814 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.15 [[ 9.99984533e-01 -2.10130161e-03 -5.14952863e-03 1.41739628e-01] [ 2.09640253e-03 9.99997345e-01 -9.56577851e-04 -2.23500896e-01] [ 5.15152502e-03 9.45767571e-04 9.99986284e-01 -1.45738101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530385723 meters 0.10731498407038939 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.22, Z:-0.14 [[ 0.99998459 0.0015929 -0.00531902 0.14122138] [-0.00158389 0.99999731 0.00169665 -0.2190068 ] [ 0.0053217 -0.00168819 0.99998441 -0.14472593] [ 0. 0. 0. 1. ]] SLAMing on 2.5903857230000003 meters 0.10337281017616663 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.21, Z:-0.15 [[ 0.99997506 0.00356102 -0.00609908 0.14429008] [-0.0035486 0.99999161 0.00204585 -0.21217346] [ 0.00610631 -0.00202415 0.99997931 -0.14727626] [ 0. 0. 0. 1. ]] SLAMing on 2.650385723 meters 0.10017941539043203 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:-0.15 [[ 9.99966710e-01 3.92461607e-03 -7.15374065e-03 1.48462158e-01] [-3.91787724e-03 9.99991868e-01 9.55772078e-04 -2.03527945e-01] [ 7.15743351e-03 -9.27712783e-04 9.99973955e-01 -1.50772492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.710385723 meters 0.10171920682342843 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.20, Z:-0.15 [[ 9.99966120e-01 2.53710089e-03 -7.83083817e-03 1.52425798e-01] [-2.54497830e-03 9.99996265e-01 -9.96145891e-04 -2.00304506e-01] [ 7.82828160e-03 1.01604146e-03 9.99968842e-01 -1.54307314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.770385723 meters 0.09622956203633337 Centerline is valid? [False, True] Translation: X:0.15, Y:-0.19, Z:-0.16 [[ 9.99965796e-01 4.34338515e-03 -7.03861563e-03 1.52654384e-01] [-4.34406908e-03 9.99990561e-01 -8.18830675e-05 -1.88698387e-01] [ 7.03819354e-03 1.12456499e-04 9.99975225e-01 -1.57284995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.830385723 meters 0.09485024540965387 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.17, Z:-0.16 [[ 9.99900709e-01 -1.45347310e-03 -1.40164301e-02 2.11150129e-01] [ 1.44584783e-03 9.99998801e-01 -5.54141543e-04 -1.71593921e-01] [ 1.40172187e-02 5.33820896e-04 9.99901611e-01 -1.56200715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.890385723 meters 0.09014540052551114 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.18, Z:-0.16 [[ 9.99713780e-01 -2.26418815e-02 -7.72681286e-03 2.72187620e-01] [ 2.26402046e-02 9.99743631e-01 -3.04440054e-04 -1.79275283e-01] [ 7.73172505e-03 1.29416293e-04 9.99970101e-01 -1.56741197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.950385723 meters 0.08721674820910688 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.18, Z:-0.15 [[ 9.99249138e-01 -3.86814307e-02 -2.21514108e-03 3.31816676e-01] [ 3.86813308e-02 9.99251593e-01 -8.79584890e-05 -1.83023075e-01] [ 2.21688561e-03 2.20783948e-06 9.99997543e-01 -1.52196162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.010385723 meters 0.08373306902351618 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.18, Z:-0.15 [[ 9.99337344e-01 -3.62118650e-02 3.68438167e-03 3.92413133e-01] [ 3.62115736e-02 9.99344135e-01 1.45773850e-04 -1.76454941e-01] [-3.68724396e-03 -1.22599942e-05 9.99993202e-01 -1.46934967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0703857230000002 meters 0.0810647158663537 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.17, Z:-0.15 [[ 9.99591227e-01 -2.76562442e-02 7.24642995e-03 4.53018046e-01] [ 2.76548739e-02 9.99617489e-01 2.89246377e-04 -1.66973195e-01] [-7.25165758e-03 -8.87290346e-05 9.99973702e-01 -1.46620879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1303857230000003 meters 0.07899889226206008 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.16, Z:-0.15 [[ 9.99707090e-01 -2.33800135e-02 6.25377331e-03 5.14431771e-01] [ 2.33789254e-02 9.99726645e-01 2.47054369e-04 -1.63697779e-01] [-6.25783995e-03 -1.00775505e-04 9.99980414e-01 -1.50931171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.190385723 meters 0.07752418857440384 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.16, Z:-0.16 [[ 9.99858623e-01 -1.65824361e-02 2.78524992e-03 5.74889832e-01] [ 1.65821957e-02 9.99862500e-01 1.09368612e-04 -1.61283367e-01] [-2.78668054e-03 -6.31675900e-05 9.99996115e-01 -1.58208555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.250385723 meters 0.07670433573145483 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.15, Z:-0.16 [[ 9.99965083e-01 -7.55000391e-03 3.58206678e-03 6.35569605e-01] [ 7.54954857e-03 9.99971492e-01 1.40621310e-04 -1.53136548e-01] [-3.58302635e-03 -1.13573413e-04 9.99993574e-01 -1.57921622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.310385723 meters 0.07609616187427677 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.14, Z:-0.16 [[ 9.99987649e-01 3.94391428e-03 3.02463006e-03 6.95190184e-01] [-3.94429297e-03 9.99992214e-01 1.19246990e-04 -1.42524274e-01] [-3.02413621e-03 -1.31175544e-04 9.99995419e-01 -1.59353432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.370385723 meters 0.07596312596775351 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.13, Z:-0.16 [[ 9.99855786e-01 1.50465343e-02 7.87457978e-03 7.54480795e-01] [-1.50494281e-02 9.99886703e-01 3.08360364e-04 -1.31473111e-01] [-7.86904786e-03 -4.26823816e-04 9.99968947e-01 -1.55067972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.430385723 meters 0.074537070215542 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.13, Z:-0.15 [[ 9.99831340e-01 1.39641295e-02 1.19286965e-02 8.14707760e-01] [-1.39706980e-02 9.99902296e-01 4.67494678e-04 -1.28402453e-01] [-1.19210029e-02 -6.34068047e-04 9.99928741e-01 -1.52226018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.490385723 meters 0.06950199440950157 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.13, Z:-0.15 [[ 9.99898399e-01 5.08907478e-03 1.33151438e-02 8.75241503e-01] [-5.09648349e-03 9.99986876e-01 5.22539638e-04 -1.32775305e-01] [-1.33123098e-02 -5.90346958e-04 9.99911213e-01 -1.54641429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.550385723 meters 0.06514959205146523 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.14, Z:-0.16 [[ 9.99870578e-01 -4.32720018e-03 1.54952338e-02 9.35690680e-01] [ 4.31829717e-03 9.99990491e-01 6.07977169e-04 -1.36933372e-01] [-1.54977173e-02 -5.40985460e-04 9.99879757e-01 -1.55772398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.610385723 meters 0.0595203641868173 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.14, Z:-0.15 [[ 9.99842594e-01 -1.04541532e-02 1.43351932e-02 9.97473356e-01] [ 1.04471586e-02 9.99945269e-01 5.62730305e-04 -1.44298322e-01] [-1.43402915e-02 -4.12879691e-04 9.99897087e-01 -1.51985434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.670385723 meters 0.056211762536257294 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.14, Z:-0.15 [[ 9.99742870e-01 -1.38607950e-02 1.79463724e-02 1.05818946e+00] [ 1.38503915e-02 9.99903831e-01 7.03867181e-04 -1.41736015e-01] [-1.79544026e-02 -4.55121912e-04 9.99838703e-01 -1.50086259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.730385723 meters 0.05364981327404599 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.14, Z:-0.15 [[ 9.99597760e-01 -1.88875447e-02 2.11560626e-02 1.11787637e+00] [ 1.88742260e-02 9.99821522e-01 8.29057281e-04 -1.41139290e-01] [-2.11679455e-02 -4.29419494e-04 9.99775842e-01 -1.54452753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.790385723 meters 0.051181922419499426 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.14, Z:-0.15 [[ 9.99599688e-01 -1.76965833e-02 2.20747617e-02 1.18102754e+00] [ 1.76817135e-02 9.99843289e-01 8.68626728e-04 -1.41162267e-01] [-2.20866741e-02 -4.77959393e-04 9.99755945e-01 -1.54294454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.850385723 meters 0.050376793879305264 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.13, Z:-0.16 [[ 9.99656520e-01 -1.38241156e-02 2.22651474e-02 1.24211535e+00] [ 1.38081727e-02 9.99904284e-01 8.69633112e-04 -1.34829061e-01] [-2.22750382e-02 -5.61893409e-04 9.99751723e-01 -1.55703641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.910385723 meters 0.049770622123506525 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.13, Z:-0.16 [[ 9.99709640e-01 -6.42506009e-03 2.32240007e-02 1.30250512e+00] [ 6.40589340e-03 9.99979077e-01 8.99598348e-04 -1.26902965e-01] [-2.32292947e-02 -7.50566668e-04 9.99729882e-01 -1.56239666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970385723 meters 0.05137917549050404 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.12, Z:-0.16 [[ 9.99621007e-01 8.26858687e-03 2.62578154e-02 1.36238240e+00] [-8.29813130e-03 9.99965053e-01 1.01640058e-03 -1.15471740e-01] [-2.62484936e-02 -1.23390617e-03 9.99654687e-01 -1.57612718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030385722999999 meters 0.05382105311760057 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.11, Z:-0.15 [[ 9.99209251e-01 2.18097178e-02 3.32446731e-02 1.42307578e+00] [-2.18645730e-02 9.99760113e-01 1.28735610e-03 -1.06107618e-01] [-3.32086212e-02 -2.01321871e-03 9.99446414e-01 -1.53800333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090385723 meters 0.05781255969112304 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.09, Z:-0.15 [[ 9.98707689e-01 3.49268435e-02 3.69197522e-02 1.48288376e+00] [-3.50034192e-02 9.99386170e-01 1.42957330e-03 -9.49902326e-02] [-3.68471593e-02 -2.72004341e-03 9.99317211e-01 -1.51478397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150385722999999 meters 0.05910100846395553 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.09, Z:-0.15 [[ 9.98552496e-01 3.90102311e-02 3.70285613e-02 1.54320192e+00] [-3.90900417e-02 9.99234664e-01 1.43358417e-03 -9.35100194e-02] [-3.69442975e-02 -2.87895706e-03 9.99313179e-01 -1.54329867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210385723 meters 0.05767636607845145 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:-0.16 [[ 9.98577289e-01 3.66222123e-02 3.87583800e-02 1.60367487e+00] [-3.67078711e-02 9.99324912e-01 1.50051081e-03 -9.72685959e-02] [-3.86772627e-02 -2.92111363e-03 9.99247485e-01 -1.55634103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2703857229999995 meters 0.055470954225372106 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.10, Z:-0.16 [[ 9.98754765e-01 3.03954874e-02 3.95605048e-02 1.66335381e+00] [-3.04799002e-02 9.99534205e-01 1.53224035e-03 -1.00793121e-01] [-3.94955045e-02 -2.73613259e-03 9.99216002e-01 -1.56482913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330385723 meters 0.05027182460768519 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.11, Z:-0.15 [[ 9.98886032e-01 2.01252850e-02 4.26810007e-02 1.72452481e+00] [-2.02142398e-02 9.99794304e-01 1.65357990e-03 -1.08056444e-01] [-4.26389426e-02 -2.51450185e-03 9.99087382e-01 -1.53376057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390385723 meters 0.040830415217102026 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.12, Z:-0.15 [[ 0.99888159 0.00218938 0.04723119 1.78509788] [-0.00227835 0.99999573 0.00182986 -0.11822582] [-0.04722698 -0.00193542 0.99888231 -0.14832317] [ 0. 0. 0. 1. ]] SLAMing on 4.450385722999999 meters 0.03615809385257404 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.12, Z:-0.15 [[ 9.98823647e-01 -6.73533864e-03 4.80203903e-02 1.84588341e+00] [ 6.65365092e-03 9.99976133e-01 1.86075149e-03 -1.19741614e-01] [-4.80317770e-02 -1.53905167e-03 9.98844622e-01 -1.50002871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510385723 meters 0.03364121925436773 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.12, Z:-0.16 [[ 9.98949738e-01 -1.18128909e-02 4.42704913e-02 1.90634390e+00] [ 1.17484699e-02 9.99929513e-01 1.71507831e-03 -1.15478769e-01] [-4.42876308e-02 -1.19316649e-03 9.99018109e-01 -1.57542617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570385722999999 meters 0.03321177158712822 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:-0.16 [[ 9.98869173e-01 -1.32736724e-02 4.56528666e-02 1.96699359e+00] [ 1.32067796e-02 9.99911226e-01 1.76657063e-03 -1.04393855e-01] [-4.56722627e-02 -1.16164560e-03 9.98955802e-01 -1.57640100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630385723 meters 0.03220800830697753 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.10, Z:-0.16 [[ 9.98894119e-01 -1.51883872e-02 4.44955281e-02 2.02870999e+00] [ 1.51270901e-02 9.99884110e-01 1.71400823e-03 -9.84998009e-02] [-4.45164046e-02 -1.03902488e-03 9.99008113e-01 -1.61267465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6903857229999995 meters 0.028476851512860276 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.10, Z:-0.17 [[ 9.98739730e-01 -2.31868612e-02 4.45120343e-02 2.08998635e+00] [ 2.31337616e-02 9.99730920e-01 1.70774623e-03 -1.02875656e-01] [-4.45396542e-02 -6.75863224e-04 9.99007389e-01 -1.65110567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750385723 meters 0.025143591153732426 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.11, Z:-0.17 [[ 9.98575204e-01 -3.12363453e-02 4.32649050e-02 2.15135654e+00] [ 3.11937615e-02 9.99511979e-01 1.65918550e-03 -1.12192517e-01] [-4.32956177e-02 -3.07226375e-04 9.99062258e-01 -1.71770133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810385723 meters 0.02496055357982543 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.11, Z:-0.17 [[ 9.98635614e-01 -3.19067276e-02 4.13384940e-02 2.21346115e+00] [ 3.18685270e-02 9.99490816e-01 1.58291277e-03 -1.09378473e-01] [-4.13679506e-02 -2.63356156e-04 9.99143945e-01 -1.74252937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870385722999999 meters 0.024759760900444135 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.11, Z:-0.18 [[ 9.98863204e-01 -2.92342068e-02 3.76518474e-02 2.27600683e+00] [ 2.92009253e-02 9.99572534e-01 1.43367309e-03 -1.07311068e-01] [-3.76776648e-02 -3.32574515e-04 9.99289889e-01 -1.79194741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930385723 meters 0.026052048653810517 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.10, Z:-0.18 [[ 9.99143473e-01 -1.79645941e-02 3.72772677e-02 2.33656162e+00] [ 1.79244863e-02 9.99838349e-01 1.40988410e-03 -9.83907001e-02] [-3.72965699e-02 -7.40500617e-04 9.99303967e-01 -1.78596964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990385722999999 meters 0.026605847664190576 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.10, Z:-0.18 [[ 9.99243617e-01 -9.66927577e-03 3.76656105e-02 2.39743061e+00] [ 9.62246327e-03 9.99952689e-01 1.42393311e-03 -9.79450433e-02] [-3.76775969e-02 -1.06042012e-03 9.99289385e-01 -1.81866984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050385723 meters 0.02856036287275034 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.09, Z:-0.18 [[ 9.99309333e-01 -8.46231593e-04 3.71502484e-02 2.45743644e+00] [ 7.94626584e-04 9.99998699e-01 1.40383263e-03 -9.09585471e-02] [-3.71513880e-02 -1.37334247e-03 9.99308705e-01 -1.83501900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110385722999999 meters 0.03116179678086735 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.08, Z:-0.18 [[ 9.99110305e-01 1.06445299e-02 4.08079865e-02 2.51812851e+00] [-1.07163611e-02 9.99941389e-01 1.54187344e-03 -8.46497267e-02] [-4.07891822e-02 -1.97781476e-03 9.99165818e-01 -1.84309649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170385723 meters 0.035000628441322665 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.08, Z:-0.19 [[ 9.98990761e-01 2.24443438e-02 3.89064334e-02 2.57842097e+00] [-2.25185433e-02 9.99745345e-01 1.46989700e-03 -7.57706560e-02] [-3.88635348e-02 -2.34452973e-03 9.99241777e-01 -1.87899415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2303857229999995 meters 0.03523439857085533 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.07, Z:-0.19 [[ 9.99072347e-01 1.97522707e-02 3.82660879e-02 2.63853688e+00] [-1.98220649e-02 9.99802479e-01 1.44534622e-03 -7.13206697e-02] [-3.82299807e-02 -2.20251832e-03 9.99266540e-01 -1.87925201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.290385722999999 meters 0.034154745651710984 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.08, Z:-0.19 [[ 9.99019366e-01 1.86992108e-02 4.01328555e-02 2.70139016e+00] [-1.87751024e-02 9.99822585e-01 1.51490797e-03 -7.84095304e-02] [-4.00974078e-02 -2.26692087e-03 9.99193204e-01 -1.91124013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350385723 meters 0.03539690988970362 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.07, Z:-0.20 [[ 9.99053614e-01 2.10160750e-02 3.80814923e-02 2.76275453e+00] [-2.10857607e-02 9.99776649e-01 1.42915511e-03 -7.26897837e-02] [-3.80429515e-02 -2.23077981e-03 9.99273615e-01 -1.95081296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410385722999999 meters 0.036459441157098045 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.07, Z:-0.20 [[ 9.99016046e-01 2.12501522e-02 3.89277613e-02 2.82497973e+00] [-2.13228187e-02 9.99771588e-01 1.45242528e-03 -6.82956903e-02] [-3.88880055e-02 -2.28104576e-03 9.99240972e-01 -1.95927652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470385723 meters 0.036845055657724876 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.06, Z:-0.20 [[ 9.99020094e-01 1.88189056e-02 4.00587075e-02 2.88569343e+00] [-1.88935479e-02 9.99820397e-01 1.48552829e-03 -6.39631142e-02] [-4.00235568e-02 -2.24092372e-03 9.99196224e-01 -1.95274130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530385722999999 meters 0.03485244880557196 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.07, Z:-0.20 [[ 9.99100002e-01 1.68907573e-02 3.89087064e-02 2.94680185e+00] [-1.69596678e-02 9.99855135e-01 1.44167543e-03 -6.79772478e-02] [-3.88787189e-02 -2.10025666e-03 9.99241730e-01 -2.02825651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590385723 meters 0.035077663586329765 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.06, Z:-0.21 [[ 9.99154143e-01 1.39023761e-02 3.87004236e-02 3.00594127e+00] [-1.39682641e-02 9.99901413e-01 1.43263140e-03 -6.39334130e-02] [-3.86766912e-02 -1.97199733e-03 9.99249831e-01 -2.06151426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650385722999999 meters 0.03413161303213764 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.06, Z:-0.20 [[ 9.99029490e-01 1.04194979e-02 4.27961738e-02 3.06662693e+00] [-1.04967861e-02 9.99943656e-01 1.58163755e-03 -5.79892767e-02] [-4.27772827e-02 -2.02932483e-03 9.99082572e-01 -2.03516480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710385723 meters 0.033046352578926255 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.06, Z:-0.21 [[ 9.99148705e-01 5.15973003e-03 4.09297243e-02 3.12573911e+00] [-5.22599447e-03 9.99985201e-01 1.51215143e-03 -5.83607147e-02] [-4.09213163e-02 -1.72476266e-03 9.99160883e-01 -2.07339902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7703857229999995 meters 0.027093009214633153 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.07, Z:-0.22 [[ 9.99343267e-01 -9.03589170e-04 3.62245422e-02 3.18672047e+00] [ 8.55654267e-04 9.99998738e-01 1.33875259e-03 -7.03298725e-02] [-3.62257061e-02 -1.30687770e-03 9.99342779e-01 -2.16641821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830385722999999 meters 0.02664088376009712 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.07, Z:-0.22 [[ 9.99364525e-01 -3.11528251e-03 3.55083253e-02 3.24896406e+00] [ 3.07062270e-03 9.99994425e-01 1.31219205e-03 -7.01737444e-02] [-3.55122152e-02 -1.20232552e-03 9.99368519e-01 -2.19512154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890385723 meters 0.02773304428185778 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.07, Z:-0.22 [[ 9.99271296e-01 -1.76582897e-04 3.81686544e-02 3.31125224e+00] [ 1.23195291e-04 9.99999011e-01 1.40107647e-03 -6.58406928e-02] [-3.81688640e-02 -1.39535330e-03 9.99270329e-01 -2.18028128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950385722999999 meters 0.03014298419768405 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.06, Z:-0.22 [[ 9.99051734e-01 8.10091644e-03 4.27785923e-02 3.37210228e+00] [-8.17543849e-03 9.99965352e-01 1.56737832e-03 -5.76759151e-02] [-4.27644129e-02 -1.91562578e-03 9.99083348e-01 -2.15729282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010385723 meters 0.03274914609022518 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.05, Z:-0.22 [[ 9.99038321e-01 1.34844586e-02 4.17205291e-02 3.43106345e+00] [-1.35599822e-02 9.99906892e-01 1.52775519e-03 -5.06856806e-02] [-4.16960437e-02 -2.09201561e-03 9.99128152e-01 -2.18535236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070385722999999 meters 0.029754279699768498 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.06, Z:-0.22 [[ 9.98991053e-01 2.10013874e-02 3.96965620e-02 3.49167275e+00] [-2.10756859e-02 9.99776826e-01 1.45406004e-03 -5.50748923e-02] [-3.96571655e-02 -2.28922525e-03 9.99210723e-01 -2.23733223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130385723 meters 0.03941141530366582 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.04, Z:-0.23 [[ 9.98864462e-01 2.88237258e-02 3.79338739e-02 3.55057557e+00] [-2.88971700e-02 9.99581424e-01 1.38913652e-03 -3.72526361e-02] [-3.78779556e-02 -2.48374070e-03 9.99279286e-01 -2.26795759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1903857229999995 meters 0.04035888413824122 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.03, Z:-0.23 [[ 9.98942680e-01 2.71549270e-02 3.70962478e-02 3.61118147e+00] [-2.72240371e-02 9.99628433e-01 1.35904413e-03 -3.47211285e-02] [-3.70455593e-02 -2.36751681e-03 9.99310773e-01 -2.26139758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250385723 meters 0.04059398421905522 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.04, Z:-0.23 [[ 9.98885469e-01 2.48931825e-02 4.01017364e-02 3.67255821e+00] [-2.49720861e-02 9.99687071e-01 1.46779764e-03 -3.52054669e-02] [-4.00526493e-02 -2.46758575e-03 9.99194524e-01 -2.26644727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310385723 meters 0.04044192285402564 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.03, Z:-0.23 [[ 9.99027921e-01 2.20159324e-02 3.81904559e-02 3.73359308e+00] [-2.20853521e-02 9.99755113e-01 1.39674769e-03 -3.43480911e-02] [-3.81503528e-02 -2.23883960e-03 9.99269502e-01 -2.30074774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370385722999999 meters 0.0396192162420535 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.03, Z:-0.23 [[ 9.99227935e-01 1.64886105e-02 3.56603253e-02 3.79313255e+00] [-1.65456038e-02 9.99862262e-01 1.30369529e-03 -3.16776907e-02] [-3.56339174e-02 -1.89271037e-03 9.99363118e-01 -2.30317740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430385723 meters 0.030102047656919886 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.05, Z:-0.23 [[ 9.99243209e-01 1.28524710e-02 3.67127241e-02 3.85467973e+00] [-1.29104547e-02 9.99915755e-01 1.34274727e-03 -4.70474036e-02] [-3.66923736e-02 -1.81570905e-03 9.99324959e-01 -2.31301259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490385722999999 meters 0.030906207458872872 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.04, Z:-0.23 [[ 9.99221569e-01 1.14223449e-02 3.77595773e-02 3.91605844e+00] [-1.14826223e-02 9.99933120e-01 1.37985844e-03 -4.10701680e-02] [-3.77412907e-02 -1.81236328e-03 9.99285900e-01 -2.29268820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550385723 meters 0.03058923370749047 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.04, Z:-0.23 [[ 9.99204669e-01 1.01084855e-02 3.85726377e-02 3.97800742e+00] [-1.01700808e-02 9.99947302e-01 1.40097968e-03 -3.67669808e-02] [-3.85564432e-02 -1.79215228e-03 9.99254817e-01 -2.28724051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610385722999999 meters 0.0304286276375304 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.03, Z:-0.23 [[ 9.99275157e-01 5.80116595e-03 3.76232221e-02 4.03798569e+00] [-5.85641100e-03 9.99981929e-01 1.35833420e-03 -3.39931159e-02] [-3.76146623e-02 -1.57768667e-03 9.99291073e-01 -2.31131582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670385723 meters 0.029586653629867565 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.03, Z:-0.24 [[ 9.99355720e-01 5.73453942e-04 3.58861416e-02 4.09786422e+00] [-6.20347806e-04 9.99998968e-01 1.29561932e-03 -3.28648460e-02] [-3.58853616e-02 -1.31704647e-03 9.99355045e-01 -2.36534981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7303857229999995 meters 0.028996385093383727 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.02, Z:-0.24 [[ 9.99389486e-01 -3.67428581e-03 3.47441320e-02 4.15764825e+00] [ 3.63289396e-03 9.99992614e-01 1.25438865e-03 -2.49755620e-02] [-3.47484844e-02 -1.12740108e-03 9.99395453e-01 -2.37444826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790385722999999 meters 0.028954245706562406 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.02, Z:-0.23 [[ 9.99322218e-01 -3.52187274e-03 3.66428766e-02 4.22067293e+00] [ 3.47573354e-03 9.99993085e-01 1.32278462e-03 -1.78152793e-02] [-3.66472818e-02 -1.19452719e-03 9.99327549e-01 -2.34907002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850385723 meters 0.03106039298817538 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.01, Z:-0.24 [[ 9.99347491e-01 1.03536193e-04 3.61189931e-02 4.28055516e+00] [-1.50405285e-04 9.99999150e-01 1.29491536e-03 -1.16041270e-02] [-3.61188283e-02 -1.29950290e-03 9.99346657e-01 -2.43104382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910385722999999 meters 0.031622179552151526 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.00, Z:-0.25 [[ 9.99333851e-01 7.19791429e-03 3.57777188e-02 4.34072391e+00] [-7.24841934e-03 9.99972908e-01 1.28212559e-03 -4.90106458e-03] [-3.57675209e-02 -1.54060341e-03 9.99358950e-01 -2.45595178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970385723 meters 0.027521827919032953 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.01, Z:-0.24 [[ 9.99214096e-01 1.05851905e-02 3.81987427e-02 4.40215461e+00] [-1.06452304e-02 9.99942401e-01 1.36872260e-03 -8.92058414e-03] [-3.81820543e-02 -1.77428133e-03 9.99269224e-01 -2.42216918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030385722999999 meters 0.02831492517608605 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.01, Z:-0.25 [[ 9.99233312e-01 1.11272116e-02 3.75362860e-02 4.46443812e+00] [-1.11854901e-02 9.99936539e-01 1.34293654e-03 -7.18803042e-03] [-3.75189607e-02 -1.76176868e-03 9.99294363e-01 -2.47005639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090385723 meters 0.02770911974147765 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.01, Z:-0.25 [[ 9.99228069e-01 9.03875422e-03 3.82304473e-02 4.52634499e+00] [-9.09730955e-03 9.99957697e-01 1.35795443e-03 -1.19856327e-02] [-3.82165558e-02 -1.70470040e-03 9.99268027e-01 -2.51278070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150385722999999 meters 0.028924937010141448 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.01, Z:-0.25 [[ 9.99164845e-01 6.56957356e-03 4.03293030e-02 4.58694937e+00] [-6.63262169e-03 9.99976982e-01 1.42973158e-03 -8.43481597e-03] [-4.03189819e-02 -1.69602654e-03 9.99185420e-01 -2.46885994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210385722999999 meters 0.02834655410999861 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.01, Z:-0.25 [[ 9.99180348e-01 1.82635870e-03 4.04388049e-02 4.64815709e+00] [-1.88584463e-03 9.99997195e-01 1.43291364e-03 -1.25863020e-02] [-4.04360745e-02 -1.50800045e-03 9.99180990e-01 -2.49707285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2703857229999995 meters 0.027467194531989553 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.02, Z:-0.25 [[ 9.99169139e-01 -3.52887134e-03 4.06026967e-02 4.70814472e+00] [ 3.47334059e-03 9.99992934e-01 1.43812312e-03 -1.58577980e-02] [-4.06074848e-02 -1.29590124e-03 9.99174336e-01 -2.53112859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330385722999999 meters 0.027541990514438466 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.02, Z:-0.26 [[ 9.99126255e-01 -3.07870034e-03 4.16803036e-02 4.77014439e+00] [ 3.01984343e-03 9.99994352e-01 1.47499151e-03 -1.65200612e-02] [-4.16846093e-02 -1.34783475e-03 9.99129910e-01 -2.55773668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390385723 meters 0.02836389745010803 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.01, Z:-0.26 [[ 9.99194347e-01 -1.45784292e-03 4.01065111e-02 4.83263480e+00] [ 1.40240352e-03 9.99998022e-01 1.41040359e-03 -9.66335958e-03] [-4.01084880e-02 -1.35302178e-03 9.99194415e-01 -2.56833822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450385722999999 meters 0.02841526684226594 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.01, Z:-0.26 [[ 9.99192989e-01 -3.02383448e-03 4.00528116e-02 4.89449276e+00] [ 2.97016288e-03 9.99994610e-01 1.39945860e-03 -6.49610347e-03] [-4.00568274e-02 -1.27936585e-03 9.99196584e-01 -2.59984599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510385723 meters 0.028035549880384307 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.01, Z:-0.27 [[ 9.99279829e-01 -5.13821404e-03 3.75955082e-02 4.95663381e+00] [ 5.09272288e-03 9.99986180e-01 1.30568189e-03 -5.96692640e-03] [-3.76016975e-02 -1.11327807e-03 9.99292186e-01 -2.66173077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570385722999999 meters 0.02737782322486114 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.00, Z:-0.27 [[ 9.99322042e-01 -4.51442029e-03 3.65386933e-02 5.01910413e+00] [ 4.47132423e-03 9.99989208e-01 1.26109353e-03 -3.55477394e-03] [-3.65439920e-02 -1.09686222e-03 9.99331443e-01 -2.70752236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630385723 meters 0.026854116050981792 Centerline is valid? [True, True] Translation: X:5.08, Y:0.00, Z:-0.27 [[ 9.99249147e-01 -7.45740315e-04 3.87373976e-02 5.08032701e+00] [ 6.94835706e-04 9.99998877e-01 1.32754121e-03 4.09181912e-04] [-3.87383441e-02 -1.29962829e-03 9.99248543e-01 -2.68776626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6903857229999995 meters 0.02847648119176773 Centerline is valid? [True, True] Translation: X:5.14, Y:0.01, Z:-0.27 [[ 9.99275011e-01 4.70687461e-03 3.77795811e-02 5.14012685e+00] [-4.75913575e-03 9.99987839e-01 1.29350462e-03 9.11903415e-03] [-3.77730333e-02 -1.47236500e-03 9.99285260e-01 -2.71055910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750385722999999 meters 0.02974987739752572 Centerline is valid? [True, True] Translation: X:5.20, Y:0.01, Z:-0.27 [[ 9.99167906e-01 8.49519282e-03 3.98914551e-02 5.20003202e+00] [-8.55647791e-03 9.99962460e-01 1.36581137e-03 1.29444102e-02] [-3.98783548e-02 -1.70600524e-03 9.99203086e-01 -2.72224969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810385723 meters 0.03175484753167586 Centerline is valid? [True, True] Translation: X:5.26, Y:0.02, Z:-0.27 [[ 9.99064645e-01 1.27066776e-02 4.13325081e-02 5.26015572e+00] [-1.27760661e-02 9.99917381e-01 1.41506324e-03 2.03583044e-02] [-4.13111125e-02 -1.94180650e-03 9.99144445e-01 -2.72874450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870385722999999 meters 0.03377136171681655 Centerline is valid? [True, True] Translation: X:5.32, Y:0.02, Z:-0.28 [[ 9.99078539e-01 1.68847984e-02 3.94585519e-02 5.32060920e+00] [-1.69512571e-02 9.99855405e-01 1.35028551e-03 2.39540262e-02] [-3.94300471e-02 -2.01791333e-03 9.99220296e-01 -2.75907838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930385723 meters 0.03156668229571736 Centerline is valid? [True, True] Translation: X:5.38, Y:0.02, Z:-0.28 [[ 9.99204862e-01 1.63047592e-02 3.63840451e-02 5.38329247e+00] [-1.63608516e-02 9.99865378e-01 1.24445406e-03 2.14501699e-02] [-3.63588565e-02 -1.83873851e-03 9.99337107e-01 -2.79402971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990385722999999 meters 0.03138214420295875 Centerline is valid? [True, True] Translation: X:5.44, Y:0.02, Z:-0.28 [[ 9.99263655e-01 1.34889034e-02 3.59193201e-02 5.44494077e+00] [-1.35414584e-02 9.99907566e-01 1.22025283e-03 1.83107620e-02] [-3.58995400e-02 -1.70575428e-03 9.99353948e-01 -2.83385326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050385723 meters 0.03064412850257174 Centerline is valid? [True, True] Translation: X:5.51, Y:0.02, Z:-0.28 [[ 9.99189372e-01 8.60664446e-03 3.93258867e-02 5.50551988e+00] [-8.66580039e-03 9.99961561e-01 1.33403266e-03 1.50114016e-02] [-3.93128935e-02 -1.67374154e-03 9.99225548e-01 -2.82584535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110385723 meters 0.028121990916892558 Centerline is valid? [True, True] Translation: X:5.57, Y:0.01, Z:-0.28 [[ 9.99137791e-01 -2.54851841e-03 4.14388712e-02 5.56525770e+00] [ 2.49240194e-03 9.99995906e-01 1.40580590e-03 1.03881777e-02] [-4.14422842e-02 -1.30131148e-03 9.99140052e-01 -2.82195072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170385723 meters 0.025665888058509466 Centerline is valid? [True, True] Translation: X:5.63, Y:0.00, Z:-0.29 [[ 9.99147032e-01 -9.39452372e-03 4.02113414e-02 5.62573628e+00] [ 9.34719782e-03 9.99955383e-01 1.36477936e-03 4.93242047e-03] [-4.02223687e-02 -9.87751889e-04 9.99190265e-01 -2.86303101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230385723 meters 0.02343896751029093 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.00, Z:-0.29 [[ 9.99054916e-01 -1.96546850e-02 3.87681452e-02 5.68676485e+00] [ 1.96184171e-02 9.99806675e-01 1.31574927e-03 -8.45533004e-04] [-3.87865109e-02 -5.53936135e-04 9.99247367e-01 -2.90723496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290385723 meters 0.023412150408128038 Centerline is valid? [True, True] Translation: X:5.75, Y:0.00, Z:-0.30 [[ 9.99161056e-01 -2.15525139e-02 3.48234636e-02 5.74797109e+00] [ 2.15244168e-02 9.99767625e-01 1.18157610e-03 4.97091037e-03] [-3.48408374e-02 -4.31030077e-04 9.99392781e-01 -2.95132835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350385723 meters 0.023171563058863913 Centerline is valid? [True, True] Translation: X:5.81, Y:0.01, Z:-0.30 [[ 9.99115155e-01 -2.26202694e-02 3.54574520e-02 5.81022419e+00] [ 2.25920979e-02 9.99744052e-01 1.19502099e-03 1.05382958e-02] [-3.54754084e-02 -3.92905356e-04 9.99370472e-01 -2.97452220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410385723000001 meters 0.023010615165409472 Centerline is valid? [True, True] Translation: X:5.87, Y:0.01, Z:-0.30 [[ 9.98945506e-01 -2.63960672e-02 3.75649214e-02 5.87158087e+00] [ 2.63674714e-02 9.99651528e-01 1.25654022e-03 1.42559123e-02] [-3.75849988e-02 -2.64723213e-04 9.99293399e-01 -2.98285423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470385723 meters 0.022746996089463678 Centerline is valid? [True, True] Translation: X:5.93, Y:0.02, Z:-0.30 [[ 9.98923350e-01 -2.88733519e-02 3.63107605e-02 5.93340613e+00] [ 2.88485520e-02 9.99583065e-01 1.20684555e-03 1.95938785e-02] [-3.63304669e-02 -1.58033339e-04 9.99339818e-01 -3.00327010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530385723 meters 0.02252730145579751 Centerline is valid? [True, True] Translation: X:6.00, Y:0.02, Z:-0.31 [[ 9.98938441e-01 -3.14735565e-02 3.36363804e-02 5.99640769e+00] [ 3.14539973e-02 9.99504584e-01 1.11061256e-03 2.44799107e-02] [-3.36546713e-02 -5.14349647e-05 9.99433520e-01 -3.06407199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590385723 meters 0.022556254283864742 Centerline is valid? [True, True] Translation: X:6.06, Y:0.03, Z:-0.31 [[ 9.99051715e-01 -3.08808981e-02 3.06926964e-02 6.05739319e+00] [ 3.08645743e-02 9.99523070e-01 1.00558799e-03 3.05762822e-02] [-3.07091116e-02 -5.73173926e-05 9.99528362e-01 -3.11264878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650385723000001 meters 0.022550410871255394 Centerline is valid? [True, True] Translation: X:6.12, Y:0.04, Z:-0.31 [[ 9.99063304e-01 -2.83579226e-02 3.26855266e-02 6.12044012e+00] [ 2.83383043e-02 9.99597824e-01 1.06340149e-03 3.77828771e-02] [-3.27025371e-02 -1.36153010e-04 9.99465120e-01 -3.08605137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710385723 meters 0.023114628728645684 Centerline is valid? [True, True] Translation: X:6.18, Y:0.05, Z:-0.31 [[ 9.99173353e-01 -1.95538184e-02 3.56406947e-02 6.18228472e+00] [ 1.95252703e-02 9.99808704e-01 1.14891084e-03 4.82525672e-02] [-3.56563423e-02 -4.52066897e-04 9.99364008e-01 -3.05810066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770385723 meters 0.024007775451673062 Centerline is valid? [True, True] Translation: X:6.24, Y:0.05, Z:-0.31 [[ 9.99216458e-01 -1.17570002e-02 3.77921088e-02 6.24367797e+00] [ 1.17196719e-02 9.99930591e-01 1.20911804e-03 5.28396277e-02] [-3.78037013e-02 -7.65259532e-04 9.99284892e-01 -3.06220688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830385723000001 meters 0.025994404491531665 Centerline is valid? [True, True] Translation: X:6.30, Y:0.06, Z:-0.31 [[ 9.99322802e-01 -3.37099981e-03 3.66411525e-02 6.30328345e+00] [ 3.33032402e-03 9.99993769e-01 1.17108965e-03 5.65843147e-02] [-3.66448720e-02 -1.04826968e-03 9.99327801e-01 -3.10844567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890385723 meters 0.029238287911501085 Centerline is valid? [True, True] Translation: X:6.36, Y:0.06, Z:-0.31 [[ 9.99333491e-01 9.74686333e-03 3.51791476e-02 6.36380914e+00] [-9.79240018e-03 9.99951423e-01 1.12235788e-03 6.47561429e-02] [-3.51664992e-02 -1.46609811e-03 9.99380392e-01 -3.13135070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950385723 meters 0.031074126966090677 Centerline is valid? [True, True] Translation: X:6.42, Y:0.07, Z:-0.32 [[ 9.99330669e-01 1.44632176e-02 3.36010444e-02 6.42487756e+00] [-1.45074167e-02 9.99894187e-01 1.07196955e-03 6.76316404e-02] [-3.35819849e-02 -1.55871640e-03 9.99434751e-01 -3.16529881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010385723 meters 0.03158143700641062 Centerline is valid? [True, True] Translation: X:6.49, Y:0.06, Z:-0.32 [[ 9.99402191e-01 1.32521776e-02 3.19317974e-02 6.48636030e+00] [-1.32914692e-02 9.99911146e-01 1.01852461e-03 6.41003705e-02] [-3.19154625e-02 -1.44233623e-03 9.99489531e-01 -3.23090660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070385723000001 meters 0.030612870844183716 Centerline is valid? [True, True] Translation: X:6.55, Y:0.07, Z:-0.32 [[ 9.99387766e-01 8.50931255e-03 3.39364921e-02 6.54594813e+00] [-8.55069643e-03 9.99962865e-01 1.07450248e-03 6.65352635e-02] [-3.39260886e-02 -1.36402528e-03 9.99423414e-01 -3.21441947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130385723 meters 0.02852720282827346 Centerline is valid? [True, True] Translation: X:6.61, Y:0.06, Z:-0.32 [[ 9.99260059e-01 8.66543751e-04 3.84523584e-02 6.60615224e+00] [-9.14034551e-04 9.99998841e-01 1.21749288e-03 6.13147203e-02] [-3.84512588e-02 -1.25173879e-03 9.99259693e-01 -3.21073771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190385723 meters 0.024433596013869553 Centerline is valid? [True, True] Translation: X:6.67, Y:0.05, Z:-0.32 [[ 9.99197252e-01 -1.29479424e-02 3.79104499e-02 6.66701354e+00] [ 1.29117138e-02 9.99915920e-01 1.20032309e-03 5.19350945e-02] [-3.79228041e-02 -7.09870657e-04 9.99280420e-01 -3.24751548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250385723 meters 0.02201713095328496 Centerline is valid? [True, True] Translation: X:6.73, Y:0.04, Z:-0.33 [[ 9.99029022e-01 -2.56629042e-02 3.58110074e-02 6.72831355e+00] [ 2.56387522e-02 9.99670630e-01 1.13356444e-03 4.38254932e-02] [-3.58283029e-02 -2.14314227e-04 9.99357937e-01 -3.29735374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310385723 meters 0.021689055920830185 Centerline is valid? [True, True] Translation: X:6.79, Y:0.04, Z:-0.33 [[ 9.98936360e-01 -3.03649565e-02 3.47003992e-02 6.79080202e+00] [ 3.03451249e-02 9.99538877e-01 1.09813901e-03 4.22585958e-02] [-3.47177430e-02 -4.39830407e-05 9.99397156e-01 -3.33421314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370385723 meters 0.021864091981664335 Centerline is valid? [True, True] Translation: X:6.85, Y:0.05, Z:-0.33 [[ 9.98982724e-01 -3.04645808e-02 3.32479595e-02 6.85420863e+00] [ 3.04466677e-02 9.99535846e-01 1.04503977e-03 5.02724224e-02] [-3.32643641e-02 -3.16870981e-05 9.99446587e-01 -3.34242028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430385723 meters 0.022003640532714974 Centerline is valid? [True, True] Translation: X:6.92, Y:0.06, Z:-0.34 [[ 9.99121044e-01 -2.66534452e-02 3.23532482e-02 6.91561867e+00] [ 2.66347558e-02 9.99644723e-01 1.00857809e-03 5.62942701e-02] [-3.23686360e-02 -1.45970733e-04 9.99475988e-01 -3.39966014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490385723000001 meters 0.02285867879299748 Centerline is valid? [True, True] Translation: X:6.98, Y:0.07, Z:-0.34 [[ 9.99303174e-01 -1.94155772e-02 3.18779152e-02 6.97688263e+00] [ 1.93939591e-02 9.99811432e-01 9.87240329e-04 6.76074403e-02] [-3.18910719e-02 -3.68313409e-04 9.99491283e-01 -3.41518808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550385723 meters 0.024067177680818497 Centerline is valid? [True, True] Translation: X:7.04, Y:0.08, Z:-0.34 [[ 9.99328081e-01 -1.30600204e-02 3.42464955e-02 7.03867448e+00] [ 1.30315962e-02 9.99914531e-01 1.05307463e-03 7.64910068e-02] [-3.42573216e-02 -6.06080551e-04 9.99412862e-01 -3.40640145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610385723 meters 0.024338058716742016 Centerline is valid? [True, True] Translation: X:7.10, Y:0.08, Z:-0.34 [[ 9.99453538e-01 -6.37431581e-03 3.24344371e-02 7.09926058e+00] [ 6.34552297e-03 9.99979376e-01 9.90581634e-04 7.95912825e-02] [-3.24400825e-02 -7.84226853e-04 9.99473374e-01 -3.43533704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670385723 meters 0.02426602994917044 Centerline is valid? [True, True] Translation: X:7.16, Y:0.08, Z:-0.34 [[ 9.99408109e-01 -1.80061364e-03 3.43538861e-02 7.16041844e+00] [ 1.76563051e-03 9.99997891e-01 1.04862632e-03 7.99766752e-02] [-3.43557018e-02 -9.87349375e-04 9.99409181e-01 -3.44665724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730385723 meters 0.025564687342605086 Centerline is valid? [True, True] Translation: X:7.22, Y:0.08, Z:-0.35 [[ 9.99351900e-01 4.83178582e-03 3.56711964e-02 7.22138926e+00] [-4.87367816e-03 9.99987532e-01 1.08754257e-03 8.41233367e-02] [-3.56654969e-02 -1.26068766e-03 9.99362989e-01 -3.46972830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790385723 meters 0.026651913088003996 Centerline is valid? [True, True] Translation: X:7.28, Y:0.09, Z:-0.35 [[ 9.99329394e-01 9.93424683e-03 3.52430537e-02 7.28236741e+00] [-9.97828507e-03 9.99949639e-01 1.07388657e-03 9.15339211e-02] [-3.52306106e-02 -1.42483165e-03 9.99378194e-01 -3.45640290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850385723 meters 0.027009563980974392 Centerline is valid? [True, True] Translation: X:7.35, Y:0.09, Z:-0.35 [[ 9.99261733e-01 1.00981364e-02 3.70677264e-02 7.34562345e+00] [-1.01469342e-02 9.99947882e-01 1.12855545e-03 8.64641839e-02] [-3.70543981e-02 -1.50384606e-03 9.99312118e-01 -3.50364995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910385723000001 meters 0.02703216459748466 Centerline is valid? [True, True] Translation: X:7.41, Y:0.09, Z:-0.35 [[ 9.99304197e-01 6.89639217e-03 3.66546262e-02 7.40631997e+00] [-6.94160305e-03 9.99975295e-01 1.10630703e-03 8.52205103e-02] [-3.66460911e-02 -1.35997912e-03 9.99327381e-01 -3.50913381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970385723 meters 0.026316796771064205 Centerline is valid? [True, True] Translation: X:7.47, Y:0.08, Z:-0.35 [[ 9.99354130e-01 2.13130773e-03 3.58717244e-02 7.46615260e+00] [-2.17149908e-03 9.99997057e-01 1.08149564e-03 8.25801640e-02] [-3.58693139e-02 -1.15869255e-03 9.99355817e-01 -3.53125119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030385723 meters 0.02495828990880797 Centerline is valid? [True, True] Translation: X:7.53, Y:0.07, Z:-0.36 [[ 9.99331809e-01 -4.64312280e-03 3.62543292e-02 7.52728507e+00] [ 4.60652183e-03 9.99988793e-01 1.09302721e-03 7.45050675e-02] [-3.62589979e-02 -9.25290503e-04 9.99341998e-01 -3.57338451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090385723 meters 0.02307553523545117 Centerline is valid? [True, True] Translation: X:7.59, Y:0.07, Z:-0.36 [[ 9.99283420e-01 -1.43494454e-02 3.50248376e-02 7.58862112e+00] [ 1.43212624e-02 9.99896888e-01 1.05541449e-03 6.61531160e-02] [-3.50363707e-02 -5.53058318e-04 9.99385885e-01 -3.60793284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150385723 meters 0.02220848617827598 Centerline is valid? [True, True] Translation: X:7.65, Y:0.06, Z:-0.36 [[ 9.99263603e-01 -2.10138264e-02 3.21040528e-02 7.65133363e+00] [ 2.09935938e-02 9.99779142e-01 9.67201517e-04 6.45015586e-02] [-3.21172870e-02 -2.92509828e-04 9.99484064e-01 -3.61716128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210385723 meters 0.0226151291961529 Centerline is valid? [True, True] Translation: X:7.71, Y:0.06, Z:-0.37 [[ 9.99227363e-01 -1.87489205e-02 3.45420731e-02 7.71308216e+00] [ 1.87242448e-02 9.99824147e-01 1.03774046e-03 6.33557477e-02] [-3.45554553e-02 -3.90164425e-04 9.99402706e-01 -3.65995648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270385723 meters 0.02308829716408186 Centerline is valid? [True, True] Translation: X:7.77, Y:0.07, Z:-0.37 [[ 9.99275695e-01 -1.67136985e-02 3.41867979e-02 7.77362380e+00] [ 1.66885882e-02 9.99860216e-01 1.01973697e-03 7.25319008e-02] [-3.41990627e-02 -4.48468977e-04 9.99414940e-01 -3.65358356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330385723000001 meters 0.02294305421603957 Centerline is valid? [True, True] Translation: X:7.84, Y:0.07, Z:-0.37 [[ 9.99292112e-01 -1.55447531e-02 3.42583607e-02 7.83556645e+00] [ 1.55190589e-02 9.99879056e-01 1.01580844e-03 7.36833008e-02] [-3.42700079e-02 -4.83431841e-04 9.99412494e-01 -3.68483354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390385723 meters 0.023293152461641355 Centerline is valid? [True, True] Translation: X:7.90, Y:0.07, Z:-0.37 [[ 9.99341411e-01 -1.48986146e-02 3.30873837e-02 7.89690208e+00] [ 1.48745565e-02 9.99888894e-01 9.73150856e-04 7.39632069e-02] [-3.30982061e-02 -4.80349791e-04 9.99451989e-01 -3.73440589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450385723 meters 0.023316226766852608 Centerline is valid? [True, True] Translation: X:7.96, Y:0.08, Z:-0.37 [[ 9.99449866e-01 -1.35629682e-02 3.02656859e-02 7.95942510e+00] [ 1.35423172e-02 9.99907905e-01 8.87209187e-04 8.08902987e-02] [-3.02749318e-02 -4.76853585e-04 9.99541495e-01 -3.74912775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510385723 meters 0.023488439667008604 Centerline is valid? [True, True] Translation: X:8.02, Y:0.08, Z:-0.38 [[ 9.99447952e-01 -1.16998557e-02 3.10950984e-02 8.02106994e+00] [ 1.16774055e-02 9.99931409e-01 9.03493144e-04 8.34599123e-02] [-3.11035362e-02 -5.39884300e-04 9.99516022e-01 -3.76552710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570385723 meters 0.02350848588711032 Centerline is valid? [True, True] Translation: X:8.08, Y:0.08, Z:-0.38 [[ 9.99437018e-01 -1.10615319e-02 3.16747375e-02 8.08441128e+00] [ 1.10380258e-02 9.99938659e-01 9.16875687e-04 8.42775268e-02] [-3.16829366e-02 -5.66732932e-04 9.99497809e-01 -3.78123511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630385723 meters 0.023117967173454046 Centerline is valid? [True, True] Translation: X:8.15, Y:0.09, Z:-0.38 [[ 9.99462447e-01 -1.07870111e-02 3.09589575e-02 8.14733067e+00] [ 1.07646675e-02 9.99941665e-01 8.88301401e-04 9.04265986e-02] [-3.09667336e-02 -5.54561009e-04 9.99520262e-01 -3.77979229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690385723 meters 0.02204386384312492 Centerline is valid? [True, True] Translation: X:8.21, Y:0.08, Z:-0.39 [[ 9.99460955e-01 -1.45534656e-02 2.94278164e-02 8.20986028e+00] [ 1.45351304e-02 9.99894009e-01 8.36886779e-04 8.45090595e-02] [-2.94368769e-02 -4.08698511e-04 9.99566558e-01 -3.85187636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750385723 meters 0.021824857095612847 Centerline is valid? [True, True] Translation: X:8.27, Y:0.09, Z:-0.39 [[ 9.99395177e-01 -1.84309801e-02 2.94886389e-02 8.27142806e+00] [ 1.84144777e-02 9.99830094e-01 8.31113068e-04 8.65271689e-02] [-2.94989469e-02 -2.87592507e-04 9.99564770e-01 -3.86732572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810385723 meters 0.02133817230687319 Centerline is valid? [True, True] Translation: X:8.33, Y:0.09, Z:-0.39 [[ 9.99208165e-01 -2.63505877e-02 2.98109046e-02 8.33257607e+00] [ 2.63374532e-02 9.99652762e-01 8.33235069e-04 8.67260366e-02] [-2.98225093e-02 -4.74319807e-05 9.99555209e-01 -3.86238471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870385723 meters 0.02126641156095571 Centerline is valid? [True, True] Translation: X:8.40, Y:0.09, Z:-0.39 [[ 9.99053489e-01 -3.10903477e-02 3.04223110e-02 8.39566890e+00] [ 3.10790629e-02 9.99516573e-01 8.43840388e-04 8.56307295e-02] [-3.04338393e-02 1.02455232e-04 9.99536778e-01 -3.88157086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930385723 meters 0.021271884339276466 Centerline is valid? [True, True] Translation: X:8.46, Y:0.09, Z:-0.39 [[ 9.98954830e-01 -3.34759861e-02 3.11224456e-02 8.45857773e+00] [ 3.34656031e-02 9.99439504e-01 8.54596121e-04 9.19463085e-02] [-3.11336100e-02 1.87828487e-04 9.99515214e-01 -3.86533305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990385723000001 meters 0.021105025694850628 Centerline is valid? [True, True] Translation: X:8.52, Y:0.09, Z:-0.39 [[ 9.98994040e-01 -3.32496486e-02 3.00893390e-02 8.52014957e+00] [ 3.32401014e-02 9.99447061e-01 8.17578857e-04 9.22926356e-02] [-3.00998856e-02 1.83416271e-04 9.99546879e-01 -3.92067359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050385723 meters 0.021051359001984224 Centerline is valid? [True, True] Translation: X:8.58, Y:0.10, Z:-0.39 [[ 9.99075038e-01 -3.15558042e-02 2.92112866e-02 8.58261444e+00] [ 3.15462034e-02 9.99501983e-01 7.89574905e-04 1.00690143e-01] [-2.92216546e-02 1.32660612e-04 9.99572947e-01 -3.93500639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110385723 meters 0.020819706132737724 Centerline is valid? [True, True] Translation: X:8.64, Y:0.11, Z:-0.39 [[ 9.99106863e-01 -2.88978370e-02 3.08284313e-02 8.64407055e+00] [ 2.88861606e-02 9.99582368e-01 8.24142000e-04 1.10713712e-01] [-3.08393723e-02 6.71090904e-05 9.99524351e-01 -3.91460596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170385723 meters 0.021064068990960222 Centerline is valid? [True, True] Translation: X:8.71, Y:0.11, Z:-0.40 [[ 9.99194097e-01 -2.85620995e-02 2.82021763e-02 8.70628976e+00] [ 2.85523443e-02 9.99592018e-01 7.48624449e-04 1.10630583e-01] [-2.82120526e-02 5.72171151e-05 9.99601959e-01 -4.01592707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230385723 meters 0.02133738869272142 Centerline is valid? [True, True] Translation: X:8.77, Y:0.11, Z:-0.40 [[ 9.98906559e-01 -3.84307726e-02 2.66225790e-02 8.76833727e+00] [ 3.84257390e-02 9.99261213e-01 7.00825319e-04 1.05001646e-01] [-2.66298439e-02 3.22933263e-04 9.99645311e-01 -4.04253710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290385723 meters 0.0214611690963456 Centerline is valid? [True, True] Translation: X:8.83, Y:0.11, Z:-0.41 [[ 9.98858060e-01 -4.00615294e-02 2.60317184e-02 8.83043485e+00] [ 4.00574053e-02 9.99197149e-01 6.80085592e-04 1.06150241e-01] [-2.60380641e-02 3.63454120e-04 9.99660886e-01 -4.05162944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350385723 meters 0.02153554492429704 Centerline is valid? [True, True] Translation: X:8.89, Y:0.11, Z:-0.41 [[ 9.98926068e-01 -3.93797907e-02 2.44119455e-02 8.89186550e+00] [ 3.93761165e-02 9.99224261e-01 6.31370525e-04 1.09932841e-01] [-2.44178714e-02 3.30555135e-04 9.99701785e-01 -4.06595073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410385723000001 meters 0.021031113700968353 Centerline is valid? [True, True] Translation: X:8.95, Y:0.11, Z:-0.41 [[ 9.98936865e-01 -3.86180155e-02 2.51751724e-02 8.95399941e+00] [ 3.86139203e-02 9.99253994e-01 6.48962712e-04 1.06569819e-01] [-2.51814532e-02 3.23839324e-04 9.99682844e-01 -4.12578866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470385723 meters 0.02058985199532785 Centerline is valid? [True, True] Translation: X:9.02, Y:0.11, Z:-0.41 [[ 9.99057071e-01 -3.52131357e-02 2.53969416e-02 9.01592967e+00] [ 3.52080204e-02 9.99379795e-01 6.48682817e-04 1.12573771e-01] [-2.54040324e-02 2.46104883e-04 9.99677235e-01 -4.11488547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530385723 meters 0.020243400393513054 Centerline is valid? [True, True] Translation: X:9.08, Y:0.13, Z:-0.40 [[ 9.99222040e-01 -2.44813866e-02 3.09188631e-02 9.07629504e+00] [ 2.44689986e-02 9.99700286e-01 7.79021764e-04 1.25029024e-01] [-3.09286678e-02 -2.18620990e-05 9.99521594e-01 -4.04287920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590385723 meters 0.020355260672642074 Centerline is valid? [True, True] Translation: X:9.14, Y:0.12, Z:-0.41 [[ 9.99297099e-01 -2.09153394e-02 3.11104045e-02 9.13906705e+00] [ 2.09010471e-02 9.99781241e-01 7.84569701e-04 1.24550469e-01] [-3.11200084e-02 -1.33778195e-04 9.99515646e-01 -4.08826919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650385723 meters 0.020235576537699557 Centerline is valid? [True, True] Translation: X:9.20, Y:0.12, Z:-0.42 [[ 9.99374556e-01 -2.14954133e-02 2.80792614e-02 9.20116383e+00] [ 2.14841967e-02 9.99768942e-01 7.01127047e-04 1.24172723e-01] [-2.80878445e-02 -9.74281561e-05 9.99605454e-01 -4.15450176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710385723 meters 0.020639705092965442 Centerline is valid? [True, True] Translation: X:9.26, Y:0.13, Z:-0.42 [[ 9.99565745e-01 -1.70419048e-02 2.40394317e-02 9.26163191e+00] [ 1.70325382e-02 9.99854759e-01 5.94349801e-04 1.27487684e-01] [-2.40460691e-02 -1.84639162e-04 9.99710834e-01 -4.23172478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770385723 meters 0.02125950620372951 Centerline is valid? [True, True] Translation: X:9.32, Y:0.13, Z:-0.42 [[ 9.99510891e-01 -1.18593585e-02 2.89367419e-02 9.32337124e+00] [ 1.18437137e-02 9.99929607e-01 7.11994317e-04 1.33186663e-01] [-2.89431487e-02 -3.68927587e-04 9.99580991e-01 -4.17566149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830385723000001 meters 0.02128949375024887 Centerline is valid? [True, True] Translation: X:9.39, Y:0.14, Z:-0.42 [[ 9.99477117e-01 -9.91358565e-03 3.07768169e-02 9.38669023e+00] [ 9.89519260e-03 9.99950760e-01 7.49880201e-04 1.36882041e-01] [-3.07827354e-02 -4.44945572e-04 9.99526000e-01 -4.16146827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890385723 meters 0.02149515567882648 Centerline is valid? [True, True] Translation: X:9.45, Y:0.14, Z:-0.42 [[ 9.99492104e-01 -9.25101659e-03 3.04951235e-02 9.44920390e+00] [ 9.23289995e-03 9.99957106e-01 7.34844583e-04 1.35786459e-01] [-3.05006135e-02 -4.52912934e-04 9.99534645e-01 -4.23018640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950385723 meters 0.02165538000657443 Centerline is valid? [True, True] Translation: X:9.51, Y:0.14, Z:-0.42 [[ 9.99441532e-01 -9.96828634e-03 3.18944653e-02 9.51058793e+00] [ 9.94912725e-03 9.99950218e-01 7.59351455e-04 1.38061120e-01] [-3.19004470e-02 -4.41605288e-04 9.99490954e-01 -4.24939740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010385723 meters 0.02122030612872533 Centerline is valid? [True, True] Translation: X:9.57, Y:0.15, Z:-0.42 [[ 9.99451162e-01 -1.20636320e-02 3.08519663e-02 9.57184665e+00] [ 1.20469000e-02 9.99927168e-01 7.28160507e-04 1.45029535e-01] [-3.08585035e-02 -3.56090310e-04 9.99523700e-01 -4.23672517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070385723 meters 0.02100898046920893 Centerline is valid? [True, True] Translation: X:9.63, Y:0.14, Z:-0.43 [[ 9.99384625e-01 -1.33262235e-02 3.24466319e-02 9.63372755e+00] [ 1.33086136e-02 9.99911149e-01 7.58650647e-04 1.43785202e-01] [-3.24538589e-02 -3.26364106e-04 9.99473181e-01 -4.27200219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130385723 meters 0.020840524996713593 Centerline is valid? [True, True] Translation: X:9.70, Y:0.14, Z:-0.43 [[ 9.99394674e-01 -1.55444195e-02 3.11232364e-02 9.69632942e+00] [ 1.55295116e-02 9.99879150e-01 7.20674459e-04 1.44561074e-01] [-3.11306776e-02 -2.36909554e-04 9.99515295e-01 -4.30435591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190385723 meters 0.020681573395739866 Centerline is valid? [True, True] Translation: X:9.76, Y:0.15, Z:-0.43 [[ 9.99390468e-01 -1.74187161e-02 3.02536161e-02 9.75866624e+00] [ 1.74056965e-02 9.99848269e-01 6.93670970e-04 1.46117892e-01] [-3.02611085e-02 -1.66662897e-04 9.99542014e-01 -4.33052057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250385723 meters 0.02081291525384938 Centerline is valid? [True, True] Translation: X:9.82, Y:0.15, Z:-0.43 [[ 9.99300346e-01 -1.71783152e-02 3.32223397e-02 9.82099311e+00] [ 1.71627632e-02 9.99852425e-01 7.53255493e-04 1.48496952e-01] [-3.32303766e-02 -1.82541327e-04 9.99447702e-01 -4.31165625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310385723 meters 0.020786860000549995 Centerline is valid? [True, True] Translation: X:9.88, Y:0.15, Z:-0.43 [[ 9.99267360e-01 -1.51296027e-02 3.51544886e-02 9.88429498e+00] [ 1.51112212e-02 9.99885508e-01 7.88528277e-04 1.49376838e-01] [-3.51623939e-02 -2.56723315e-04 9.99381579e-01 -4.34071164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370385723 meters 0.020815961639779928 Centerline is valid? [True, True] Translation: X:9.95, Y:0.15, Z:-0.44 [[ 9.99414101e-01 -1.40424052e-02 3.12132333e-02 9.94631238e+00] [ 1.40276106e-02 9.99901368e-01 6.92923444e-04 1.50563981e-01] [-3.12198849e-02 -2.54670380e-04 9.99512508e-01 -4.36830917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430385723 meters 0.021019274716529368 Centerline is valid? [True, True] Translation: X:10.01, Y:0.16, Z:-0.44 [[ 9.99456481e-01 -1.16860057e-02 3.08249828e-02 1.00085102e+01] [ 1.16706795e-02 9.99931666e-01 6.77075510e-04 1.55328537e-01] [-3.08307888e-02 -3.16959011e-04 9.99524568e-01 -4.38748159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490385723000001 meters 0.021442574168786695 Centerline is valid? [True, True] Translation: X:10.07, Y:0.16, Z:-0.44 [[ 9.99353206e-01 -8.43269221e-03 3.49579596e-02 1.00700254e+01] [ 8.41131889e-03 9.99964337e-01 7.58424415e-04 1.55528782e-01] [-3.49631085e-02 -4.63891324e-04 9.99388496e-01 -4.38629626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550385723 meters 0.021741884453241492 Centerline is valid? [True, True] Translation: X:10.13, Y:0.16, Z:-0.44 [[ 9.99417780e-01 -6.70206734e-03 3.34542028e-02 1.01320341e+01] [ 6.68175342e-03 9.99977418e-01 7.18977840e-04 1.59481761e-01] [-3.34582660e-02 -4.95026503e-04 9.99439993e-01 -4.41026781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610385723 meters 0.021612934790237986 Centerline is valid? [True, True] Translation: X:10.19, Y:0.16, Z:-0.45 [[ 9.99398113e-01 -7.46805432e-03 3.38768270e-02 1.01943609e+01] [ 7.44793074e-03 9.99972004e-01 7.20176968e-04 1.58369294e-01] [-3.38812569e-02 -4.67431242e-04 9.99425756e-01 -4.46373660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670385723 meters 0.02151916083028419 Centerline is valid? [True, True] Translation: X:10.26, Y:0.16, Z:-0.44 [[ 9.99271804e-01 -8.76074354e-03 3.71363829e-02 1.02553726e+01] [ 8.73779752e-03 9.99961520e-01 7.80144154e-04 1.60003385e-01] [-3.71417885e-02 -4.55085861e-04 9.99309902e-01 -4.43992638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730385723 meters 0.020832440843484464 Centerline is valid? [True, True] Translation: X:10.32, Y:0.16, Z:-0.45 [[ 9.99361253e-01 -1.10669924e-02 3.39795218e-02 1.03179026e+01] [ 1.10493370e-02 9.99938704e-01 7.07329371e-04 1.56701814e-01] [-3.39852670e-02 -3.31426378e-04 9.99422279e-01 -4.50262172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790385723 meters 0.020793968307598856 Centerline is valid? [True, True] Translation: X:10.38, Y:0.16, Z:-0.45 [[ 9.99385729e-01 -1.27956745e-02 3.26256870e-02 1.03794076e+01] [ 1.27805656e-02 9.99918100e-01 6.71605244e-04 1.59380954e-01] [-3.26316086e-02 -2.54217962e-04 9.99467415e-01 -4.53323333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850385723 meters 0.020832251376262975 Centerline is valid? [True, True] Translation: X:10.44, Y:0.16, Z:-0.46 [[ 9.99339923e-01 -1.14451175e-02 3.44779309e-02 1.04420709e+01] [ 1.14277134e-02 9.99934455e-01 7.01815120e-04 1.55204783e-01] [-3.44837034e-02 -3.07347955e-04 9.99405213e-01 -4.58589951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910385723000001 meters 0.02092984227407806 Centerline is valid? [True, True] Translation: X:10.50, Y:0.17, Z:-0.45 [[ 9.99347476e-01 -9.71251766e-03 3.47892006e-02 1.05043959e+01] [ 9.69407629e-03 9.99952767e-01 6.98729217e-04 1.65599051e-01] [-3.47943438e-02 -3.61024115e-04 9.99394428e-01 -4.54402755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970385723 meters 0.020776727379474554 Centerline is valid? [True, True] Translation: X:10.57, Y:0.16, Z:-0.46 [[ 9.99206860e-01 -1.01636817e-02 3.85012983e-02 1.05672206e+01] [ 1.01418097e-02 9.99948279e-01 7.63357866e-04 1.62513161e-01] [-3.85070655e-02 -3.72279577e-04 9.99258259e-01 -4.56398704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030385723 meters 0.020367330723782173 Centerline is valid? [True, True] Translation: X:10.63, Y:0.16, Z:-0.46 [[ 9.99198007e-01 -1.49785905e-02 3.71346793e-02 1.06292975e+01] [ 1.49619342e-02 9.99887800e-01 7.26410860e-04 1.58629738e-01] [-3.71413934e-02 -1.70221655e-04 9.99310006e-01 -4.61025329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090385723 meters 0.020345892441454246 Centerline is valid? [True, True] Translation: X:10.69, Y:0.16, Z:-0.46 [[ 9.99249915e-01 -1.59466391e-02 3.52889808e-02 1.06924545e+01] [ 1.59324821e-02 9.99872837e-01 6.82364340e-04 1.63370752e-01] [-3.52953748e-02 -1.19611454e-04 9.99376917e-01 -4.63007039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150385723 meters 0.020372388036560215 Centerline is valid? [True, True] Translation: X:10.76, Y:0.16, Z:-0.47 [[ 9.99170545e-01 -1.47768764e-02 3.79455750e-02 1.07551260e+01] [ 1.47600854e-02 9.99890803e-01 7.22620969e-04 1.63921941e-01] [-3.79521095e-02 -1.61941661e-04 9.99279546e-01 -4.65037007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210385723 meters 0.020327894202237656 Centerline is valid? [True, True] Translation: X:10.82, Y:0.17, Z:-0.47 [[ 9.99065126e-01 -1.41133662e-02 4.08617936e-02 1.08163234e+01] [ 1.40938157e-02 9.99900383e-01 7.66499739e-04 1.68039391e-01] [-4.08685410e-02 -1.89884571e-04 9.99164514e-01 -4.65158809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270385723 meters 0.01994959654797619 Centerline is valid? [True, True] Translation: X:10.88, Y:0.17, Z:-0.47 [[ 9.99174515e-01 -1.65798608e-02 3.70863535e-02 1.08783901e+01] [ 1.65657312e-02 9.99862542e-01 6.88266330e-04 1.69988873e-01] [-3.70926670e-02 -7.33356119e-05 9.99311828e-01 -4.70133484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330385723000001 meters 0.02015075221785344 Centerline is valid? [True, True] Translation: X:10.94, Y:0.17, Z:-0.47 [[ 9.98977582e-01 -2.28183002e-02 3.90271058e-02 1.09407837e+01] [ 2.28077744e-02 9.99739613e-01 7.14973356e-04 1.66526892e-01] [-3.90332581e-02 1.75879070e-04 9.99237897e-01 -4.71233187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390385723 meters 0.020927979039662252 Centerline is valid? [True, True] Translation: X:11.00, Y:0.16, Z:-0.47 [[ 9.98731574e-01 -3.06896193e-02 3.99172846e-02 1.10032250e+01] [ 3.06852379e-02 9.99528836e-01 7.22582293e-04 1.64440152e-01] [-3.99206528e-02 5.03205623e-04 9.99202726e-01 -4.72339374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450385723 meters 0.02291966360144779 Centerline is valid? [True, True] Translation: X:11.06, Y:0.16, Z:-0.47 [[ 9.98461853e-01 -3.56826231e-02 4.24343942e-02 1.10647791e+01] [ 3.56823444e-02 9.99362890e-01 7.64230330e-04 1.58561791e-01] [-4.24346285e-02 7.51103836e-04 9.99098963e-01 -4.73028981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510385723 meters 0.022513201933955812 Centerline is valid? [True, True] Translation: X:11.13, Y:0.16, Z:-0.48 [[ 9.98341603e-01 -4.17339022e-02 3.96525437e-02 1.11269832e+01] [ 4.17387202e-02 9.99128310e-01 7.06695560e-04 1.61105684e-01] [-3.96474721e-02 9.49522849e-04 9.99213279e-01 -4.78811878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570385723 meters 0.02174938209419604 Centerline is valid? [True, True] Translation: X:11.19, Y:0.16, Z:-0.49 [[ 9.98592074e-01 -3.86164429e-02 3.63681321e-02 1.11892471e+01] [ 3.86185132e-02 9.99253818e-01 6.45809747e-04 1.63926477e-01] [-3.63659338e-02 7.59582696e-04 9.99338252e-01 -4.85622154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630385723 meters 0.021072575466363066 Centerline is valid? [True, True] Translation: X:11.25, Y:0.17, Z:-0.49 [[ 9.98714741e-01 -3.28515838e-02 3.85958492e-02 1.12506052e+01] [ 3.28499725e-02 9.99460065e-01 6.76092268e-04 1.66668822e-01] [-3.85972207e-02 5.92649269e-04 9.99254674e-01 -4.86150119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690385723 meters 0.02036250336655353 Centerline is valid? [True, True] Translation: X:11.31, Y:0.17, Z:-0.48 [[ 9.98771914e-01 -2.80609707e-02 4.08319220e-02 1.13126087e+01] [ 2.80552652e-02 9.99606119e-01 7.12849821e-04 1.74166748e-01] [-4.08358424e-02 4.33576022e-04 9.99165775e-01 -4.82844724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750385723 meters 0.01970769630431093 Centerline is valid? [True, True] Translation: X:11.37, Y:0.17, Z:-0.49 [[ 9.98896972e-01 -2.16330881e-02 4.16755171e-02 1.13740097e+01] [ 2.16219635e-02 9.99765960e-01 7.17717035e-04 1.73669706e-01] [-4.16812898e-02 1.84181135e-04 9.99130940e-01 -4.89295822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810385723 meters 0.019436022624874417 Centerline is valid? [True, True] Translation: X:11.44, Y:0.18, Z:-0.49 [[ 9.99173898e-01 -1.26995677e-02 3.86036492e-02 1.14363672e+01] [ 1.26836560e-02 9.99919343e-01 6.57073236e-04 1.80735317e-01] [-3.86088801e-02 -1.66895020e-04 9.99254385e-01 -4.93067409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870385723 meters 0.020569574616948597 Centerline is valid? [True, True] Translation: X:11.50, Y:0.19, Z:-0.49 [[ 9.99214075e-01 -3.06984099e-03 3.95197164e-02 1.14980490e+01] [ 3.04597918e-03 9.99995141e-01 6.63992692e-04 1.91246171e-01] [-3.95215627e-02 -5.43094611e-04 9.99218570e-01 -4.90545510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930385723 meters 0.020754589316185828 Centerline is valid? [True, True] Translation: X:11.56, Y:0.19, Z:-0.50 [[ 9.99283097e-01 2.27999919e-03 3.77901187e-02 1.15598651e+01] [-2.30549536e-03 9.99997143e-01 6.31114048e-04 1.88554643e-01] [-3.77885718e-02 -7.17786544e-04 9.99285499e-01 -4.97970776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990385723 meters 0.021108376826346177 Centerline is valid? [True, True] Translation: X:11.62, Y:0.19, Z:-0.50 [[ 9.99342529e-01 4.28911525e-03 3.60015625e-02 1.16218977e+01] [-4.31347259e-03 9.99990518e-01 5.98919209e-04 1.88049886e-01] [-3.59986522e-02 -7.53817190e-04 9.99351554e-01 -5.02785217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050385723 meters 0.025001753746825804 Centerline is valid? [True, True] Translation: X:11.68, Y:0.20, Z:-0.50 [[ 9.99233201e-01 9.05841007e-03 3.80914009e-02 1.16818529e+01] [-9.08879617e-03 9.99958501e-01 6.24622200e-04 1.99030118e-01] [-3.80841621e-02 -9.70348219e-04 9.99274064e-01 -4.98487708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110385723 meters 0.025299374422777864 Centerline is valid? [True, True] Translation: X:11.74, Y:0.19, Z:-0.50 [[ 9.99014892e-01 8.87814855e-03 4.34790080e-02 1.17434785e+01] [-8.91754046e-03 9.99959984e-01 7.12123604e-04 1.93969402e-01] [-4.34709458e-02 -1.09914790e-03 9.99054087e-01 -4.98023447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170385723 meters 0.02492369462564551 Centerline is valid? [True, True] Translation: X:11.81, Y:0.19, Z:-0.50 [[ 9.99006945e-01 7.97927370e-03 4.38344021e-02 1.18060206e+01] [-8.01819749e-03 9.99967600e-01 7.12221736e-04 1.91250394e-01] [-4.38272989e-02 -1.06298735e-03 9.99038557e-01 -5.00960812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230385723 meters 0.023924145141152417 Centerline is valid? [True, True] Translation: X:11.87, Y:0.19, Z:-0.51 [[ 9.99257148e-01 4.87417618e-03 3.82281967e-02 1.18666241e+01] [-4.90125387e-03 9.99987800e-01 6.14631320e-04 1.85035298e-01] [-3.82247345e-02 -8.01540837e-04 9.99268846e-01 -5.08818142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290385723 meters 0.021242159657599284 Centerline is valid? [True, True] Translation: X:11.93, Y:0.17, Z:-0.51 [[ 9.99218936e-01 1.59760798e-03 3.94837420e-02 1.19289641e+01] [-1.62386635e-03 9.99998481e-01 6.32980855e-04 1.73247089e-01] [-3.94826708e-02 -6.96602776e-04 9.99220013e-01 -5.11090792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350385723 meters 0.019651497713272792 Centerline is valid? [True, True] Translation: X:11.99, Y:0.16, Z:-0.52 [[ 9.99217443e-01 -3.09990042e-03 3.94321127e-02 1.19912998e+01] [ 3.07771019e-03 9.99995070e-01 6.23436633e-04 1.62521061e-01] [-3.94338508e-02 -5.01588144e-04 9.99222057e-01 -5.15387531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410385723 meters 0.019416342775617164 Centerline is valid? [True, True] Translation: X:12.05, Y:0.16, Z:-0.52 [[ 9.99304451e-01 -5.66546207e-03 3.68580677e-02 1.20535768e+01] [ 5.64811771e-03 9.99983884e-01 5.74680068e-04 1.61218100e-01] [-3.68607295e-02 -3.66101645e-04 9.99320345e-01 -5.18089332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470385723 meters 0.01927513399177292 Centerline is valid? [True, True] Translation: X:12.12, Y:0.16, Z:-0.52 [[ 9.99263901e-01 -7.71390205e-03 3.75786063e-02 1.21162100e+01] [ 7.69765220e-03 9.99970206e-01 5.77090566e-04 1.56965048e-01] [-3.75819383e-02 -2.87398729e-04 9.99293508e-01 -5.19437442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530385723 meters 0.019039617593662957 Centerline is valid? [True, True] Translation: X:12.18, Y:0.16, Z:-0.52 [[ 9.99193972e-01 -9.93955126e-03 3.88923087e-02 1.21786215e+01] [ 9.92418835e-03 9.99950581e-01 5.88056858e-04 1.55103052e-01] [-3.88962317e-02 -2.01608271e-04 9.99243235e-01 -5.20215240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590385723 meters 0.018738863404512335 Centerline is valid? [True, True] Translation: X:12.24, Y:0.15, Z:-0.52 [[ 9.99106050e-01 -1.39568164e-02 3.99037395e-02 1.22397198e+01] [ 1.39441988e-02 9.99902598e-01 5.94521013e-04 1.48962692e-01] [-3.99081504e-02 -3.75638646e-05 9.99203352e-01 -5.23094960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650385723 meters 0.01889977744295096 Centerline is valid? [True, True] Translation: X:12.30, Y:0.14, Z:-0.53 [[ 9.99036446e-01 -2.02080095e-02 3.89591649e-02 1.23016276e+01] [ 2.02009322e-02 9.99795775e-01 5.75346758e-04 1.43033904e-01] [-3.89628351e-02 2.12219068e-04 9.99240638e-01 -5.25844805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710385723 meters 0.019359165518100668 Centerline is valid? [True, True] Translation: X:12.36, Y:0.14, Z:-0.53 [[ 9.98916424e-01 -2.62640192e-02 3.84210839e-02 1.23641706e+01] [ 2.62619518e-02 9.99654939e-01 5.58589057e-04 1.37891267e-01] [-3.84224971e-02 4.51028871e-04 9.99261481e-01 -5.28483945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770385723 meters 0.019734266913990172 Centerline is valid? [True, True] Translation: X:12.43, Y:0.14, Z:-0.53 [[ 9.98899952e-01 -2.69738737e-02 3.83574793e-02 1.24251386e+01] [ 2.69726830e-02 9.99636020e-01 5.48628448e-04 1.35655085e-01] [-3.83583165e-02 4.86579196e-04 9.99263930e-01 -5.31085282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830385723000001 meters 0.019404056486344502 Centerline is valid? [True, True] Translation: X:12.49, Y:0.14, Z:-0.53 [[ 9.98933659e-01 -2.53365928e-02 3.85953535e-02 1.24873509e+01] [ 2.53344933e-02 9.99678882e-01 5.43552564e-04 1.38879047e-01] [-3.85967316e-02 4.34820773e-04 9.99254774e-01 -5.34471598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890385723 meters 0.01903909864404631 Centerline is valid? [True, True] Translation: X:12.55, Y:0.15, Z:-0.53 [[ 9.99005817e-01 -2.22196047e-02 3.86479749e-02 1.25496834e+01] [ 2.22155164e-02 9.99753062e-01 5.35287119e-04 1.47715961e-01] [-3.86503251e-02 3.23829775e-04 9.99252745e-01 -5.33381089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950385723 meters 0.018733198434402777 Centerline is valid? [True, True] Translation: X:12.61, Y:0.15, Z:-0.54 [[ 9.99121863e-01 -1.70253836e-02 3.82836659e-02 1.26121517e+01] [ 1.70179089e-02 9.99855049e-01 5.21131722e-04 1.51739874e-01] [-3.82869891e-02 1.30833844e-04 9.99266776e-01 -5.38699807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010385723 meters 0.018752951345170896 Centerline is valid? [True, True] Translation: X:12.68, Y:0.16, Z:-0.54 [[ 9.99259113e-01 -9.84188035e-03 3.72070153e-02 1.26754752e+01] [ 9.83016813e-03 9.99951559e-01 4.97715572e-04 1.60106300e-01] [-3.72101114e-02 -1.31595605e-04 9.99307455e-01 -5.43671226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070385723 meters 0.01929021222916682 Centerline is valid? [True, True] Translation: X:12.74, Y:0.17, Z:-0.54 [[ 9.99261778e-01 -4.07224298e-03 3.82009809e-02 1.27363049e+01] [ 4.05608384e-03 9.99991649e-01 5.00495488e-04 1.68991904e-01] [-3.82027000e-02 -3.45179630e-04 9.99269951e-01 -5.42909267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130385723 meters 0.01966665464386148 Centerline is valid? [True, True] Translation: X:12.80, Y:0.18, Z:-0.54 [[ 9.99225963e-01 3.34750830e-03 3.91952569e-02 1.27981474e+01] [-3.36990115e-03 9.99994194e-01 5.05261621e-04 1.77858050e-01] [-3.91933380e-02 -6.36954671e-04 9.99231443e-01 -5.42903257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190385723 meters 0.020213823424055127 Centerline is valid? [True, True] Translation: X:12.86, Y:0.18, Z:-0.55 [[ 9.99220573e-01 7.59508749e-03 3.87370725e-02 1.28597461e+01] [-7.62002777e-03 9.99970844e-01 4.96229179e-04 1.82147590e-01] [-3.87321742e-02 -7.91019973e-04 9.99249315e-01 -5.49013839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250385723 meters 0.020867809957496417 Centerline is valid? [True, True] Translation: X:12.92, Y:0.19, Z:-0.55 [[ 9.99271926e-01 1.07351853e-02 3.66111170e-02 1.29214921e+01] [-1.07592788e-02 9.99942011e-01 4.61130611e-04 1.86285182e-01] [-3.66040436e-02 -8.54704089e-04 9.99329482e-01 -5.52745650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310385723 meters 0.021808035169260994 Centerline is valid? [True, True] Translation: X:12.98, Y:0.19, Z:-0.55 [[ 9.99201767e-01 1.38882876e-02 3.74558969e-02 1.29827661e+01] [-1.39153995e-02 9.99903069e-01 4.63223178e-04 1.94525778e-01] [-3.74458329e-02 -9.84067189e-04 9.99298174e-01 -5.50805286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370385723 meters 0.02266419003825854 Centerline is valid? [True, True] Translation: X:13.04, Y:0.19, Z:-0.55 [[ 9.99091046e-01 1.66864618e-02 3.92255463e-02 1.30449887e+01] [-1.67180180e-02 9.99860131e-01 4.76582668e-04 1.94973095e-01] [-3.92121074e-02 -1.13192287e-03 9.99230268e-01 -5.54495049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430385723 meters 0.023190192099026754 Centerline is valid? [True, True] Translation: X:13.11, Y:0.20, Z:-0.56 [[ 9.99205545e-01 1.62098620e-02 3.64076845e-02 1.31058906e+01] [-1.62366429e-02 9.99868080e-01 4.40017222e-04 1.95337538e-01] [-3.63957490e-02 -1.03080622e-03 9.99336924e-01 -5.59913477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490385723 meters 0.022839457280038784 Centerline is valid? [True, True] Translation: X:13.17, Y:0.19, Z:-0.56 [[ 9.99199985e-01 1.42082100e-02 3.73833725e-02 1.31684838e+01] [-1.42347393e-02 9.99898583e-01 4.43573609e-04 1.94887424e-01] [-3.73732788e-02 -9.75361305e-04 9.99300899e-01 -5.60606567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550385723 meters 0.02231756479246614 Centerline is valid? [True, True] Translation: X:13.23, Y:0.19, Z:-0.56 [[ 9.99206716e-01 1.14273532e-02 3.81491038e-02 1.32310570e+01] [-1.14526319e-02 9.99934318e-01 4.44155465e-04 1.92584684e-01] [-3.81415225e-02 -8.80710768e-04 9.99271959e-01 -5.64405145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610385723 meters 0.02137696502015137 Centerline is valid? [True, True] Translation: X:13.29, Y:0.19, Z:-0.57 [[ 9.99207174e-01 6.48639245e-03 3.92804070e-02 1.32920361e+01] [-6.50925730e-03 9.99978711e-01 4.54227102e-04 1.91118782e-01] [-3.92766244e-02 -7.09553254e-04 9.99228124e-01 -5.66048653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670385723 meters 0.019531327763879343 Centerline is valid? [True, True] Translation: X:13.35, Y:0.18, Z:-0.57 [[ 9.99247806e-01 -1.55972996e-03 3.87477778e-02 1.33537413e+01] [ 1.54357687e-03 9.99998709e-01 4.46790626e-04 1.84634696e-01] [-3.87484247e-02 -3.86644379e-04 9.99248923e-01 -5.68532487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730385723 meters 0.01914754383315959 Centerline is valid? [True, True] Translation: X:13.41, Y:0.18, Z:-0.57 [[ 9.99214815e-01 -1.09975323e-02 3.80632027e-02 1.34148823e+01] [ 1.09888709e-02 9.99939525e-01 4.36763740e-04 1.77924124e-01] [-3.80657042e-02 -1.81491778e-05 9.99275238e-01 -5.73940988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790385723 meters 0.019644421506974326 Centerline is valid? [True, True] Translation: X:13.48, Y:0.17, Z:-0.58 [[ 9.99036074e-01 -2.03435237e-02 3.88981323e-02 1.34770610e+01] [ 2.03417824e-02 9.99792987e-01 4.40585459e-04 1.72318523e-01] [-3.88990430e-02 3.51096575e-04 9.99243084e-01 -5.76210843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850385723 meters 0.021157632347126688 Centerline is valid? [True, True] Translation: X:13.54, Y:0.17, Z:-0.58 [[ 9.98783125e-01 -3.01280714e-02 3.90457269e-02 1.35381186e+01] [ 3.01341256e-02 9.99545770e-01 4.33598944e-04 1.66257947e-01] [-3.90410546e-02 7.43537529e-04 9.99237331e-01 -5.77978144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910385723 meters 0.02253072252521486 Centerline is valid? [True, True] Translation: X:13.60, Y:0.16, Z:-0.58 [[ 9.98689332e-01 -3.38797788e-02 3.83637655e-02 1.35988901e+01] [ 3.38884146e-02 9.99425532e-01 4.25345519e-04 1.63003912e-01] [-3.83561374e-02 8.75299158e-04 9.99263749e-01 -5.80420254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970385723 meters 0.022783686180565126 Centerline is valid? [True, True] Translation: X:13.66, Y:0.16, Z:-0.59 [[ 9.98637990e-01 -3.59793706e-02 3.77842494e-02 1.36606912e+01] [ 3.59893090e-02 9.99352088e-01 4.17313142e-04 1.64163117e-01] [-3.77747832e-02 9.43084271e-04 9.99285833e-01 -5.85152446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030385723 meters 0.022995386865071125 Centerline is valid? [True, True] Translation: X:13.72, Y:0.16, Z:-0.59 [[ 9.98671414e-01 -3.58624466e-02 3.70039531e-02 1.37233293e+01] [ 3.58722149e-02 9.99356305e-01 4.00134192e-04 1.64368093e-01] [-3.69944837e-02 9.27811178e-04 9.99315039e-01 -5.88327072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090385722999997 meters 0.0221359915591088 Centerline is valid? [True, True] Translation: X:13.79, Y:0.17, Z:-0.59 [[ 9.98807135e-01 -3.43893878e-02 3.46652270e-02 1.37858827e+01] [ 3.43973748e-02 9.99408168e-01 3.66121707e-04 1.73384579e-01] [-3.46573017e-02 8.26707835e-04 9.99398913e-01 -5.88373334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150385723 meters 0.021070081863718254 Centerline is valid? [True, True] Translation: X:13.85, Y:0.18, Z:-0.59 [[ 9.98908396e-01 -2.87527805e-02 3.68143074e-02 1.38470116e+01] [ 2.87583059e-02 9.99586322e-01 3.79550352e-04 1.81407243e-01] [-3.68099913e-02 6.79581081e-04 9.99322052e-01 -5.88677877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210385722999998 meters 0.02011029037318736 Centerline is valid? [True, True] Translation: X:13.91, Y:0.18, Z:-0.60 [[ 9.99104648e-01 -2.31204271e-02 3.54308921e-02 1.39086982e+01] [ 2.31220464e-02 9.99732583e-01 3.64097755e-04 1.83756959e-01] [-3.54298354e-02 4.55462972e-04 9.99372063e-01 -5.95665551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270385722999997 meters 0.019797864200887784 Centerline is valid? [True, True] Translation: X:13.97, Y:0.19, Z:-0.59 [[ 9.99129779e-01 -1.74293864e-02 3.78932980e-02 1.39696947e+01] [ 1.74272364e-02 9.99848059e-01 3.87069847e-04 1.90500241e-01] [-3.78942869e-02 2.73642450e-04 9.99281716e-01 -5.92985796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330385723 meters 0.019271348336977225 Centerline is valid? [True, True] Translation: X:14.03, Y:0.19, Z:-0.60 [[ 9.99321415e-01 -8.04721806e-03 3.59437333e-02 1.40321545e+01] [ 8.03938702e-03 9.99967618e-01 3.62395968e-04 1.91918615e-01] [-3.59454856e-02 -7.31844692e-05 9.99353750e-01 -5.99436405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390385722999998 meters 0.019648622659147696 Centerline is valid? [True, True] Translation: X:14.09, Y:0.20, Z:-0.60 [[ 9.99378226e-01 1.27331612e-04 3.52582761e-02 1.40944857e+01] [-1.39654117e-04 9.99999930e-01 3.47030031e-04 1.98577672e-01] [-3.52582294e-02 -3.51738220e-04 9.99378173e-01 -5.99426574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450385722999997 meters 0.020653436689332526 Centerline is valid? [True, True] Translation: X:14.15, Y:0.20, Z:-0.60 [[ 9.99312189e-01 9.05320923e-03 3.59609276e-02 1.41541827e+01] [-9.07148620e-03 9.99958794e-01 3.45112155e-04 1.95303631e-01] [-3.59563214e-02 -6.71093841e-04 9.99353137e-01 -6.03604456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510385723 meters 0.022412640814015793 Centerline is valid? [True, True] Translation: X:14.21, Y:0.20, Z:-0.60 [[ 9.99215954e-01 1.71189266e-02 3.56990034e-02 1.42141656e+01] [-1.71419735e-02 9.99853008e-01 3.39594941e-04 1.98196294e-01] [-3.56879424e-02 -9.51280053e-04 9.99362530e-01 -6.02939473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570385722999998 meters 0.023435280295784545 Centerline is valid? [True, True] Translation: X:14.28, Y:0.20, Z:-0.60 [[ 9.99191124e-01 2.04396524e-02 3.46311826e-02 1.42761591e+01] [-2.04632569e-02 9.99790552e-01 3.27256883e-04 2.00716470e-01] [-3.46172402e-02 -1.03565896e-03 9.99400107e-01 -6.03570244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630385723 meters 0.02354543595068814 Centerline is valid? [True, True] Translation: X:14.34, Y:0.19, Z:-0.62 [[ 9.99278920e-01 2.00324119e-02 3.22543433e-02 1.43380001e+01] [-2.00526303e-02 9.99798880e-01 3.03455294e-04 1.85039262e-01] [-3.22417773e-02 -9.50020900e-04 9.99479647e-01 -6.15420337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690385723 meters 0.02166590489345336 Centerline is valid? [True, True] Translation: X:14.40, Y:0.19, Z:-0.61 [[ 9.99384782e-01 1.73384718e-02 3.04866328e-02 1.44006169e+01] [-1.73550867e-02 9.99849350e-01 2.80443176e-04 1.86013822e-01] [-3.04771776e-02 -8.09368797e-04 9.99535135e-01 -6.10153374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750385722999997 meters 0.022203456532219768 Centerline is valid? [True, True] Translation: X:14.46, Y:0.18, Z:-0.61 [[ 9.99263720e-01 1.74592192e-02 3.41642002e-02 1.44618258e+01] [-1.74798430e-02 9.99847169e-01 3.05056778e-04 1.77292954e-01] [-3.41536528e-02 -9.02017027e-04 9.99416187e-01 -6.12825177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810385723 meters 0.02155108541156865 Centerline is valid? [True, True] Translation: X:14.52, Y:0.18, Z:-0.62 [[ 9.99439181e-01 1.37898188e-02 3.05149856e-02 1.45236510e+01] [-1.38043570e-02 9.99904680e-01 2.65801042e-04 1.76005045e-01] [-3.05084116e-02 -6.86891732e-04 9.99534274e-01 -6.15870939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870385723 meters 0.01999120430021976 Centerline is valid? [True, True] Translation: X:14.59, Y:0.17, Z:-0.61 [[ 9.99447576e-01 9.55864339e-03 3.18304060e-02 1.45855844e+01] [-9.57224661e-03 9.99954147e-01 2.75006761e-04 1.73798624e-01] [-3.18263178e-02 -5.79543337e-04 9.99493246e-01 -6.14719740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930385722999997 meters 0.02033661853417366 Centerline is valid? [True, True] Translation: X:14.65, Y:0.17, Z:-0.62 [[ 9.99547253e-01 8.42222833e-03 2.88851996e-02 1.46474689e+01] [-8.43295890e-03 9.99964411e-01 2.49688661e-04 1.65463016e-01] [-2.88820686e-02 -4.93163316e-04 9.99582704e-01 -6.24028939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990385723 meters 0.02037757266043676 Centerline is valid? [True, True] Translation: X:14.71, Y:0.18, Z:-0.62 [[ 9.99527140e-01 9.10971228e-03 2.93685098e-02 1.47105520e+01] [-9.12088294e-03 9.99958374e-01 2.46419260e-04 1.75934281e-01] [-2.93650425e-02 -5.14169478e-04 9.99568622e-01 -6.17923159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050385722999998 meters 0.021092248525174388 Centerline is valid? [True, True] Translation: X:14.77, Y:0.17, Z:-0.62 [[ 9.99507357e-01 1.25200965e-02 2.87800190e-02 1.47729143e+01] [-1.25319831e-02 9.99921445e-01 2.32671865e-04 1.74408786e-01] [-2.87748451e-02 -5.93227952e-04 9.99585742e-01 -6.24940427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110385722999997 meters 0.02090449573960834 Centerline is valid? [True, True] Translation: X:14.84, Y:0.17, Z:-0.63 [[ 9.99470480e-01 1.37892425e-02 2.94722892e-02 1.48350314e+01] [-1.38022341e-02 9.99904716e-01 2.37406487e-04 1.69439623e-01] [-2.94662073e-02 -6.44064211e-04 9.99565570e-01 -6.25759134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170385723 meters 0.02137246004223329 Centerline is valid? [True, True] Translation: X:14.90, Y:0.17, Z:-0.62 [[ 9.99405504e-01 1.54941183e-02 3.07988831e-02 1.48975713e+01] [-1.55088800e-02 9.99879701e-01 2.40452601e-04 1.72607258e-01] [-3.07914524e-02 -7.17965835e-04 9.99525573e-01 -6.24806666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230385722999998 meters 0.02166415592987718 Centerline is valid? [True, True] Translation: X:14.96, Y:0.16, Z:-0.63 [[ 9.99435884e-01 1.58836314e-02 2.95909613e-02 1.49600256e+01] [-1.58972371e-02 9.99873606e-01 2.24577363e-04 1.64722592e-01] [-2.95836540e-02 -6.94865203e-04 9.99562066e-01 -6.29264074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290385723 meters 0.020714772787914584 Centerline is valid? [True, True] Translation: X:15.02, Y:0.16, Z:-0.63 [[ 9.99369289e-01 1.74135961e-02 3.09482049e-02 1.50218941e+01] [-1.74289468e-02 9.99848079e-01 2.26300014e-04 1.61759687e-01] [-3.09395625e-02 -7.65551901e-04 9.99520964e-01 -6.27580726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350385723 meters 0.02108053499506274 Centerline is valid? [True, True] Translation: X:15.08, Y:0.16, Z:-0.63 [[ 9.99440632e-01 1.86984722e-02 2.77270639e-02 1.50834445e+01] [-1.87112190e-02 9.99824910e-01 2.00319660e-04 1.58229286e-01] [-2.77184635e-02 -7.19014774e-04 9.99615511e-01 -6.33742359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410385722999997 meters 0.02122405235369089 Centerline is valid? [True, True] Translation: X:15.15, Y:0.16, Z:-0.64 [[ 9.99414571e-01 1.82903527e-02 2.89132806e-02 1.51456203e+01] [-1.83038494e-02 9.99832450e-01 2.02176966e-04 1.56189663e-01] [-2.89047383e-02 -7.31282940e-04 9.99581903e-01 -6.35497392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470385723 meters 0.020821192102158482 Centerline is valid? [True, True] Translation: X:15.21, Y:0.16, Z:-0.64 [[ 9.99428766e-01 1.57439833e-02 2.99043245e-02 1.52083700e+01] [-1.57570332e-02 9.99875830e-01 2.00770318e-04 1.56053236e-01] [-2.98974503e-02 -6.71859064e-04 9.99552746e-01 -6.35583956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530385723 meters 0.0205084004836005 Centerline is valid? [True, True] Translation: X:15.27, Y:0.15, Z:-0.64 [[ 9.99469520e-01 1.33389459e-02 2.97111412e-02 1.52695393e+01] [-1.33507015e-02 9.99910856e-01 1.97313599e-04 1.49047257e-01] [-2.97058607e-02 -5.93873505e-04 9.99558507e-01 -6.40613869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590385722999997 meters 0.0208259992199789 Centerline is valid? [True, True] Translation: X:15.33, Y:0.15, Z:-0.64 [[ 9.99473759e-01 1.40557731e-02 2.92342288e-02 1.53308925e+01] [-1.40673653e-02 9.99901032e-01 1.90889830e-04 1.49709935e-01] [-2.92286524e-02 -6.02037951e-04 9.99572570e-01 -6.42457389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650385723 meters 0.02035245088970102 Centerline is valid? [True, True] Translation: X:15.39, Y:0.14, Z:-0.64 [[ 9.99400063e-01 1.70494964e-02 3.01467831e-02 1.53928535e+01] [-1.70629913e-02 9.99854398e-01 1.90423622e-04 1.44513441e-01] [-3.01391471e-02 -7.04703678e-04 9.99545464e-01 -6.43175029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710385722999998 meters 0.019831553286200496 Centerline is valid? [True, True] Translation: X:15.46, Y:0.14, Z:-0.65 [[ 9.99482251e-01 1.32320907e-02 2.93281843e-02 1.54554315e+01] [-1.32429897e-02 9.99912292e-01 1.77408140e-04 1.40635688e-01] [-2.93232645e-02 -5.65709130e-04 9.99569821e-01 -6.47381676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770385722999997 meters 0.018970833030454687 Centerline is valid? [True, True] Translation: X:15.52, Y:0.14, Z:-0.65 [[ 9.99556978e-01 7.12074402e-03 2.88988316e-02 1.55156747e+01] [-7.12868918e-03 9.99974576e-01 1.71911081e-04 1.39002215e-01] [-2.88968727e-02 -3.77845709e-04 9.99582327e-01 -6.48677977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830385723 meters 0.018344118696854202 Centerline is valid? [True, True] Translation: X:15.58, Y:0.13, Z:-0.65 [[ 9.99585082e-01 2.27024854e-03 2.87142636e-02 1.55782566e+01] [-2.27609279e-03 9.99997395e-01 1.70847924e-04 1.31600736e-01] [-2.87138009e-02 -2.36133365e-04 9.99587646e-01 -6.52854396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890385722999998 meters 0.01812505219218634 Centerline is valid? [True, True] Translation: X:15.64, Y:0.13, Z:-0.65 [[ 9.99566786e-01 -4.52115885e-03 2.90826255e-02 1.56392444e+01] [ 4.51808447e-03 9.99989779e-01 1.71424010e-04 1.32095939e-01] [-2.90831032e-02 -3.99519883e-05 9.99576996e-01 -6.53997560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950385722999997 meters 0.01805357531917242 Centerline is valid? [True, True] Translation: X:15.70, Y:0.13, Z:-0.66 [[ 9.99535796e-01 -9.23084973e-03 2.90341757e-02 1.57021250e+01] [ 9.22994823e-03 9.99957389e-01 1.65072237e-04 1.28270472e-01] [-2.90344623e-02 1.02988329e-04 9.99578406e-01 -6.56657769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010385723 meters 0.01831233398681582 Centerline is valid? [True, True] Translation: X:15.76, Y:0.12, Z:-0.66 [[ 9.99400314e-01 -1.41832312e-02 3.15887285e-02 1.57641763e+01] [ 1.41849439e-02 9.99899374e-01 1.69892061e-04 1.22072764e-01] [-3.15879595e-02 2.78294162e-04 9.99500937e-01 -6.58132362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070385722999998 meters 0.0184755889941974 Centerline is valid? [True, True] Translation: X:15.83, Y:0.13, Z:-0.66 [[ 9.99374837e-01 -1.69191336e-02 3.10431605e-02 1.58265062e+01] [ 1.69223358e-02 9.99856794e-01 1.59587212e-04 1.30014629e-01] [-3.10414150e-02 3.65835341e-04 9.99518032e-01 -6.55888544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130385723 meters 0.019207936257210748 Centerline is valid? [True, True] Translation: X:15.89, Y:0.12, Z:-0.66 [[ 9.99319473e-01 -1.88687264e-02 3.16948234e-02 1.58873621e+01] [ 1.88733172e-02 9.99821871e-01 1.54346568e-04 1.23769605e-01] [-3.16920899e-02 4.43944923e-04 9.99497581e-01 -6.63866087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190385723 meters 0.01889764570615862 Centerline is valid? [True, True] Translation: X:15.95, Y:0.13, Z:-0.67 [[ 9.99324615e-01 -1.92721765e-02 3.12873227e-02 1.59506776e+01] [ 1.92769550e-02 9.99814171e-01 1.48927405e-04 1.26808163e-01] [-3.12843788e-02 4.54297491e-04 9.99510421e-01 -6.67197278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250385722999997 meters 0.01813880571807236 Centerline is valid? [True, True] Translation: X:16.01, Y:0.14, Z:-0.66 [[ 9.99395461e-01 -1.29445357e-02 3.22668647e-02 1.60132861e+01] [ 1.29466245e-02 9.99916179e-01 1.44197890e-04 1.43287720e-01] [-3.22660266e-02 2.73636265e-04 9.99479279e-01 -6.63167452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310385723 meters 0.017660405802621078 Centerline is valid? [True, True] Translation: X:16.08, Y:0.15, Z:-0.67 [[ 9.99505778e-01 -4.97067180e-03 3.10401653e-02 1.60757379e+01] [ 4.96901056e-03 9.99987646e-01 1.30657276e-04 1.47673256e-01] [-3.10404313e-02 2.36462071e-05 9.99518129e-01 -6.69080481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370385723 meters 0.017611852188510912 Centerline is valid? [True, True] Translation: X:16.14, Y:0.16, Z:-0.67 [[ 9.99542108e-01 4.01891854e-04 3.02557981e-02 1.61374381e+01] [-4.05878383e-04 9.99999910e-01 1.25619475e-04 1.60336124e-01] [-3.02557449e-02 -1.37842129e-04 9.99542181e-01 -6.70816688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430385722999997 meters 0.018075312009642342 Centerline is valid? [True, True] Translation: X:16.20, Y:0.17, Z:-0.68 [[ 9.99462378e-01 8.51722470e-03 3.16609037e-02 1.61998765e+01] [-8.52540038e-03 9.99963651e-01 1.23238195e-04 1.69902786e-01] [-3.16587032e-02 -3.93093820e-04 9.99498660e-01 -6.75133513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490385723 meters 0.01887358578991751 Centerline is valid? [True, True] Translation: X:16.26, Y:0.18, Z:-0.68 [[ 9.99479741e-01 1.41562514e-02 2.89801215e-02 1.62618031e+01] [-1.41654181e-02 9.99899659e-01 1.11022873e-04 1.82144250e-01] [-2.89756420e-02 -5.21480651e-04 9.99579982e-01 -6.78602495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550385722999998 meters 0.018778517137412912 Centerline is valid? [True, True] Translation: X:16.32, Y:0.19, Z:-0.68 [[ 9.99463778e-01 1.40268300e-02 2.95872448e-02 1.63242940e+01] [-1.40362996e-02 9.99901480e-01 1.12377747e-04 1.93817474e-01] [-2.95827535e-02 -5.27612920e-04 9.99562195e-01 -6.78031600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610385722999997 meters 0.018008029430257092 Centerline is valid? [True, True] Translation: X:16.39, Y:0.19, Z:-0.68 [[ 9.99454523e-01 1.02805130e-02 3.13841807e-02 1.63861425e+01] [-1.02890729e-02 9.99947060e-01 1.11256906e-04 1.93281548e-01] [-3.13813755e-02 -4.34110343e-04 9.99507389e-01 -6.82400003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670385723 meters 0.017633734078873857 Centerline is valid? [True, True] Translation: X:16.45, Y:0.20, Z:-0.69 [[ 9.99502239e-01 4.12069793e-03 3.12776983e-02 1.64476840e+01] [-4.12594570e-03 9.99991483e-01 1.03240865e-04 1.98832123e-01] [-3.12770064e-02 -2.32239561e-04 9.99510728e-01 -6.86139233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730385722999998 meters 0.01736192687111525 Centerline is valid? [True, True] Translation: X:16.51, Y:0.21, Z:-0.69 [[ 9.99559116e-01 -3.35727103e-03 2.95008723e-02 1.65100150e+01] [ 3.35605403e-03 9.99994364e-01 9.07669623e-05 2.05620212e-01] [-2.95010108e-02 8.27957686e-06 9.99564750e-01 -6.85236543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790385722999996 meters 0.018021103342008397 Centerline is valid? [True, True] Translation: X:16.57, Y:0.20, Z:-0.69 [[ 9.99404764e-01 -1.32768498e-02 3.18408970e-02 1.65715131e+01] [ 1.32807475e-02 9.99911803e-01 8.90829953e-05 2.02723300e-01] [-3.18392715e-02 3.33840943e-04 9.99492946e-01 -6.86426764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850385723 meters 0.020165091749746244 Centerline is valid? [True, True] Translation: X:16.63, Y:0.20, Z:-0.69 [[ 9.99102710e-01 -2.39266913e-02 3.49469308e-02 1.66328587e+01] [ 2.39380707e-02 9.99713439e-01 9.28141913e-05 1.95948570e-01] [-3.49391371e-02 7.43831189e-04 9.99389165e-01 -6.89087942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910385722999997 meters 0.02194255194376413 Centerline is valid? [True, True] Translation: X:16.69, Y:0.19, Z:-0.69 [[ 9.98930674e-01 -3.21682267e-02 3.32071248e-02 1.66938046e+01] [ 3.21830853e-02 9.99481987e-01 8.70894411e-05 1.93661589e-01] [-3.31927246e-02 9.81711418e-04 9.99448488e-01 -6.91752144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970385723 meters 0.02137990844572616 Centerline is valid? [True, True] Translation: X:16.76, Y:0.20, Z:-0.69 [[ 9.98957244e-01 -3.30840460e-02 3.14622163e-02 1.67558240e+01] [ 3.30978191e-02 9.99452114e-01 8.30700067e-05 1.95172581e-01] [-3.14477268e-02 9.58347359e-04 9.99504938e-01 -6.93777269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030385723 meters 0.020440783356586324 Centerline is valid? [True, True] Translation: X:16.82, Y:0.20, Z:-0.70 [[ 9.99150266e-01 -2.81825440e-02 3.00747556e-02 1.68169462e+01] [ 2.81931603e-02 9.99602491e-01 7.10731927e-05 1.95208998e-01] [-3.00648036e-02 7.76889606e-04 9.99547650e-01 -6.99987979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090385722999997 meters 0.019563643955228808 Centerline is valid? [True, True] Translation: X:16.88, Y:0.20, Z:-0.70 [[ 9.99315860e-01 -2.36725693e-02 2.84151623e-02 1.68781617e+01] [ 2.36802502e-02 9.99719581e-01 6.62131524e-05 1.97218227e-01] [-2.84087616e-02 6.06710300e-04 9.99596206e-01 -7.04632693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150385723 meters 0.018687541038178965 Centerline is valid? [True, True] Translation: X:16.94, Y:0.20, Z:-0.70 [[ 9.99403203e-01 -1.78580991e-02 2.95690212e-02 1.69401274e+01] [ 1.78639023e-02 9.99840425e-01 6.79168211e-05 2.01844048e-01] [-2.95655156e-02 4.60341816e-04 9.99562739e-01 -7.03355521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210385722999998 meters 0.017521262806897166 Centerline is valid? [True, True] Translation: X:17.00, Y:0.20, Z:-0.71 [[ 9.99440889e-01 -8.28217014e-03 3.23931330e-02 1.70005148e+01] [ 8.28417194e-03 9.99965683e-01 7.24152301e-05 2.01411734e-01] [-3.23926211e-02 1.95975541e-04 9.99475202e-01 -7.07413024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270385722999997 meters 0.017269286818011445 Centerline is valid? [True, True] Translation: X:17.06, Y:0.21, Z:-0.71 [[ 9.99533135e-01 2.20274917e-03 3.04739253e-02 1.70632294e+01] [-2.20587844e-03 9.99997565e-01 6.90684032e-05 2.08596168e-01] [-3.04736990e-02 -1.36257932e-04 9.99535560e-01 -7.08527323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330385723 meters 0.017999982462752202 Centerline is valid? [True, True] Translation: X:17.12, Y:0.22, Z:-0.71 [[ 9.99467779e-01 1.11598074e-02 3.06531906e-02 1.71241695e+01] [-1.11668981e-02 9.99937646e-01 6.01355289e-05 2.16337643e-01] [-3.06506081e-02 -4.02404580e-04 9.99530079e-01 -7.08107408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390385722999998 meters 0.018399723449504357 Centerline is valid? [True, True] Translation: X:17.19, Y:0.21, Z:-0.72 [[ 9.99367054e-01 1.73402748e-02 3.10613367e-02 1.71856412e+01] [-1.73504284e-02 9.99849468e-01 5.73713152e-05 2.07820542e-01] [-3.10556661e-02 -5.96262502e-04 9.99517479e-01 -7.15900711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450385722999997 meters 0.018821053186924352 Centerline is valid? [True, True] Translation: X:17.25, Y:0.21, Z:-0.71 [[ 9.99353383e-01 1.86217768e-02 3.07578593e-02 1.72469913e+01] [-1.86322483e-02 9.99826403e-01 5.38463628e-05 2.13462756e-01] [-3.07515171e-02 -6.26899616e-04 9.99526864e-01 -7.13851267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510385723 meters 0.01844651038765152 Centerline is valid? [True, True] Translation: X:17.31, Y:0.21, Z:-0.71 [[ 9.99270925e-01 1.82547834e-02 3.35317951e-02 1.73095539e+01] [-1.82667539e-02 9.99833148e-01 5.06525116e-05 2.11789865e-01] [-3.35252755e-02 -6.63132629e-04 9.99437650e-01 -7.12044462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570385722999998 meters 0.017699861844132362 Centerline is valid? [True, True] Translation: X:17.37, Y:0.20, Z:-0.72 [[ 9.99317579e-01 1.07748983e-02 3.53309873e-02 1.73702048e+01] [-1.07831951e-02 9.99941859e-01 4.42836808e-05 1.97837155e-01] [-3.53284560e-02 -4.25234390e-04 9.99375665e-01 -7.17965492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630385723 meters 0.01702638904143638 Centerline is valid? [True, True] Translation: X:17.43, Y:0.20, Z:-0.72 [[ 9.99507692e-01 -8.08501741e-04 3.13643093e-02 1.74324893e+01] [ 8.07664937e-04 9.99999673e-01 3.93491604e-05 1.98100818e-01] [-3.13643309e-02 -1.39979356e-05 9.99508018e-01 -7.16514209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690385723 meters 0.017400706720030124 Centerline is valid? [True, True] Translation: X:17.49, Y:0.19, Z:-0.72 [[ 9.99447133e-01 -9.15450383e-03 3.19628332e-02 1.74930647e+01] [ 9.15816798e-03 9.99958063e-01 3.17612059e-05 1.86321872e-01] [-3.19617835e-02 2.60977349e-04 9.99489058e-01 -7.21708976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750385722999997 meters 0.018894912219554742 Centerline is valid? [True, True] Translation: X:17.56, Y:0.18, Z:-0.72 [[ 9.99242457e-01 -1.63411189e-02 3.53196857e-02 1.75550261e+01] [ 1.63502423e-02 9.99866325e-01 3.05271822e-05 1.79069618e-01] [-3.53154632e-02 5.46981362e-04 9.99376065e-01 -7.21034148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810385723 meters 0.019654853339757698 Centerline is valid? [True, True] Translation: X:17.62, Y:0.18, Z:-0.72 [[ 9.99167235e-01 -2.49338780e-02 3.22976589e-02 1.76159515e+01] [ 2.49462134e-02 9.99688795e-01 2.10362145e-05 1.82668001e-01] [-3.22881322e-02 7.84685594e-04 9.99478294e-01 -7.21614485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870385723 meters 0.020952426465195816 Centerline is valid? [True, True] Translation: X:17.68, Y:0.17, Z:-0.73 [[ 9.99035944e-01 -3.06551986e-02 3.14235708e-02 1.76770911e+01] [ 3.06697432e-02 9.99529573e-01 1.91472016e-05 1.74541392e-01] [-3.14093752e-02 9.44624104e-04 9.99506157e-01 -7.27580460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930385722999997 meters 0.022119951309719853 Centerline is valid? [True, True] Translation: X:17.74, Y:0.17, Z:-0.73 [[ 9.98944844e-01 -3.31709658e-02 3.17629699e-02 1.77394363e+01] [ 3.31871280e-02 9.99449155e-01 1.83671271e-05 1.73706917e-01] [-3.17460827e-02 1.03577400e-03 9.99495429e-01 -7.27011877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990385723 meters 0.02235589017342507 Centerline is valid? [True, True] Translation: X:17.80, Y:0.18, Z:-0.73 [[ 9.98973841e-01 -3.20493245e-02 3.20016685e-02 1.78005929e+01] [ 3.20652199e-02 9.99485778e-01 1.65045737e-05 1.80526996e-01] [-3.19857415e-02 1.00965290e-03 9.99487815e-01 -7.27372192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050385722999998 meters 0.021535925383426982 Centerline is valid? [True, True] Translation: X:17.86, Y:0.18, Z:-0.73 [[ 9.99060978e-01 -2.89428999e-02 3.22408316e-02 1.78618024e+01] [ 2.89575765e-02 9.99580641e-01 1.17173851e-05 1.80778610e-01] [-3.22276503e-02 9.21909965e-04 9.99480129e-01 -7.33533788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110385722999997 meters 0.02100369783647544 Centerline is valid? [True, True] Translation: X:17.92, Y:0.19, Z:-0.73 [[ 9.99148131e-01 -2.59101065e-02 3.21197675e-02 1.79242742e+01] [ 2.59231170e-02 9.99663939e-01 1.13711370e-05 1.85518415e-01] [-3.21092679e-02 8.21283040e-04 9.99484027e-01 -7.34862182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170385723 meters 0.018803327961761224 Centerline is valid? [True, True] Translation: X:17.98, Y:0.20, Z:-0.74 [[ 9.99531613e-01 -1.40163476e-02 2.72047270e-02 1.79841812e+01] [ 1.40214724e-02 9.99901694e-01 2.37992266e-06 2.03388032e-01] [-2.72020860e-02 3.79071522e-04 9.99629883e-01 -7.36861923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230385722999998 meters 0.017907436228266706 Centerline is valid? [True, True] Translation: X:18.04, Y:0.21, Z:-0.74 [[ 9.99595316e-01 -5.02077758e-03 2.79999195e-02 1.80447846e+01] [ 5.02267458e-03 9.99987386e-01 2.58105266e-06 2.13481738e-01] [-2.79995793e-02 1.38054476e-04 9.99607925e-01 -7.38247290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290385722999996 meters 0.01773149116537536 Centerline is valid? [True, True] Translation: X:18.11, Y:0.22, Z:-0.74 [[ 9.99462616e-01 1.95103558e-03 3.27211391e-02 1.81068440e+01] [-1.95216443e-03 9.99998095e-01 2.55205125e-06 2.19011140e-01] [-3.27210718e-02 -6.64277236e-05 9.99464520e-01 -7.37704630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350385723 meters 0.017806021088792656 Centerline is valid? [True, True] Translation: X:18.17, Y:0.22, Z:-0.74 [[ 9.99440108e-01 4.94502623e-03 3.30910317e-02 1.81698610e+01] [-4.94776684e-03 9.99987760e-01 9.34415616e-07 2.23227551e-01] [-3.30906220e-02 -1.64660602e-04 9.99452342e-01 -7.35834867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410385722999997 meters 0.017971217197811085 Centerline is valid? [True, True] Translation: X:18.23, Y:0.22, Z:-0.74 [[ 9.99528471e-01 5.33982734e-03 3.02377636e-02 1.82317089e+01] [-5.34206396e-03 9.99985731e-01 -6.81700633e-06 2.20992491e-01] [-3.02373685e-02 -1.54718275e-04 9.99542734e-01 -7.40917362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470385723 meters 0.018180907415857886 Centerline is valid? [True, True] Translation: X:18.29, Y:0.22, Z:-0.74 [[ 9.99555868e-01 7.41029005e-03 2.88643962e-02 1.82942930e+01] [-7.41300648e-03 9.99972523e-01 -1.28982285e-05 2.19902187e-01] [-2.88636987e-02 -2.01079456e-04 9.99583336e-01 -7.43976094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530385723 meters 0.01877538026074807 Centerline is valid? [True, True] Translation: X:18.36, Y:0.22, Z:-0.74 [[ 9.99508963e-01 1.07596896e-02 2.94289193e-02 1.83563317e+01] [-1.07637177e-02 9.99942069e-01 -2.15432852e-05 2.21876388e-01] [-2.94274463e-02 -2.95231873e-04 9.99566875e-01 -7.44174942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590385722999997 meters 0.020182549138887798 Centerline is valid? [True, True] Translation: X:18.42, Y:0.22, Z:-0.75 [[ 9.99364028e-01 2.07154443e-02 2.90242877e-02 1.84169349e+01] [-2.07234914e-02 9.99785245e-01 -2.35545591e-05 2.22549974e-01] [-2.90185425e-02 -5.77944998e-04 9.99578706e-01 -7.47513437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650385723 meters 0.022244446043471793 Centerline is valid? [True, True] Translation: X:18.48, Y:0.23, Z:-0.75 [[ 9.99240888e-01 2.58016278e-02 2.91877264e-02 1.84781418e+01] [-2.58119598e-02 9.99666816e-01 -2.27999622e-05 2.28473913e-01] [-2.91785898e-02 -7.30609767e-04 9.99573947e-01 -7.47520753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710385722999998 meters 0.02262913896324618 Centerline is valid? [True, True] Translation: X:18.54, Y:0.22, Z:-0.75 [[ 9.99140324e-01 2.58876100e-02 3.23797028e-02 1.85395059e+01] [-2.59001118e-02 9.99664535e-01 -3.33383416e-05 2.23846382e-01] [-3.23697036e-02 -8.05328243e-04 9.99475639e-01 -7.47141804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770385722999997 meters 0.020622998275094905 Centerline is valid? [True, True] Translation: X:18.60, Y:0.21, Z:-0.75 [[ 9.99224710e-01 2.13112116e-02 3.31030399e-02 1.86004931e+01] [-2.13215168e-02 9.99772670e-01 -4.17036475e-05 2.11588261e-01] [-3.30964033e-02 -6.64135704e-04 9.99451943e-01 -7.49570182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830385723 meters 0.01969881685065905 Centerline is valid? [True, True] Translation: X:18.66, Y:0.20, Z:-0.75 [[ 9.99431574e-01 1.33845056e-02 3.09416212e-02 1.86616552e+01] [-1.33896800e-02 9.99910353e-01 -3.99719953e-05 2.03135946e-01] [-3.09393824e-02 -3.74349131e-04 9.99521193e-01 -7.52723558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890385722999998 meters 0.019210410980622553 Centerline is valid? [True, True] Translation: X:18.72, Y:0.19, Z:-0.76 [[ 9.99498748e-01 7.02621943e-03 3.08688424e-02 1.87242222e+01] [-7.02831288e-03 9.99975300e-01 -4.06869208e-05 1.92455577e-01] [-3.08683658e-02 -1.76289356e-04 9.99523443e-01 -7.55474756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950385722999997 meters 0.018992885708503583 Centerline is valid? [True, True] Translation: X:18.79, Y:0.19, Z:-0.76 [[ 9.99623086e-01 -1.21374574e-03 2.74265032e-02 1.87852027e+01] [ 1.21521773e-03 9.99999261e-01 -3.70027548e-05 1.85108629e-01] [-2.74264380e-02 7.03179809e-05 9.99623822e-01 -7.58465832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010385723 meters 0.019454784426529925 Centerline is valid? [True, True] Translation: X:18.85, Y:0.18, Z:-0.76 [[ 9.99523907e-01 -7.96309948e-03 2.98085258e-02 1.88473388e+01] [ 7.96805246e-03 9.99968253e-01 -4.73772241e-05 1.77798145e-01] [-2.98072022e-02 2.84870565e-04 9.99555626e-01 -7.59112578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070385722999998 meters 0.0193085570174047 Centerline is valid? [True, True] Translation: X:18.91, Y:0.17, Z:-0.76 [[ 9.99386074e-01 -7.45440742e-03 3.42331263e-02 1.89094162e+01] [ 7.46095480e-03 9.99972165e-01 -6.35172643e-05 1.73674455e-01] [-3.42316999e-02 3.18890077e-04 9.99413873e-01 -7.59105823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130385722999996 meters 0.01922799297599674 Centerline is valid? [True, True] Translation: X:18.97, Y:0.18, Z:-0.76 [[ 9.99506699e-01 -5.18637009e-03 3.09751651e-02 1.89730112e+01] [ 5.19084274e-03 9.99986525e-01 -6.39832853e-05 1.80358904e-01] [-3.09744159e-02 2.24738933e-04 9.99520152e-01 -7.59779834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190385723 meters 0.018977613723536537 Centerline is valid? [True, True] Translation: X:19.04, Y:0.18, Z:-0.76 [[ 9.99438515e-01 -2.39121320e-03 3.34205932e-02 1.90356727e+01] [ 2.39519359e-03 9.99997128e-01 -7.90647451e-05 1.79215103e-01] [-3.34203082e-02 1.59069142e-04 9.99441373e-01 -7.62114274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250385722999997 meters 0.018956476490464093 Centerline is valid? [True, True] Translation: X:19.10, Y:0.18, Z:-0.77 [[ 9.99465775e-01 -1.77986452e-04 3.26823117e-02 1.90990803e+01] [ 1.80849470e-04 9.99999980e-01 -8.46453776e-05 1.77346207e-01] [-3.26822960e-02 9.05107366e-05 9.99465787e-01 -7.66235405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310385723 meters 0.018926975526381964 Centerline is valid? [True, True] Translation: X:19.16, Y:0.19, Z:-0.77 [[ 9.99520349e-01 1.89542219e-03 3.09108272e-02 1.91608770e+01] [-1.89359217e-03 9.99998203e-01 -8.84764991e-05 1.85312333e-01] [-3.09109394e-02 2.99015609e-05 9.99522142e-01 -7.66220253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370385723 meters 0.018923105552399448 Centerline is valid? [True, True] Translation: X:19.22, Y:0.18, Z:-0.77 [[ 9.99461223e-01 6.02981311e-03 3.22630699e-02 1.92231535e+01] [-6.02968191e-03 9.99981816e-01 -1.01360788e-04 1.81769189e-01] [-3.22630944e-02 -9.32298713e-05 9.99479407e-01 -7.71411536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430385722999997 meters 0.019054794836422667 Centerline is valid? [True, True] Translation: X:19.29, Y:0.19, Z:-0.77 [[ 9.99338890e-01 7.38736673e-03 3.55978802e-02 1.92859760e+01] [-7.38770496e-03 9.99972703e-01 -1.22035319e-04 1.85440108e-01] [-3.55978100e-02 -1.41031996e-04 9.99366187e-01 -7.68808799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490385723 meters 0.019008629490390977 Centerline is valid? [True, True] Translation: X:19.35, Y:0.18, Z:-0.77 [[ 9.99351003e-01 4.95767286e-03 3.56790408e-02 1.93491263e+01] [-4.95611603e-03 9.99987710e-01 -1.32077527e-04 1.82599485e-01] [-3.56792571e-02 -4.48376565e-05 9.99363292e-01 -7.71575636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550385722999998 meters 0.019075439832060982 Centerline is valid? [True, True] Translation: X:19.41, Y:0.18, Z:-0.78 [[ 9.99397145e-01 1.55389174e-03 3.46832956e-02 1.94116359e+01] [-1.55004866e-03 9.99998789e-01 -1.37693033e-04 1.76591651e-01] [-3.46834675e-02 8.38492278e-05 9.99398344e-01 -7.76205038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610385722999997 meters 0.019133346576822176 Centerline is valid? [True, True] Translation: X:19.48, Y:0.18, Z:-0.78 [[ 9.99342822e-01 -9.61644034e-04 3.62353419e-02 1.94751054e+01] [ 9.67872501e-04 9.99999520e-01 -1.54348329e-04 1.78893520e-01] [-3.62351760e-02 1.89318086e-04 9.99343272e-01 -7.76937527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670385723 meters 0.019317416087748892 Centerline is valid? [True, True] Translation: X:19.54, Y:0.17, Z:-0.78 [[ 9.99301608e-01 -3.54150192e-03 3.71988391e-02 1.95372709e+01] [ 3.55024134e-03 9.99993684e-01 -1.68885168e-04 1.72483012e-01] [-3.71980061e-02 3.00832077e-04 9.99307869e-01 -7.81626936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730385722999998 meters 0.019720691387899364 Centerline is valid? [True, True] Translation: X:19.60, Y:0.17, Z:-0.78 [[ 9.99226040e-01 -8.01650239e-03 3.85104697e-02 1.95997087e+01] [ 8.02957108e-03 9.99967745e-01 -1.84695057e-04 1.74045252e-01] [-3.85077469e-02 4.93774664e-04 9.99258180e-01 -7.79245679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790385722999996 meters 0.02003621863759621 Centerline is valid? [True, True] Translation: X:19.66, Y:0.17, Z:-0.78 [[ 9.99164860e-01 -1.15035411e-02 3.92077952e-02 1.96616879e+01] [ 1.15201541e-02 9.99933621e-01 -1.97806879e-04 1.72719229e-01] [-3.92029172e-02 6.49321523e-04 9.99231059e-01 -7.82202625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850385723 meters 0.020683866287932326 Centerline is valid? [True, True] Translation: X:19.72, Y:0.17, Z:-0.79 [[ 9.99178800e-01 -1.35107082e-02 3.81993072e-02 1.97222450e+01] [ 1.35282872e-02 9.99908468e-01 -2.01739035e-04 1.66576970e-01] [-3.81930851e-02 7.18344566e-04 9.99270120e-01 -7.88668157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910385722999997 meters 0.020850245556443683 Centerline is valid? [True, True] Translation: X:19.78, Y:0.17, Z:-0.79 [[ 9.99169457e-01 -1.62816247e-02 3.73537885e-02 1.97848344e+01] [ 1.63005426e-02 9.99867117e-01 -2.01938917e-04 1.70591327e-01] [-3.73455370e-02 8.10658219e-04 9.99302083e-01 -7.89518403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970385723 meters 0.02071874177360681 Centerline is valid? [True, True] Translation: X:19.85, Y:0.17, Z:-0.79 [[ 9.99221092e-01 -1.56645012e-02 3.62192299e-02 1.98475329e+01] [ 1.56821938e-02 9.99877006e-01 -2.04430426e-04 1.74576922e-01] [-3.62115729e-02 7.72268178e-04 9.99343848e-01 -7.92158731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030385723 meters 0.020577596036288105 Centerline is valid? [True, True] Translation: X:19.91, Y:0.18, Z:-0.80 [[ 9.99204026e-01 -1.22004071e-02 3.79797912e-02 1.99088262e+01] [ 1.22177338e-02 9.99925336e-01 -2.24135253e-04 1.77522888e-01] [-3.79742209e-02 6.87983826e-04 9.99278482e-01 -7.96305887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090385722999997 meters 0.019756954452756194 Centerline is valid? [True, True] Translation: X:19.97, Y:0.19, Z:-0.80 [[ 9.99237259e-01 -6.78790115e-03 3.84554892e-02 1.99708456e+01] [ 6.80199676e-03 9.99976838e-01 -2.35718590e-04 1.86693779e-01] [-3.84529985e-02 4.97112911e-04 9.99260286e-01 -7.97270540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150385723 meters 0.019120382674110464 Centerline is valid? [True, True] Translation: X:20.03, Y:0.20, Z:-0.80 [[ 9.99391341e-01 -6.25749934e-04 3.48791767e-02 2.00333073e+01] [ 6.33858003e-04 9.99999775e-01 -2.21404483e-04 1.95129946e-01] [-3.48790302e-02 2.43378168e-04 9.99391512e-01 -8.02556793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210385722999998 meters 0.01912951464042709 Centerline is valid? [True, True] Translation: X:20.10, Y:0.20, Z:-0.80 [[ 9.99295367e-01 6.01684288e-03 3.70481759e-02 2.00959804e+01] [-6.01190193e-03 9.99981898e-01 -2.44768417e-04 2.04353155e-01] [-3.70489780e-02 2.18659449e-05 9.99313451e-01 -8.01182232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270385722999997 meters 0.01939125860247907 Centerline is valid? [True, True] Translation: X:20.16, Y:0.21, Z:-0.80 [[ 9.99189654e-01 1.33442328e-02 3.79732407e-02 2.01573790e+01] [-1.33439766e-02 9.99910931e-01 -2.60207184e-04 2.10939902e-01] [-3.79733308e-02 -2.46717708e-04 9.99278723e-01 -8.04992139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330385723 meters 0.019959241587249828 Centerline is valid? [True, True] Translation: X:20.22, Y:0.22, Z:-0.81 [[ 9.99077160e-01 1.85453947e-02 3.87413990e-02 2.02197115e+01] [-1.85488234e-02 9.99827919e-01 -2.70967495e-04 2.17067743e-01] [-3.87397576e-02 -4.47889931e-04 9.99249233e-01 -8.07983999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390385722999998 meters 0.020086605553926305 Centerline is valid? [True, True] Translation: X:20.28, Y:0.22, Z:-0.81 [[ 9.99108781e-01 1.86908830e-02 3.78456590e-02 2.02826810e+01] [-1.86939235e-02 9.99825216e-01 -2.73558954e-04 2.19330978e-01] [-3.78441573e-02 -4.34168701e-04 9.99283559e-01 -8.09209672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450385722999997 meters 0.019724225697325414 Centerline is valid? [True, True] Translation: X:20.35, Y:0.21, Z:-0.82 [[ 9.99209808e-01 1.68661397e-02 3.59901779e-02 2.03450662e+01] [-1.68673749e-02 9.99857699e-01 -2.69328624e-04 2.13330644e-01] [-3.59895990e-02 -3.37944022e-04 9.99352107e-01 -8.15687863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510385723 meters 0.019695500598426206 Centerline is valid? [True, True] Translation: X:20.41, Y:0.22, Z:-0.82 [[ 9.99245171e-01 1.54654631e-02 3.56357727e-02 2.04062513e+01] [-1.54654768e-02 9.99880364e-01 -2.75279777e-04 2.15982714e-01] [-3.56357667e-02 -2.76052229e-04 9.99364806e-01 -8.15755795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570385722999998 meters 0.019450747095447113 Centerline is valid? [True, True] Translation: X:20.47, Y:0.21, Z:-0.82 [[ 9.99151952e-01 1.47189253e-02 3.84542469e-02 2.04694825e+01] [-1.47180313e-02 9.99891637e-01 -3.06354318e-04 2.08952931e-01] [-3.84545891e-02 -2.59876293e-04 9.99260315e-01 -8.19891705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630385722999996 meters 0.019189974616187974 Centerline is valid? [True, True] Translation: X:20.53, Y:0.21, Z:-0.82 [[ 9.99231120e-01 9.82472451e-03 3.79558187e-02 2.05320816e+01] [-9.81993509e-03 9.99951734e-01 -3.12615332e-04 2.05657169e-01] [-3.79570581e-02 -6.03487071e-05 9.99279369e-01 -8.20971717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690385723 meters 0.019193562588241866 Centerline is valid? [True, True] Translation: X:20.60, Y:0.20, Z:-0.82 [[ 9.99272292e-01 4.55069259e-03 3.78705296e-02 2.05956624e+01] [-4.54179709e-03 9.99989634e-01 -3.20920615e-04 2.03668599e-01] [-3.78715975e-02 1.48686817e-04 9.99282603e-01 -8.21654006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750385722999997 meters 0.019191640240647234 Centerline is valid? [True, True] Translation: X:20.66, Y:0.20, Z:-0.83 [[ 9.99203454e-01 4.99761064e-03 3.95914271e-02 2.06580197e+01] [-4.98780103e-03 9.99987501e-01 -3.46543583e-04 1.97287758e-01] [-3.95926641e-02 1.48793384e-04 9.99215892e-01 -8.27379515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810385723 meters 0.019133752722880277 Centerline is valid? [True, True] Translation: X:20.72, Y:0.21, Z:-0.82 [[ 9.99194923e-01 7.46948344e-03 3.94171737e-02 2.07215300e+01] [-7.46129310e-03 9.99972101e-01 -3.54892773e-04 2.05064815e-01] [-3.94187249e-02 6.05039705e-05 9.99222778e-01 -8.24988857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870385723 meters 0.019136975405298462 Centerline is valid? [True, True] Translation: X:20.78, Y:0.20, Z:-0.83 [[ 9.99147510e-01 1.10834468e-02 3.97669479e-02 2.07844464e+01] [-1.10775317e-02 9.99938574e-01 -3.69096852e-04 2.04877912e-01] [-3.97685960e-02 -7.17374235e-05 9.99208914e-01 -8.29410566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930385722999997 meters 0.019408739872320054 Centerline is valid? [True, True] Translation: X:20.85, Y:0.21, Z:-0.83 [[ 9.99062392e-01 1.72044357e-02 3.97283767e-02 2.08461452e+01] [-1.72029438e-02 9.99851946e-01 -3.79435316e-04 2.09403567e-01] [-3.97290227e-02 -3.04365476e-04 9.99210444e-01 -8.31864193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990385723 meters 0.019949214409542348 Centerline is valid? [True, True] Translation: X:20.91, Y:0.22, Z:-0.83 [[ 9.98990218e-01 2.27150601e-02 3.87630087e-02 2.09087466e+01] [-2.27174609e-02 9.99741854e-01 -3.78582336e-04 2.16887087e-01] [-3.87616016e-02 -5.02397085e-04 9.99248360e-01 -8.34482122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050385722999998 meters 0.02002542262776464 Centerline is valid? [True, True] Translation: X:20.97, Y:0.21, Z:-0.84 [[ 9.99012898e-01 2.42266751e-02 3.72330311e-02 2.09706347e+01] [-2.42296214e-02 9.99706350e-01 -3.72158300e-04 2.10429088e-01] [-3.72311138e-02 -5.30351306e-04 9.99306541e-01 -8.44815974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110385722999997 meters 0.019727386278876054 Centerline is valid? [True, True] Translation: X:21.03, Y:0.21, Z:-0.84 [[ 9.99064202e-01 2.20625557e-02 3.72016760e-02 2.10317235e+01] [-2.20636707e-02 9.99756495e-01 -3.80622255e-04 2.12945572e-01] [-3.72010147e-02 -4.40539460e-04 9.99307706e-01 -8.42792266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170385723 meters 0.01936619788500445 Centerline is valid? [True, True] Translation: X:21.09, Y:0.21, Z:-0.84 [[ 9.99080363e-01 1.94517543e-02 3.82106937e-02 2.10931896e+01] [-1.94506974e-02 9.99810737e-01 -3.99443811e-04 2.09744476e-01] [-3.82112318e-02 -3.44148173e-04 9.99269625e-01 -8.44487569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230385722999998 meters 0.018717863527917118 Centerline is valid? [True, True] Translation: X:21.16, Y:0.20, Z:-0.85 [[ 9.99245119e-01 1.22762027e-02 3.68576588e-02 2.11556118e+01] [-1.22700618e-02 9.99924643e-01 -3.92815776e-04 2.00150959e-01] [-3.68597036e-02 -5.97265034e-05 9.99320448e-01 -8.49742745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290385722999996 meters 0.01924442070201312 Centerline is valid? [True, True] Translation: X:21.22, Y:0.19, Z:-0.85 [[ 9.99281323e-01 2.85237362e-03 3.77981623e-02 2.12166908e+01] [-2.83903911e-03 9.99995887e-01 -4.06451691e-04 1.93232660e-01] [-3.77991662e-02 2.98849123e-04 9.99285311e-01 -8.52946469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350385723 meters 0.022202559975881095 Centerline is valid? [True, True] Translation: X:21.28, Y:0.19, Z:-0.85 [[ 9.99055583e-01 -8.52030666e-03 4.26068837e-02 2.12768957e+01] [ 8.54799140e-03 9.99963356e-01 -4.67625918e-04 1.85717769e-01] [-4.26013381e-02 8.31387559e-04 9.99091805e-01 -8.47480949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410385722999997 meters 0.024285287266251288 Centerline is valid? [True, True] Translation: X:21.34, Y:0.18, Z:-0.85 [[ 9.99032397e-01 -1.38484467e-02 4.17431553e-02 2.13380050e+01] [ 1.38797611e-02 9.99903565e-01 -4.60428393e-04 1.81120531e-01] [-4.17327536e-02 1.03936790e-03 9.99128269e-01 -8.49579771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470385723 meters 0.027366576041186197 Centerline is valid? [True, True] Translation: X:21.40, Y:0.17, Z:-0.86 [[ 9.99106416e-01 -2.08996625e-02 3.67365397e-02 2.13989131e+01] [ 2.09287075e-02 9.99780888e-01 -4.06213149e-04 1.73593323e-01] [-3.67200006e-02 1.17469846e-03 9.99324903e-01 -8.60250627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530385723 meters 0.0240879205707255 Centerline is valid? [True, True] Translation: X:21.46, Y:0.18, Z:-0.86 [[ 9.99142547e-01 -1.94729976e-02 3.65372855e-02 2.14610248e+01] [ 1.95008202e-02 9.99809759e-01 -4.05234923e-04 1.78574680e-01] [-3.65224435e-02 1.11739449e-03 9.99332208e-01 -8.63215878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590385722999997 meters 0.022005522995939615 Centerline is valid? [True, True] Translation: X:21.52, Y:0.19, Z:-0.86 [[ 9.99186941e-01 -1.58951461e-02 3.70513298e-02 2.15225509e+01] [ 1.59216206e-02 9.99873155e-01 -4.19566805e-04 1.86490243e-01] [-3.70399610e-02 1.00914289e-03 9.99313276e-01 -8.62178612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650385723 meters 0.022283001723651358 Centerline is valid? [True, True] Translation: X:21.58, Y:0.19, Z:-0.86 [[ 9.99207855e-01 -1.37234785e-02 3.73541105e-02 2.15837199e+01] [ 1.37489266e-02 9.99905389e-01 -4.24462462e-04 1.88703767e-01] [-3.73447513e-02 9.37705151e-04 9.99302002e-01 -8.62139794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710385722999998 meters 0.021284676691998756 Centerline is valid? [True, True] Translation: X:21.65, Y:0.19, Z:-0.87 [[ 9.99217483e-01 -1.14449672e-02 3.78607275e-02 2.16457899e+01] [ 1.14696853e-02 9.99934126e-01 -4.35721675e-04 1.88890055e-01] [-3.78532467e-02 8.69631345e-04 9.99282931e-01 -8.68354087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770385722999997 meters 0.020803801089473616 Centerline is valid? [True, True] Translation: X:21.71, Y:0.19, Z:-0.87 [[ 9.99269209e-01 -8.52110312e-03 3.72617574e-02 2.17080194e+01] [ 8.54334268e-03 9.99963409e-01 -4.37659342e-04 1.87313786e-01] [-3.72566647e-02 7.55679468e-04 9.99305444e-01 -8.72450849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830385723 meters 0.020859095777190285 Centerline is valid? [True, True] Translation: X:21.77, Y:0.19, Z:-0.87 [[ 9.99284928e-01 -6.70976464e-03 3.72103690e-02 2.17693400e+01] [ 6.73101548e-03 9.99977247e-01 -4.45852911e-04 1.92486486e-01] [-3.72065308e-02 6.95997664e-04 9.99307355e-01 -8.68094536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890385722999998 meters 0.02026224415838423 Centerline is valid? [True, True] Translation: X:21.83, Y:0.19, Z:-0.88 [[ 9.99294318e-01 -2.93765685e-03 3.74464359e-02 2.18306028e+01] [ 2.95683787e-03 9.99995524e-01 -4.56854775e-04 1.87187628e-01] [-3.74449262e-02 5.67255421e-04 9.99298532e-01 -8.75794391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950385722999997 meters 0.019891061092216056 Centerline is valid? [True, True] Translation: X:21.89, Y:0.19, Z:-0.88 [[ 9.99385352e-01 -4.39444251e-04 3.50531842e-02 2.18925629e+01] [ 4.54958270e-04 9.99999802e-01 -4.34610051e-04 1.87737954e-01] [-3.50529863e-02 4.50290655e-04 9.99385354e-01 -8.79363625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010385723 meters 0.019517748759000534 Centerline is valid? [True, True] Translation: X:21.95, Y:0.19, Z:-0.88 [[ 9.99437486e-01 1.80727530e-03 3.34879996e-02 2.19547119e+01] [-1.79413315e-03 9.99998301e-01 -4.22488958e-04 1.92273713e-01] [-3.34887063e-02 3.62169371e-04 9.99439030e-01 -8.80095521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070385722999998 meters 0.019414310584164117 Centerline is valid? [True, True] Translation: X:22.02, Y:0.19, Z:-0.88 [[ 9.99211311e-01 4.98911298e-03 3.93937111e-02 2.20166881e+01] [-4.97297970e-03 9.99987506e-01 -5.07519617e-04 1.88731538e-01] [-3.93957510e-02 3.11215217e-04 9.99223638e-01 -8.80579087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130385722999996 meters 0.019533611331816993 Centerline is valid? [True, True] Translation: X:22.08, Y:0.18, Z:-0.88 [[ 9.99213370e-01 2.65526129e-03 3.95675380e-02 2.20785604e+01] [-2.63679520e-03 9.99996389e-01 -5.18876909e-04 1.83004545e-01] [-3.95687728e-02 4.14137251e-04 9.99216764e-01 -8.84735723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190385723 meters 0.01980534454807612 Centerline is valid? [True, True] Translation: X:22.14, Y:0.18, Z:-0.88 [[ 9.99300735e-01 -1.09262256e-03 3.73744313e-02 2.21403976e+01] [ 1.11202692e-03 9.99999257e-01 -4.98403891e-04 1.84827835e-01] [-3.73738590e-02 5.39616749e-04 9.99301208e-01 -8.84380186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250385722999997 meters 0.019808335260866165 Centerline is valid? [True, True] Translation: X:22.20, Y:0.17, Z:-0.89 [[ 9.99330742e-01 -4.08994993e-03 3.63502531e-02 2.22018555e+01] [ 4.11044996e-03 9.99991432e-01 -4.89243106e-04 1.74970748e-01] [-3.63479406e-02 6.38331572e-04 9.99338991e-01 -8.92655103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310385723 meters 0.02004135658682546 Centerline is valid? [True, True] Translation: X:22.26, Y:0.17, Z:-0.89 [[ 9.99364900e-01 -4.18743208e-03 3.53873246e-02 2.22640999e+01] [ 4.20719901e-03 9.99991033e-01 -4.84141863e-04 1.73487004e-01] [-3.53849799e-02 6.32715901e-04 9.99373555e-01 -8.94762597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370385723 meters 0.01969829728984589 Centerline is valid? [True, True] Translation: X:22.33, Y:0.18, Z:-0.90 [[ 9.99284361e-01 -1.22331998e-03 3.78056757e-02 2.23260212e+01] [ 1.24415660e-03 9.99999087e-01 -5.27628998e-04 1.75503294e-01] [-3.78049957e-02 5.74287588e-04 9.99284971e-01 -8.95452081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430385722999997 meters 0.018948147613658043 Centerline is valid? [True, True] Translation: X:22.39, Y:0.18, Z:-0.89 [[ 9.99133639e-01 3.82090204e-03 4.14411774e-02 2.23885580e+01] [-3.79975396e-03 9.99992607e-01 -5.89070980e-04 1.77265409e-01] [-4.14431218e-02 4.31094355e-04 9.99140772e-01 -8.94821760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490385723 meters 0.01874053476414772 Centerline is valid? [True, True] Translation: X:22.45, Y:0.18, Z:-0.90 [[ 9.99262129e-01 4.10714310e-03 3.81880631e-02 2.24511125e+01] [-4.08907786e-03 9.99991488e-01 -5.51153631e-04 1.75807261e-01] [-3.81900017e-02 3.94592987e-04 9.99270418e-01 -9.00315206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550385722999998 meters 0.018846777847422547 Centerline is valid? [True, True] Translation: X:22.51, Y:0.17, Z:-0.91 [[ 9.99366219e-01 2.15995251e-03 3.55316153e-02 2.25130429e+01] [-2.14298580e-03 9.99997571e-01 -5.15587272e-04 1.72420126e-01] [-3.55326427e-02 4.39116756e-04 9.99368420e-01 -9.07511458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610385722999997 meters 0.01903594590480765 Centerline is valid? [True, True] Translation: X:22.57, Y:0.17, Z:-0.91 [[ 9.99366962e-01 1.39926229e-03 3.55488024e-02 2.25749925e+01] [-1.38149306e-03 9.99998908e-01 -5.24412480e-04 1.72532265e-01] [-3.55494974e-02 4.74970083e-04 9.99367804e-01 -9.07480222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670385723 meters 0.01923355913962529 Centerline is valid? [True, True] Translation: X:22.64, Y:0.17, Z:-0.91 [[ 9.99341868e-01 -2.69727802e-05 3.62743672e-02 2.26367893e+01] [ 4.67337850e-05 9.99999851e-01 -5.43917188e-04 1.71211797e-01] [-3.62743471e-02 5.45254458e-04 9.99341721e-01 -9.08015881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730385722999998 meters 0.01922378262170985 Centerline is valid? [True, True] Translation: X:22.70, Y:0.17, Z:-0.91 [[ 9.99411696e-01 -3.32030474e-03 3.41355679e-02 2.26989864e+01] [ 3.33996440e-03 9.99994288e-01 -5.18922274e-04 1.71214420e-01] [-3.41336500e-02 6.32628571e-04 9.99417077e-01 -9.11268517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790385722999996 meters 0.01936378276456136 Centerline is valid? [True, True] Translation: X:22.76, Y:0.17, Z:-0.91 [[ 9.99367588e-01 -5.10600703e-03 3.51902253e-02 2.27607940e+01] [ 5.12832899e-03 9.99986702e-01 -5.44089877e-04 1.68940889e-01] [-3.51869792e-02 7.24212841e-04 9.99380484e-01 -9.13497230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850385723 meters 0.01922019148623587 Centerline is valid? [True, True] Translation: X:22.82, Y:0.17, Z:-0.91 [[ 9.99272346e-01 -2.92101190e-03 3.80295554e-02 2.28217525e+01] [ 2.94589257e-03 9.99995482e-01 -5.98225979e-04 1.68841363e-01] [-3.80276361e-02 7.09821662e-04 9.99276436e-01 -9.12200840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910385722999997 meters 0.018712403768822734 Centerline is valid? [True, True] Translation: X:22.88, Y:0.18, Z:-0.91 [[ 9.99252725e-01 1.75760894e-03 3.86121970e-02 2.28842698e+01] [-1.73510189e-03 9.99998305e-01 -6.16402941e-04 1.76205852e-01] [-3.86132149e-02 5.48946223e-04 9.99254081e-01 -9.10452335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970385723 meters 0.0183447630366254 Centerline is valid? [True, True] Translation: X:22.95, Y:0.17, Z:-0.92 [[ 9.99215376e-01 3.61990612e-03 3.94401837e-02 2.29462187e+01] [-3.59748938e-03 9.99993325e-01 -6.39328862e-04 1.70679089e-01] [-3.94422347e-02 4.96941587e-04 9.99221729e-01 -9.18665729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030385723 meters 0.01866831742566245 Centerline is valid? [True, True] Translation: X:23.01, Y:0.17, Z:-0.92 [[ 9.99338836e-01 1.79093642e-03 3.63136865e-02 2.30087240e+01] [-1.77043311e-03 9.99998255e-01 -5.96764888e-04 1.66263751e-01] [-3.63146919e-02 5.32079376e-04 9.99340262e-01 -9.21395115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090385722999997 meters 0.0189061887322124 Centerline is valid? [True, True] Translation: X:23.07, Y:0.16, Z:-0.93 [[ 9.99517823e-01 4.48573899e-04 3.10470817e-02 2.30700587e+01] [-4.32746215e-04 9.99999773e-01 -5.16513691e-04 1.64003263e-01] [-3.10473064e-02 5.02829133e-04 9.99517790e-01 -9.25322630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150385723 meters 0.0187514503993683 Centerline is valid? [True, True] Translation: X:23.13, Y:0.16, Z:-0.93 [[ 9.99493296e-01 2.17344252e-03 3.17557391e-02 2.31321047e+01] [-2.15752865e-03 9.99997529e-01 -5.35390779e-04 1.62321555e-01] [-3.17568243e-02 4.66605578e-04 9.99495516e-01 -9.28006633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210385722999998 meters 0.01809651587185281 Centerline is valid? [True, True] Translation: X:23.19, Y:0.16, Z:-0.93 [[ 9.99389160e-01 7.43161900e-03 3.41478937e-02 2.31939709e+01] [-7.41597983e-03 9.99972330e-01 -5.84619319e-04 1.63254016e-01] [-3.41512935e-02 3.31022119e-04 9.99416620e-01 -9.28080248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270385722999997 meters 0.017583397987859732 Centerline is valid? [True, True] Translation: X:23.26, Y:0.17, Z:-0.93 [[ 9.99348037e-01 1.10661969e-02 3.43662625e-02 2.32563740e+01] [-1.10524366e-02 9.99938746e-01 -5.90352974e-04 1.65812768e-01] [-3.43706903e-02 2.10137148e-04 9.99409131e-01 -9.28622899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330385723 meters 0.017714675462330645 Centerline is valid? [True, True] Translation: X:23.32, Y:0.16, Z:-0.93 [[ 9.99401867e-01 1.04335565e-02 3.29704371e-02 2.33182377e+01] [-1.04203058e-02 9.99945543e-01 -5.73701745e-04 1.63828288e-01] [-3.29746274e-02 2.29796557e-04 9.99456163e-01 -9.31321724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390385722999998 meters 0.01748179649718039 Centerline is valid? [True, True] Translation: X:23.38, Y:0.16, Z:-0.93 [[ 9.99340118e-01 9.68744518e-03 3.50068723e-02 2.33814987e+01] [-9.67172621e-03 9.99953037e-01 -6.18341628e-04 1.61381057e-01] [-3.50112185e-02 2.79356711e-04 9.99386880e-01 -9.33099612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450385722999997 meters 0.01776125100204073 Centerline is valid? [True, True] Translation: X:23.44, Y:0.16, Z:-0.93 [[ 9.99368883e-01 6.64168581e-03 3.48958858e-02 2.34422061e+01] [-6.62386529e-03 9.99977866e-01 -6.26261348e-04 1.55460547e-01] [-3.48992728e-02 3.94720458e-04 9.99390757e-01 -9.34779867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510385723 meters 0.01812919914055881 Centerline is valid? [True, True] Translation: X:23.50, Y:0.15, Z:-0.94 [[ 9.99413627e-01 2.66337072e-03 3.41366044e-02 2.35046160e+01] [-2.64385762e-03 9.99996315e-01 -6.16744552e-04 1.51321257e-01] [-3.41381212e-02 5.26130588e-04 9.99416986e-01 -9.37458090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570385722999998 meters 0.018409839329413494 Centerline is valid? [True, True] Translation: X:23.57, Y:0.15, Z:-0.94 [[ 9.99425410e-01 1.86179346e-03 3.38435095e-02 2.35671511e+01] [-1.84187764e-03 9.99998112e-01 -6.19635248e-04 1.49327596e-01] [-3.38445993e-02 5.56943609e-04 9.99426952e-01 -9.39220112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630385722999996 meters 0.018571554255574427 Centerline is valid? [True, True] Translation: X:23.63, Y:0.15, Z:-0.94 [[ 9.99418079e-01 3.26764397e-04 3.41085981e-02 2.36296307e+01] [-3.05358768e-04 9.99999753e-01 -6.32780134e-04 1.49018160e-01] [-3.41087965e-02 6.21996546e-04 9.99417932e-01 -9.39024966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690385723 meters 0.018706164107948925 Centerline is valid? [True, True] Translation: X:23.69, Y:0.14, Z:-0.94 [[ 9.99403480e-01 -9.02382762e-04 3.45234729e-02 2.36913117e+01] [ 9.25341708e-04 9.99999361e-01 -6.49052221e-04 1.43592786e-01] [-3.45228652e-02 6.80611057e-04 9.99403676e-01 -9.44168863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750385722999997 meters 0.01931652255651612 Centerline is valid? [True, True] Translation: X:23.75, Y:0.14, Z:-0.95 [[ 9.99410658e-01 -2.76736473e-03 3.42151668e-02 2.37538525e+01] [ 2.79129443e-03 9.99995892e-01 -6.51642024e-04 1.41968139e-01] [-3.42132229e-02 7.46762588e-04 9.99414277e-01 -9.45215278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810385723 meters 0.019645000689664 Centerline is valid? [True, True] Translation: X:23.82, Y:0.14, Z:-0.95 [[ 9.99454803e-01 -4.57909155e-03 3.26975184e-02 2.38155214e+01] [ 4.60217249e-03 9.99989211e-01 -6.30667344e-04 1.39441250e-01] [-3.26942777e-02 7.80803126e-04 9.99465094e-01 -9.49709523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870385723 meters 0.019977548167050822 Centerline is valid? [True, True] Translation: X:23.88, Y:0.14, Z:-0.95 [[ 9.99413774e-01 -4.16073662e-03 3.39823092e-02 2.38777882e+01] [ 4.18557101e-03 9.99991023e-01 -6.59697767e-04 1.35231173e-01] [-3.39792593e-02 8.01546403e-04 9.99422217e-01 -9.51901480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930385722999997 meters 0.01923591140788681 Centerline is valid? [True, True] Translation: X:23.94, Y:0.14, Z:-0.95 [[ 9.99398532e-01 -2.04715840e-03 3.46176840e-02 2.39397449e+01] [ 2.07197792e-03 9.99997622e-01 -6.81101589e-04 1.38386254e-01] [-3.46162073e-02 7.52419005e-04 9.99400396e-01 -9.52363147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990385723 meters 0.01950739600722432 Centerline is valid? [True, True] Translation: X:24.00, Y:0.14, Z:-0.95 [[ 9.99414418e-01 -1.57064287e-03 3.41812102e-02 2.40010467e+01] [ 1.59485144e-03 9.99998496e-01 -6.80988771e-04 1.39303834e-01] [-3.41800892e-02 7.35103948e-04 9.99415420e-01 -9.54210868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050385722999998 meters 0.01959196712209183 Centerline is valid? [True, True] Translation: X:24.06, Y:0.14, Z:-0.96 [[ 9.99415625e-01 -2.29742257e-03 3.41047040e-02 2.40634137e+01] [ 2.32209664e-03 9.99997070e-01 -6.83888889e-04 1.38633933e-01] [-3.41030329e-02 7.62683660e-04 9.99418031e-01 -9.55962665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110385722999997 meters 0.020013209887993433 Centerline is valid? [True, True] Translation: X:24.12, Y:0.13, Z:-0.96 [[ 9.99464980e-01 -2.83692322e-03 3.25838138e-02 2.41243688e+01] [ 2.85999016e-03 9.99995692e-01 -6.61340900e-04 1.34970921e-01] [-3.25817973e-02 7.54176457e-04 9.99468788e-01 -9.60266913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170385723 meters 0.01951083587572961 Centerline is valid? [True, True] Translation: X:24.19, Y:0.14, Z:-0.96 [[ 9.99509903e-01 -1.97199600e-03 3.12420555e-02 2.41874913e+01] [ 1.99287806e-03 9.99997811e-01 -6.37271422e-04 1.35202917e-01] [-3.12407305e-02 6.99220704e-04 9.99511645e-01 -9.61889256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230385722999998 meters 0.01991208043916817 Centerline is valid? [True, True] Translation: X:24.25, Y:0.13, Z:-0.96 [[ 9.99479807e-01 -7.44226985e-04 3.22422439e-02 2.42486657e+01] [ 7.66137739e-04 9.99999484e-01 -6.67217755e-04 1.32531529e-01] [-3.22417307e-02 6.91572673e-04 9.99479861e-01 -9.64038930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290385722999996 meters 0.01972959110112444 Centerline is valid? [True, True] Translation: X:24.31, Y:0.13, Z:-0.97 [[ 9.99405465e-01 1.49230835e-03 3.44454695e-02 2.43109189e+01] [-1.46834377e-03 9.99998662e-01 -7.21010903e-04 1.29863374e-01] [-3.44464993e-02 6.70004446e-04 9.99406319e-01 -9.65287410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350385723 meters 0.01932020105844353 Centerline is valid? [True, True] Translation: X:24.37, Y:0.13, Z:-0.97 [[ 9.99369932e-01 3.76310553e-03 3.52927465e-02 2.43735682e+01] [-3.73905443e-03 9.99992730e-01 -7.47451312e-04 1.29229463e-01] [-3.52953027e-02 6.15018867e-04 9.99376737e-01 -9.66341466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410385722999997 meters 0.019462902078214484 Centerline is valid? [True, True] Translation: X:24.44, Y:0.13, Z:-0.97 [[ 9.99454343e-01 4.99520289e-03 3.26506447e-02 2.44353248e+01] [-4.97521081e-03 9.99987383e-01 -6.93518041e-04 1.27730321e-01] [-3.26536970e-02 5.30695777e-04 9.99466585e-01 -9.70713761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470385722999996 meters 0.01870401870645364 Centerline is valid? [True, True] Translation: X:24.50, Y:0.13, Z:-0.97 [[ 9.99442937e-01 6.04723633e-03 3.28214442e-02 2.44978237e+01] [-6.02735418e-03 9.99981587e-01 -7.04673969e-04 1.30392395e-01] [-3.28251011e-02 5.06454952e-04 9.99460983e-01 -9.71588365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530385723 meters 0.01928324010455728 Centerline is valid? [True, True] Translation: X:24.56, Y:0.13, Z:-0.98 [[ 9.99417048e-01 7.14377971e-03 3.33845847e-02 2.45593116e+01] [-7.12354146e-03 9.99974364e-01 -7.25119155e-04 1.25577436e-01] [-3.33889089e-02 4.86879972e-04 9.99442316e-01 -9.76879945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590385722999997 meters 0.019426870709582808 Centerline is valid? [True, True] Translation: X:24.62, Y:0.13, Z:-0.98 [[ 9.99427521e-01 4.13056923e-03 3.35792914e-02 2.46213774e+01] [-4.10814262e-03 9.99991290e-01 -7.36836825e-04 1.27641166e-01] [-3.35820425e-02 5.98466483e-04 9.99435785e-01 -9.75905586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650385723 meters 0.019756645233761683 Centerline is valid? [True, True] Translation: X:24.68, Y:0.12, Z:-0.98 [[ 9.99415371e-01 -1.17057623e-03 3.41693623e-02 2.46831618e+01] [ 1.19718516e-03 9.99998996e-01 -7.58287507e-04 1.20973806e-01] [-3.41684403e-02 7.98751244e-04 9.99415769e-01 -9.81100927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710385722999998 meters 0.02051512369552177 Centerline is valid? [True, True] Translation: X:24.74, Y:0.12, Z:-0.98 [[ 9.99456497e-01 -4.41203094e-03 3.26687128e-02 2.47447894e+01] [ 4.43813765e-03 9.99989887e-01 -7.26664291e-04 1.17512173e-01] [-3.26651763e-02 8.71257591e-04 9.99465971e-01 -9.82554562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770385722999997 meters 0.020770082872034787 Centerline is valid? [True, True] Translation: X:24.81, Y:0.12, Z:-0.99 [[ 9.99389836e-01 -3.35470158e-03 3.47663922e-02 2.48064100e+01] [ 3.38392579e-03 9.99993969e-01 -7.81780720e-04 1.15396824e-01] [-3.47635599e-02 8.98950597e-04 9.99395160e-01 -9.85053146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830385723 meters 0.020663870133921267 Centerline is valid? [True, True] Translation: X:24.87, Y:0.11, Z:-0.98 [[ 9.99302436e-01 -2.49715255e-03 3.72613220e-02 2.48689586e+01] [ 2.53046273e-03 9.99996440e-01 -8.46827401e-04 1.14609820e-01] [-3.72590746e-02 9.40525070e-04 9.99305197e-01 -9.84977488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890385722999998 meters 0.02040573351682708 Centerline is valid? [True, True] Translation: X:24.93, Y:0.11, Z:-0.99 [[ 9.99342539e-01 -1.92926551e-03 3.62045288e-02 2.49318129e+01] [ 1.96064628e-03 9.99997732e-01 -8.31279900e-04 1.14097409e-01] [-3.62028430e-02 9.01717640e-04 9.99344055e-01 -9.86829204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950385722999997 meters 0.021226521557497376 Centerline is valid? [True, True] Translation: X:24.99, Y:0.11, Z:-1.00 [[ 9.99469268e-01 -3.54003095e-03 3.23828631e-02 2.49928366e+01] [ 3.56625243e-03 9.99993358e-01 -7.52010953e-04 1.08040975e-01] [-3.23799859e-02 8.67097301e-04 9.99475255e-01 -9.95452264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010385723 meters 0.020006914598773417 Centerline is valid? [True, True] Translation: X:25.06, Y:0.11, Z:-1.00 [[ 9.99430727e-01 -1.39277134e-03 3.37087849e-02 2.50550962e+01] [ 1.42010343e-03 9.99998682e-01 -7.86901889e-04 1.07978212e-01] [-3.37076445e-02 8.34323888e-04 9.99431388e-01 -9.98139009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070385722999998 meters 0.021171114705222156 Centerline is valid? [True, True] Translation: X:25.12, Y:0.10, Z:-1.00 [[ 9.99459446e-01 5.83379659e-04 3.28705870e-02 2.51165691e+01] [-5.58196957e-04 9.99999544e-01 -7.75288010e-04 1.03525843e-01] [-3.28710243e-02 7.56520663e-04 9.99459316e-01 -1.00031840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130385722999996 meters 0.019717168084038925 Centerline is valid? [True, True] Translation: X:25.18, Y:0.11, Z:-1.00 [[ 9.99509728e-01 1.70454994e-03 3.12633661e-02 2.51793849e+01] [-1.68209264e-03 9.99998308e-01 -7.44612896e-04 1.09145426e-01] [-3.12645824e-02 6.91659956e-04 9.99510904e-01 -1.00158231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190385723 meters 0.020013142603208394 Centerline is valid? [True, True] Translation: X:25.24, Y:0.10, Z:-1.00 [[ 9.99291395e-01 3.38679579e-03 3.74865019e-02 2.52409393e+01] [-3.35526834e-03 9.99993963e-01 -9.03913737e-04 1.01092259e-01] [-3.74893369e-02 7.77495946e-04 9.99296725e-01 -1.00270727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250385722999997 meters 0.019555309833744712 Centerline is valid? [True, True] Translation: X:25.30, Y:0.10, Z:-1.00 [[ 9.99243891e-01 6.20707535e-03 3.83812346e-02 2.53029962e+01] [-6.17574306e-03 9.99980493e-01 -9.34851445e-04 9.99876838e-02] [-3.83862886e-02 6.97111952e-04 9.99262732e-01 -1.00219441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310385723 meters 0.01913041626771853 Centerline is valid? [True, True] Translation: X:25.37, Y:0.10, Z:-1.01 [[ 9.99294979e-01 8.25620115e-03 3.66248433e-02 2.53656140e+01] [-8.22874119e-03 9.99965738e-01 -9.00440987e-04 1.00891475e-01] [-3.66310227e-02 5.98429801e-04 9.99328680e-01 -1.00593495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370385723 meters 0.019219923498300522 Centerline is valid? [True, True] Translation: X:25.43, Y:0.10, Z:-1.01 [[ 9.99177184e-01 8.69652579e-03 3.96147106e-02 2.54289232e+01] [-8.66433076e-03 9.99961980e-01 -9.84319531e-04 9.66627921e-02] [-3.96217646e-02 6.40274662e-04 9.99214544e-01 -1.00908799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430385722999997 meters 0.019434050602637216 Centerline is valid? [True, True] Translation: X:25.49, Y:0.09, Z:-1.01 [[ 9.99167467e-01 9.55221605e-03 3.96626732e-02 2.54904871e+01] [-9.52018986e-03 9.99954186e-01 -9.96262337e-04 9.38925859e-02] [-3.96703726e-02 6.17836737e-04 9.99212630e-01 -1.00970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490385723 meters 0.019420737289192528 Centerline is valid? [True, True] Translation: X:25.55, Y:0.09, Z:-1.01 [[ 9.99203657e-01 9.94325427e-03 3.86417270e-02 2.55531497e+01] [-9.91282220e-03 9.99950387e-01 -9.79065051e-04 9.30804871e-02] [-3.86495450e-02 5.95236810e-04 9.99252650e-01 -1.01179022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550385722999998 meters 0.01938681267882221 Centerline is valid? [True, True] Translation: X:25.62, Y:0.09, Z:-1.02 [[ 9.99308079e-01 9.16602915e-03 3.60464671e-02 2.56157084e+01] [-9.13871574e-03 9.99957816e-01 -9.22421112e-04 9.15108670e-02] [-3.60534015e-02 5.92364452e-04 9.99349689e-01 -1.01790676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610385722999997 meters 0.01930747204433283 Centerline is valid? [True, True] Translation: X:25.68, Y:0.09, Z:-1.02 [[ 9.99367499e-01 9.74396833e-03 3.42002419e-02 2.56790723e+01] [-9.71945440e-03 9.99952375e-01 -8.82959932e-04 8.94657362e-02] [-3.42072167e-02 5.49993767e-04 9.99414611e-01 -1.02340506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670385723 meters 0.019370339005484065 Centerline is valid? [True, True] Translation: X:25.74, Y:0.09, Z:-1.02 [[ 9.99303757e-01 1.12130574e-02 3.55846767e-02 2.57406130e+01] [-1.11870782e-02 9.99936991e-01 -9.29096256e-04 8.78487150e-02] [-3.55928526e-02 5.30360817e-04 9.99366233e-01 -1.02312405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730385722999998 meters 0.019436067498717444 Centerline is valid? [True, True] Translation: X:25.80, Y:0.09, Z:-1.02 [[ 9.99155592e-01 1.10697384e-02 3.95672009e-02 2.58032341e+01] [-1.10371165e-02 9.99938545e-01 -1.04281920e-03 8.59044961e-02] [-3.95763131e-02 6.05230836e-04 9.99216368e-01 -1.02167173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790385722999996 meters 0.01924168082124542 Centerline is valid? [True, True] Translation: X:25.87, Y:0.08, Z:-1.02 [[ 9.99150580e-01 1.20613837e-02 3.94035692e-02 2.58656770e+01] [-1.20294296e-02 9.99927095e-01 -1.04794472e-03 8.44353802e-02] [-3.94133361e-02 5.73052116e-04 9.99222828e-01 -1.02323311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850385723 meters 0.019000793134079687 Centerline is valid? [True, True] Translation: X:25.93, Y:0.08, Z:-1.03 [[ 9.99273401e-01 1.27954036e-02 3.59019263e-02 2.59278636e+01] [-1.27690680e-02 9.99918009e-01 -9.62745218e-04 8.31537192e-02] [-3.59113013e-02 5.03611549e-04 9.99354854e-01 -1.02836137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910385722999997 meters 0.01915160747932877 Centerline is valid? [True, True] Translation: X:25.99, Y:0.07, Z:-1.03 [[ 9.99253583e-01 1.27673723e-02 3.64591765e-02 2.59909368e+01] [-1.27398688e-02 9.99918358e-01 -9.86591395e-04 7.45998053e-02] [-3.64687961e-02 5.21369859e-04 9.99334656e-01 -1.03473895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970385722999996 meters 0.0196099360877863 Centerline is valid? [True, True] Translation: X:26.05, Y:0.08, Z:-1.03 [[ 9.99181190e-01 1.26664864e-02 3.84253759e-02 2.60538228e+01] [-1.26354415e-02 9.99919618e-01 -1.05068007e-03 7.64494965e-02] [-3.84355956e-02 5.64298175e-04 9.99260920e-01 -1.02820760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030385723 meters 0.018897002130469295 Centerline is valid? [True, True] Translation: X:26.12, Y:0.08, Z:-1.03 [[ 9.99238002e-01 1.39020514e-02 3.64711980e-02 2.61162016e+01] [-1.38745916e-02 9.99903237e-01 -1.00591740e-03 7.55793503e-02] [-3.64816533e-02 4.99127916e-04 9.99334198e-01 -1.03447226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090385722999997 meters 0.019428975396876248 Centerline is valid? [True, True] Translation: X:26.18, Y:0.07, Z:-1.05 [[ 9.99364141e-01 1.45117883e-02 3.25687175e-02 2.61778633e+01] [-1.44899801e-02 9.99894605e-01 -9.05540220e-04 6.58408193e-02] [-3.25784259e-02 4.33044356e-04 9.99469088e-01 -1.04518981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150385723 meters 0.018751018610426357 Centerline is valid? [True, True] Translation: X:26.24, Y:0.07, Z:-1.04 [[ 9.99342945e-01 1.62479699e-02 3.23987995e-02 2.62406663e+01] [-1.62271292e-02 9.99867921e-01 -9.06108826e-04 7.12497188e-02] [-3.24092428e-02 3.79773956e-04 9.99474610e-01 -1.04402964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210385722999998 meters 0.018604730407493802 Centerline is valid? [True, True] Translation: X:26.30, Y:0.07, Z:-1.05 [[ 9.99299791e-01 1.77595127e-02 3.29321507e-02 2.63025774e+01] [-1.77385314e-02 9.99842228e-01 -9.29183515e-04 6.73113801e-02] [-3.29434568e-02 3.44364902e-04 9.99457158e-01 -1.04537263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270385722999997 meters 0.018786380882549518 Centerline is valid? [True, True] Translation: X:26.37, Y:0.07, Z:-1.05 [[ 9.99302268e-01 1.57733974e-02 3.38552329e-02 2.63651721e+01] [-1.57498002e-02 9.99875500e-01 -9.63588309e-04 6.67403665e-02] [-3.38662169e-02 4.29702829e-04 9.99426283e-01 -1.04545997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330385723 meters 0.018990800379657582 Centerline is valid? [True, True] Translation: X:26.43, Y:0.06, Z:-1.05 [[ 9.99297453e-01 1.47947233e-02 3.44342308e-02 2.64274696e+01] [-1.47694321e-02 9.99890437e-01 -9.88740563e-04 6.24737077e-02] [-3.44450862e-02 4.79471893e-04 9.99406477e-01 -1.04940974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390385722999998 meters 0.019069580486508645 Centerline is valid? [True, True] Translation: X:26.49, Y:0.06, Z:-1.05 [[ 9.99379469e-01 1.57891438e-02 3.14862008e-02 2.64891565e+01] [-1.57682639e-02 9.99875258e-01 -9.11351935e-04 6.23489249e-02] [-3.14966626e-02 4.14303689e-04 9.99503771e-01 -1.05211179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450385722999997 meters 0.018890340736256006 Centerline is valid? [True, True] Translation: X:26.55, Y:0.07, Z:-1.05 [[ 9.99347324e-01 1.72317769e-02 3.17488952e-02 2.65506275e+01] [-1.72111059e-02 9.99851451e-01 -9.24268415e-04 6.73501196e-02] [-3.17601057e-02 3.77231570e-04 9.99495449e-01 -1.05107399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510385723 meters 0.01874023328044993 Centerline is valid? [True, True] Translation: X:26.61, Y:0.06, Z:-1.06 [[ 9.99286992e-01 1.79293060e-02 3.32272154e-02 2.66120454e+01] [-1.79067966e-02 9.99839185e-01 -9.74915534e-04 6.03369364e-02] [-3.32393515e-02 3.79227423e-04 9.99447348e-01 -1.05814624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570385722999998 meters 0.01860287073968859 Centerline is valid? [True, True] Translation: X:26.68, Y:0.06, Z:-1.06 [[ 9.99318387e-01 1.75251727e-02 3.24904629e-02 2.66750810e+01] [-1.75031984e-02 9.99846346e-01 -9.60646602e-04 5.86042861e-02] [-3.25023061e-02 3.91304795e-04 9.99471584e-01 -1.05941072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630385722999996 meters 0.018491720445450662 Centerline is valid? [True, True] Translation: X:26.74, Y:0.07, Z:-1.06 [[ 9.99354864e-01 1.86995014e-02 3.06624413e-02 2.67385771e+01] [-1.86802393e-02 9.99825091e-01 -9.14560029e-04 6.76201376e-02] [-3.06741800e-02 3.41188272e-04 9.99529378e-01 -1.05597970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690385723 meters 0.018142008984243476 Centerline is valid? [True, True] Translation: X:26.80, Y:0.06, Z:-1.06 [[ 9.99179555e-01 2.24455999e-02 3.37107068e-02 2.68009004e+01] [-2.24240974e-02 9.99748032e-01 -1.01583970e-03 6.45136429e-02] [-3.37250139e-02 2.59074088e-04 9.99431116e-01 -1.06125354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750385722999997 meters 0.018175686120143572 Centerline is valid? [True, True] Translation: X:26.86, Y:0.06, Z:-1.06 [[ 9.99105723e-01 2.39845176e-02 3.48209345e-02 2.68620098e+01] [-2.39621982e-02 9.99712305e-01 -1.05821459e-03 6.13945585e-02] [-3.48362975e-02 2.22882114e-04 9.99393007e-01 -1.06296822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810385722999996 meters 0.018341826058372708 Centerline is valid? [True, True] Translation: X:26.92, Y:0.06, Z:-1.07 [[ 9.99217517e-01 2.26424970e-02 3.24294859e-02 2.69241970e+01] [-2.26223118e-02 9.99743593e-01 -9.89257251e-04 6.06519113e-02] [-3.24435700e-02 2.54853232e-04 9.99473536e-01 -1.06660587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870385723 meters 0.018680079298902093 Centerline is valid? [True, True] Translation: X:26.99, Y:0.05, Z:-1.07 [[ 9.99295728e-01 2.05910511e-02 3.13696878e-02 2.69864378e+01] [-2.05709275e-02 9.99787931e-01 -9.64128976e-04 5.33653874e-02] [-3.13828877e-02 3.18146395e-04 9.99507385e-01 -1.07101819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930385722999997 meters 0.018725490878477694 Centerline is valid? [True, True] Translation: X:27.05, Y:0.05, Z:-1.07 [[ 9.99273495e-01 2.03502747e-02 3.22234099e-02 2.70500607e+01] [-2.03286649e-02 9.99792853e-01 -9.98130103e-04 5.14483327e-02] [-3.22370472e-02 3.42346055e-04 9.99480193e-01 -1.07134750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990385723 meters 0.01925433024055466 Centerline is valid? [True, True] Translation: X:27.11, Y:0.04, Z:-1.08 [[ 9.99311670e-01 1.90511638e-02 3.18314301e-02 2.71109013e+01] [-1.90291275e-02 9.99818435e-01 -9.95103429e-04 4.23355812e-02] [-3.18446085e-02 3.88694126e-04 9.99492756e-01 -1.07737730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050385722999998 meters 0.01935613923607943 Centerline is valid? [True, True] Translation: X:27.17, Y:0.04, Z:-1.07 [[ 9.99297745e-01 1.66909421e-02 3.35474207e-02 2.71728777e+01] [-1.66648683e-02 9.99860573e-01 -1.05670274e-03 4.09502378e-02] [-3.35603807e-02 4.96897315e-04 9.99436568e-01 -1.07404905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110385722999997 meters 0.019537218711222333 Centerline is valid? [True, True] Translation: X:27.24, Y:0.04, Z:-1.07 [[ 9.99218688e-01 1.63770470e-02 3.59695170e-02 2.72362675e+01] [-1.63465566e-02 9.99865734e-01 -1.14161389e-03 3.55664226e-02] [-3.59833838e-02 5.52744188e-04 9.99352235e-01 -1.07381605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170385723 meters 0.019982448498368808 Centerline is valid? [True, True] Translation: X:27.30, Y:0.02, Z:-1.08 [[ 9.99304669e-01 1.43569734e-02 3.44101188e-02 2.72977433e+01] [-1.43275637e-02 9.99896749e-01 -1.10112031e-03 2.41893196e-02] [-3.44223747e-02 6.07341496e-04 9.99407190e-01 -1.08065577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230385722999998 meters 0.020029877527769285 Centerline is valid? [True, True] Translation: X:27.36, Y:0.03, Z:-1.08 [[ 9.99329955e-01 1.26909139e-02 3.43304709e-02 2.73603663e+01] [-1.26603814e-02 9.99919242e-01 -1.10661718e-03 2.50969768e-02] [-3.43417425e-02 6.71238845e-04 9.99409923e-01 -1.07962972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290385722999996 meters 0.02016691869054127 Centerline is valid? [True, True] Translation: X:27.42, Y:0.01, Z:-1.08 [[ 9.99256408e-01 1.29588743e-02 3.63138827e-02 2.74223359e+01] [-1.29245461e-02 9.99915778e-01 -1.17991566e-03 1.44659691e-02] [-3.63261146e-02 7.09697831e-04 9.99339737e-01 -1.08437662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350385723 meters 0.01996519302551169 Centerline is valid? [True, True] Translation: X:27.48, Y:0.01, Z:-1.08 [[ 9.99225047e-01 1.54449561e-02 3.62044026e-02 2.74847049e+01] [-1.54121272e-02 9.99880523e-01 -1.18569345e-03 1.29080203e-02] [-3.62183900e-02 6.26787733e-04 9.99343702e-01 -1.08142928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410385722999997 meters 0.01973390576460243 Centerline is valid? [True, True] Translation: X:27.55, Y:0.01, Z:-1.09 [[ 9.99269869e-01 1.76713963e-02 3.38740284e-02 2.75457942e+01] [-1.76436842e-02 9.99843714e-01 -1.11685641e-03 1.32189634e-02] [-3.38884708e-02 5.18378300e-04 9.99425486e-01 -1.08507734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470385722999996 meters 0.018658135139171365 Centerline is valid? [True, True] Translation: X:27.61, Y:0.01, Z:-1.09 [[ 9.99259882e-01 2.13669890e-02 3.19865728e-02 2.76075522e+01] [-2.13439698e-02 9.99771629e-01 -1.06096460e-03 8.34247157e-03] [-3.20019376e-02 3.77458911e-04 9.99487736e-01 -1.09423498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530385723 meters 0.018381812660530912 Centerline is valid? [True, True] Translation: X:27.67, Y:0.01, Z:-1.10 [[ 9.99226075e-01 2.47074596e-02 3.06070713e-02 2.76689683e+01] [-2.46877267e-02 9.99694689e-01 -1.02250706e-03 7.92438448e-03] [-3.06229901e-02 2.66096706e-04 9.99530971e-01 -1.09580751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590385722999997 meters 0.018160284232978014 Centerline is valid? [True, True] Translation: X:27.73, Y:0.01, Z:-1.09 [[ 9.99060689e-01 2.78228891e-02 3.32208613e-02 2.77315292e+01] [-2.78010913e-02 9.99612850e-01 -1.11797532e-03 1.16894875e-02] [-3.32391051e-02 1.93348998e-04 9.99447410e-01 -1.09207343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650385723 meters 0.018139603952645494 Centerline is valid? [True, True] Translation: X:27.79, Y:0.00, Z:-1.10 [[ 9.99083898e-01 2.68210276e-02 3.33466238e-02 2.77939440e+01] [-2.67982420e-02 9.99640224e-01 -1.13012908e-03 3.60967377e-03] [-3.33649377e-02 2.35462873e-04 9.99443208e-01 -1.09781219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710385722999998 meters 0.018471596320395675 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.00, Z:-1.10 [[ 9.99170752e-01 2.38698184e-02 3.29854657e-02 2.78557266e+01] [-2.38456137e-02 9.99715018e-01 -1.12704745e-03 -6.42170164e-04] [-3.30029678e-02 3.39554176e-04 9.99455196e-01 -1.10008602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770385722999997 meters 0.01818870930265706 Centerline is valid? [True, True] Translation: X:27.92, Y:-0.00, Z:-1.10 [[ 9.99081622e-01 2.66022784e-02 3.35891514e-02 2.79176492e+01] [-2.65784447e-02 9.99646062e-01 -1.15594501e-03 -2.43884808e-03] [-3.36080137e-02 2.62136018e-04 9.99435057e-01 -1.10196844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830385723 meters 0.01793866362591125 Centerline is valid? [True, True] Translation: X:27.98, Y:-0.01, Z:-1.10 [[ 9.99011690e-01 2.87404309e-02 3.39062171e-02 2.79801936e+01] [-2.87170972e-02 9.99586888e-01 -1.17506828e-03 -6.20740763e-03] [-3.39259820e-02 2.00218819e-04 9.99424328e-01 -1.10468485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890385722999998 meters 0.017904656723491872 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.00, Z:-1.10 [[ 9.98969613e-01 2.95579580e-02 3.44389322e-02 2.80440137e+01] [-2.95340720e-02 9.99563051e-01 -1.20219096e-03 -3.09678162e-03] [-3.44594185e-02 1.83830331e-04 9.99406081e-01 -1.10229251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950385722999997 meters 0.017790575650658506 Centerline is valid? [True, True] Translation: X:28.11, Y:-0.01, Z:-1.11 [[ 9.99004762e-01 2.98513330e-02 3.31418769e-02 2.81073008e+01] [-2.98290772e-02 9.99554334e-01 -1.16586913e-03 -8.02856164e-03] [-3.31619094e-02 1.76117209e-04 9.99449977e-01 -1.10862759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010385723 meters 0.018021479086668183 Centerline is valid? [True, True] Translation: X:28.17, Y:-0.02, Z:-1.11 [[ 9.99153951e-01 2.68548295e-02 3.11480343e-02 2.81690111e+01] [-2.68334576e-02 9.99639308e-01 -1.10401920e-03 -1.67171654e-02] [-3.11664478e-02 2.67275689e-04 9.99514173e-01 -1.11417018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070385722999998 meters 0.018169392368763467 Centerline is valid? [True, True] Translation: X:28.23, Y:-0.01, Z:-1.11 [[ 9.99129831e-01 2.65422103e-02 3.21728566e-02 2.82329034e+01] [-2.65189855e-02 9.99647650e-01 -1.14844367e-03 -1.38645824e-02] [-3.21920027e-02 2.94252809e-04 9.99481660e-01 -1.11093214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130385722999996 meters 0.01799124783014332 Centerline is valid? [True, True] Translation: X:28.29, Y:-0.02, Z:-1.12 [[ 9.99032503e-01 2.83599215e-02 3.36120793e-02 2.82944907e+01] [-2.83352675e-02 9.99597744e-01 -1.20969339e-03 -2.11873815e-02] [-3.36328655e-02 2.56115755e-04 9.99434222e-01 -1.11533823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190385723 meters 0.01813337511585034 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.02, Z:-1.12 [[ 9.99007720e-01 2.84220292e-02 3.42894075e-02 2.83564670e+01] [-2.83961077e-02 9.99595977e-01 -1.24280938e-03 -2.23697856e-02] [-3.43108770e-02 2.67890452e-04 9.99411173e-01 -1.11525858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250385722999997 meters 0.018464377500903316 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.03, Z:-1.12 [[ 9.99154635e-01 2.56566655e-02 3.21208845e-02 2.84177753e+01] [-2.56322208e-02 9.99670753e-01 -1.17262969e-03 -2.74846218e-02] [-3.21403945e-02 3.48308783e-04 9.99483303e-01 -1.11889471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310385722999996 meters 0.01910131346043556 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.03, Z:-1.12 [[ 9.99306209e-01 2.16847474e-02 3.02799149e-02 2.84792557e+01] [-2.16611079e-02 9.99764756e-01 -1.10854237e-03 -3.36099339e-02] [-3.02968302e-02 4.51876765e-04 9.99540844e-01 -1.12352317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370385723 meters 0.01960319355853871 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.04, Z:-1.12 [[ 9.99273522e-01 1.82286566e-02 3.34685692e-02 2.85413949e+01] [-1.81975603e-02 9.99833650e-01 -1.23351747e-03 -3.60315955e-02] [-3.34854870e-02 6.23575038e-04 9.99439009e-01 -1.12384528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430385722999997 meters 0.020174429826014202 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.04, Z:-1.13 [[ 9.99340346e-01 1.46710063e-02 3.32209822e-02 2.86039145e+01] [-1.46381217e-02 9.99892097e-01 -1.23288329e-03 -3.75640034e-02] [-3.32354851e-02 7.45777236e-04 9.99447270e-01 -1.12609481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490385723 meters 0.02080612263197609 Centerline is valid? [True, True] Translation: X:28.67, Y:-0.04, Z:-1.13 [[ 9.99326477e-01 1.29135618e-02 3.43486764e-02 2.86665210e+01] [-1.28772926e-02 9.99916269e-01 -1.27693769e-03 -3.51527675e-02] [-3.43622902e-02 8.33759690e-04 9.99409094e-01 -1.12577023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550385722999998 meters 0.02117775522622611 Centerline is valid? [True, True] Translation: X:28.73, Y:-0.03, Z:-1.13 [[ 9.99283798e-01 1.16789808e-02 3.59929376e-02 2.87284481e+01] [-1.16380225e-02 9.99931368e-01 -1.34726259e-03 -3.40402991e-02] [-3.60062020e-02 9.27411063e-04 9.99351136e-01 -1.12790227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610385722999997 meters 0.02206177034438544 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.03, Z:-1.13 [[ 9.99390429e-01 9.76474314e-03 3.35174720e-02 2.87890628e+01] [-9.72787959e-03 9.99951886e-01 -1.26273158e-03 -3.46616961e-02] [-3.35281895e-02 9.35907920e-04 9.99437334e-01 -1.13440934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670385723 meters 0.023213461975319448 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.03, Z:-1.14 [[ 9.99476052e-01 7.04865293e-03 3.15901587e-02 2.88514348e+01] [-7.01452595e-03 9.99974689e-01 -1.19099790e-03 -3.38391281e-02] [-3.15977540e-02 9.68783889e-04 9.99500197e-01 -1.13829380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730385722999998 meters 0.021711180431278863 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.03, Z:-1.14 [[ 9.99367282e-01 9.06033412e-03 3.43939857e-02 2.89146495e+01] [-9.02098004e-03 9.99958466e-01 -1.29922432e-03 -2.53514153e-02] [-3.44043286e-02 9.88134817e-04 9.99407507e-01 -1.13562257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790385722999996 meters 0.020706463643649895 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.02, Z:-1.14 [[ 9.99266053e-01 1.48359571e-02 3.53164336e-02 2.89759761e+01] [-1.47979507e-02 9.99889610e-01 -1.33732599e-03 -1.92892993e-02] [-3.53323756e-02 8.13733616e-04 9.99375285e-01 -1.13709460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850385723 meters 0.0197645441161168 Centerline is valid? [True, True] Translation: X:29.04, Y:-0.02, Z:-1.14 [[ 9.99311733e-01 1.96501746e-02 3.14631713e-02 2.90371760e+01] [-1.96223665e-02 9.99806752e-01 -1.19238541e-03 -2.07827400e-02] [-3.14805217e-02 5.74182853e-04 9.99504201e-01 -1.14458261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910385722999997 meters 0.019519132579529558 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.02, Z:-1.14 [[ 9.99292664e-01 2.10508150e-02 3.11614378e-02 2.90992694e+01] [-2.10242166e-02 9.99778269e-01 -1.18101156e-03 -2.01879406e-02] [-3.11793896e-02 5.25031373e-04 9.99513667e-01 -1.14329892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970385722999996 meters 0.018780319434232452 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.02, Z:-1.15 [[ 9.99155348e-01 2.55607628e-02 3.21751206e-02 2.91615782e+01] [-2.55344825e-02 9.99673188e-01 -1.22748563e-03 -2.27984016e-02] [-3.21959809e-02 4.04873777e-04 9.99481493e-01 -1.14607284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030385723 meters 0.018223216618087554 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.02, Z:-1.15 [[ 9.98945113e-01 3.17146414e-02 3.32090852e-02 2.92231774e+01] [-3.16897641e-02 9.99496940e-01 -1.27531494e-03 -2.27926023e-02] [-3.32328252e-02 2.21581551e-04 9.99447613e-01 -1.14725052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090385722999997 meters 0.018032478695824458 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.02, Z:-1.15 [[ 9.98938929e-01 3.33254068e-02 3.17873042e-02 2.92856462e+01] [-3.33032187e-02 9.99444540e-01 -1.22735333e-03 -2.38756553e-02] [-3.18105497e-02 1.67431479e-04 9.99493902e-01 -1.14983413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150385723 meters 0.017998679882575846 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.03, Z:-1.15 [[ 9.98914857e-01 3.42234378e-02 3.15890053e-02 2.93460640e+01] [-3.42017199e-02 9.99414196e-01 -1.22775061e-03 -2.89687567e-02] [-3.16125181e-02 1.46020020e-04 9.99500189e-01 -1.15460161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210385722999998 meters 0.01827309871586097 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.04, Z:-1.16 [[ 9.99067044e-01 2.90135803e-02 3.19883429e-02 2.94061989e+01] [-2.89885488e-02 9.99578967e-01 -1.24610455e-03 -3.70122573e-02] [-3.20110287e-02 3.17646349e-04 9.99487465e-01 -1.15615047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270385722999997 meters 0.018655105582712234 Centerline is valid? [True, True] Translation: X:29.47, Y:-0.04, Z:-1.16 [[ 9.99099532e-01 2.68598230e-02 3.28431862e-02 2.94685390e+01] [-2.68322973e-02 9.99639131e-01 -1.27863664e-03 -4.00754143e-02] [-3.28656781e-02 3.96227136e-04 9.99459699e-01 -1.15670685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330385723 meters 0.01969881756989567 Centerline is valid? [True, True] Translation: X:29.53, Y:-0.05, Z:-1.16 [[ 9.99287914e-01 2.00555517e-02 3.19599687e-02 2.95300349e+01] [-2.00257662e-02 9.99798681e-01 -1.25181777e-03 -4.67305360e-02] [-3.19786404e-02 6.10903511e-04 9.99488366e-01 -1.15856720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390385722999998 meters 0.021175184766918542 Centerline is valid? [True, True] Translation: X:29.59, Y:-0.06, Z:-1.16 [[ 9.99381680e-01 1.45989162e-02 3.19863812e-02 2.95909733e+01] [-1.45660350e-02 9.99893115e-01 -1.26076272e-03 -5.61375786e-02] [-3.20013681e-02 7.94068419e-04 9.99487510e-01 -1.16316556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450385722999997 meters 0.020913810475976315 Centerline is valid? [True, True] Translation: X:29.65, Y:-0.05, Z:-1.16 [[ 9.99316224e-01 1.32507935e-02 3.45181335e-02 2.96539623e+01] [-1.32116620e-02 9.99911795e-01 -1.36150137e-03 -5.19795758e-02] [-3.45331298e-02 9.04528499e-04 9.99403144e-01 -1.15996217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510385723 meters 0.020411541912606423 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.05, Z:-1.16 [[ 9.99278213e-01 1.53824678e-02 3.47337265e-02 2.97158652e+01] [-1.53438340e-02 9.99881326e-01 -1.37858413e-03 -5.19958040e-02] [-3.47508106e-02 8.44640550e-04 9.99395651e-01 -1.16271330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570385722999998 meters 0.021661784507301593 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.05, Z:-1.17 [[ 9.99406089e-01 1.72718570e-02 2.98186720e-02 2.97768953e+01] [-1.72440432e-02 9.99850603e-01 -1.18968581e-03 -5.34702076e-02] [-2.98347652e-02 6.74784769e-04 9.99554617e-01 -1.16896396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630385722999996 meters 0.020460200887973873 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.05, Z:-1.17 [[ 9.99443598e-01 1.59281178e-02 2.93051142e-02 2.98393475e+01] [-1.59004923e-02 9.99872888e-01 -1.17549154e-03 -5.09515129e-02] [-2.93201126e-02 7.08871748e-04 9.99569822e-01 -1.16942791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690385723 meters 0.020378307291009493 Centerline is valid? [True, True] Translation: X:29.90, Y:-0.06, Z:-1.17 [[ 9.99452869e-01 1.58505560e-02 2.90296937e-02 2.99019708e+01] [-1.58232205e-02 9.99874119e-01 -1.17113286e-03 -5.74815232e-02] [-2.90446025e-02 7.11148847e-04 9.99577864e-01 -1.17406597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750385722999997 meters 0.020182120567667078 Centerline is valid? [True, True] Translation: X:29.96, Y:-0.06, Z:-1.17 [[ 9.99412463e-01 1.79909672e-02 2.91728228e-02 2.99644118e+01] [-1.79640266e-02 9.99837931e-01 -1.18532851e-03 -5.75424705e-02] [-2.91894200e-02 6.60570720e-04 9.99573680e-01 -1.17397772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810385722999996 meters 0.019667872058401693 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.06, Z:-1.18 [[ 9.99350601e-01 2.01640291e-02 2.98628176e-02 3.00264256e+01] [-2.01365460e-02 9.99796494e-01 -1.22079355e-03 -5.61465707e-02] [-2.98813565e-02 6.18666770e-04 9.99553261e-01 -1.17527471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870385723 meters 0.02003495315416105 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.06, Z:-1.18 [[ 9.99443492e-01 1.90854199e-02 2.73578814e-02 3.00879451e+01] [-1.90617859e-02 9.99817675e-01 -1.12444215e-03 -6.06660257e-02] [-2.73743538e-02 6.02326312e-04 9.99625071e-01 -1.18076650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930385722999997 meters 0.020422410569934314 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.06, Z:-1.18 [[ 9.99480755e-01 1.82227412e-02 2.65735170e-02 3.01503968e+01] [-1.81999928e-02 9.99833764e-01 -1.09768797e-03 -6.45310479e-02] [-2.65891024e-02 6.13480185e-04 9.99646259e-01 -1.18340885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990385723 meters 0.020530653798810555 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.07, Z:-1.19 [[ 9.99507300e-01 1.80083456e-02 2.57071343e-02 3.02120339e+01] [-1.79868312e-02 9.99837654e-01 -1.06791054e-03 -6.82718138e-02] [-2.57221922e-02 6.04994499e-04 9.99668947e-01 -1.18584550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050385723 meters 0.019670141326433726 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.07, Z:-1.19 [[ 9.99475103e-01 1.71647384e-02 2.74752715e-02 3.02752437e+01] [-1.71396780e-02 9.99852447e-01 -1.14736994e-03 -6.96793352e-02] [-2.74909117e-02 6.75850384e-04 9.99621825e-01 -1.18533283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110385723 meters 0.019895314623030184 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.07, Z:-1.18 [[ 9.99426589e-01 1.72125054e-02 2.91585863e-02 3.03382225e+01] [-1.71840367e-02 9.99851591e-01 -1.22666079e-03 -7.14448462e-02] [-2.91753728e-02 7.24895196e-04 9.99574045e-01 -1.18340280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170385722999995 meters 0.019814028211004867 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.07, Z:-1.19 [[ 9.99399750e-01 1.88883261e-02 2.90408373e-02 3.03994963e+01] [-1.88605266e-02 9.99821367e-01 -1.23090230e-03 -7.26742030e-02] [-2.90588993e-02 6.82437969e-04 9.99577468e-01 -1.18536586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230385723 meters 0.019814717901680646 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.08, Z:-1.19 [[ 9.99333206e-01 1.94685966e-02 3.08888000e-02 3.04618076e+01] [-1.94372945e-02 9.99810215e-01 -1.31335559e-03 -7.60404743e-02] [-3.09085069e-02 7.12085155e-04 9.99521964e-01 -1.18796591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290385723 meters 0.02001466827172516 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.08, Z:-1.19 [[ 9.99266564e-01 1.98516723e-02 3.27451608e-02 3.05245092e+01] [-1.98164206e-02 9.99802654e-01 -1.40076073e-03 -7.88665343e-02] [-3.27665061e-02 7.50841481e-04 9.99462752e-01 -1.18818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350385722999995 meters 0.02064681907756352 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.08, Z:-1.19 [[ 9.99340282e-01 1.87099266e-02 3.11277922e-02 3.05865000e+01] [-1.86773003e-02 9.99824668e-01 -1.33859562e-03 -7.91345213e-02] [-3.11473795e-02 7.56329403e-04 9.99514517e-01 -1.19044745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410385723 meters 0.0201659918989012 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.08, Z:-1.19 [[ 9.99428769e-01 1.61671222e-02 2.96775944e-02 3.06484656e+01] [-1.61361492e-02 9.99868981e-01 -1.28286172e-03 -7.89165295e-02] [-2.96944463e-02 8.03246821e-04 9.99558700e-01 -1.19275631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470385723 meters 0.02022251852011133 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.08, Z:-1.20 [[ 9.99452566e-01 1.65050756e-02 2.86731765e-02 3.07116855e+01] [-1.64761320e-02 9.99863484e-01 -1.24541586e-03 -8.38274642e-02] [-2.86898179e-02 7.72311039e-04 9.99588064e-01 -1.19562163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530385722999995 meters 0.020092250589362936 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.09, Z:-1.20 [[ 9.99362699e-01 1.90960667e-02 3.01585049e-02 3.07735471e+01] [-1.90649453e-02 9.99817377e-01 -1.31916738e-03 -8.70442260e-02] [-3.01781881e-02 7.43356427e-04 9.99544258e-01 -1.19769850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590385723 meters 0.01933444263463305 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.09, Z:-1.20 [[ 9.99185606e-01 2.26091831e-02 3.34207913e-02 3.08356182e+01] [-2.25726051e-02 9.99744123e-01 -1.47141190e-03 -8.53622211e-02] [-3.34455071e-02 7.15819270e-04 9.99440286e-01 -1.19544977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650385723 meters 0.01898826293350162 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.09, Z:-1.20 [[ 9.99182307e-01 2.46784333e-02 3.20264272e-02 3.08983735e+01] [-2.46458663e-02 9.99695248e-01 -1.41130197e-03 -8.51905611e-02] [-3.20514958e-02 6.20828912e-04 9.99486026e-01 -1.19782164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710385722999995 meters 0.019137449624039 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.09, Z:-1.20 [[ 9.99240496e-01 2.45197108e-02 3.02855655e-02 3.09607478e+01] [-2.44904206e-02 9.99699170e-01 -1.33774806e-03 -8.80176875e-02] [-3.03092558e-02 5.95025800e-04 9.99540392e-01 -1.20082703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770385723 meters 0.01930177522454676 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.09, Z:-1.20 [[ 9.99262443e-01 2.48246063e-02 2.92969215e-02 3.10232459e+01] [-2.47971363e-02 9.99691658e-01 -1.30064498e-03 -9.34509391e-02] [-2.93201760e-02 5.73205930e-04 9.99569907e-01 -1.20417604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830385723 meters 0.01872705202680109 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.09, Z:-1.20 [[ 9.99184256e-01 2.68721259e-02 3.01448432e-02 3.10854177e+01] [-2.68437101e-02 9.99638735e-01 -1.34701020e-03 -9.37703743e-02] [-3.01701499e-02 5.36711953e-04 9.99544633e-01 -1.20346523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890385722999994 meters 0.0184803901285865 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.10, Z:-1.21 [[ 9.99167239e-01 2.81789331e-02 2.95089242e-02 3.11471846e+01] [-2.81520669e-02 9.99602773e-01 -1.32558777e-03 -9.76127962e-02] [-2.95345561e-02 4.93746662e-04 9.99563638e-01 -1.20637032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950385723 meters 0.018465996213243796 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.10, Z:-1.21 [[ 9.99090179e-01 2.91157232e-02 3.11622907e-02 3.12086422e+01] [-2.90859325e-02 9.99575922e-01 -1.40895776e-03 -9.89534449e-02] [-3.11900982e-02 5.01291578e-04 9.99513345e-01 -1.20618340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010385723 meters 0.018437815630226406 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.10, Z:-1.20 [[ 9.99009385e-01 2.93055854e-02 3.34877699e-02 3.12701202e+01] [-2.92712452e-02 9.99570357e-01 -1.51535165e-03 -9.91394834e-02] [-3.35177904e-02 5.33621792e-04 9.99437979e-01 -1.20475632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070385723 meters 0.01894203960267319 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.11, Z:-1.21 [[ 9.98918772e-01 2.69846833e-02 3.78564769e-02 3.13319407e+01] [-2.69390567e-02 9.99635607e-01 -1.71491930e-03 -1.06585931e-01] [-3.78889589e-02 6.93247306e-04 9.99281715e-01 -1.20661905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130385722999996 meters 0.020500880675946045 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.12, Z:-1.21 [[ 9.99117345e-01 1.93975335e-02 3.72594527e-02 3.13924771e+01] [-1.93477400e-02 9.99811376e-01 -1.69653788e-03 -1.16983720e-01] [-3.72853333e-02 9.74154224e-04 9.99304185e-01 -1.21112054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190385723 meters 0.021304832578158545 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.12, Z:-1.21 [[ 9.99204565e-01 1.73650518e-02 3.58983583e-02 3.14547321e+01] [-1.73174679e-02 9.99848703e-01 -1.63605103e-03 -1.21688081e-01] [-3.59213371e-02 1.01308099e-03 9.99354107e-01 -1.21337413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250385723 meters 0.02143798865982451 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.12, Z:-1.21 [[ 9.99285314e-01 1.67583978e-02 3.38823994e-02 3.15164687e+01] [-1.67153986e-02 9.99859084e-01 -1.55195184e-03 -1.23188059e-01] [-3.39036330e-02 9.84484869e-04 9.99424622e-01 -1.21455641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310385722999996 meters 0.021235645159557677 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.13, Z:-1.22 [[ 9.99152011e-01 1.83079863e-02 3.68792288e-02 3.15787471e+01] [-1.82577616e-02 9.99831871e-01 -1.69821943e-03 -1.30929921e-01] [-3.69041193e-02 1.02344719e-03 9.99318287e-01 -1.21908998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370385723 meters 0.02217552330038855 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.13, Z:-1.22 [[ 9.99115942e-01 1.92564923e-02 3.73700675e-02 3.16403205e+01] [-1.92054528e-02 9.99814071e-01 -1.72431987e-03 -1.31772692e-01] [-3.73963237e-02 1.00508641e-03 9.99300007e-01 -1.21887784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430385723 meters 0.021252296424809844 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.13, Z:-1.22 [[ 9.99030647e-01 2.17742607e-02 3.82576584e-02 3.17025192e+01] [-2.17222773e-02 9.99762470e-01 -1.77397121e-03 -1.30407666e-01] [-3.82871979e-02 9.41208144e-04 9.99266333e-01 -1.22004174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490385722999996 meters 0.020896752862236315 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.13, Z:-1.22 [[ 9.98903539e-01 2.44454493e-02 3.99266906e-02 3.17645276e+01] [-2.43905655e-02 9.99700773e-01 -1.86122067e-03 -1.30729137e-01] [-3.99602418e-02 8.85345352e-04 9.99200878e-01 -1.22140394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550385723 meters 0.020560297750190755 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.13, Z:-1.22 [[ 9.98769952e-01 2.75450600e-02 4.12292661e-02 3.18269355e+01] [-2.74887926e-02 9.99620246e-01 -1.93114164e-03 -1.34378512e-01] [-4.12668025e-02 7.95423494e-04 9.99147846e-01 -1.22475840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610385723 meters 0.020170734518912534 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.14, Z:-1.23 [[ 9.98661863e-01 3.02182921e-02 4.19683094e-02 3.18889138e+01] [-3.01621603e-02 9.99543077e-01 -1.97018792e-03 -1.37189078e-01] [-4.20086688e-02 7.01696664e-04 9.99117000e-01 -1.22787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670385722999995 meters 0.019000567752647135 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.13, Z:-1.23 [[ 9.98380716e-01 3.59473615e-02 4.40877840e-02 3.19515736e+01] [-3.58905225e-02 9.99353562e-01 -2.08035473e-03 -1.31698630e-01] [-4.41340672e-02 4.94652445e-04 9.99025495e-01 -1.22531046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730385723 meters 0.018823448941680858 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.13, Z:-1.23 [[ 9.98134766e-01 4.01377726e-02 4.59994330e-02 3.20125251e+01] [-4.00798612e-02 9.99194099e-01 -2.18095561e-03 -1.31380606e-01] [-4.60499007e-02 3.33236729e-04 9.98939085e-01 -1.22686457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790385723 meters 0.018794474956591808 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.13, Z:-1.23 [[ 9.97816334e-01 4.50315679e-02 4.83189457e-02 3.20752144e+01] [-4.49730092e-02 9.98985557e-01 -2.29894918e-03 -1.34004441e-01] [-4.83734542e-02 1.20880651e-04 9.98829312e-01 -1.22891097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850385722999995 meters 0.01917881087559477 Centerline is valid? [True, True] Translation: X:32.14, Y:-0.13, Z:-1.23 [[ 9.97409613e-01 4.94744623e-02 5.22143849e-02 3.21351871e+01] [-4.94116791e-02 9.98775385e-01 -2.49340062e-03 -1.34740480e-01] [-5.22738020e-02 -9.30586806e-05 9.98632786e-01 -1.22741223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910385723 meters 0.019101886105754792 Centerline is valid? [True, True] Translation: X:32.20, Y:-0.14, Z:-1.23 [[ 9.96995544e-01 5.36124140e-02 5.59070089e-02 3.21957053e+01] [-5.35469293e-02 9.98561765e-01 -2.66973500e-03 -1.36308125e-01] [-5.59697324e-02 -3.31934752e-04 9.98432411e-01 -1.23026702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970385723 meters 0.01953779514685855 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.14, Z:-1.23 [[ 9.96780538e-01 5.38613482e-02 5.93928762e-02 3.22554614e+01] [-5.37878789e-02 9.98548356e-01 -2.83619609e-03 -1.39444972e-01] [-5.94594202e-02 -3.67551765e-04 9.98230656e-01 -1.23002592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030385722999995 meters 0.019596949994514272 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.14, Z:-1.23 [[ 9.96847416e-01 5.24600244e-02 5.95245824e-02 3.23170333e+01] [-5.23836835e-02 9.98622985e-01 -2.84330573e-03 -1.43775916e-01] [-5.95917760e-02 -2.83774916e-04 9.98222791e-01 -1.23251049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090385723 meters 0.02001702731427358 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.15, Z:-1.24 [[ 9.96718960e-01 5.12523189e-02 6.26459421e-02 3.23790166e+01] [-5.11648883e-02 9.98685713e-01 -3.00010502e-03 -1.53868650e-01] [-6.27173697e-02 -2.15011075e-04 9.98031305e-01 -1.23683640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150385723 meters 0.020470344844572417 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.16, Z:-1.24 [[ 9.96674942e-01 5.06206230e-02 6.38483481e-02 3.24404141e+01] [-5.05275492e-02 9.98717941e-01 -3.07262721e-03 -1.57476755e-01] [-6.39220291e-02 -1.63690005e-04 9.97954882e-01 -1.23669114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210385722999995 meters 0.019907672769119124 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.17, Z:-1.24 [[ 9.96927614e-01 4.57901334e-02 6.35499498e-02 3.25034695e+01] [-4.56871071e-02 9.98951069e-01 -3.07418132e-03 -1.65148809e-01] [-6.36240574e-02 1.61322892e-04 9.97973924e-01 -1.24394655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270385723 meters 0.020259753038767342 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.18, Z:-1.25 [[ 9.97173905e-01 4.30215139e-02 6.15902043e-02 3.25646003e+01] [-4.29184845e-02 9.99074087e-01 -2.99539421e-03 -1.75451840e-01] [-6.16620435e-02 3.43570715e-04 9.98097027e-01 -1.24760540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330385723 meters 0.020455812455565422 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.18, Z:-1.25 [[ 9.97409783e-01 4.03331584e-02 5.95563619e-02 3.26268917e+01] [-4.02312160e-02 9.99186159e-01 -2.91027270e-03 -1.82215943e-01] [-5.96252729e-02 5.06709611e-04 9.98220702e-01 -1.25090668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390385722999994 meters 0.020355753424515555 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.19, Z:-1.26 [[ 9.97784041e-01 3.70427424e-02 5.52706248e-02 3.26888386e+01] [-3.69493638e-02 9.99313462e-01 -2.71076385e-03 -1.91181201e-01] [-5.53330936e-02 6.62542491e-04 9.98467731e-01 -1.26099862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450385723 meters 0.02051818721342551 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.20, Z:-1.27 [[ 9.98027098e-01 3.46977073e-02 5.23257233e-02 3.27508777e+01] [-3.46104323e-02 9.99397566e-01 -2.57339908e-03 -1.99431358e-01] [-5.23834916e-02 7.57306106e-04 9.98626755e-01 -1.26837973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510385723 meters 0.02059637482542145 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.20, Z:-1.27 [[ 9.98237086e-01 3.29166850e-02 4.93883855e-02 3.28123784e+01] [-3.28361845e-02 9.99457767e-01 -2.44064238e-03 -2.04983873e-01] [-4.94419434e-02 8.14613599e-04 9.98776667e-01 -1.27320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570385723 meters 0.020938430352131474 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.21, Z:-1.28 [[ 9.98599439e-01 2.95627627e-02 4.38771495e-02 3.28749350e+01] [-2.94955576e-02 9.99562538e-01 -2.17842132e-03 -2.14442963e-01] [-4.39223551e-02 8.81189318e-04 9.99034559e-01 -1.28085181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630385722999996 meters 0.021786326782796732 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.23, Z:-1.29 [[ 9.99036161e-01 2.44988901e-02 3.64218712e-02 3.29359739e+01] [-2.44489220e-02 9.99699430e-01 -1.81674500e-03 -2.25289410e-01] [-3.64554321e-02 9.24518465e-04 9.99334852e-01 -1.29189174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690385723 meters 0.02250284360549322 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.23, Z:-1.30 [[ 9.99340125e-01 1.98195324e-02 3.04384612e-02 3.29965086e+01] [-1.97822731e-02 9.99803149e-01 -1.52477055e-03 -2.33148064e-01] [-3.04626896e-02 9.21622437e-04 9.99535480e-01 -1.29934529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750385723 meters 0.022944751564627643 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.24, Z:-1.30 [[ 9.99353645e-01 1.99316972e-02 2.99168686e-02 3.30590177e+01] [-1.98957560e-02 9.99800937e-01 -1.49859222e-03 -2.38144898e-01] [-2.99407828e-02 9.02404877e-04 9.99551267e-01 -1.30160638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810385722999996 meters 0.022081797373326568 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.24, Z:-1.31 [[ 9.99314382e-01 2.29486925e-02 2.90538075e-02 3.31213469e+01] [-2.29158074e-02 9.99736326e-01 -1.46437103e-03 -2.42207711e-01] [-2.90797521e-02 7.97575578e-04 9.99576776e-01 -1.30511925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870385723 meters 0.022160759984074754 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.25, Z:-1.31 [[ 9.99375274e-01 2.39858743e-02 2.59564752e-02 3.31829568e+01] [-2.39599733e-02 9.99712062e-01 -1.30845879e-03 -2.48854801e-01] [-2.59803859e-02 6.85724915e-04 9.99662218e-01 -1.31231028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930385723 meters 0.02157126393547593 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.25, Z:-1.32 [[ 9.99505375e-01 2.37856675e-02 2.05729623e-02 3.32452004e+01] [-2.37692281e-02 9.99716928e-01 -1.04326976e-03 -2.50486990e-01] [-2.05919536e-02 5.53750301e-04 9.99787810e-01 -1.31824157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990385722999996 meters 0.02162476170983065 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.25, Z:-1.32 [[ 9.99568539e-01 2.35966219e-02 1.74909892e-02 3.33063788e+01] [-2.35846847e-02 9.99721448e-01 -8.88470223e-04 -2.51009076e-01] [-1.75070819e-02 4.75567418e-04 9.99846626e-01 -1.32145435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050385723 meters 0.02217346264188131 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.26, Z:-1.33 [[ 9.99603822e-01 2.32128280e-02 1.59173858e-02 3.33655805e+01] [-2.32028755e-02 9.99730449e-01 -8.09672119e-04 -2.59367244e-01] [-1.59318901e-02 4.40022222e-04 9.99872983e-01 -1.33016438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110385723 meters 0.022756290737938206 Centerline is valid? [True, True] Translation: X:33.42, Y:-0.27, Z:-1.33 [[ 9.99663309e-01 2.14172375e-02 1.46482283e-02 3.34247004e+01] [-2.14086058e-02 9.99770531e-01 -7.45838845e-04 -2.66837427e-01] [-1.46608408e-02 4.31989583e-04 9.99892431e-01 -1.33419982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170385722999995 meters 0.025659172489159835 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.27, Z:-1.34 [[ 9.99762968e-01 1.69261648e-02 1.36935418e-02 3.34845054e+01] [-1.69182355e-02 9.99856635e-01 -6.94692965e-04 -2.73497938e-01] [-1.37033371e-02 4.62857735e-04 9.99905998e-01 -1.33538236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230385723 meters 0.024525982599928907 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.28, Z:-1.33 [[ 9.99784619e-01 1.53633242e-02 1.39529302e-02 3.35452733e+01] [-1.53549076e-02 9.99881854e-01 -7.10143649e-04 -2.75303242e-01] [-1.39621919e-02 4.95744742e-04 9.99902401e-01 -1.33400983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290385723 meters 0.023574744918351268 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.28, Z:-1.33 [[ 9.99768443e-01 1.46980638e-02 1.57171086e-02 3.36066270e+01] [-1.46873132e-02 9.99891816e-01 -7.99223214e-04 -2.83069226e-01] [-1.57271553e-02 5.68196053e-04 9.99876159e-01 -1.33473698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350385722999995 meters 0.02490766722015034 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.29, Z:-1.34 [[ 9.99801984e-01 1.37354697e-02 1.43989436e-02 3.36675411e+01] [-1.37264003e-02 9.99905523e-01 -7.28506716e-04 -2.88508074e-01] [-1.44075896e-02 5.30716797e-04 9.99896064e-01 -1.33593396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410385723 meters 0.02423001989206799 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.29, Z:-1.34 [[ 9.99838383e-01 1.27636072e-02 1.26608725e-02 3.37295190e+01] [-1.27564951e-02 9.99918426e-01 -6.42343578e-04 -2.89212617e-01] [-1.26680384e-02 4.80731407e-04 9.99919642e-01 -1.33622801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470385723 meters 0.02684994002281804 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.30, Z:-1.34 [[ 9.99889795e-01 1.09308215e-02 1.00456120e-02 3.37890730e+01] [-1.09261909e-02 9.99940174e-01 -5.15723654e-04 -3.00019169e-01] [-1.00506483e-02 4.05906544e-04 9.99949409e-01 -1.34317751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530385722999995 meters 0.024844810043408584 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.30, Z:-1.34 [[ 9.99885031e-01 9.78182537e-03 1.15862654e-02 3.38501514e+01] [-9.77559006e-03 9.99952041e-01 -5.94676547e-04 -3.01140872e-01] [-1.15915268e-02 4.81345596e-04 9.99932700e-01 -1.33998726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590385723 meters 0.025022437628556583 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.30, Z:-1.34 [[ 9.99847542e-01 9.70637307e-03 1.45147582e-02 3.39127454e+01] [-9.69663283e-03 9.99952712e-01 -7.41284382e-04 -3.03122170e-01] [-1.45212670e-02 6.00427086e-04 9.99894381e-01 -1.33715725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650385723 meters 0.025570062787650453 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.31, Z:-1.34 [[ 9.99863123e-01 7.05717726e-03 1.49643217e-02 3.39744218e+01] [-7.04641366e-03 9.99974876e-01 -7.71887744e-04 -3.12025909e-01] [-1.49693931e-02 6.66337290e-04 9.99887730e-01 -1.33929012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710385722999995 meters 0.02744419548236491 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.32, Z:-1.34 [[ 9.99884910e-01 2.01013513e-03 1.50374762e-02 3.40346536e+01] [-1.99865962e-03 9.99997700e-01 -7.78116662e-04 -3.16677094e-01] [-1.50390058e-02 7.47972312e-04 9.99886628e-01 -1.33907572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770385723 meters 0.028550147627213487 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.32, Z:-1.34 [[ 9.99901668e-01 -7.48943694e-04 1.40033491e-02 3.40954901e+01] [ 7.59161918e-04 9.99999449e-01 -7.24397157e-04 -3.22423129e-01] [-1.40027989e-02 7.34956735e-04 9.99901686e-01 -1.34099716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830385723 meters 0.02934037419455434 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.32, Z:-1.34 [[ 9.99914620e-01 -2.70044418e-03 1.27851397e-02 3.41563282e+01] [ 2.70912299e-03 9.99996111e-01 -6.61549481e-04 -3.24429455e-01] [-1.27833035e-02 6.96129514e-04 9.99918048e-01 -1.34145636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890385722999994 meters 0.02818583489449326 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.33, Z:-1.34 [[ 9.99853008e-01 -2.04267349e-03 1.70232217e-02 3.42180957e+01] [ 2.05796268e-03 9.99997495e-01 -8.80667526e-04 -3.28537820e-01] [-1.70213801e-02 9.15571230e-04 9.99854707e-01 -1.33998133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950385723 meters 0.02763380215725827 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.32, Z:-1.34 [[ 9.99861701e-01 1.80999978e-03 1.65318954e-02 3.42793786e+01] [-1.79608042e-03 9.99998020e-01 -8.56778555e-04 -3.24489790e-01] [-1.65334134e-02 8.26967449e-04 9.99862972e-01 -1.33761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010385723 meters 0.02572768991109336 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.32, Z:-1.34 [[ 9.99856898e-01 6.98478239e-03 1.54076792e-02 3.43406255e+01] [-6.97330149e-03 9.99975367e-01 -7.98741079e-04 -3.19161598e-01] [-1.54128787e-02 6.91184385e-04 9.99880976e-01 -1.33851215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070385722999994 meters 0.023417508518223922 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.31, Z:-1.34 [[ 9.99696525e-01 1.68948557e-02 1.79282553e-02 3.44003751e+01] [-1.68808818e-02 9.99857075e-01 -9.30492624e-04 -3.14646740e-01] [-1.79414135e-02 6.27565483e-04 9.99838843e-01 -1.33903137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130385722999996 meters 0.02091146903647213 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.31, Z:-1.34 [[ 9.99514272e-01 2.51250886e-02 1.84377152e-02 3.44617423e+01] [-2.51117222e-02 9.99684194e-01 -9.56149243e-04 -3.08893253e-01] [-1.84559158e-02 4.92682032e-04 9.99829554e-01 -1.33997003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190385723 meters 0.019299605275060625 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.30, Z:-1.34 [[ 9.99095263e-01 3.74440238e-02 2.01643199e-02 3.45226318e+01] [-3.74305383e-02 9.99298685e-01 -1.04591594e-03 -2.97559601e-01] [-2.01893416e-02 2.90208317e-04 9.99796132e-01 -1.33937585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250385723 meters 0.018856240845154488 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.29, Z:-1.34 [[ 9.98817496e-01 4.45062803e-02 1.95653066e-02 3.45815227e+01] [-4.44949187e-02 9.99009094e-01 -1.01585396e-03 -2.90501793e-01] [-1.95911311e-02 1.44095978e-04 9.99808065e-01 -1.34304877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310385722999996 meters 0.018682722546000268 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.29, Z:-1.34 [[ 9.98730776e-01 4.57849127e-02 2.09899506e-02 3.46405265e+01] [-4.57721531e-02 9.98951313e-01 -1.08817328e-03 -2.89043144e-01] [-2.10177606e-02 1.26036914e-04 9.99779095e-01 -1.34318865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370385723 meters 0.018699166964859463 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.29, Z:-1.34 [[ 9.98680685e-01 4.59034894e-02 2.30165168e-02 3.46988713e+01] [-4.58882157e-02 9.98945870e-01 -1.19160202e-03 -2.85842072e-01] [-2.30469531e-02 1.33843032e-04 9.99734375e-01 -1.34173279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430385723 meters 0.018769062094262618 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.29, Z:-1.35 [[ 9.98776933e-01 4.38351114e-02 2.28718288e-02 3.47571207e+01] [-4.38195364e-02 9.99038764e-01 -1.18194906e-03 -2.88619377e-01] [-2.29016544e-02 1.78270527e-04 9.99737707e-01 -1.34812903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490385722999996 meters 0.018717718512580566 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.29, Z:-1.35 [[ 9.98906067e-01 3.99492975e-02 2.43047972e-02 3.48155777e+01] [-3.99306011e-02 9.99201668e-01 -1.25427885e-03 -2.89904594e-01] [-2.43355015e-02 2.82401590e-04 9.99703808e-01 -1.34718506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550385723 meters 0.019610030259720027 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.29, Z:-1.34 [[ 9.99159414e-01 3.21809697e-02 2.53938895e-02 3.48753923e+01] [-3.21581099e-02 9.99481938e-01 -1.30817736e-03 -2.89663552e-01] [-2.54228323e-02 4.90458234e-04 9.99676667e-01 -1.34485841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610385723 meters 0.02126745160869626 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.30, Z:-1.35 [[ 9.99352282e-01 2.40631789e-02 2.67578069e-02 3.49344687e+01] [-2.40349198e-02 9.99710171e-01 -1.37727211e-03 -3.01858148e-01] [-2.67831932e-02 7.33258284e-04 9.99640997e-01 -1.35070556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670385722999995 meters 0.02309914517592183 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.31, Z:-1.35 [[ 9.99454983e-01 1.84223578e-02 2.73925824e-02 3.49953875e+01] [-1.83906466e-02 9.99829885e-01 -1.40915569e-03 -3.08504362e-01] [-2.74138825e-02 9.04620369e-04 9.99623760e-01 -1.35109892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730385723 meters 0.023993124912840207 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.31, Z:-1.35 [[ 9.99494030e-01 1.71696247e-02 2.67747455e-02 3.50575271e+01] [-1.71389220e-02 9.99852171e-01 -1.37578414e-03 -3.11749553e-01] [-2.67944091e-02 9.16197759e-04 9.99640546e-01 -1.35243427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790385723 meters 0.024045030409267785 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.31, Z:-1.36 [[ 9.99483095e-01 1.87650944e-02 2.61038909e-02 3.51185122e+01] [-1.87362929e-02 9.99823552e-01 -1.34751194e-03 -3.13471743e-01] [-2.61245711e-02 8.57725261e-04 9.99658327e-01 -1.35549434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850385722999995 meters 0.023287921589263513 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.32, Z:-1.36 [[ 9.99406180e-01 2.21902082e-02 2.63606190e-02 3.51791177e+01] [-2.21618268e-02 9.99753460e-01 -1.36835647e-03 -3.17010695e-01] [-2.63844841e-02 7.83344444e-04 9.99651562e-01 -1.35898367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910385723 meters 0.02054057348354019 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.32, Z:-1.36 [[ 9.99313695e-01 2.67858297e-02 2.55862725e-02 3.52410776e+01] [-2.67605809e-02 9.99640988e-01 -1.32876924e-03 -3.15018829e-01] [-2.56126789e-02 6.43153787e-04 9.99671735e-01 -1.36056562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970385723 meters 0.019806880944739237 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.31, Z:-1.36 [[ 9.99248166e-01 3.06727190e-02 2.37125965e-02 3.53017833e+01] [-3.06520855e-02 9.99529354e-01 -1.23321853e-03 -3.12315691e-01] [-2.37392624e-02 5.05450821e-04 9.99718056e-01 -1.36078649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030385722999995 meters 0.01913537878465547 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.31, Z:-1.36 [[ 9.99172391e-01 3.29962223e-02 2.37861619e-02 3.53607904e+01] [-3.29760982e-02 9.99455374e-01 -1.23789779e-03 -3.12470924e-01] [-2.38140533e-02 4.52498483e-04 9.99716303e-01 -1.36214762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090385723 meters 0.018178579839279438 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.32, Z:-1.37 [[ 9.98909602e-01 3.96306663e-02 2.46782876e-02 3.54194764e+01] [-3.96110821e-02 9.99214351e-01 -1.28210555e-03 -3.16010602e-01] [-2.47097098e-02 3.03173873e-04 9.99694623e-01 -1.36739372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150385723 meters 0.01770419681371514 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.32, Z:-1.37 [[ 9.98751234e-01 4.31752045e-02 2.51371175e-02 3.54788919e+01] [-4.31560249e-02 9.99067492e-01 -1.30524667e-03 -3.16593062e-01] [-2.51700312e-02 2.18798654e-04 9.99683161e-01 -1.36718374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210385722999995 meters 0.01745501045073467 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.32, Z:-1.37 [[ 9.98639526e-01 4.58500571e-02 2.48368438e-02 3.55383214e+01] [-4.58321724e-02 9.98948322e-01 -1.28916034e-03 -3.16351042e-01] [-2.48698316e-02 1.49079962e-04 9.99690687e-01 -1.36677702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270385723 meters 0.01726997514887926 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.32, Z:-1.37 [[ 9.98449450e-01 4.77931555e-02 2.85396165e-02 3.55956288e+01] [-4.77704576e-02 9.98857248e-01 -1.47698753e-03 -3.21387102e-01] [-2.85775927e-02 1.11346844e-04 9.99591571e-01 -1.36659452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330385723 meters 0.017263270562905334 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.32, Z:-1.37 [[ 9.98455522e-01 4.74171150e-02 2.89514616e-02 3.56531648e+01] [-4.73936685e-02 9.98875169e-01 -1.49590651e-03 -3.24356740e-01] [-2.89898277e-02 1.21480146e-04 9.99579699e-01 -1.36585660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390385722999994 meters 0.017219012575616144 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.33, Z:-1.37 [[ 9.98591323e-01 4.49007682e-02 2.82717115e-02 3.57113026e+01] [-4.48774902e-02 9.98991434e-01 -1.45765766e-03 -3.29833216e-01] [-2.83086476e-02 1.86840838e-04 9.99599212e-01 -1.36825183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450385723 meters 0.017318247770767924 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.34, Z:-1.37 [[ 9.98660327e-01 4.31378963e-02 2.85774991e-02 3.57694844e+01] [-4.31134481e-02 9.99069099e-01 -1.47140070e-03 -3.37496146e-01] [-2.86143695e-02 2.37354975e-04 9.99590497e-01 -1.37168480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510385723 meters 0.017553018005954126 Centerline is valid? [True, True] Translation: X:35.83, Y:-0.34, Z:-1.37 [[ 9.98787657e-01 4.03147541e-02 2.82477862e-02 3.58280015e+01] [-4.02897936e-02 9.99186981e-01 -1.45246244e-03 -3.43688953e-01] [-2.82833759e-02 3.12604080e-04 9.99599896e-01 -1.37278743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570385722999994 meters 0.017804020299304005 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.35, Z:-1.37 [[ 9.98825209e-01 3.84504148e-02 2.94918319e-02 3.58856461e+01] [-3.84224533e-02 9.99260437e-01 -1.51443346e-03 -3.47547869e-01] [-2.95282514e-02 3.79505783e-04 9.99563874e-01 -1.37207152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630385722999996 meters 0.017935258822320027 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.35, Z:-1.38 [[ 9.98941222e-01 3.61535544e-02 2.84491753e-02 3.59450370e+01] [-3.61266956e-02 9.99346155e-01 -1.45768927e-03 -3.54947240e-01] [-2.84832746e-02 4.28371199e-04 9.99594177e-01 -1.37523880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690385723 meters 0.01822339254900442 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.36, Z:-1.38 [[ 9.98923029e-01 3.64725890e-02 2.86798250e-02 3.60035614e+01] [-3.64454501e-02 9.99334565e-01 -1.46860833e-03 -3.64331878e-01] [-2.87143044e-02 4.21777552e-04 9.99587570e-01 -1.38045400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750385723 meters 0.017837425499366837 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.37, Z:-1.38 [[ 9.98832078e-01 3.82237357e-02 2.95537742e-02 3.60620650e+01] [-3.81957274e-02 9.99269133e-01 -1.51186841e-03 -3.65302133e-01] [-2.95899636e-02 3.81274763e-04 9.99562048e-01 -1.37941447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810385722999996 meters 0.017765522079003348 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.37, Z:-1.38 [[ 9.98777589e-01 3.86005248e-02 3.08760002e-02 3.61203754e+01] [-3.85702025e-02 9.99254648e-01 -1.57727586e-03 -3.70362102e-01] [-3.09138704e-02 3.84454196e-04 9.99521978e-01 -1.38101663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870385723 meters 0.017793078459963023 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.38, Z:-1.38 [[ 9.98775153e-01 3.75313906e-02 3.22426635e-02 3.61797830e+01] [-3.74978459e-02 9.99295355e-01 -1.64463654e-03 -3.77106409e-01] [-3.22816693e-02 4.33591682e-04 9.99478717e-01 -1.38191839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930385723 meters 0.01818978317955198 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.38, Z:-1.39 [[ 9.98915896e-01 3.51329217e-02 3.05402963e-02 3.62393577e+01] [-3.51017402e-02 9.99382532e-01 -1.55669493e-03 -3.83612717e-01] [-3.05761298e-02 4.82989770e-04 9.99532324e-01 -1.38630084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990385722999996 meters 0.018949509608678403 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.39, Z:-1.39 [[ 9.99104843e-01 3.14054841e-02 2.83409293e-02 3.62989796e+01] [-3.13771510e-02 9.99506573e-01 -1.44399872e-03 -3.89951648e-01] [-2.83722946e-02 5.53448494e-04 9.99597272e-01 -1.38949198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050385723 meters 0.019099001083217913 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.39, Z:-1.39 [[ 9.99172212e-01 2.90959150e-02 2.84309263e-02 3.63590599e+01] [-2.90664671e-02 9.99576431e-01 -1.44858415e-03 -3.94636226e-01] [-2.84610317e-02 6.20998449e-04 9.99594710e-01 -1.39108814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110385723 meters 0.01965373108741794 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.40, Z:-1.39 [[ 9.99133795e-01 2.83109203e-02 3.04983917e-02 3.64196478e+01] [-2.82767048e-02 9.99598928e-01 -1.55267793e-03 -4.00513131e-01] [-3.05301174e-02 6.88938974e-04 9.99533610e-01 -1.39255567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170385722999995 meters 0.01961202864000128 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.40, Z:-1.39 [[ 9.99121205e-01 2.87371306e-02 3.05122265e-02 3.64819354e+01] [-2.87028744e-02 9.99586770e-01 -1.56019802e-03 -4.03335716e-01] [-3.05444535e-02 6.83038318e-04 9.99533176e-01 -1.39407506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230385723 meters 0.01908569177928247 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.41, Z:-1.39 [[ 9.99004593e-01 3.14308794e-02 3.16531569e-02 3.65438639e+01] [-3.13950824e-02 9.99505728e-01 -1.62740303e-03 -4.05286582e-01] [-3.16886623e-02 6.32029639e-04 9.99497588e-01 -1.39410706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290385723 meters 0.018318843332197677 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.41, Z:-1.40 [[ 9.98860783e-01 3.57437721e-02 3.16151809e-02 3.66049937e+01] [-3.57101649e-02 9.99360864e-01 -1.62718381e-03 -4.08447596e-01] [-3.16531362e-02 4.96346773e-04 9.99498791e-01 -1.39692726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350385722999995 meters 0.017364566363339214 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.41, Z:-1.40 [[ 9.98641742e-01 4.24704374e-02 3.01816687e-02 3.66648419e+01] [-4.24428379e-02 9.99097687e-01 -1.55479217e-03 -4.07924619e-01] [-3.02204681e-02 2.71684688e-04 9.99543220e-01 -1.39977948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410385723 meters 0.01682229359165145 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.41, Z:-1.40 [[ 9.98314253e-01 4.95000146e-02 3.03051213e-02 3.67239709e+01] [-4.94754512e-02 9.98774121e-01 -1.56031276e-03 -4.09011248e-01] [-3.03452064e-02 5.83229147e-05 9.99539476e-01 -1.40268582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470385723 meters 0.0167303574434235 Centerline is valid? [True, True] Translation: X:36.78, Y:-0.41, Z:-1.41 [[ 9.98219926e-01 5.22117621e-02 2.88255326e-02 3.67812059e+01] [-5.21907194e-02 9.98636035e-01 -1.48240173e-03 -4.13561916e-01] [-2.88636144e-02 -2.46623398e-05 9.99583359e-01 -1.40720525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530385722999995 meters 0.01670941130955614 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.41, Z:-1.40 [[ 9.98052022e-01 5.48257959e-02 2.97706890e-02 3.68388734e+01] [-5.48045860e-02 9.98495929e-01 -1.52855598e-03 -4.14983331e-01] [-2.98097160e-02 -1.05991893e-04 9.99555586e-01 -1.40301678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590385723 meters 0.016649997196196573 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.42, Z:-1.41 [[ 9.98014447e-01 5.53805989e-02 3.00025619e-02 3.68965229e+01] [-5.53594023e-02 9.98465309e-01 -1.53731686e-03 -4.22423781e-01] [-3.00416548e-02 -1.26659464e-04 9.99548640e-01 -1.40656694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650385723 meters 0.016532502753185286 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.43, Z:-1.41 [[ 9.98200138e-01 5.22827243e-02 2.93768846e-02 3.69548958e+01] [-5.22611544e-02 9.98632322e-01 -1.50209678e-03 -4.33101696e-01] [-2.94152402e-02 -3.58766856e-05 9.99567278e-01 -1.41027099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710385722999995 meters 0.016625203926598456 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.44, Z:-1.41 [[ 9.98406929e-01 4.88305026e-02 2.82698760e-02 3.70139934e+01] [-4.88091969e-02 9.98807078e-01 -1.44362874e-03 -4.38108657e-01] [-2.83066454e-02 6.14989911e-05 9.99599285e-01 -1.41101384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770385723 meters 0.01703302354757567 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.45, Z:-1.41 [[ 9.98781600e-01 4.06212284e-02 2.80219724e-02 3.70722006e+01] [-4.05971190e-02 9.99174575e-01 -1.42899023e-03 -4.53159021e-01] [-2.80568898e-02 2.89637798e-04 9.99606286e-01 -1.41494709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830385723 meters 0.019028767747394676 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.47, Z:-1.42 [[ 9.99179297e-01 2.89489649e-02 2.83317799e-02 3.71303675e+01] [-2.89197029e-02 9.99580698e-01 -1.44212939e-03 -4.69579606e-01] [-2.83616484e-02 6.21599174e-04 9.99597534e-01 -1.41797162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890385722999994 meters 0.019677826369191166 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.48, Z:-1.42 [[ 9.99275280e-01 2.52005475e-02 2.85279968e-02 3.71918520e+01] [-2.51693886e-02 9.99682148e-01 -1.45084464e-03 -4.75407563e-01] [-2.85554912e-02 7.31760946e-04 9.99591941e-01 -1.41953563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950385723 meters 0.021807439350216902 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.49, Z:-1.42 [[ 9.99434660e-01 1.81268238e-02 2.83156882e-02 3.72521827e+01] [-1.80930635e-02 9.99835259e-01 -1.44806171e-03 -4.86977986e-01] [-2.83372722e-02 9.34925523e-04 9.99597982e-01 -1.42413896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010385723 meters 0.022556108377496092 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.49, Z:-1.43 [[ 9.99492977e-01 1.60825220e-02 2.74798239e-02 3.73138814e+01] [-1.60499541e-02 9.99870204e-01 -1.40532872e-03 -4.92582815e-01] [-2.74988583e-02 9.63566278e-04 9.99621370e-01 -1.42660309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070385722999994 meters 0.021926606068144987 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.49, Z:-1.43 [[ 9.99462059e-01 1.39101165e-02 2.97002033e-02 3.73763500e+01] [-1.38710798e-02 9.99902637e-01 -1.51999553e-03 -4.93481103e-01] [-2.97184549e-02 1.10720397e-03 9.99557696e-01 -1.42540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130385722999996 meters 0.02364444671075868 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.50, Z:-1.43 [[ 9.99510342e-01 1.22142960e-02 2.88077459e-02 3.74369593e+01] [-1.21766616e-02 9.99924764e-01 -1.48147076e-03 -5.01681373e-01] [-2.88236736e-02 1.12996317e-03 9.99583873e-01 -1.43082470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190385723 meters 0.027054277492951865 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.50, Z:-1.43 [[ 9.99553734e-01 1.19277940e-02 2.73872467e-02 3.74975507e+01] [-1.18934857e-02 9.99928268e-01 -1.41526948e-03 -5.04717106e-01] [-2.74021632e-02 1.08890806e-03 9.99623897e-01 -1.43315195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250385723 meters 0.02232130830824774 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.50, Z:-1.43 [[ 9.99463387e-01 1.43496093e-02 2.94453066e-02 3.75597325e+01] [-1.43108708e-02 9.99896430e-01 -1.52593934e-03 -5.00375707e-01] [-2.94641536e-02 1.10373252e-03 9.99565228e-01 -1.43307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310385722999996 meters 0.021632929700506655 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.50, Z:-1.43 [[ 9.99445454e-01 1.71612396e-02 2.85355223e-02 3.76217103e+01] [-1.71259609e-02 9.99852244e-01 -1.48026585e-03 -4.99059082e-01] [-2.85567092e-02 9.90746736e-04 9.99591683e-01 -1.43389645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370385723 meters 0.020407986072910275 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.49, Z:-1.43 [[ 9.99373841e-01 2.16565300e-02 2.79807135e-02 3.76836505e+01] [-2.16243249e-02 9.99765111e-01 -1.45308989e-03 -4.91005506e-01] [-2.80056100e-02 8.47115990e-04 9.99607407e-01 -1.43330687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430385723 meters 0.01886197752594327 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.49, Z:-1.44 [[ 9.99191954e-01 2.89322585e-02 2.78991779e-02 3.77441005e+01] [-2.89030421e-02 9.99581168e-01 -1.44999593e-03 -4.92485663e-01] [-2.79294445e-02 6.42453151e-04 9.99609691e-01 -1.44023878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490385722999996 meters 0.017565062625509702 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.48, Z:-1.44 [[ 9.98998629e-01 3.43991637e-02 2.86083227e-02 3.78057562e+01] [-3.43706677e-02 9.99408047e-01 -1.48736856e-03 -4.83862443e-01] [-2.86425521e-02 5.02592000e-04 9.99589592e-01 -1.43838272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550385723 meters 0.017029418214610757 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.48, Z:-1.44 [[ 9.98789700e-01 3.81571998e-02 3.10348811e-02 3.78658941e+01] [-3.81254491e-02 9.99271657e-01 -1.61439286e-03 -4.77742055e-01] [-3.10738778e-02 4.29220179e-04 9.99516998e-01 -1.43603531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610385723 meters 0.01692344734238071 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.48, Z:-1.44 [[ 9.98733764e-01 3.91029841e-02 3.16516154e-02 3.79255295e+01] [-3.90704662e-02 9.99235103e-01 -1.64542874e-03 -4.84495409e-01] [-3.16917463e-02 4.06701866e-04 9.99497608e-01 -1.44326818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670385722999995 meters 0.01714416089935669 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.48, Z:-1.44 [[ 9.98769764e-01 3.85064979e-02 3.12443183e-02 3.79841750e+01] [-3.84745734e-02 9.99258262e-01 -1.62255333e-03 -4.80422500e-01] [-3.12836220e-02 4.18445391e-04 9.99510460e-01 -1.44278690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730385723 meters 0.01768127378923149 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.48, Z:-1.44 [[ 9.98889121e-01 3.58723117e-02 3.05565225e-02 3.80442161e+01] [-3.58405952e-02 9.99356262e-01 -1.58521718e-03 -4.77409322e-01] [-3.05937176e-02 4.88292243e-04 9.99531783e-01 -1.44313609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790385723 meters 0.01822940084780873 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.48, Z:-1.45 [[ 9.99122285e-01 3.07150698e-02 2.84823369e-02 3.81039694e+01] [-3.06854480e-02 9.99528000e-01 -1.47661228e-03 -4.83647969e-01] [-2.85142475e-02 6.01322965e-04 9.99593205e-01 -1.44916834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850385722999995 meters 0.021086910879867513 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.49, Z:-1.45 [[ 9.99407678e-01 2.00121116e-02 2.79965839e-02 3.81640789e+01] [-1.99793130e-02 9.99799341e-01 -1.45079303e-03 -4.87813302e-01] [-2.80199996e-02 8.90581177e-04 9.99606966e-01 -1.45145251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910385723 meters 0.0245842653950903 Centerline is valid? [True, True] Translation: X:38.22, Y:-0.49, Z:-1.45 [[ 9.99457592e-01 1.40641373e-02 2.97778607e-02 3.82239317e+01] [-1.40243906e-02 9.99900463e-01 -1.54321723e-03 -4.92444938e-01] [-2.97966007e-02 1.12476383e-03 9.99555350e-01 -1.45181383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970385723 meters 0.020963328505596648 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.49, Z:-1.45 [[ 9.99339375e-01 1.93928881e-02 3.07364552e-02 3.82848806e+01] [-1.93530594e-02 9.99811443e-01 -1.59280333e-03 -4.86711093e-01] [-3.07615487e-02 9.96906636e-04 9.99526254e-01 -1.45370814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030385722999995 meters 0.020373481432495587 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.49, Z:-1.45 [[ 9.99182580e-01 2.35153100e-02 3.28816258e-02 3.83451886e+01] [-2.34719340e-02 9.99723043e-01 -1.70459029e-03 -4.85334782e-01] [-3.29126029e-02 9.31401573e-04 9.99457800e-01 -1.45355870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090385723 meters 0.01857003819573668 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.48, Z:-1.46 [[ 9.99084036e-01 2.83335213e-02 3.20671264e-02 3.84068409e+01] [-2.82947324e-02 9.99598241e-01 -1.66284173e-03 -4.81292332e-01] [-3.21013573e-02 7.53987866e-04 9.99484334e-01 -1.45730436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150385723 meters 0.01892287489462927 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.49, Z:-1.46 [[ 9.99097862e-01 2.79893366e-02 3.19383723e-02 3.84690344e+01] [-2.79506742e-02 9.99607931e-01 -1.65643983e-03 -4.86937886e-01] [-3.19722129e-02 7.62246455e-04 9.99488467e-01 -1.46111193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210385722999995 meters 0.019163314681381886 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.49, Z:-1.47 [[ 9.99187950e-01 2.88275717e-02 2.81497990e-02 3.85310626e+01] [-2.87977101e-02 9.99584185e-01 -1.46572273e-03 -4.87579863e-01] [-2.81803471e-02 6.53882734e-04 9.99602641e-01 -1.46531427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270385723 meters 0.019113665176504053 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.49, Z:-1.47 [[ 9.99235326e-01 2.92226416e-02 2.59769149e-02 3.85918914e+01] [-2.91971291e-02 9.99572746e-01 -1.36094897e-03 -4.93312573e-01] [-2.60055867e-02 6.01456951e-04 9.99661617e-01 -1.47137320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330385723 meters 0.019241545394555522 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.49, Z:-1.47 [[ 9.99221147e-01 3.01050141e-02 2.55105258e-02 3.86515720e+01] [-3.00806572e-02 9.99546579e-01 -1.33807706e-03 -4.94041670e-01] [-2.55392416e-02 5.69661510e-04 9.99673658e-01 -1.47292850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390385722999994 meters 0.0192977706501414 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.50, Z:-1.47 [[ 9.99133957e-01 3.15158782e-02 2.71677169e-02 3.87107365e+01] [-3.14888014e-02 9.99503090e-01 -1.42400375e-03 -4.95198307e-01] [-2.71990957e-02 5.67291662e-04 9.99629875e-01 -1.47268558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450385723 meters 0.018413107162676887 Centerline is valid? [True, True] Translation: X:38.77, Y:-0.50, Z:-1.47 [[ 9.99110615e-01 3.12521813e-02 2.83068918e-02 3.87706444e+01] [-3.12227072e-02 9.99511353e-01 -1.48274089e-03 -4.98192543e-01] [-2.83393986e-02 5.97604374e-04 9.99598180e-01 -1.47397202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510385723 meters 0.018423860902829946 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.50, Z:-1.47 [[ 9.99070525e-01 3.04503140e-02 3.05100869e-02 3.88306428e+01] [-3.04157335e-02 9.99536059e-01 -1.59698355e-03 -5.00713270e-01] [-3.05445606e-02 6.67512527e-04 9.99533183e-01 -1.47263586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570385722999994 meters 0.018686494481709174 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.51, Z:-1.47 [[ 9.99097669e-01 2.80896525e-02 3.18562355e-02 3.88920540e+01] [-2.80508001e-02 9.99605111e-01 -1.66595820e-03 -5.06744786e-01] [-3.18904520e-02 7.70862063e-04 9.99491073e-01 -1.47349533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630385722999996 meters 0.020039054682335335 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.52, Z:-1.48 [[ 9.99182159e-01 2.48856661e-02 3.18703204e-02 3.89523397e+01] [-2.48451142e-02 9.99689921e-01 -1.66784298e-03 -5.16267132e-01] [-3.19019435e-02 8.74657198e-04 9.99490621e-01 -1.47684679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690385723 meters 0.020508561279738616 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.52, Z:-1.48 [[ 9.99263138e-01 2.34793975e-02 3.03627992e-02 3.90140605e+01] [-2.34419488e-02 9.99723937e-01 -1.58880106e-03 -5.20910914e-01] [-3.03917213e-02 8.75867143e-04 9.99537681e-01 -1.48008633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750385723 meters 0.02099827212935092 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.53, Z:-1.48 [[ 9.99280894e-01 2.18022617e-02 3.10218656e-02 3.90764366e+01] [-2.17621212e-02 9.99761847e-01 -1.63102523e-03 -5.26862666e-01] [-3.10500377e-02 9.54750750e-04 9.99517375e-01 -1.48203805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810385722999996 meters 0.02074719316566845 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.53, Z:-1.48 [[ 9.99255808e-01 2.23842841e-02 3.14129724e-02 3.91390622e+01] [-2.23431674e-02 9.99748983e-01 -1.65936391e-03 -5.30367693e-01] [-3.14422309e-02 9.56263719e-04 9.99505113e-01 -1.48331591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870385723 meters 0.02069885078754036 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.53, Z:-1.49 [[ 9.99311418e-01 2.25557798e-02 2.94606092e-02 3.92005865e+01] [-2.25194733e-02 9.99745182e-01 -1.56362416e-03 -5.34609994e-01] [-2.94883709e-02 8.99110077e-04 9.99564719e-01 -1.48667284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930385723 meters 0.02113802367742876 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.54, Z:-1.49 [[ 9.99313236e-01 2.22516496e-02 2.96297058e-02 3.92630333e+01] [-2.22146915e-02 9.99751981e-01 -1.57596744e-03 -5.39048112e-01] [-2.96574249e-02 9.16670354e-04 9.99559701e-01 -1.48913988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990385722999996 meters 0.020513591977596744 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.54, Z:-1.49 [[ 9.99289422e-01 2.29582318e-02 2.98926576e-02 3.93250978e+01] [-2.29207113e-02 9.99736010e-01 -1.59727048e-03 -5.41191931e-01] [-2.99214368e-02 9.10974522e-04 9.99551838e-01 -1.49150067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050385723 meters 0.02125792325686816 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.55, Z:-1.49 [[ 9.99272342e-01 2.28173991e-02 3.05639212e-02 3.93868984e+01] [-2.27778731e-02 9.99739204e-01 -1.64081942e-03 -5.47452094e-01] [-3.05933895e-02 9.43444349e-04 9.99531467e-01 -1.49363699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110385723 meters 0.01998688858138297 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.54, Z:-1.50 [[ 9.99353576e-01 2.42166893e-02 2.65703424e-02 3.94501789e+01] [-2.41871689e-02 9.99706422e-01 -1.43190139e-03 -5.44758129e-01] [-2.65972178e-02 7.88314421e-04 9.99645921e-01 -1.49620623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170385722999995 meters 0.022263394321230475 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.55, Z:-1.50 [[ 9.99343665e-01 2.44924877e-02 2.66900191e-02 3.95112350e+01] [-2.44625653e-02 9.99699699e-01 -1.44709462e-03 -5.54030147e-01] [-2.67174470e-02 7.93238504e-04 9.99642711e-01 -1.50184899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230385723 meters 0.019778741722933948 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.55, Z:-1.50 [[ 9.99256015e-01 2.54333570e-02 2.89924119e-02 3.95731616e+01] [-2.53982533e-02 9.99676166e-01 -1.57846176e-03 -5.54491004e-01] [-2.90231687e-02 8.40930784e-04 9.99578385e-01 -1.50174267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290385723 meters 0.0200220098508366 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.56, Z:-1.50 [[ 9.99104268e-01 2.77663610e-02 3.19326047e-02 3.96348780e+01] [-2.77249268e-02 9.99614076e-01 -1.73968516e-03 -5.57941926e-01] [-3.19685859e-02 8.52797741e-04 9.99488510e-01 -1.50052595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350385722999995 meters 0.019498349476788183 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.56, Z:-1.50 [[ 9.99088283e-01 2.88479760e-02 3.14705587e-02 3.96968150e+01] [-2.88080268e-02 9.99583479e-01 -1.72218566e-03 -5.58849912e-01] [-3.15071322e-02 8.14010815e-04 9.99503196e-01 -1.50212426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410385723 meters 0.021047671466919445 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.57, Z:-1.51 [[ 9.99180554e-01 2.71822226e-02 2.99891327e-02 3.97573710e+01] [-2.71449804e-02 9.99630148e-01 -1.64835015e-03 -5.66652713e-01] [-3.00228470e-02 8.32944997e-04 9.99548866e-01 -1.50639442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470385723 meters 0.02087504213117398 Centerline is valid? [True, True] Translation: X:39.82, Y:-0.57, Z:-1.51 [[ 9.99188437e-01 2.70692631e-02 2.98282026e-02 3.98197325e+01] [-2.70321677e-02 9.99633209e-01 -1.64625911e-03 -5.71372237e-01] [-2.98618249e-02 8.38602093e-04 9.99553684e-01 -1.50953095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530385722999995 meters 0.019387329178440747 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.57, Z:-1.51 [[ 9.98907253e-01 3.22589780e-02 3.38180039e-02 3.98815980e+01] [-3.22139320e-02 9.99479236e-01 -1.87617126e-03 -5.72577280e-01] [-3.38609161e-02 7.84710203e-04 9.99426247e-01 -1.50888556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590385723 meters 0.01889281145134973 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.57, Z:-1.51 [[ 9.98749094e-01 3.64310647e-02 3.42494526e-02 3.99431106e+01] [-3.63872171e-02 9.99335954e-01 -1.90288283e-03 -5.71364934e-01] [-3.42960334e-02 6.54260237e-04 9.99411504e-01 -1.50907461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650385723 meters 0.017946827866114477 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.57, Z:-1.51 [[ 9.98574190e-01 4.13113028e-02 3.38077306e-02 4.00039041e+01] [-4.12713317e-02 9.99146208e-01 -1.87959597e-03 -5.70476465e-01] [-3.38565144e-02 4.81625965e-04 9.99426588e-01 -1.51152377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710385722999995 meters 0.017972399105824984 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.58, Z:-1.52 [[ 9.98453148e-01 4.33166255e-02 3.48565800e-02 4.00617457e+01] [-4.32753533e-02 9.99061303e-01 -1.93798715e-03 -5.78648625e-01] [-3.49078074e-02 4.26558553e-04 9.99390446e-01 -1.51511250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770385723 meters 0.01774755361107217 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.58, Z:-1.51 [[ 9.98376456e-01 4.37014557e-02 3.65326476e-02 4.01208018e+01] [-4.36564716e-02 9.99044542e-01 -2.02852568e-03 -5.79524756e-01] [-3.65863917e-02 4.30345792e-04 9.99330401e-01 -1.51300569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830385723 meters 0.018078359617088268 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.59, Z:-1.52 [[ 9.98487937e-01 4.17753215e-02 3.57304218e-02 4.01794446e+01] [-4.17311489e-02 9.99126911e-01 -1.98148044e-03 -5.85674863e-01] [-3.57820029e-02 4.87412763e-04 9.99359500e-01 -1.51671582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890385722999994 meters 0.018617408989893447 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.59, Z:-1.52 [[ 9.98557534e-01 3.91486853e-02 3.67454943e-02 4.02386155e+01] [-3.91002613e-02 9.99233219e-01 -2.03579479e-03 -5.91805172e-01] [-3.67970172e-02 5.96099794e-04 9.99322583e-01 -1.51898787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950385723 meters 0.01970035396257208 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.60, Z:-1.52 [[ 9.98836980e-01 3.29057796e-02 3.52405690e-02 4.02988257e+01] [-3.28574009e-02 9.99458145e-01 -1.95122799e-03 -5.99087319e-01] [-3.52856804e-02 7.91045166e-04 9.99376953e-01 -1.52318359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010385723 meters 0.021837343619881436 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.61, Z:-1.53 [[ 9.99072091e-01 2.59251608e-02 3.43924727e-02 4.03585189e+01] [-2.58749516e-02 9.99663374e-01 -1.90424256e-03 -6.09133535e-01] [-3.44302631e-02 1.01257203e-03 9.99406590e-01 -1.52775191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070385722999994 meters 0.022480551485302303 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.61, Z:-1.53 [[ 9.99162894e-01 2.17748874e-02 3.46318609e-02 4.04196667e+01] [-2.17214674e-02 9.99762221e-01 -1.91804820e-03 -6.10526290e-01] [-3.46653915e-02 1.16418775e-03 9.99398297e-01 -1.52860287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130385722999996 meters 0.02374973320422765 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.62, Z:-1.53 [[ 9.99105035e-01 1.73855536e-02 3.85599649e-02 4.04804365e+01] [-1.73159769e-02 9.99847782e-01 -2.13764321e-03 -6.15768532e-01] [-3.85912595e-02 1.46802663e-03 9.99254002e-01 -1.52985617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190385723 meters 0.023788982412620008 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.62, Z:-1.53 [[ 9.99054395e-01 1.75006873e-02 3.98000267e-02 4.05431179e+01] [-1.74265824e-02 9.99845707e-01 -2.20812277e-03 -6.21066952e-01] [-3.98325295e-02 1.51245632e-03 9.99205225e-01 -1.53248296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250385722999994 meters 0.022848672156210878 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.62, Z:-1.53 [[ 9.99029174e-01 1.84080412e-02 4.00231504e-02 4.06051077e+01] [-1.83333773e-02 9.99829439e-01 -2.23177656e-03 -6.20613577e-01] [-4.00574067e-02 1.49585038e-03 9.99196260e-01 -1.53360866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310385722999996 meters 0.02406611968725216 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.63, Z:-1.54 [[ 9.99168689e-01 1.70060460e-02 3.70503036e-02 4.06658305e+01] [-1.69407874e-02 9.99854342e-01 -2.07460086e-03 -6.26435676e-01] [-3.70801877e-02 1.44521491e-03 9.99311248e-01 -1.53848287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370385723 meters 0.024741319777417302 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.63, Z:-1.55 [[ 9.99343059e-01 1.58370775e-02 3.25981206e-02 4.07277305e+01] [-1.57857368e-02 9.99873720e-01 -1.83173581e-03 -6.33060199e-01] [-3.26230135e-02 1.31594712e-03 9.99466862e-01 -1.54505242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430385723 meters 0.023975209787250165 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.63, Z:-1.55 [[ 9.99326930e-01 1.94200997e-02 3.11214738e-02 4.07901344e+01] [-1.93747917e-02 9.99810748e-01 -1.75676773e-03 -6.28171869e-01] [-3.11497005e-02 1.15261323e-03 9.99514066e-01 -1.54540666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490385722999996 meters 0.021850418812752015 Centerline is valid? [True, True] Translation: X:40.85, Y:-0.63, Z:-1.55 [[ 9.99222652e-01 2.39147255e-02 3.13397073e-02 4.08520730e+01] [-2.38709096e-02 9.99713480e-01 -1.77155059e-03 -6.27336819e-01] [-3.13730939e-02 1.02206616e-03 9.99507221e-01 -1.54945618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550385723 meters 0.02066408426993854 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.63, Z:-1.55 [[ 9.98943147e-01 3.18562811e-02 3.31325582e-02 4.09116013e+01] [-3.18116020e-02 9.99492124e-01 -1.87490122e-03 -6.26823776e-01] [-3.31754584e-02 8.18919974e-04 9.99449207e-01 -1.55206086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610385723 meters 0.018737696373091174 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.62, Z:-1.55 [[ 9.98539471e-01 3.81376801e-02 3.82680383e-02 4.09735684e+01] [-3.80826782e-02 9.99272245e-01 -2.16545806e-03 -6.22302827e-01] [-3.83227741e-02 7.04945950e-04 9.99265164e-01 -1.54712550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670385722999995 meters 0.017794995024086744 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.62, Z:-1.55 [[ 9.98305917e-01 4.40951515e-02 3.79593614e-02 4.10346001e+01] [-4.40452877e-02 9.99027223e-01 -2.14928469e-03 -6.23860934e-01] [-3.80172085e-02 4.73712632e-04 9.99276972e-01 -1.54939712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730385723 meters 0.017441359005554317 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.63, Z:-1.55 [[ 9.98237419e-01 4.68599793e-02 3.64169845e-02 4.10941784e+01] [-4.68159042e-02 9.98901405e-01 -2.06254675e-03 -6.25503189e-01] [-3.64736279e-02 3.54017290e-04 9.99334553e-01 -1.55289758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790385723 meters 0.01722778696237387 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.63, Z:-1.56 [[ 9.98216965e-01 4.84795276e-02 3.48227739e-02 4.11532491e+01] [-4.84402524e-02 9.98824137e-01 -1.97113985e-03 -6.28416714e-01] [-3.48773871e-02 2.80801275e-04 9.99391559e-01 -1.55623155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850385722999995 meters 0.01718271593318207 Centerline is valid? [True, True] Translation: X:41.21, Y:-0.64, Z:-1.56 [[ 9.98258349e-01 4.93178290e-02 3.23731535e-02 4.12115744e+01] [-4.92843943e-02 9.98783109e-01 -1.83042047e-03 -6.35773161e-01] [-3.24240313e-02 2.31741256e-04 9.99474176e-01 -1.56148265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910385723 meters 0.017411155698403593 Centerline is valid? [True, True] Translation: X:41.27, Y:-0.64, Z:-1.56 [[ 9.98251144e-01 4.84969705e-02 3.38038128e-02 4.12699476e+01] [-4.84601252e-02 9.98823294e-01 -1.90890746e-03 -6.43450557e-01] [-3.38566118e-02 2.67432059e-04 9.99426665e-01 -1.56230399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970385723 meters 0.01757321402030728 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.65, Z:-1.56 [[ 9.98395484e-01 4.45898016e-02 3.49028372e-02 4.13280385e+01] [-4.45482180e-02 9.99005296e-01 -1.96856018e-03 -6.51686347e-01] [-3.49558969e-02 4.10542395e-04 9.99388772e-01 -1.56338875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030385722999995 meters 0.01832443155639911 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.66, Z:-1.56 [[ 9.98563028e-01 4.05035670e-02 3.50904620e-02 4.13859751e+01] [-4.04591013e-02 9.99179240e-01 -1.97662231e-03 -6.59387194e-01] [-3.51417215e-02 5.54053397e-04 9.99382185e-01 -1.56439043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090385723 meters 0.0199030518443584 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.67, Z:-1.57 [[ 9.98837029e-01 3.34524169e-02 3.47206618e-02 4.14453647e+01] [-3.34046898e-02 9.99439998e-01 -1.95394690e-03 -6.70753354e-01] [-3.47665824e-02 7.91841581e-04 9.99395146e-01 -1.56688177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150385723 meters 0.020862460929409313 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.68, Z:-1.57 [[ 9.99070642e-01 2.68019076e-02 3.37566324e-02 4.15053565e+01] [-2.67530255e-02 9.99640270e-01 -1.89899739e-03 -6.81390055e-01] [-3.37953859e-02 9.94140494e-04 9.99428278e-01 -1.57289946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210385722999995 meters 0.023886681063317674 Centerline is valid? [True, True] Translation: X:41.56, Y:-0.69, Z:-1.57 [[ 9.99229124e-01 2.16019351e-02 3.27797958e-02 4.15648112e+01] [-2.15530060e-02 9.99766004e-01 -1.84531498e-03 -6.87068104e-01] [-3.28119878e-02 1.13738933e-03 9.99460895e-01 -1.57235157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270385723 meters 0.026644286224518657 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.70, Z:-1.58 [[ 9.99280601e-01 1.64854880e-02 3.41541957e-02 4.16242026e+01] [-1.64292876e-02 9.99863176e-01 -1.92550223e-03 -7.00688802e-01] [-3.41812654e-02 1.36298792e-03 9.99414720e-01 -1.57651530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330385723 meters 0.027239072232773182 Centerline is valid? [True, True] Translation: X:41.69, Y:-0.70, Z:-1.57 [[ 9.99306653e-01 1.31757136e-02 3.48225976e-02 4.16857743e+01] [-1.31152866e-02 9.99912064e-01 -1.96314489e-03 -7.02866466e-01] [-3.48454013e-02 1.50507540e-03 9.99391581e-01 -1.57483301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390385722999994 meters 0.0270038069166299 Centerline is valid? [True, True] Translation: X:41.75, Y:-0.71, Z:-1.58 [[ 9.99443362e-01 1.21959639e-02 3.10519823e-02 4.17473295e+01] [-1.21474487e-02 9.99924685e-01 -1.75056235e-03 -7.05141386e-01] [-3.10709934e-02 1.37238556e-03 9.99516238e-01 -1.58101142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450385723 meters 0.02578176551002705 Centerline is valid? [True, True] Translation: X:41.81, Y:-0.71, Z:-1.59 [[ 9.99493662e-01 1.28075508e-02 2.91270621e-02 4.18098101e+01] [-1.27649622e-02 9.99917167e-01 -1.64764454e-03 -7.07916124e-01] [-2.91457517e-02 1.27500443e-03 9.99574359e-01 -1.58641720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510385723 meters 0.02458882998187553 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.71, Z:-1.59 [[ 9.99501239e-01 1.59843187e-02 2.72355471e-02 4.18712820e+01] [-1.59480124e-02 9.99871621e-01 -1.54975862e-03 -7.05953053e-01] [-2.72568224e-02 1.11463282e-03 9.99627842e-01 -1.58825995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570385722999994 meters 0.022643675881686413 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.70, Z:-1.59 [[ 9.99245566e-01 2.39694447e-02 3.05575595e-02 4.19316499e+01] [-2.39274209e-02 9.99712184e-01 -1.74021389e-03 -7.03633231e-01] [-3.05904765e-02 1.00773742e-03 9.99531494e-01 -1.58808312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630385722999996 meters 0.01993773864858036 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.70, Z:-1.59 [[ 9.98999026e-01 3.09151126e-02 3.23295695e-02 4.19931331e+01] [-3.08717061e-02 9.99521660e-01 -1.84104810e-03 -7.00794921e-01] [-3.23710211e-02 8.41136296e-04 9.99475567e-01 -1.58891402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690385723 meters 0.01799534233173651 Centerline is valid? [True, True] Translation: X:42.05, Y:-0.69, Z:-1.59 [[ 9.98686820e-01 4.01853621e-02 3.17769157e-02 4.20541911e+01] [-4.01480953e-02 9.99192100e-01 -1.81020493e-03 -6.91634935e-01] [-3.18239869e-02 5.32045165e-04 9.99493347e-01 -1.58674813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750385722999994 meters 0.01721554682356783 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.69, Z:-1.59 [[ 9.98412158e-01 4.66510754e-02 3.15727670e-02 4.21130089e+01] [-4.66175067e-02 9.98911193e-01 -1.79889084e-03 -6.93594863e-01] [-3.16223106e-02 3.24190813e-04 9.99499837e-01 -1.59324034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810385722999996 meters 0.01694407729275342 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.69, Z:-1.59 [[ 9.98223631e-01 5.00717835e-02 3.22861988e-02 4.21722107e+01] [-5.00385450e-02 9.98745598e-01 -1.83717077e-03 -6.91403333e-01] [-3.23376894e-02 2.18352864e-04 9.99476976e-01 -1.59351203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870385723 meters 0.017044211786215905 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.69, Z:-1.59 [[ 9.98294014e-01 4.81351773e-02 3.30464315e-02 4.22307320e+01] [-4.80993723e-02 9.98840790e-01 -1.87805457e-03 -6.90749914e-01] [-3.30985242e-02 2.85338021e-04 9.99452053e-01 -1.59302000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930385723 meters 0.017441978785563583 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.70, Z:-1.60 [[ 9.98493432e-01 4.44253194e-02 3.22064854e-02 4.22886226e+01] [-4.43894509e-02 9.99012630e-01 -1.82820470e-03 -6.96761718e-01] [-3.22559043e-02 3.95822185e-04 9.99479565e-01 -1.59761476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990385722999996 meters 0.01888370998154299 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.70, Z:-1.60 [[ 9.98821799e-01 3.62272891e-02 3.22892850e-02 4.23477177e+01] [-3.61870468e-02 9.99343359e-01 -1.83000490e-03 -7.01679167e-01] [-3.23343787e-02 6.59394914e-04 9.99476890e-01 -1.59938478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050385723 meters 0.021258523537422733 Centerline is valid? [True, True] Translation: X:42.41, Y:-0.71, Z:-1.60 [[ 9.99026971e-01 2.82040950e-02 3.39063493e-02 4.24078946e+01] [-2.81551722e-02 9.99601721e-01 -1.91956732e-03 -7.07799819e-01] [-3.39469848e-02 9.63060420e-04 9.99423171e-01 -1.60155815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110385723 meters 0.021902763703029706 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.71, Z:-1.60 [[ 9.99149010e-01 2.31694052e-02 3.41238110e-02 4.24690325e+01] [-2.31169207e-02 9.99730902e-01 -1.93184578e-03 -7.09737226e-01] [-3.41593881e-02 1.14136437e-03 9.99415746e-01 -1.60234959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170385722999995 meters 0.02264239604065678 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.71, Z:-1.61 [[ 9.99206689e-01 2.22883703e-02 3.30033478e-02 4.25312325e+01] [-2.22388013e-02 9.99750942e-01 -1.86829938e-03 -7.14341572e-01] [-3.30367693e-02 1.13286234e-03 9.99453495e-01 -1.60572799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230385723 meters 0.02385451842783973 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.72, Z:-1.61 [[ 9.99266453e-01 2.03454391e-02 3.24440896e-02 4.25914251e+01] [-2.02962385e-02 9.99792308e-01 -1.84512008e-03 -7.21731829e-01] [-3.24748910e-02 1.18527362e-03 9.99471849e-01 -1.60918629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290385723 meters 0.023108170046407996 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.72, Z:-1.61 [[ 9.99273272e-01 1.96784243e-02 3.26448779e-02 4.26535118e+01] [-1.96282432e-02 9.99805623e-01 -1.85696618e-03 -7.23885975e-01] [-3.26750746e-02 1.21485506e-03 9.99465289e-01 -1.61145079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350385722999995 meters 0.023337658029468425 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.73, Z:-1.61 [[ 9.99225307e-01 2.11037175e-02 3.32177438e-02 4.27157457e+01] [-2.10522679e-02 9.99776575e-01 -1.89788761e-03 -7.26462945e-01] [-3.32503746e-02 1.19710849e-03 9.99446336e-01 -1.61354859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410385723 meters 0.023803088370752883 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.73, Z:-1.62 [[ 9.99311327e-01 2.01810789e-02 3.11383448e-02 4.27773018e+01] [-2.01352032e-02 9.99795671e-01 -1.78618031e-03 -7.31132376e-01] [-3.11680294e-02 1.15797332e-03 9.99513488e-01 -1.61781743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470385723 meters 0.024689981519104676 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.73, Z:-1.62 [[ 9.99388541e-01 1.91433492e-02 2.92587669e-02 4.28395697e+01] [-1.91022273e-02 9.99816117e-01 -1.68435065e-03 -7.34732763e-01] [-2.92856308e-02 1.12441313e-03 9.99570452e-01 -1.62024716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530385722999995 meters 0.024800639278331864 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.74, Z:-1.63 [[ 9.99412611e-01 1.90107047e-02 2.85136062e-02 4.29013075e+01] [-1.89714088e-02 9.99818668e-01 -1.64806459e-03 -7.41194427e-01] [-2.85397667e-02 1.10615325e-03 9.99592046e-01 -1.62550363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590385723 meters 0.025246018161669388 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.74, Z:-1.62 [[ 9.99317771e-01 2.06781165e-02 3.06007750e-02 4.29628989e+01] [-2.06333886e-02 9.99785530e-01 -1.77674428e-03 -7.42315010e-01] [-3.06309517e-02 1.14413445e-03 9.99530107e-01 -1.62285894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650385723 meters 0.02457655877274827 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.74, Z:-1.62 [[ 9.99281357e-01 2.20436172e-02 3.08358218e-02 4.30250754e+01] [-2.19986414e-02 9.99756385e-01 -1.79709268e-03 -7.43189691e-01] [-3.08679242e-02 1.11745503e-03 9.99522847e-01 -1.62254786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710385722999995 meters 0.02393583632772961 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.75, Z:-1.63 [[ 9.99170634e-01 2.46151495e-02 3.24366994e-02 4.30862134e+01] [-2.45664468e-02 9.99696395e-01 -1.89920705e-03 -7.46245809e-01] [-3.24736007e-02 1.10077747e-03 9.99471987e-01 -1.62536809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770385723 meters 0.02436285046619408 Centerline is valid? [True, True] Translation: X:43.15, Y:-0.75, Z:-1.63 [[ 9.99155623e-01 2.57471762e-02 3.20175419e-02 4.31469423e+01] [-2.57002835e-02 9.99667934e-01 -1.87533650e-03 -7.54266715e-01] [-3.20551946e-02 1.05089310e-03 9.99485548e-01 -1.63039735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830385723 meters 0.022217856987132262 Centerline is valid? [True, True] Translation: X:43.21, Y:-0.75, Z:-1.63 [[ 9.99149048e-01 2.71730929e-02 3.10290608e-02 4.32097172e+01] [-2.71296322e-02 9.99630265e-01 -1.82087073e-03 -7.51009143e-01] [-3.10670670e-02 9.77514248e-04 9.99516824e-01 -1.63000585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890385722999994 meters 0.02189068312385417 Centerline is valid? [True, True] Translation: X:43.27, Y:-0.75, Z:-1.63 [[ 9.99088267e-01 2.75049385e-02 3.26513887e-02 4.32724781e+01] [-2.74567151e-02 9.99621141e-01 -1.92445463e-03 -7.51390640e-01] [-3.26919505e-02 1.02620017e-03 9.99464949e-01 -1.62761102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950385723 meters 0.022498700970163613 Centerline is valid? [True, True] Translation: X:43.33, Y:-0.76, Z:-1.63 [[ 9.99144384e-01 2.67483684e-02 3.15440029e-02 4.33343577e+01] [-2.67027483e-02 9.99641675e-01 -1.86668810e-03 -7.58361610e-01] [-3.15826308e-02 1.02277937e-03 9.99500621e-01 -1.63292674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010385723 meters 0.022511414475763287 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.76, Z:-1.63 [[ 9.99127473e-01 2.66297106e-02 3.21737606e-02 4.33967350e+01] [-2.65819291e-02 9.99644810e-01 -1.91200321e-03 -7.58750954e-01] [-3.22132489e-02 1.05509431e-03 9.99480462e-01 -1.63440817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070385722999994 meters 0.022266786728953852 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.76, Z:-1.64 [[ 9.99151782e-01 2.64767452e-02 3.15388414e-02 4.34589610e+01] [-2.64305168e-02 9.99648882e-01 -1.88182948e-03 -7.60710070e-01] [-3.15775923e-02 1.04664540e-03 9.99500755e-01 -1.63644103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130385722999996 meters 0.023549009946756353 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.77, Z:-1.64 [[ 9.99297095e-01 2.36078486e-02 2.91202027e-02 4.35204469e+01] [-2.35670289e-02 9.99720737e-01 -1.74423018e-03 -7.67020329e-01] [-2.91532481e-02 1.05672749e-03 9.99574395e-01 -1.63949121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190385723 meters 0.024010990078073162 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.77, Z:-1.64 [[ 9.99231924e-01 2.46271687e-02 3.04805773e-02 4.35826787e+01] [-2.45826969e-02 9.99696119e-01 -1.83295247e-03 -7.71949687e-01] [-3.05164553e-02 1.08224983e-03 9.99533679e-01 -1.64022579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250385722999994 meters 0.02326468932908883 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.78, Z:-1.64 [[ 9.99092563e-01 2.64211329e-02 3.34062088e-02 4.36450515e+01] [-2.63684123e-02 9.99650256e-01 -2.01781896e-03 -7.77130729e-01] [-3.34478382e-02 1.13511923e-03 9.99439820e-01 -1.64209517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310385722999996 meters 0.02353420921248322 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.78, Z:-1.64 [[ 9.99066966e-01 2.77353918e-02 3.31050777e-02 4.37068004e+01] [-2.76840714e-02 9.99614706e-01 -2.00767864e-03 -7.78863940e-01] [-3.31480063e-02 1.08932207e-03 9.99449860e-01 -1.64252305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370385723 meters 0.021937659897931953 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.78, Z:-1.65 [[ 9.99118699e-01 2.87013807e-02 3.06277116e-02 4.37692679e+01] [-2.86577055e-02 9.99587545e-01 -1.86410437e-03 -7.78864766e-01] [-3.06685814e-02 9.84741592e-04 9.99529123e-01 -1.64576605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430385723 meters 0.021810479821915887 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.78, Z:-1.65 [[ 9.99096434e-01 3.05194139e-02 2.95783871e-02 4.38305639e+01] [-3.04792254e-02 9.99533764e-01 -1.80872487e-03 -7.84242402e-01] [-2.96197979e-02 9.05564240e-04 9.99560827e-01 -1.65057252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490385722999996 meters 0.021167776894623205 Centerline is valid? [True, True] Translation: X:43.89, Y:-0.79, Z:-1.65 [[ 9.99056755e-01 3.28828043e-02 2.83605647e-02 4.38910303e+01] [-3.28467747e-02 9.99458892e-01 -1.73547330e-03 -7.85777493e-01] [-2.84022858e-02 8.02283242e-04 9.99596252e-01 -1.65390182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550385723 meters 0.020463415804035004 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.79, Z:-1.65 [[ 9.98871240e-01 3.75012115e-02 2.91531398e-02 4.39512705e+01] [-3.74651008e-02 9.99296344e-01 -1.78409214e-03 -7.85242299e-01] [-2.91995316e-02 6.89853003e-04 9.99573365e-01 -1.65436835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610385723 meters 0.019622769407065206 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.79, Z:-1.66 [[ 9.98660571e-01 4.19529509e-02 3.02822251e-02 4.40100054e+01] [-4.19160405e-02 9.99119418e-01 -1.85293326e-03 -7.86570198e-01] [-3.03332952e-02 5.81140412e-04 9.99539671e-01 -1.65659450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670385722999995 meters 0.019310268068398025 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.79, Z:-1.66 [[ 9.98556173e-01 4.44281775e-02 3.01944692e-02 4.40688896e+01] [-4.43926747e-02 9.99012455e-01 -1.84548266e-03 -7.87994881e-01] [-3.02466422e-02 5.02404861e-04 9.99542339e-01 -1.65768532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730385723 meters 0.019422902031844737 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.79, Z:-1.66 [[ 9.98502233e-01 4.51377937e-02 3.09171587e-02 4.41266200e+01] [-4.51009755e-02 9.98980650e-01 -1.88755509e-03 -7.92632521e-01] [-3.09708433e-02 4.90333956e-04 9.99520168e-01 -1.65933683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790385723 meters 0.01917876895878277 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.80, Z:-1.66 [[ 9.98435598e-01 4.57218700e-02 3.21849061e-02 4.41851725e+01] [-4.56823669e-02 9.98954089e-01 -1.96202909e-03 -7.99312848e-01] [-3.22409512e-02 4.88676996e-04 9.99480006e-01 -1.66303699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850385722999995 meters 0.0200328266246043 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.81, Z:-1.66 [[ 9.98527549e-01 4.27801495e-02 3.33555394e-02 4.42434657e+01] [-4.27361557e-02 9.99084329e-01 -2.03108973e-03 -8.05343818e-01] [-3.34118870e-02 6.02611529e-04 9.99441485e-01 -1.66309335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910385723 meters 0.020263458707820113 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.81, Z:-1.66 [[ 9.98776622e-01 3.65145192e-02 3.33459069e-02 4.43028458e+01] [-3.64671366e-02 9.99332795e-01 -2.02822748e-03 -8.09930480e-01] [-3.33977180e-02 8.09716452e-04 9.99441813e-01 -1.66332731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970385723 meters 0.021476197933128875 Centerline is valid? [True, True] Translation: X:44.36, Y:-0.82, Z:-1.67 [[ 9.98891572e-01 3.19375550e-02 3.45777368e-02 4.43623441e+01] [-3.18839103e-02 9.99489369e-01 -2.10185565e-03 -8.17686330e-01] [-3.46272085e-02 9.97052436e-04 9.99399801e-01 -1.66618481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030385722999995 meters 0.023552009485469518 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.83, Z:-1.67 [[ 9.99085993e-01 2.58437933e-02 3.40481630e-02 4.44212017e+01] [-2.57882667e-02 9.99665286e-01 -2.06904042e-03 -8.28041962e-01] [-3.40902385e-02 1.18910619e-03 9.99418052e-01 -1.67143162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090385723 meters 0.024650390867975398 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.83, Z:-1.67 [[ 9.99250302e-01 2.11182028e-02 3.24477368e-02 4.44823499e+01] [-2.10652923e-02 9.99776158e-01 -1.97166195e-03 -8.32353858e-01] [-3.24821116e-02 1.28666274e-03 9.99471489e-01 -1.67308079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150385723 meters 0.02431353309756192 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.83, Z:-1.67 [[ 9.99195366e-01 2.14922995e-02 3.38629916e-02 4.45456457e+01] [-2.14348606e-02 9.99768128e-01 -2.05837106e-03 -8.32680291e-01] [-3.38993789e-02 1.33086632e-03 9.99424365e-01 -1.67204227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210385722999995 meters 0.023997522768246463 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.84, Z:-1.68 [[ 9.99088096e-01 2.39455427e-02 3.53495120e-02 4.46064411e+01] [-2.38841032e-02 9.99712402e-01 -2.15937234e-03 -8.39549575e-01] [-3.53910529e-02 1.31311181e-03 9.99372678e-01 -1.67781825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270385723 meters 0.023101515814536504 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.84, Z:-1.68 [[ 9.99041645e-01 2.66947022e-02 3.46869446e-02 4.46677437e+01] [-2.66371583e-02 9.99642920e-01 -2.12009530e-03 -8.43976842e-01] [-3.47311539e-02 1.19410186e-03 9.99395978e-01 -1.68279807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330385723 meters 0.02351347203638285 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.84, Z:-1.68 [[ 9.99053441e-01 2.79548029e-02 3.33279176e-02 4.47292229e+01] [-2.79023535e-02 9.99608576e-01 -2.03788229e-03 -8.44210514e-01] [-3.33718409e-02 1.10602597e-03 9.99442393e-01 -1.68354676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390385722999994 meters 0.021806221244945388 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.84, Z:-1.69 [[ 9.99078646e-01 2.87042890e-02 3.19049146e-02 4.47914744e+01] [-2.86564866e-02 9.99587408e-01 -1.95462076e-03 -8.41777502e-01] [-3.19478569e-02 1.03853710e-03 9.99488997e-01 -1.68690750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450385723 meters 0.021912145289396782 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.85, Z:-1.69 [[ 9.99084174e-01 2.77499214e-02 3.25692220e-02 4.48525888e+01] [-2.76993271e-02 9.99614292e-01 -2.00369206e-03 -8.50866528e-01] [-3.26122621e-02 1.09971150e-03 9.99467474e-01 -1.69289582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510385723 meters 0.022455814795931308 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.86, Z:-1.70 [[ 9.99102804e-01 2.76805841e-02 3.20526589e-02 4.49149439e+01] [-2.76313123e-02 9.99616223e-01 -1.97922145e-03 -8.56900482e-01] [-3.20951438e-02 1.09178867e-03 9.99484222e-01 -1.69581138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570385722999994 meters 0.022022935654872153 Centerline is valid? [True, True] Translation: X:44.98, Y:-0.86, Z:-1.69 [[ 9.99058758e-01 3.00595511e-02 3.12733199e-02 4.49774445e+01] [-3.00135736e-02 9.99547611e-01 -1.93867939e-03 -8.55110174e-01] [-3.13174481e-02 9.98230539e-04 9.99508990e-01 -1.69442929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630385722999996 meters 0.02147082840424751 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.86, Z:-1.70 [[ 9.98983823e-01 3.22394597e-02 3.14950508e-02 4.50385686e+01] [-3.21936305e-02 9.99479726e-01 -1.96126831e-03 -8.55421828e-01] [-3.15418950e-02 9.45335287e-04 9.99501984e-01 -1.69746955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690385723 meters 0.02164682659914951 Centerline is valid? [True, True] Translation: X:45.10, Y:-0.87, Z:-1.70 [[ 9.98912273e-01 3.16236215e-02 3.42668508e-02 4.50981895e+01] [-3.15689572e-02 9.99499295e-01 -2.13525754e-03 -8.65563639e-01] [-3.43172178e-02 1.05116622e-03 9.99410438e-01 -1.70230053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750385722999994 meters 0.021401866561130946 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.86, Z:-1.70 [[ 9.98695631e-01 3.30677484e-02 3.89045037e-02 4.51600292e+01] [-3.29983667e-02 9.99452465e-01 -2.42434606e-03 -8.64926355e-01] [-3.89633698e-02 1.13739874e-03 9.99239992e-01 -1.69539922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810385722999996 meters 0.020863793550920412 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.87, Z:-1.70 [[ 9.98626627e-01 3.42327451e-02 3.96608059e-02 4.52227497e+01] [-3.41614667e-02 9.99413265e-01 -2.47371019e-03 -8.66528803e-01] [-3.97222175e-02 1.11544156e-03 9.99210139e-01 -1.69634834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870385723 meters 0.02222697696220366 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.88, Z:-1.70 [[ 9.98829123e-01 3.11638487e-02 3.70026688e-02 4.52832791e+01] [-3.10993833e-02 9.99513613e-01 -2.31662176e-03 -8.78260381e-01] [-3.70568661e-02 1.16314910e-03 9.99312482e-01 -1.70423646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930385723 meters 0.023064485096093428 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.89, Z:-1.71 [[ 9.98958193e-01 2.82944197e-02 3.58043846e-02 4.53448410e+01] [-2.82319353e-02 9.99598868e-01 -2.24963709e-03 -8.85183109e-01] [-3.58536745e-02 1.23646633e-03 9.99356285e-01 -1.70828260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990385722999996 meters 0.022253459472821077 Centerline is valid? [True, True] Translation: X:45.41, Y:-0.89, Z:-1.71 [[ 9.98852387e-01 3.06957594e-02 3.67652024e-02 4.54071670e+01] [-3.06313955e-02 9.99528073e-01 -2.31280460e-03 -8.88252991e-01] [-3.68188452e-02 1.18398094e-03 9.99321255e-01 -1.71057578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050385723 meters 0.021050012466846763 Centerline is valid? [True, True] Translation: X:45.47, Y:-0.88, Z:-1.71 [[ 9.98689065e-01 3.45581776e-02 3.77608746e-02 4.54695468e+01] [-3.44926865e-02 9.99402105e-01 -2.38465511e-03 -8.82226627e-01] [-3.78207069e-02 1.07905497e-03 9.99283959e-01 -1.70771409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110385723 meters 0.021043171158589436 Centerline is valid? [True, True] Translation: X:45.53, Y:-0.89, Z:-1.71 [[ 9.98635352e-01 3.43348747e-02 3.93516228e-02 4.55319202e+01] [-3.42634600e-02 9.99409738e-01 -2.48797167e-03 -8.86796948e-01] [-3.94138193e-02 1.13625371e-03 9.99222328e-01 -1.71256984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170385722999995 meters 0.022074549565781944 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.89, Z:-1.72 [[ 9.98720670e-01 3.28552859e-02 3.84389509e-02 4.55922639e+01] [-3.27857010e-02 9.99459427e-01 -2.43939906e-03 -8.93431361e-01] [-3.84983191e-02 1.17603031e-03 9.99257973e-01 -1.71680986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230385723 meters 0.02149722268471926 Centerline is valid? [True, True] Translation: X:45.66, Y:-0.89, Z:-1.72 [[ 9.98698954e-01 3.45736317e-02 3.74841842e-02 4.56553110e+01] [-3.45085031e-02 9.99401563e-01 -2.38328670e-03 -8.91671586e-01] [-3.75441512e-02 1.08666284e-03 9.99294379e-01 -1.71735776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290385723 meters 0.021222407782824727 Centerline is valid? [True, True] Translation: X:45.72, Y:-0.89, Z:-1.72 [[ 9.98491338e-01 3.72121739e-02 4.03769882e-02 4.57173242e+01] [-3.71386055e-02 9.99306817e-01 -2.57084792e-03 -8.92693175e-01] [-4.04446664e-02 1.06742435e-03 9.99181210e-01 -1.71669301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350385722999995 meters 0.02131567998582929 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.90, Z:-1.72 [[ 9.98538244e-01 3.68839138e-02 3.95088868e-02 4.57796110e+01] [-3.68131127e-02 9.99318995e-01 -2.51828674e-03 -8.99438838e-01] [-3.95748653e-02 1.06016052e-03 9.99216046e-01 -1.72195121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410385723 meters 0.021214054575630997 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.90, Z:-1.73 [[ 9.98649904e-01 3.62834266e-02 3.71736849e-02 4.58411611e+01] [-3.62200180e-02 9.99341011e-01 -2.37799114e-03 -9.03056232e-01] [-3.72354695e-02 1.02834908e-03 9.99305990e-01 -1.72652743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470385723 meters 0.02138805879902606 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.91, Z:-1.73 [[ 9.98655357e-01 3.67204373e-02 3.65935371e-02 4.59021051e+01] [-3.66589888e-02 9.99325073e-01 -2.34899857e-03 -9.05122575e-01] [-3.66550954e-02 1.00435793e-03 9.99327471e-01 -1.72901728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530385722999995 meters 0.020821693181859096 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.91, Z:-1.73 [[ 9.98610036e-01 3.85255766e-02 3.59691019e-02 4.59618262e+01] [-3.84673558e-02 9.99257188e-01 -2.30953422e-03 -9.11067464e-01] [-3.60313598e-02 9.22687807e-04 9.99350234e-01 -1.73343064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590385723 meters 0.021194538765810223 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.91, Z:-1.73 [[ 9.98595531e-01 3.84060945e-02 3.64957263e-02 4.60219490e+01] [-3.83460764e-02 9.99261771e-01 -2.34333002e-03 -9.12236613e-01] [-3.65587822e-02 9.40570974e-04 9.99331062e-01 -1.73094062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650385723 meters 0.021258535161514266 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.92, Z:-1.73 [[ 9.98617177e-01 3.82601526e-02 3.60540584e-02 4.60816980e+01] [-3.82015289e-02 9.99267377e-01 -2.31373050e-03 -9.16168284e-01] [-3.61161680e-02 9.33210865e-04 9.99347163e-01 -1.73334485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710385722999995 meters 0.02057757144996182 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.92, Z:-1.74 [[ 9.98479007e-01 3.99750957e-02 3.79692532e-02 4.61409170e+01] [-3.99113664e-02 9.99200256e-01 -2.43524500e-03 -9.21481691e-01] [-3.80362366e-02 9.16136240e-04 9.99275941e-01 -1.73698437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770385723 meters 0.02057742044097737 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.92, Z:-1.73 [[ 9.98267107e-01 4.25037076e-02 4.06966482e-02 4.62006536e+01] [-4.24326498e-02 9.99095924e-01 -2.60862736e-03 -9.22442789e-01] [-4.07707317e-02 8.77240268e-04 9.99168143e-01 -1.73450928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830385723 meters 0.020562644566111926 Centerline is valid? [True, True] Translation: X:46.26, Y:-0.92, Z:-1.73 [[ 9.98127752e-01 4.34319256e-02 4.30657451e-02 4.62604090e+01] [-4.33532799e-02 9.99055995e-01 -2.75889357e-03 -9.22396966e-01] [-4.31449149e-02 8.86686940e-04 9.99068431e-01 -1.73299263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890385722999994 meters 0.02102277406529627 Centerline is valid? [True, True] Translation: X:46.32, Y:-0.93, Z:-1.74 [[ 9.98459297e-01 4.09575112e-02 3.74368162e-02 4.63200886e+01] [-4.08963943e-02 9.99160517e-01 -2.39718368e-03 -9.31567211e-01] [-3.75035713e-02 8.62459529e-04 9.99296121e-01 -1.74313116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950385723 meters 0.021689111046956075 Centerline is valid? [True, True] Translation: X:46.38, Y:-0.93, Z:-1.74 [[ 9.98601842e-01 3.88168795e-02 3.58832889e-02 4.63794798e+01] [-3.87593513e-02 9.99245932e-01 -2.29771019e-03 -9.34002904e-01] [-3.59454204e-02 9.03684628e-04 9.99353346e-01 -1.74424274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010385723 meters 0.02212611025540376 Centerline is valid? [True, True] Translation: X:46.44, Y:-0.94, Z:-1.75 [[ 9.98669259e-01 3.64483578e-02 3.64859891e-02 4.64395337e+01] [-3.63873469e-02 9.99335033e-01 -2.33503481e-03 -9.39738156e-01] [-3.65468353e-02 1.00429914e-03 9.99331437e-01 -1.74835102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070385722999994 meters 0.02259484740382506 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.95, Z:-1.75 [[ 9.98749553e-01 3.44513966e-02 3.62274953e-02 4.65000539e+01] [-3.43899351e-02 9.99405802e-01 -2.31849609e-03 -9.46672151e-01] [-3.62858444e-02 1.06973572e-03 9.99340879e-01 -1.75181141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130385722999996 meters 0.023014020507007106 Centerline is valid? [True, True] Translation: X:46.56, Y:-0.95, Z:-1.75 [[ 9.98873040e-01 3.21222893e-02 3.49400736e-02 4.65614489e+01] [-3.20636775e-02 9.99483325e-01 -2.23667282e-03 -9.46848285e-01] [-3.49938680e-02 1.11384493e-03 9.99386906e-01 -1.75015798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190385723 meters 0.023081639496440577 Centerline is valid? [True, True] Translation: X:46.62, Y:-0.95, Z:-1.75 [[ 9.98850685e-01 3.08749027e-02 3.66612858e-02 4.66224761e+01] [-3.08094821e-02 9.99522517e-01 -2.34820479e-03 -9.52026399e-01] [-3.67162813e-02 1.21599073e-03 9.99324990e-01 -1.75296935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250385722999994 meters 0.02375535833249246 Centerline is valid? [True, True] Translation: X:46.68, Y:-0.96, Z:-1.76 [[ 9.98909838e-01 2.96616964e-02 3.60460804e-02 4.66845362e+01] [-2.95976193e-02 9.99559225e-01 -2.31007516e-03 -9.58929845e-01] [-3.60987130e-02 1.24067864e-03 9.99347459e-01 -1.75611670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310385722999996 meters 0.024313809698668296 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.96, Z:-1.76 [[ 9.98974393e-01 3.00351519e-02 3.38829093e-02 4.67476334e+01] [-2.99784904e-02 9.99548169e-01 -2.17917637e-03 -9.64371568e-01] [-3.39330518e-02 1.16118292e-03 9.99423434e-01 -1.75962523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370385723 meters 0.022949260556163423 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.97, Z:-1.76 [[ 9.98800919e-01 3.21548561e-02 3.69159851e-02 4.68095997e+01] [-3.20886250e-02 9.99482181e-01 -2.38535045e-03 -9.66204977e-01] [-3.69735699e-02 1.19790702e-03 9.99315526e-01 -1.75921652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430385723 meters 0.024994516178037135 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.98, Z:-1.76 [[ 9.98900830e-01 3.04539410e-02 3.56326860e-02 4.68699299e+01] [-3.03908493e-02 9.99535420e-01 -2.31102616e-03 -9.77336841e-01] [-3.56865116e-02 1.22557836e-03 9.99362282e-01 -1.76294853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490385722999996 meters 0.023815385508125723 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.98, Z:-1.77 [[ 9.98956883e-01 2.91434806e-02 3.51539984e-02 4.69324290e+01] [-2.90809871e-02 9.99574440e-01 -2.28782259e-03 -9.80410077e-01] [-3.52057134e-02 1.26312316e-03 9.99379288e-01 -1.76594127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550385723 meters 0.024507546636554165 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.99, Z:-1.77 [[ 9.99061272e-01 2.74480294e-02 3.35138782e-02 4.69943806e+01] [-2.73900158e-02 9.99622426e-01 -2.18899504e-03 -9.88827377e-01] [-3.35613079e-02 1.26899451e-03 9.99435855e-01 -1.77012723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610385723 meters 0.02501337744201477 Centerline is valid? [True, True] Translation: X:47.06, Y:-0.99, Z:-1.77 [[ 9.99051190e-01 2.86951029e-02 3.27614358e-02 4.70557882e+01] [-2.86400819e-02 9.99587482e-01 -2.14757864e-03 -9.92652093e-01] [-3.28095461e-02 1.20725079e-03 9.99460893e-01 -1.77155895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670385722999995 meters 0.025527677098467743 Centerline is valid? [True, True] Translation: X:47.12, Y:-1.00, Z:-1.77 [[ 9.98778883e-01 3.39897024e-02 3.58530701e-02 4.71157117e+01] [-3.39268896e-02 9.99421533e-01 -2.35906150e-03 -9.95477189e-01] [-3.59125141e-02 1.13979766e-03 9.99354288e-01 -1.76924339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730385723 meters 0.02130947490952482 Centerline is valid? [True, True] Translation: X:47.18, Y:-0.99, Z:-1.77 [[ 9.98456597e-01 4.14210234e-02 3.69962499e-02 4.71765851e+01] [-4.13592319e-02 9.99141375e-01 -2.43430915e-03 -9.92864067e-01] [-3.70653155e-02 9.00415557e-04 9.99312439e-01 -1.77395244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790385723 meters 0.019843548459430333 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.99, Z:-1.77 [[ 9.98051793e-01 4.96828277e-02 3.77390483e-02 4.72364297e+01] [-4.96243916e-02 9.98764862e-01 -2.48415097e-03 -9.90309101e-01] [-3.78158550e-02 6.06534015e-04 9.99284541e-01 -1.77394314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850385722999995 meters 0.018917753245590953 Centerline is valid? [True, True] Translation: X:47.30, Y:-0.99, Z:-1.78 [[ 9.97750348e-01 5.58746887e-02 3.70440648e-02 4.72950112e+01] [-5.58226974e-02 9.98437723e-01 -2.43713090e-03 -9.89861065e-01] [-3.71223656e-02 3.63748581e-04 9.99310661e-01 -1.77651800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910385723 meters 0.018398202350389473 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.99, Z:-1.78 [[ 9.97356516e-01 6.25329384e-02 3.70082522e-02 4.73539917e+01] [-6.24857203e-02 9.98042894e-01 -2.43228329e-03 -9.89655318e-01] [-3.70879210e-02 1.13366297e-04 9.99312000e-01 -1.77857693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970385723 meters 0.018119439785672913 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.99, Z:-1.78 [[ 9.97246580e-01 6.51528916e-02 3.54169384e-02 4.74128078e+01] [-6.51113841e-02 9.97875293e-01 -2.32532180e-03 -9.92936987e-01] [-3.54931892e-02 1.28733385e-05 9.99369918e-01 -1.78372834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030385722999995 meters 0.01801433748661596 Centerline is valid? [True, True] Translation: X:47.47, Y:-1.00, Z:-1.79 [[ 9.97525500e-01 6.16779528e-02 3.37447436e-02 4.74697518e+01] [-6.16383595e-02 9.98096094e-01 -2.21333581e-03 -1.00315540e+00] [-3.38170108e-02 1.27888269e-04 9.99428033e-01 -1.78898389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090385723 meters 0.018454245216385706 Centerline is valid? [True, True] Translation: X:47.53, Y:-1.01, Z:-1.79 [[ 9.97746850e-01 5.77665937e-02 3.41210150e-02 4.75272023e+01] [-5.77239244e-02 9.98330082e-01 -2.23511879e-03 -1.00839008e+00] [-3.41931510e-02 2.60483841e-04 9.99415209e-01 -1.78797938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150385723 meters 0.018648372983428557 Centerline is valid? [True, True] Translation: X:47.59, Y:-1.02, Z:-1.79 [[ 9.98038473e-01 5.12615092e-02 3.59369594e-02 4.75852136e+01] [-5.12101243e-02 9.98685137e-01 -2.34947987e-03 -1.01673338e+00] [-3.60101451e-02 5.04535141e-04 9.99351297e-01 -1.78826251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210385722999995 meters 0.020418635049035055 Centerline is valid? [True, True] Translation: X:47.64, Y:-1.03, Z:-1.79 [[ 9.98566246e-01 4.14499293e-02 3.38726258e-02 4.76436752e+01] [-4.13987378e-02 9.99140257e-01 -2.21154305e-03 -1.03358673e+00] [-3.39351724e-02 8.06088284e-04 9.99423711e-01 -1.79435215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270385723 meters 0.022133449297321393 Centerline is valid? [True, True] Translation: X:47.70, Y:-1.04, Z:-1.79 [[ 9.98884405e-01 3.36695924e-02 3.31104687e-02 4.77033308e+01] [-3.36164277e-02 9.99432471e-01 -2.16120431e-03 -1.04102446e+00] [-3.31644444e-02 1.04573761e-03 9.99449361e-01 -1.79465680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330385723 meters 0.022850620894525046 Centerline is valid? [True, True] Translation: X:47.76, Y:-1.05, Z:-1.79 [[ 9.98881002e-01 3.01634413e-02 3.64267954e-02 4.77640206e+01] [-3.00967768e-02 9.99544163e-01 -2.37718118e-03 -1.04979698e+00] [-3.64818947e-02 1.27819198e-03 9.99333497e-01 -1.79397994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390385722999994 meters 0.023357615662973896 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.06, Z:-1.80 [[ 9.98860612e-01 2.98675797e-02 3.72210325e-02 4.78260484e+01] [-2.97977343e-02 9.99552995e-01 -2.42996011e-03 -1.05675373e+00] [-3.72769715e-02 1.31808901e-03 9.99304103e-01 -1.79603177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450385723 meters 0.02380214780063957 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.06, Z:-1.80 [[ 9.99005699e-01 2.82443278e-02 3.44945210e-02 4.78874596e+01] [-2.81831060e-02 9.99600223e-01 -2.25986223e-03 -1.06207009e+00] [-3.45445592e-02 1.28545250e-03 9.99402332e-01 -1.79901102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510385723 meters 0.023081378244339937 Centerline is valid? [True, True] Translation: X:47.95, Y:-1.07, Z:-1.81 [[ 9.99125582e-01 2.72339559e-02 3.17235279e-02 4.79489081e+01] [-2.71815707e-02 9.99628346e-01 -2.08147196e-03 -1.07201636e+00] [-3.17684244e-02 1.21735657e-03 9.99494515e-01 -1.80749778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570385722999994 meters 0.023232096227248148 Centerline is valid? [True, True] Translation: X:48.01, Y:-1.08, Z:-1.81 [[ 9.99163248e-01 2.87213544e-02 2.91185176e-02 4.80101713e+01] [-2.86776416e-02 9.99586872e-01 -1.91779583e-03 -1.07503289e+00] [-2.91615696e-02 1.08114070e-03 9.99574126e-01 -1.80739271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630385722999996 meters 0.022121654773512543 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.07, Z:-1.81 [[ 9.99020478e-01 3.26624303e-02 2.98538202e-02 4.80717093e+01] [-3.26180897e-02 9.99465945e-01 -1.97117944e-03 -1.07453109e+00] [-2.99022601e-02 9.95474037e-04 9.99552332e-01 -1.80674289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690385723 meters 0.019973634515809087 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.08, Z:-1.81 [[ 9.98754124e-01 3.77627359e-02 3.26216919e-02 4.81320407e+01] [-3.77124602e-02 9.99286308e-01 -2.15530862e-03 -1.07800034e+00] [-3.26798004e-02 9.22379123e-04 9.99465447e-01 -1.80855233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750385722999994 meters 0.020857330249106413 Centerline is valid? [True, True] Translation: X:48.19, Y:-1.08, Z:-1.81 [[ 9.98721417e-01 4.12575704e-02 2.92120638e-02 4.81912121e+01] [-4.12187485e-02 9.99148282e-01 -1.93015256e-03 -1.08380983e+00] [-2.92668168e-02 7.23599983e-04 9.99571373e-01 -1.81306804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810385722999996 meters 0.019003284095968246 Centerline is valid? [True, True] Translation: X:48.25, Y:-1.09, Z:-1.82 [[ 9.98707695e-01 4.30910690e-02 2.69462337e-02 4.82499659e+01] [-4.30587033e-02 9.99070957e-01 -1.78048153e-03 -1.08513751e+00] [-2.69979224e-02 6.17910724e-04 9.99635299e-01 -1.81698278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870385723 meters 0.01861499545979715 Centerline is valid? [True, True] Translation: X:48.31, Y:-1.09, Z:-1.82 [[ 9.98610118e-01 4.43645766e-02 2.84537698e-02 4.83089275e+01] [-4.43290629e-02 9.99015219e-01 -1.87801165e-03 -1.08688012e+00] [-2.85090662e-02 6.14072491e-04 9.99593345e-01 -1.81552267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930385723 meters 0.01923730177202271 Centerline is valid? [True, True] Translation: X:48.37, Y:-1.09, Z:-1.82 [[ 9.98602574e-01 4.39199922e-02 2.93927549e-02 4.83659194e+01] [-4.38819616e-02 9.99034843e-01 -1.93798536e-03 -1.09351494e+00] [-2.94495026e-02 6.45465433e-04 9.99566061e-01 -1.81754810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990385722999996 meters 0.018983709555953625 Centerline is valid? [True, True] Translation: X:48.42, Y:-1.10, Z:-1.82 [[ 9.98690227e-01 4.13864431e-02 3.00830872e-02 4.84244241e+01] [-4.13455374e-02 9.99142944e-01 -1.98079763e-03 -1.09804124e+00] [-3.01392825e-02 7.34401824e-04 9.99545439e-01 -1.81877395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050385723 meters 0.019959387799442042 Centerline is valid? [True, True] Translation: X:48.48, Y:-1.11, Z:-1.82 [[ 9.98862310e-01 3.75407270e-02 2.94071487e-02 4.84829042e+01] [-3.75000369e-02 9.99294754e-01 -1.93415725e-03 -1.10722094e+00] [-2.94590191e-02 8.29187611e-04 9.99565645e-01 -1.82138084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110385723 meters 0.019647713552102354 Centerline is valid? [True, True] Translation: X:48.54, Y:-1.11, Z:-1.82 [[ 9.98982409e-01 3.49347844e-02 2.85255656e-02 4.85420268e+01] [-3.48954826e-02 9.99389209e-01 -1.87457460e-03 -1.11239370e+00] [-2.85736303e-02 8.77253671e-04 9.99591306e-01 -1.82271358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170385722999995 meters 0.02060645627981437 Centerline is valid? [True, True] Translation: X:48.60, Y:-1.12, Z:-1.82 [[ 9.99021007e-01 3.41095729e-02 2.81702831e-02 4.86002897e+01] [-3.40709412e-02 9.99417704e-01 -1.85035444e-03 -1.11806989e+00] [-2.82169945e-02 8.88754893e-04 9.99601426e-01 -1.82275477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230385723 meters 0.019767922590348385 Centerline is valid? [True, True] Translation: X:48.66, Y:-1.12, Z:-1.82 [[ 9.98842041e-01 3.61930764e-02 3.16960339e-02 4.86597032e+01] [-3.61452771e-02 9.99344382e-01 -2.07991991e-03 -1.12202286e+00] [-3.17505320e-02 9.31849517e-04 9.99495390e-01 -1.82198604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290385723 meters 0.019274884382781365 Centerline is valid? [True, True] Translation: X:48.72, Y:-1.13, Z:-1.82 [[ 9.98801695e-01 3.69606224e-02 3.20793649e-02 4.87203616e+01] [-3.69120969e-02 9.99316302e-01 -2.10376736e-03 -1.12718735e+00] [-3.21351889e-02 9.17129780e-04 9.99483111e-01 -1.82337581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350385722999995 meters 0.019421324975592163 Centerline is valid? [True, True] Translation: X:48.78, Y:-1.13, Z:-1.83 [[ 9.98875260e-01 3.62519526e-02 3.05615950e-02 4.87809791e+01] [-3.62075806e-02 9.99342281e-01 -2.00423188e-03 -1.13280512e+00] [-3.06141514e-02 8.95416230e-04 9.99530876e-01 -1.82692504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410385723 meters 0.020016348912302088 Centerline is valid? [True, True] Translation: X:48.84, Y:-1.14, Z:-1.83 [[ 9.98977371e-01 3.55679500e-02 2.79129462e-02 4.88401305e+01] [-3.55306738e-02 9.99366910e-01 -1.83044895e-03 -1.14061594e+00] [-2.79603801e-02 8.36811291e-04 9.99608682e-01 -1.83046770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470385723 meters 0.019544533684575375 Centerline is valid? [True, True] Translation: X:48.90, Y:-1.14, Z:-1.83 [[ 9.98819847e-01 3.86874104e-02 2.93631875e-02 4.88991491e+01] [-3.86474866e-02 9.99251050e-01 -1.92617888e-03 -1.14385363e+00] [-2.94157148e-02 7.89092301e-04 9.99566953e-01 -1.83099680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530385722999995 meters 0.019012201567493617 Centerline is valid? [True, True] Translation: X:48.96, Y:-1.15, Z:-1.83 [[ 9.98699086e-01 4.17496169e-02 2.92763692e-02 4.89580679e+01] [-4.17112701e-02 9.99127862e-01 -1.91957390e-03 -1.14838893e+00] [-2.93309777e-02 6.95922148e-04 9.99569512e-01 -1.83447478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590385723 meters 0.01869910863157754 Centerline is valid? [True, True] Translation: X:49.02, Y:-1.15, Z:-1.84 [[ 9.98728595e-01 4.21899952e-02 2.75898087e-02 4.90171188e+01] [-4.21561408e-02 9.99109399e-01 -1.80782398e-03 -1.15022303e+00] [-2.76415093e-02 6.42445647e-04 9.99617694e-01 -1.83749409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650385723 meters 0.018945291446832314 Centerline is valid? [True, True] Translation: X:49.08, Y:-1.15, Z:-1.84 [[ 9.98829376e-01 3.95077449e-02 2.79108664e-02 4.90764942e+01] [-3.94721142e-02 9.99219003e-01 -1.82661231e-03 -1.15340620e+00] [-2.79612335e-02 7.22773124e-04 9.99608747e-01 -1.83930875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710385722999995 meters 0.020625694793427334 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.16, Z:-1.84 [[ 9.98932300e-01 3.49224159e-02 3.02437602e-02 4.91350128e+01] [-3.48785105e-02 9.99389602e-01 -1.97821238e-03 -1.15720392e+00] [-3.02943834e-02 9.21242939e-04 9.99540595e-01 -1.83920543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770385723 meters 0.021820828868814143 Centerline is valid? [True, True] Translation: X:49.19, Y:-1.16, Z:-1.84 [[ 9.98997726e-01 3.17544431e-02 3.15467759e-02 4.91946449e+01] [-3.17051555e-02 9.99495139e-01 -2.06148478e-03 -1.16350149e+00] [-3.15963105e-02 1.05922317e-03 9.99500151e-01 -1.84247068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830385723 meters 0.024690944560910578 Centerline is valid? [True, True] Translation: X:49.25, Y:-1.17, Z:-1.85 [[ 9.99226918e-01 2.60726146e-02 2.94242187e-02 4.92541691e+01] [-2.60272957e-02 9.99659384e-01 -1.92220371e-03 -1.16881142e+00] [-2.94643132e-02 1.15488485e-03 9.99565166e-01 -1.84669580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890385722999994 meters 0.02434319226042484 Centerline is valid? [True, True] Translation: X:49.32, Y:-1.16, Z:-1.85 [[ 9.99251545e-01 2.21949872e-02 3.16817201e-02 4.93154186e+01] [-2.21405024e-02 9.99752727e-01 -2.06957776e-03 -1.16421938e+00] [-3.17198204e-02 1.36657958e-03 9.99495866e-01 -1.84505649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950385723 meters 0.025337653801213597 Centerline is valid? [True, True] Translation: X:49.38, Y:-1.17, Z:-1.85 [[ 9.99294539e-01 1.80444567e-02 3.29366459e-02 4.93756458e+01] [-1.79832983e-02 9.99835971e-01 -2.15216381e-03 -1.17028523e+00] [-3.29700779e-02 1.55833602e-03 9.99455124e-01 -1.85090285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010385723 meters 0.026957580939252903 Centerline is valid? [True, True] Translation: X:49.44, Y:-1.17, Z:-1.85 [[ 9.99448676e-01 1.35072531e-02 3.03298252e-02 4.94370194e+01] [-1.34532991e-02 9.99907535e-01 -1.98227897e-03 -1.16931490e+00] [-3.03537959e-02 1.57314988e-03 9.99537979e-01 -1.85280708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070385722999994 meters 0.026917558681201992 Centerline is valid? [True, True] Translation: X:49.50, Y:-1.17, Z:-1.86 [[ 9.99336082e-01 1.64401008e-02 3.25133407e-02 4.94971673e+01] [-1.63796126e-02 9.99863585e-01 -2.12590283e-03 -1.16940483e+00] [-3.25438555e-02 1.59193548e-03 9.99469041e-01 -1.85535817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130385722999996 meters 0.024988086475773646 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.17, Z:-1.86 [[ 9.99212554e-01 1.97833583e-02 3.43931886e-02 4.95580026e+01] [-1.97176216e-02 9.99803058e-01 -2.24949131e-03 -1.16800754e+00] [-3.44309177e-02 1.56956808e-03 9.99405848e-01 -1.85685058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190385723 meters 0.025812138161644883 Centerline is valid? [True, True] Translation: X:49.62, Y:-1.17, Z:-1.86 [[ 9.99256602e-01 2.26639983e-02 3.11863054e-02 4.96187180e+01] [-2.26113591e-02 9.99742250e-01 -2.03957398e-03 -1.16787870e+00] [-3.12244920e-02 1.33289302e-03 9.99511508e-01 -1.86103718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250385722999994 meters 0.022815298269544395 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.16, Z:-1.87 [[ 9.99257892e-01 2.65240692e-02 2.79309707e-02 4.96805724e+01] [-2.64833305e-02 9.99647585e-01 -1.82753050e-03 -1.16141465e+00] [-2.79696009e-02 1.08646915e-03 9.99608184e-01 -1.86555451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310385722999996 meters 0.024078115080527665 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.17, Z:-1.87 [[ 9.99183418e-01 2.99237678e-02 2.71489473e-02 4.97405573e+01] [-2.98865226e-02 9.99551719e-01 -1.77670460e-03 -1.16521673e+00] [-2.71899427e-02 9.63866145e-04 9.99629820e-01 -1.86884051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370385723 meters 0.02044383870794784 Centerline is valid? [True, True] Translation: X:49.80, Y:-1.16, Z:-1.87 [[ 9.98920516e-01 3.54970934e-02 2.99626261e-02 4.98011746e+01] [-3.54540982e-02 9.99369374e-01 -1.96517842e-03 -1.16204188e+00] [-3.00134890e-02 9.00759151e-04 9.99549088e-01 -1.86970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43038572299999 meters 0.0204849320779824 Centerline is valid? [True, True] Translation: X:49.86, Y:-1.16, Z:-1.87 [[ 9.98774334e-01 3.83210535e-02 3.13261479e-02 4.98600271e+01] [-3.82754556e-02 9.99265115e-01 -2.05417210e-03 -1.16466175e+00] [-3.13818448e-02 8.52631785e-04 9.99507105e-01 -1.86869019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490385722999996 meters 0.019954574959679002 Centerline is valid? [True, True] Translation: X:49.92, Y:-1.17, Z:-1.87 [[ 9.98649247e-01 4.12249892e-02 3.16256425e-02 4.99188752e+01] [-4.11800219e-02 9.99149594e-01 -2.07216175e-03 -1.16541669e+00] [-3.16841727e-02 7.67018125e-04 9.99497636e-01 -1.86961027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550385723 meters 0.01920520930645475 Centerline is valid? [True, True] Translation: X:49.98, Y:-1.17, Z:-1.87 [[ 9.98473778e-01 4.50969745e-02 3.18806857e-02 4.99780104e+01] [-4.50533196e-02 9.98982404e-01 -2.08671099e-03 -1.16727394e+00] [-3.19423484e-02 6.47195481e-04 9.99489503e-01 -1.87307150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610385723 meters 0.019170466506689115 Centerline is valid? [True, True] Translation: X:50.04, Y:-1.17, Z:-1.87 [[ 9.98357817e-01 4.67152358e-02 3.31565436e-02 5.00357820e+01] [-4.66690214e-02 9.98908058e-01 -2.16678437e-03 -1.17049080e+00] [-3.32215604e-02 6.15842667e-04 9.99447822e-01 -1.87390717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670385722999995 meters 0.019137851895700168 Centerline is valid? [True, True] Translation: X:50.09, Y:-1.18, Z:-1.87 [[ 9.98298342e-01 4.64303052e-02 3.52795680e-02 5.00944743e+01] [-4.63779188e-02 9.98921312e-01 -2.30223862e-03 -1.17630029e+00] [-3.53484060e-02 6.62128060e-04 9.99374830e-01 -1.87361025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730385723 meters 0.019307483149490507 Centerline is valid? [True, True] Translation: X:50.15, Y:-1.18, Z:-1.88 [[ 9.98392981e-01 4.47970155e-02 3.47085410e-02 5.01528762e+01] [-4.47454087e-02 9.98995860e-01 -2.26258875e-03 -1.18480787e+00] [-3.47750460e-02 7.05904873e-04 9.99394916e-01 -1.87670033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790385723 meters 0.01932439139051027 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.19, Z:-1.88 [[ 9.98411227e-01 4.53867226e-02 3.33926169e-02 5.02110882e+01] [-4.53393616e-02 9.98969276e-01 -2.17454255e-03 -1.18849288e+00] [-3.34568937e-02 6.57087759e-04 9.99439945e-01 -1.87952613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850385722999995 meters 0.01907291550782552 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.19, Z:-1.88 [[ 9.98354476e-01 4.70536497e-02 3.27764270e-02 5.02693656e+01] [-4.70089927e-02 9.98892191e-01 -2.13216998e-03 -1.19232917e+00] [-3.28404434e-02 5.87874625e-04 9.99460434e-01 -1.88290441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910385723 meters 0.018782559498471053 Centerline is valid? [True, True] Translation: X:50.33, Y:-1.20, Z:-1.88 [[ 9.98220973e-01 4.86937266e-02 3.44065309e-02 5.03276726e+01] [-4.86455751e-02 9.98813601e-01 -2.23571066e-03 -1.19743867e+00] [-3.44745761e-02 5.58007782e-04 9.99405419e-01 -1.88452892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970385723 meters 0.019150838550493803 Centerline is valid? [True, True] Translation: X:50.39, Y:-1.20, Z:-1.88 [[ 9.98167917e-01 4.99404576e-02 3.41578793e-02 5.03853735e+01] [-4.98938086e-02 9.98752067e-01 -2.21724201e-03 -1.19881958e+00] [-3.42259826e-02 5.08913148e-04 9.99413990e-01 -1.88393404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030385722999995 meters 0.01894251508620446 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.20, Z:-1.89 [[ 9.98283893e-01 4.83353990e-02 3.30599164e-02 5.04434243e+01] [-4.82909173e-02 9.98831014e-01 -2.14309723e-03 -1.20318212e+00] [-3.31248573e-02 5.42925753e-04 9.99451074e-01 -1.88929119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090385723 meters 0.020286010162406023 Centerline is valid? [True, True] Translation: X:50.50, Y:-1.21, Z:-1.89 [[ 9.98643906e-01 4.14176784e-02 3.15424393e-02 5.05025926e+01] [-4.13738087e-02 9.99141650e-01 -2.04250418e-03 -1.21225001e+00] [-3.15999606e-02 7.34703500e-04 9.99500327e-01 -1.89316587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150385723 meters 0.02192289196713887 Centerline is valid? [True, True] Translation: X:50.56, Y:-1.22, Z:-1.90 [[ 9.98884933e-01 3.59274393e-02 3.06285621e-02 5.05623566e+01] [-3.58835308e-02 9.99354013e-01 -1.98221482e-03 -1.22018720e+00] [-3.06799923e-02 8.80943574e-04 9.99528870e-01 -1.89623947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210385722999995 meters 0.025208999346172083 Centerline is valid? [True, True] Translation: X:50.62, Y:-1.23, Z:-1.90 [[ 9.99061739e-01 2.84616719e-02 3.26431343e-02 5.06217115e+01] [-2.84078344e-02 9.99594185e-01 -2.11197083e-03 -1.23005880e+00] [-3.26899974e-02 1.18266850e-03 9.99464839e-01 -1.89531205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270385723 meters 0.027126121706807525 Centerline is valid? [True, True] Translation: X:50.68, Y:-1.24, Z:-1.90 [[ 9.99192150e-01 2.44684487e-02 3.18801332e-02 5.06828326e+01] [-2.44150849e-02 9.99699781e-01 -2.06214962e-03 -1.23766612e+00] [-3.19210198e-02 1.28212756e-03 9.99489572e-01 -1.89793841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330385723 meters 0.029012547334029914 Centerline is valid? [True, True] Translation: X:50.74, Y:-1.25, Z:-1.90 [[ 9.99281639e-01 2.11774785e-02 3.14280217e-02 5.07433287e+01] [-2.11239589e-02 9.99774795e-01 -2.03400986e-03 -1.24505397e+00] [-3.14640191e-02 1.36866446e-03 9.99503948e-01 -1.90114660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390385722999994 meters 0.03053605062858783 Centerline is valid? [True, True] Translation: X:50.81, Y:-1.25, Z:-1.91 [[ 9.99375109e-01 1.96716237e-02 2.93669702e-02 5.08053857e+01] [-1.96242439e-02 9.99805619e-01 -1.90074262e-03 -1.25091907e+00] [-2.93986525e-02 1.32325027e-03 9.99566890e-01 -1.90596681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450385723 meters 0.02658890942937112 Centerline is valid? [True, True] Translation: X:50.87, Y:-1.25, Z:-1.91 [[ 9.99424990e-01 2.06618091e-02 2.68845383e-02 5.08677669e+01] [-2.06224625e-02 9.99785820e-01 -1.74001044e-03 -1.24699106e+00] [-2.69147320e-02 1.18458454e-03 9.99637031e-01 -1.90881855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510385723 meters 0.02483126943179656 Centerline is valid? [True, True] Translation: X:50.93, Y:-1.25, Z:-1.91 [[ 9.99249771e-01 2.46688394e-02 2.98553829e-02 5.09289871e+01] [-2.46218100e-02 9.99694951e-01 -1.94190023e-03 -1.24670664e+00] [-2.98941800e-02 1.20534979e-03 9.99552342e-01 -1.90705113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570385722999994 meters 0.02391838602343491 Centerline is valid? [True, True] Translation: X:50.99, Y:-1.25, Z:-1.91 [[ 9.99089959e-01 3.02235308e-02 3.00963807e-02 5.09906215e+01] [-3.01782384e-02 9.99542615e-01 -1.95811308e-03 -1.24536107e+00] [-3.01417962e-02 1.04807537e-03 9.99545083e-01 -1.90578652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630385722999996 meters 0.022323820455905072 Centerline is valid? [True, True] Translation: X:51.05, Y:-1.24, Z:-1.91 [[ 9.99033125e-01 3.34809034e-02 2.84928771e-02 5.10517044e+01] [-3.34416199e-02 9.99438953e-01 -1.85425007e-03 -1.24448107e+00] [-2.85389733e-02 8.99609278e-04 9.99592276e-01 -1.91007421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690385723 meters 0.021487330501108834 Centerline is valid? [True, True] Translation: X:51.11, Y:-1.25, Z:-1.92 [[ 9.98970740e-01 3.73914952e-02 2.56775603e-02 5.11113104e+01] [-3.73608641e-02 9.99300441e-01 -1.67179395e-03 -1.24916028e+00] [-2.57221082e-02 7.10737397e-04 9.99668879e-01 -1.91864150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750385722999994 meters 0.02022220225928466 Centerline is valid? [True, True] Translation: X:51.17, Y:-1.25, Z:-1.91 [[ 9.98585633e-01 4.49093405e-02 2.84584798e-02 5.11718422e+01] [-4.48747750e-02 9.98990902e-01 -1.85241780e-03 -1.24773583e+00] [-2.85129533e-02 5.72729921e-04 9.99593259e-01 -1.91476704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810385722999996 meters 0.019394846229731626 Centerline is valid? [True, True] Translation: X:51.23, Y:-1.25, Z:-1.91 [[ 9.98243710e-01 5.10661256e-02 3.00291021e-02 5.12318599e+01] [-5.10304559e-02 9.98695187e-01 -1.95351143e-03 -1.24541367e+00] [-3.00896780e-02 4.17681731e-04 9.99547116e-01 -1.91159684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870385723 meters 0.018599122677109198 Centerline is valid? [True, True] Translation: X:51.29, Y:-1.25, Z:-1.92 [[ 9.97928923e-01 5.74177769e-02 2.90010793e-02 5.12904252e+01] [-5.73872095e-02 9.98350215e-01 -1.88591984e-03 -1.25092613e+00] [-2.90615191e-02 2.17722942e-04 9.99577601e-01 -1.91818706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93038572299999 meters 0.018605691643648427 Centerline is valid? [True, True] Translation: X:51.35, Y:-1.26, Z:-1.92 [[ 9.97875978e-01 5.85382797e-02 2.85797458e-02 5.13470299e+01] [-5.85090869e-02 9.98285148e-01 -1.85736015e-03 -1.25688444e+00] [-2.86394624e-02 1.81240245e-04 9.99589790e-01 -1.92208572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990385722999996 meters 0.018538565453523396 Centerline is valid? [True, True] Translation: X:51.41, Y:-1.26, Z:-1.92 [[ 9.97664120e-01 6.13340154e-02 3.00739508e-02 5.14055318e+01] [-6.13031539e-02 9.98117292e-01 -1.94800958e-03 -1.25828286e+00] [-3.01368095e-02 9.98312357e-05 9.99545778e-01 -1.92148696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050385723 meters 0.01859921121920082 Centerline is valid? [True, True] Translation: X:51.46, Y:-1.26, Z:-1.92 [[ 9.97536669e-01 6.18143689e-02 3.31598844e-02 5.14639354e+01] [-6.17771936e-02 9.98087659e-01 -2.14544932e-03 -1.26276811e+00] [-3.32290910e-02 9.16397706e-05 9.99447757e-01 -1.91860258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110385723 meters 0.01880226278302232 Centerline is valid? [True, True] Translation: X:51.52, Y:-1.27, Z:-1.92 [[ 9.97678982e-01 5.81489882e-02 3.54308374e-02 5.15221969e+01] [-5.81043292e-02 9.98307891e-01 -2.28969343e-03 -1.27271215e+00] [-3.55040279e-02 2.25693966e-04 9.99369508e-01 -1.92072167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170385722999995 meters 0.019041353061042755 Centerline is valid? [True, True] Translation: X:51.58, Y:-1.29, Z:-1.93 [[ 9.98044430e-01 5.34166495e-02 3.24650289e-02 5.15795472e+01] [-5.33767178e-02 9.98572247e-01 -2.09603382e-03 -1.28502018e+00] [-3.25306400e-02 3.59058193e-04 9.99470674e-01 -1.92917025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230385723 meters 0.01947555929000684 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.29, Z:-1.93 [[ 9.98238253e-01 5.04910724e-02 3.11615553e-02 5.16366372e+01] [-5.04529398e-02 9.98724418e-01 -2.00928480e-03 -1.29120209e+00] [-3.12232571e-02 4.33552880e-04 9.99512341e-01 -1.93145682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290385723 meters 0.02042247665306541 Centerline is valid? [True, True] Translation: X:51.70, Y:-1.30, Z:-1.93 [[ 9.98362981e-01 4.62885296e-02 3.35965804e-02 5.16952327e+01] [-4.62419299e-02 9.98927928e-01 -2.16313686e-03 -1.30091526e+00] [-3.36606909e-02 6.06025044e-04 9.99433135e-01 -1.93244628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350385722999995 meters 0.021259300275741088 Centerline is valid? [True, True] Translation: X:51.75, Y:-1.31, Z:-1.93 [[ 9.98553716e-01 3.95688727e-02 3.63975226e-02 5.17540646e+01] [-3.95098104e-02 9.99216441e-01 -2.34082161e-03 -1.30987043e+00] [-3.64616267e-02 8.99376902e-04 9.99334649e-01 -1.93187454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410385723 meters 0.02211990987875426 Centerline is valid? [True, True] Translation: X:51.81, Y:-1.32, Z:-1.94 [[ 9.98840519e-01 3.33575639e-02 3.47115387e-02 5.18142086e+01] [-3.33001698e-02 9.99442907e-01 -2.23043251e-03 -1.31813284e+00] [-3.47666030e-02 1.07194624e-03 9.99394884e-01 -1.93615877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470385723 meters 0.022810568535141844 Centerline is valid? [True, True] Translation: X:51.88, Y:-1.33, Z:-1.94 [[ 9.98961524e-01 2.97146875e-02 3.45385303e-02 5.18750614e+01] [-2.96556915e-02 9.99557710e-01 -2.21926401e-03 -1.32701123e+00] [-3.45891990e-02 1.19269536e-03 9.99400903e-01 -1.94016232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530385722999995 meters 0.024836287537221675 Centerline is valid? [True, True] Translation: X:51.93, Y:-1.34, Z:-1.94 [[ 9.99132958e-01 2.50935814e-02 3.32211483e-02 5.19349470e+01] [-2.50364119e-02 9.99684258e-01 -2.13581104e-03 -1.33747928e+00] [-3.32642542e-02 1.30222085e-03 9.99445743e-01 -1.94229678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590385723 meters 0.02514817425571029 Centerline is valid? [True, True] Translation: X:52.00, Y:-1.34, Z:-1.94 [[ 9.99180113e-01 2.44848184e-02 3.22427574e-02 5.19971847e+01] [-2.44306613e-02 9.99699378e-01 -2.07261310e-03 -1.33891298e+00] [-3.22838121e-02 1.28320190e-03 9.99477918e-01 -1.94242902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650385723 meters 0.024271958161504712 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.35, Z:-1.95 [[ 9.99192192e-01 2.52505025e-02 3.12630051e-02 5.20586264e+01] [-2.51997309e-02 9.99680402e-01 -2.01701978e-03 -1.34673643e+00] [-3.13039443e-02 1.22757110e-03 9.99509158e-01 -1.94947110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710385722999995 meters 0.02395896167123743 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.35, Z:-1.95 [[ 9.99094058e-01 2.81107090e-02 3.19507707e-02 5.21196714e+01] [-2.80588469e-02 9.99604129e-01 -2.07048323e-03 -1.34909754e+00] [-3.19963251e-02 1.17210571e-03 9.99487299e-01 -1.94977769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770385723 meters 0.023215394734554147 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.35, Z:-1.95 [[ 9.98938242e-01 3.23433542e-02 3.28069384e-02 5.21817309e+01] [-3.22909152e-02 9.99476249e-01 -2.12711976e-03 -1.34973199e+00] [-3.28585539e-02 1.06549521e-03 9.99459444e-01 -1.94944217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830385723 meters 0.02087452933447479 Centerline is valid? [True, True] Translation: X:52.24, Y:-1.35, Z:-1.95 [[ 9.98416398e-01 4.34978901e-02 3.56739291e-02 5.22426478e+01] [-4.34429163e-02 9.99053229e-01 -2.31506640e-03 -1.34745283e+00] [-3.57408546e-02 7.61620744e-04 9.99360801e-01 -1.94983531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890385722999994 meters 0.020109728320835542 Centerline is valid? [True, True] Translation: X:52.30, Y:-1.35, Z:-1.95 [[ 9.98180057e-01 4.87787499e-02 3.54571067e-02 5.23023138e+01] [-4.87277644e-02 9.98809446e-01 -2.30119086e-03 -1.34848617e+00] [-3.55271424e-02 5.69257282e-04 9.99368550e-01 -1.95274453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950385723 meters 0.0192119681359962 Centerline is valid? [True, True] Translation: X:52.36, Y:-1.34, Z:-1.95 [[ 9.97899240e-01 5.46606454e-02 3.47752787e-02 5.23617700e+01] [-5.46152110e-02 9.98504927e-01 -2.25580305e-03 -1.34437880e+00] [-3.48465908e-02 3.51804970e-04 9.99392611e-01 -1.95408868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010385723 meters 0.018870034678276762 Centerline is valid? [True, True] Translation: X:52.42, Y:-1.35, Z:-1.96 [[ 9.97848227e-01 5.59079455e-02 3.42522636e-02 5.24205857e+01] [-5.58646834e-02 9.98435882e-01 -2.21952146e-03 -1.34954126e+00] [-3.43227779e-02 3.01253698e-04 9.99410754e-01 -1.95874958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070385722999994 meters 0.019170379555624135 Centerline is valid? [True, True] Translation: X:52.48, Y:-1.36, Z:-1.96 [[ 9.98070012e-01 5.28835501e-02 3.25512139e-02 5.24779456e+01] [-5.28429415e-02 9.98600613e-01 -2.10715158e-03 -1.35633345e+00] [-3.26170958e-02 3.82982910e-04 9.99467848e-01 -1.96225136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130385722999996 meters 0.019500922383728 Centerline is valid? [True, True] Translation: X:52.54, Y:-1.36, Z:-1.97 [[ 9.98330762e-01 4.89615559e-02 3.06342211e-02 5.25364593e+01] [-4.89238367e-02 9.98800549e-01 -1.98006517e-03 -1.36045746e+00] [-3.06944240e-02 4.78016335e-04 9.99528701e-01 -1.96510050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190385723 meters 0.020721721303146014 Centerline is valid? [True, True] Translation: X:52.59, Y:-1.37, Z:-1.97 [[ 9.98601599e-01 4.32095037e-02 3.04595658e-02 5.25947967e+01] [-4.31696074e-02 9.99065823e-01 -1.96652303e-03 -1.36695367e+00] [-3.05160836e-02 6.48845548e-04 9.99534065e-01 -1.96694685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250385722999994 meters 0.02237157262106332 Centerline is valid? [True, True] Translation: X:52.65, Y:-1.38, Z:-1.97 [[ 9.98679314e-01 3.72994916e-02 3.53323482e-02 5.26538799e+01] [-3.72421833e-02 9.99303671e-01 -2.27895154e-03 -1.37638390e+00] [-3.53927490e-02 9.60087975e-04 9.99373019e-01 -1.96673517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310385722999996 meters 0.02322847488808277 Centerline is valid? [True, True] Translation: X:52.71, Y:-1.38, Z:-1.97 [[ 9.98842524e-01 3.14647500e-02 3.63810667e-02 5.27146592e+01] [-3.14001677e-02 9.99504142e-01 -2.34531627e-03 -1.38122894e+00] [-3.64368216e-02 1.20023003e-03 9.99335238e-01 -1.96910438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370385723 meters 0.024054489874737326 Centerline is valid? [True, True] Translation: X:52.78, Y:-1.38, Z:-1.97 [[ 9.99016840e-01 2.80548083e-02 3.43261140e-02 5.27753296e+01] [-2.79952915e-02 9.99605605e-01 -2.21335795e-03 -1.38454485e+00] [-3.43746713e-02 1.25021229e-03 9.99408234e-01 -1.97246428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43038572299999 meters 0.02552108780363685 Centerline is valid? [True, True] Translation: X:52.84, Y:-1.39, Z:-1.97 [[ 9.99098745e-01 2.41908012e-02 3.48784122e-02 5.28367929e+01] [-2.41269351e-02 9.99706369e-01 -2.25089034e-03 -1.38910434e+00] [-3.49226217e-02 1.40735253e-03 9.99389028e-01 -1.97250204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490385722999996 meters 0.02540426378821105 Centerline is valid? [True, True] Translation: X:52.90, Y:-1.39, Z:-1.98 [[ 9.99137629e-01 2.33547035e-02 3.43301192e-02 5.28985698e+01] [-2.32923091e-02 9.99726241e-01 -2.21634705e-03 -1.39226442e+00] [-3.43724831e-02 1.41480799e-03 9.99408090e-01 -1.97570160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550385723 meters 0.026360845104870464 Centerline is valid? [True, True] Translation: X:52.96, Y:-1.40, Z:-1.98 [[ 9.99190786e-01 2.35705883e-02 3.25914135e-02 5.29603925e+01] [-2.35142204e-02 9.99721272e-01 -2.11178757e-03 -1.39659776e+00] [-3.26321054e-02 1.34371700e-03 9.99466528e-01 -1.98081731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610385723 meters 0.025522804818029647 Centerline is valid? [True, True] Translation: X:53.02, Y:-1.40, Z:-1.98 [[ 9.99135403e-01 2.56537477e-02 3.27159192e-02 5.30232889e+01] [-2.55977616e-02 9.99670056e-01 -2.12904277e-03 -1.39515223e+00] [-3.27597427e-02 1.28974771e-03 9.99462423e-01 -1.98144860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670385722999995 meters 0.025778043816213052 Centerline is valid? [True, True] Translation: X:53.09, Y:-1.40, Z:-1.98 [[ 9.99113236e-01 2.64866148e-02 3.27292065e-02 5.30857176e+01] [-2.64308928e-02 9.99648365e-01 -2.13406958e-03 -1.39686986e+00] [-3.27742221e-02 1.26711502e-03 9.99461978e-01 -1.98150844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730385723 meters 0.026377165831874903 Centerline is valid? [True, True] Translation: X:53.15, Y:-1.40, Z:-1.99 [[ 9.99160188e-01 2.63506331e-02 3.13777597e-02 5.31464381e+01] [-2.62991065e-02 9.99652009e-01 -2.05378456e-03 -1.40011822e+00] [-3.14209590e-02 1.22685272e-03 9.99505487e-01 -1.98625001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790385723 meters 0.024551101413564997 Centerline is valid? [True, True] Translation: X:53.21, Y:-1.40, Z:-1.99 [[ 9.99144268e-01 2.86173348e-02 2.98626742e-02 5.32092456e+01] [-2.85715861e-02 9.99589832e-01 -1.95764070e-03 -1.39795702e+00] [-2.99064479e-02 1.10274151e-03 9.99552094e-01 -1.98925639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850385722999995 meters 0.02347829640962321 Centerline is valid? [True, True] Translation: X:53.27, Y:-1.39, Z:-1.99 [[ 9.98982440e-01 3.38453010e-02 2.98090487e-02 5.32708652e+01] [-3.38017770e-02 9.99426629e-01 -1.96294134e-03 -1.39480712e+00] [-2.98583934e-02 9.53345114e-04 9.99553684e-01 -1.98962808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910385723 meters 0.023032410878494305 Centerline is valid? [True, True] Translation: X:53.33, Y:-1.39, Z:-1.99 [[ 9.98841866e-01 3.79902697e-02 2.95239951e-02 5.33302218e+01] [-3.79493577e-02 9.99277771e-01 -1.94502042e-03 -1.39390686e+00] [-2.95765639e-02 8.22351180e-04 9.99562179e-01 -1.99048727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970385723 meters 0.021494264208100324 Centerline is valid? [True, True] Translation: X:53.39, Y:-1.39, Z:-1.99 [[ 9.98618639e-01 4.15662642e-02 3.21412581e-02 5.33898014e+01] [-4.15196612e-02 9.99135446e-01 -2.11629429e-03 -1.39069466e+00] [-3.22014367e-02 7.78876781e-04 9.99481096e-01 -1.98923795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030385722999995 meters 0.021208089172057746 Centerline is valid? [True, True] Translation: X:53.45, Y:-1.40, Z:-1.99 [[ 9.98400677e-01 4.46714090e-02 3.46490009e-02 5.34488728e+01] [-4.46191851e-02 9.99001468e-01 -2.27938853e-03 -1.39643968e+00] [-3.47162263e-02 7.29732861e-04 9.99396944e-01 -1.99154787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090385723 meters 0.02124395841226935 Centerline is valid? [True, True] Translation: X:53.51, Y:-1.40, Z:-1.99 [[ 9.98448284e-01 4.39886155e-02 3.41471305e-02 5.35071910e+01] [-4.39375553e-02 9.99031758e-01 -2.24461323e-03 -1.40249281e+00] [-3.42128052e-02 7.40788793e-04 9.99414296e-01 -1.99436292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150385723 meters 0.021258691803614494 Centerline is valid? [True, True] Translation: X:53.57, Y:-1.41, Z:-1.99 [[ 9.98469187e-01 4.33681797e-02 3.43290394e-02 5.35653715e+01] [-4.33162913e-02 9.99058866e-01 -2.25413447e-03 -1.40649692e+00] [-3.43944888e-02 7.63677142e-04 9.99408043e-01 -1.99477565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210385722999995 meters 0.021816341732551536 Centerline is valid? [True, True] Translation: X:53.62, Y:-1.42, Z:-2.00 [[ 9.98614595e-01 4.09878548e-02 3.29982800e-02 5.36233099e+01] [-4.09387127e-02 9.99159317e-01 -2.16377925e-03 -1.41666467e+00] [-3.30592275e-02 8.09874440e-04 9.99453066e-01 -1.99946614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270385723 meters 0.02240969804110732 Centerline is valid? [True, True] Translation: X:53.68, Y:-1.42, Z:-2.00 [[ 9.98753023e-01 3.97663025e-02 3.01834557e-02 5.36817714e+01] [-3.97246760e-02 9.99208706e-01 -1.97775495e-03 -1.42393784e+00] [-3.02382197e-02 7.76260738e-04 9.99542419e-01 -2.00440373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330385723 meters 0.021539571245067172 Centerline is valid? [True, True] Translation: X:53.74, Y:-1.43, Z:-2.01 [[ 9.98715904e-01 4.13509722e-02 2.92684178e-02 5.37409784e+01] [-4.13125516e-02 9.99144434e-01 -1.91644861e-03 -1.42510852e+00] [-2.93226237e-02 7.04834684e-04 9.99569751e-01 -2.00589987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390385722999994 meters 0.021334536113039548 Centerline is valid? [True, True] Translation: X:53.80, Y:-1.43, Z:-2.01 [[ 9.98550278e-01 4.40057034e-02 3.09974266e-02 5.37990993e+01] [-4.39639590e-02 9.99031061e-01 -2.02730066e-03 -1.42815069e+00] [-3.10566048e-02 6.61592044e-04 9.99517408e-01 -2.00626338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450385723 meters 0.020705871018945242 Centerline is valid? [True, True] Translation: X:53.86, Y:-1.43, Z:-2.01 [[ 9.98377688e-01 4.56646237e-02 3.40107988e-02 5.38581318e+01] [-4.56154159e-02 9.98956604e-01 -2.22176453e-03 -1.43044087e+00] [-3.40767681e-02 6.66743408e-04 9.99418996e-01 -2.00675215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510385723 meters 0.020445345920120248 Centerline is valid? [True, True] Translation: X:53.92, Y:-1.43, Z:-2.01 [[ 9.98340939e-01 4.56255398e-02 3.51237681e-02 5.39171215e+01] [-4.55731244e-02 9.98958376e-01 -2.29187512e-03 -1.43347974e+00] [-3.51917504e-02 6.87372906e-04 9.99380342e-01 -2.00792882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570385722999994 meters 0.02095286753534464 Centerline is valid? [True, True] Translation: X:53.98, Y:-1.44, Z:-2.01 [[ 9.98503496e-01 4.28303907e-02 3.40048040e-02 5.39751327e+01] [-4.27797251e-02 9.99082070e-01 -2.21646154e-03 -1.44083140e+00] [-3.40685219e-02 7.58428431e-04 9.99419212e-01 -2.01212877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630385722999996 meters 0.021490503543831363 Centerline is valid? [True, True] Translation: X:54.03, Y:-1.45, Z:-2.02 [[ 9.98635336e-01 4.05560944e-02 3.29039302e-02 5.40344445e+01] [-4.05074812e-02 9.99176937e-01 -2.14296566e-03 -1.44656509e+00] [-3.29637586e-02 8.07185898e-04 9.99456222e-01 -2.01501723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690385723 meters 0.02214811881106922 Centerline is valid? [True, True] Translation: X:54.09, Y:-1.45, Z:-2.02 [[ 9.98894835e-01 3.82272088e-02 2.73457278e-02 5.40920414e+01] [-3.81927885e-02 9.99268804e-01 -1.78009427e-03 -1.45311807e+00] [-2.73937807e-02 7.33717378e-04 9.99624451e-01 -2.02315361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750385722999994 meters 0.022296642247791626 Centerline is valid? [True, True] Translation: X:54.15, Y:-1.45, Z:-2.02 [[ 9.98915699e-01 3.80512260e-02 2.68240521e-02 5.41512814e+01] [-3.80180455e-02 9.99275527e-01 -1.74606068e-03 -1.45471017e+00] [-2.68710586e-02 7.24369392e-04 9.99638645e-01 -2.02468699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810385722999996 meters 0.02139891020359857 Centerline is valid? [True, True] Translation: X:54.21, Y:-1.45, Z:-2.02 [[ 9.98833753e-01 3.87010271e-02 2.88680437e-02 5.42107608e+01] [-3.86629323e-02 9.99250547e-01 -1.87683994e-03 -1.45395393e+00] [-2.89190440e-02 7.58527864e-04 9.99581469e-01 -2.02372331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870385723 meters 0.02111310071937341 Centerline is valid? [True, True] Translation: X:54.27, Y:-1.46, Z:-2.03 [[ 9.98754497e-01 3.96546595e-02 3.02814014e-02 5.42691267e+01] [-3.96132279e-02 9.99213152e-01 -1.96714020e-03 -1.45714823e+00] [-3.03355808e-02 7.65146063e-04 9.99539478e-01 -2.02607767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93038572299999 meters 0.020487201549101688 Centerline is valid? [True, True] Translation: X:54.33, Y:-1.46, Z:-2.03 [[ 9.98706616e-01 4.06293251e-02 3.05671775e-02 5.43277551e+01] [-4.05876298e-02 9.99174014e-01 -1.98354481e-03 -1.45768880e+00] [-3.06225196e-02 7.40330042e-04 9.99530747e-01 -2.02827812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990385722999996 meters 0.021026542462259948 Centerline is valid? [True, True] Translation: X:54.39, Y:-1.46, Z:-2.03 [[ 9.98885240e-01 3.81722442e-02 2.77697309e-02 5.43871215e+01] [-3.81369417e-02 9.99270901e-01 -1.79997054e-03 -1.45894518e+00] [-2.78181929e-02 7.38911399e-04 9.99612726e-01 -2.03146664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050385723 meters 0.02236011944203317 Centerline is valid? [True, True] Translation: X:54.44, Y:-1.47, Z:-2.03 [[ 9.98951593e-01 3.71657171e-02 2.67287133e-02 5.44441481e+01] [-3.71326614e-02 9.99308844e-01 -1.73216247e-03 -1.46519137e+00] [-2.67746167e-02 7.37838194e-04 9.99641223e-01 -2.03446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110385723 meters 0.021943280688401092 Centerline is valid? [True, True] Translation: X:54.50, Y:-1.47, Z:-2.04 [[ 9.99081381e-01 3.32917244e-02 2.69824809e-02 5.45038071e+01] [-3.32567123e-02 9.99445318e-01 -1.74542728e-03 -1.47028808e+00] [-2.70256225e-02 8.46475296e-04 9.99634383e-01 -2.03625134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170385722999995 meters 0.022723487714073832 Centerline is valid? [True, True] Translation: X:54.56, Y:-1.48, Z:-2.04 [[ 9.99182576e-01 2.99258153e-02 2.71776689e-02 5.45627470e+01] [-2.98890774e-02 9.99551677e-01 -1.75708835e-03 -1.48280527e+00] [-2.72180669e-02 9.43336612e-04 9.99629075e-01 -2.04120298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230385723 meters 0.022249502158608127 Centerline is valid? [True, True] Translation: X:54.62, Y:-1.48, Z:-2.04 [[ 9.99213086e-01 2.95514046e-02 2.64560678e-02 5.46226721e+01] [-2.95164848e-02 9.99562832e-01 -1.70954000e-03 -1.48427848e+00] [-2.64950214e-02 9.27304612e-04 9.99648515e-01 -2.04087076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290385723 meters 0.02200083101211943 Centerline is valid? [True, True] Translation: X:54.68, Y:-1.48, Z:-2.04 [[ 9.99161456e-01 3.14114043e-02 2.62623038e-02 5.46827348e+01] [-3.13776606e-02 9.99506161e-01 -1.69608504e-03 -1.48346772e+00] [-2.63026109e-02 8.70613140e-04 9.99653647e-01 -2.04076643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350385722999995 meters 0.021734147055658792 Centerline is valid? [True, True] Translation: X:54.74, Y:-1.49, Z:-2.05 [[ 9.99106876e-01 3.28557007e-02 2.65697670e-02 5.47422053e+01] [-3.28216975e-02 9.99459752e-01 -1.71498438e-03 -1.49130210e+00] [-2.66117597e-02 8.41387835e-04 9.99645490e-01 -2.04666677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410385723 meters 0.021781683154563396 Centerline is valid? [True, True] Translation: X:54.80, Y:-1.49, Z:-2.05 [[ 9.99085940e-01 3.35575301e-02 2.64797541e-02 5.48021259e+01] [-3.35240280e-02 9.99436452e-01 -1.70824061e-03 -1.49421358e+00] [-2.65221558e-02 8.18971158e-04 9.99647890e-01 -2.04811398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470385723 meters 0.021627055718562854 Centerline is valid? [True, True] Translation: X:54.86, Y:-1.50, Z:-2.05 [[ 9.99007290e-01 3.44405499e-02 2.82539024e-02 5.48610805e+01] [-3.44027822e-02 9.99406388e-01 -1.82188586e-03 -1.49661102e+00] [-2.82998773e-02 8.48064411e-04 9.99599119e-01 -2.04954355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530385722999995 meters 0.021104608889034187 Centerline is valid? [True, True] Translation: X:54.92, Y:-1.50, Z:-2.05 [[ 9.99046974e-01 3.35553564e-02 2.79138157e-02 5.49207836e+01] [-3.35182087e-02 9.99436490e-01 -1.79777172e-03 -1.49943355e+00] [-2.79584108e-02 8.60437302e-04 9.99608717e-01 -2.05140939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590385723 meters 0.022310573955258674 Centerline is valid? [True, True] Translation: X:54.98, Y:-1.51, Z:-2.05 [[ 9.99072093e-01 3.21328510e-02 2.86780875e-02 5.49788036e+01] [-3.20930846e-02 9.99483180e-01 -1.84597117e-03 -1.50591340e+00] [-2.87225824e-02 9.23889987e-04 9.99586995e-01 -2.05326076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650385723 meters 0.02227522536592916 Centerline is valid? [True, True] Translation: X:55.04, Y:-1.51, Z:-2.05 [[ 9.99116140e-01 3.00924120e-02 2.93493547e-02 5.50381096e+01] [-3.00499191e-02 9.99546616e-01 -1.88792251e-03 -1.50984010e+00] [-2.93928603e-02 1.00430812e-03 9.99567432e-01 -2.05409732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710385722999995 meters 0.022857854484489442 Centerline is valid? [True, True] Translation: X:55.10, Y:-1.52, Z:-2.06 [[ 9.99224390e-01 2.78661405e-02 2.78225949e-02 5.50981172e+01] [-2.78271267e-02 9.99611151e-01 -1.78851230e-03 -1.51595812e+00] [-2.78616151e-02 1.01290224e-03 9.99611277e-01 -2.05849453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770385723 meters 0.022374129935387423 Centerline is valid? [True, True] Translation: X:55.16, Y:-1.52, Z:-2.06 [[ 9.99225978e-01 2.78448598e-02 2.77868541e-02 5.51596609e+01] [-2.78059461e-02 9.99611745e-01 -1.78592405e-03 -1.51916797e+00] [-2.78257945e-02 1.01190193e-03 9.99612275e-01 -2.06163780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830385723 meters 0.022575986129521136 Centerline is valid? [True, True] Translation: X:55.22, Y:-1.52, Z:-2.06 [[ 9.99154278e-01 2.92418870e-02 2.89074548e-02 5.52202602e+01] [-2.92003155e-02 9.99571851e-01 -1.85927667e-03 -1.52043941e+00] [-2.89494469e-02 1.01359744e-03 9.99580363e-01 -2.06086701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890385722999994 meters 0.021941350160251036 Centerline is valid? [True, True] Translation: X:55.28, Y:-1.52, Z:-2.06 [[ 9.99090942e-01 3.06755900e-02 2.96023242e-02 5.52811270e+01] [-3.06326235e-02 9.99528898e-01 -1.90396944e-03 -1.52156463e+00] [-2.96467838e-02 9.95441773e-04 9.99559942e-01 -2.06136628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950385723 meters 0.02226772460779513 Centerline is valid? [True, True] Translation: X:55.34, Y:-1.53, Z:-2.06 [[ 9.98957383e-01 3.28490660e-02 3.17030971e-02 5.53401326e+01] [-3.28008728e-02 9.99459826e-01 -2.03916160e-03 -1.52702433e+00] [-3.17529565e-02 9.97146280e-04 9.99495250e-01 -2.06446863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010385723 meters 0.021609429433786593 Centerline is valid? [True, True] Translation: X:55.40, Y:-1.53, Z:-2.07 [[ 9.98797412e-01 3.58355601e-02 3.34595749e-02 5.54002168e+01] [-3.57835706e-02 9.99357247e-01 -2.15152328e-03 -1.52985619e+00] [-3.35151697e-02 9.51632823e-04 9.99437756e-01 -2.06646486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070385722999994 meters 0.02085941772421992 Centerline is valid? [True, True] Translation: X:55.46, Y:-1.53, Z:-2.07 [[ 9.98778054e-01 3.67813502e-02 3.30080398e-02 5.54601467e+01] [-3.67312876e-02 9.99322926e-01 -2.12198496e-03 -1.53105173e+00] [-3.30637404e-02 9.06964204e-04 9.99452834e-01 -2.06733578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130385722999996 meters 0.021511460607574102 Centerline is valid? [True, True] Translation: X:55.52, Y:-1.54, Z:-2.07 [[ 9.98792319e-01 3.57691752e-02 3.36818742e-02 5.55191981e+01] [-3.57165123e-02 9.99359619e-01 -2.16410351e-03 -1.53887573e+00] [-3.37377131e-02 9.58490891e-04 9.99430262e-01 -2.07093237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190385723 meters 0.021354721289235157 Centerline is valid? [True, True] Translation: X:55.58, Y:-1.54, Z:-2.07 [[ 9.98867546e-01 3.37463849e-02 3.35381336e-02 5.55796487e+01] [-3.36930730e-02 9.99429907e-01 -2.15364239e-03 -1.54462701e+00] [-3.35916913e-02 1.02120071e-03 9.99435118e-01 -2.07422629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250385722999994 meters 0.025106407554148454 Centerline is valid? [True, True] Translation: X:55.64, Y:-1.55, Z:-2.08 [[ 9.99092266e-01 2.88981563e-02 3.12975994e-02 5.56388790e+01] [-2.88493563e-02 9.99581750e-01 -2.00976708e-03 -1.55486933e+00] [-3.13425878e-02 1.10502715e-03 9.99508090e-01 -2.07741250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310385722999996 meters 0.026587612162181067 Centerline is valid? [True, True] Translation: X:55.70, Y:-1.56, Z:-2.08 [[ 9.99144881e-01 2.66738102e-02 3.15913806e-02 5.57003747e+01] [-2.66230087e-02 9.99643488e-01 -2.02769836e-03 -1.56222467e+00] [-3.16342043e-02 1.18490684e-03 9.99498811e-01 -2.07985204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370385723 meters 0.028184278177005334 Centerline is valid? [True, True] Translation: X:55.76, Y:-1.57, Z:-2.08 [[ 9.99188338e-01 2.44934210e-02 3.19802626e-02 5.57619803e+01] [-2.44400054e-02 9.99699176e-01 -2.06015788e-03 -1.56894445e+00] [-3.20211025e-02 1.27688794e-03 9.99486377e-01 -2.08099694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43038572299999 meters 0.023890814810435656 Centerline is valid? [True, True] Translation: X:55.82, Y:-1.57, Z:-2.08 [[ 9.99113882e-01 2.51525067e-02 3.37461547e-02 5.58246696e+01] [-2.50933368e-02 9.99682745e-01 -2.17582767e-03 -1.56738047e+00] [-3.37901761e-02 1.32709600e-03 9.99428068e-01 -2.08213416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490385722999996 meters 0.024524503048673377 Centerline is valid? [True, True] Translation: X:55.89, Y:-1.57, Z:-2.08 [[ 9.99109345e-01 2.58946074e-02 3.33164487e-02 5.58857185e+01] [-2.58370737e-02 9.99663841e-01 -2.15632077e-03 -1.57257366e+00] [-3.33610861e-02 1.29360070e-03 9.99442527e-01 -2.08446648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550385723 meters 0.022583147927168253 Centerline is valid? [True, True] Translation: X:55.95, Y:-1.57, Z:-2.08 [[ 9.99015644e-01 2.62103952e-02 3.57876730e-02 5.59487983e+01] [-2.61438955e-02 9.99655486e-01 -2.32495682e-03 -1.57303034e+00] [-3.58362817e-02 1.38703905e-03 9.99356712e-01 -2.08481528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61038572299999 meters 0.02489211399935643 Centerline is valid? [True, True] Translation: X:56.01, Y:-1.58, Z:-2.09 [[ 9.99015397e-01 2.60267935e-02 3.59283036e-02 5.60097707e+01] [-2.59592719e-02 9.99660252e-01 -2.34462929e-03 -1.58366452e+00] [-3.59771202e-02 1.40964816e-03 9.99351620e-01 -2.08825791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670385722999995 meters 0.025304437244254855 Centerline is valid? [True, True] Translation: X:56.07, Y:-1.59, Z:-2.09 [[ 9.99182761e-01 2.47529310e-02 3.19546807e-02 5.60713480e+01] [-2.46986673e-02 9.99692753e-01 -2.09181216e-03 -1.59010317e+00] [-3.19966412e-02 1.30086462e-03 9.99487130e-01 -2.09484128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730385723 meters 0.023636979441283 Centerline is valid? [True, True] Translation: X:56.13, Y:-1.59, Z:-2.09 [[ 9.99141133e-01 2.52651128e-02 3.28431274e-02 5.61340893e+01] [-2.52077961e-02 9.99679904e-01 -2.15812331e-03 -1.58950043e+00] [-3.28871397e-02 1.32836691e-03 9.99458189e-01 -2.09471017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790385723 meters 0.023655913318911367 Centerline is valid? [True, True] Translation: X:56.20, Y:-1.59, Z:-2.10 [[ 9.99073086e-01 2.69788352e-02 3.35426868e-02 5.61962117e+01] [-2.69197244e-02 9.99635150e-01 -2.21269966e-03 -1.59410363e+00] [-3.35901448e-02 1.30768880e-03 9.99434836e-01 -2.09660597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850385722999995 meters 0.02317065510233307 Centerline is valid? [True, True] Translation: X:56.26, Y:-1.60, Z:-2.10 [[ 9.99080182e-01 2.85474868e-02 3.19973442e-02 5.62587678e+01] [-2.84942421e-02 9.99591711e-01 -2.11887953e-03 -1.59624437e+00] [-3.20447687e-02 1.20519047e-03 9.99485708e-01 -2.09917914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910385723 meters 0.02320590107883474 Centerline is valid? [True, True] Translation: X:56.32, Y:-1.60, Z:-2.10 [[ 9.98996861e-01 3.17642429e-02 3.15642986e-02 5.63194015e+01] [-3.17139391e-02 9.99494795e-01 -2.09318238e-03 -1.59835649e+00] [-3.16148405e-02 1.09005438e-03 9.99499532e-01 -2.10224466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970385723 meters 0.021745449457305988 Centerline is valid? [True, True] Translation: X:56.38, Y:-1.60, Z:-2.10 [[ 9.98895709e-01 3.30631404e-02 3.33794925e-02 5.63798100e+01] [-3.30075614e-02 9.99452648e-01 -2.21488495e-03 -1.59937643e+00] [-3.34344532e-02 1.11066342e-03 9.99440295e-01 -2.10306862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030385722999995 meters 0.02090896648057434 Centerline is valid? [True, True] Translation: X:56.44, Y:-1.60, Z:-2.10 [[ 9.98774151e-01 3.49533663e-02 3.50493475e-02 5.64404294e+01] [-3.48932467e-02 9.99388339e-01 -2.32568761e-03 -1.59968568e+00] [-3.51091998e-02 1.09985114e-03 9.99382877e-01 -2.10090910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090385723 meters 0.02025070358052839 Centerline is valid? [True, True] Translation: X:56.50, Y:-1.60, Z:-2.10 [[ 9.98732214e-01 3.64451213e-02 3.47234617e-02 5.65014219e+01] [-3.63870163e-02 9.99335117e-01 -2.30404108e-03 -1.60015637e+00] [-3.47843457e-02 1.03763688e-03 9.99394303e-01 -2.10345203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150385723 meters 0.020646976910965942 Centerline is valid? [True, True] Translation: X:56.56, Y:-1.60, Z:-2.11 [[ 9.98639651e-01 3.71371250e-02 3.66016623e-02 5.65612651e+01] [-3.70730005e-02 9.99309607e-01 -2.42932890e-03 -1.60370503e+00] [-3.66666111e-02 1.06909071e-03 9.99326982e-01 -2.10589408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210385722999995 meters 0.020845709263859365 Centerline is valid? [True, True] Translation: X:56.62, Y:-1.61, Z:-2.11 [[ 9.98663036e-01 3.66734965e-02 3.64306872e-02 5.66211907e+01] [-3.66097084e-02 9.99326718e-01 -2.41670880e-03 -1.60837236e+00] [-3.64947883e-02 1.07976092e-03 9.99333260e-01 -2.10964548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270385723 meters 0.021293536949183914 Centerline is valid? [True, True] Translation: X:56.68, Y:-1.61, Z:-2.12 [[ 9.98840873e-01 3.61211838e-02 3.18146169e-02 5.66814377e+01] [-3.60722629e-02 9.99346956e-01 -2.11049175e-03 -1.61418872e+00] [-3.18700740e-02 9.60420196e-04 9.99491559e-01 -2.11622832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330385723 meters 0.02010118719512044 Centerline is valid? [True, True] Translation: X:56.74, Y:-1.61, Z:-2.12 [[ 9.98800119e-01 3.76809169e-02 3.12805152e-02 5.67415192e+01] [-3.76343841e-02 9.99289421e-01 -2.07522924e-03 -1.61354120e+00] [-3.13364844e-02 8.95516288e-04 9.99508491e-01 -2.11701042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390385722999994 meters 0.020523132720542424 Centerline is valid? [True, True] Translation: X:56.80, Y:-1.62, Z:-2.12 [[ 9.98752818e-01 3.80902389e-02 3.22791431e-02 5.68004007e+01] [-3.80409388e-02 9.99273889e-01 -2.14027875e-03 -1.61880883e+00] [-3.23372286e-02 9.09680523e-04 9.99476601e-01 -2.11935680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450385723 meters 0.020113232440569635 Centerline is valid? [True, True] Translation: X:56.86, Y:-1.63, Z:-2.12 [[ 9.98637780e-01 3.94913491e-02 3.41030372e-02 5.68599095e+01] [-3.94371772e-02 9.99219496e-01 -2.25993888e-03 -1.62507631e+00] [-3.41656677e-02 9.11932826e-04 9.99415767e-01 -2.12151749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510385723 meters 0.019559660383484542 Centerline is valid? [True, True] Translation: X:56.92, Y:-1.63, Z:-2.12 [[ 9.98537545e-01 4.23825785e-02 3.35632074e-02 5.69195572e+01] [-4.23317798e-02 9.99101135e-01 -2.22299475e-03 -1.62666748e+00] [-3.36272549e-02 7.98953415e-04 9.99434125e-01 -2.12265724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570385722999994 meters 0.019557184447139105 Centerline is valid? [True, True] Translation: X:56.98, Y:-1.63, Z:-2.12 [[ 9.98474443e-01 4.38356222e-02 3.35741695e-02 5.69778684e+01] [-4.37856484e-02 9.99038476e-01 -2.22261071e-03 -1.63003618e+00] [-3.36393167e-02 7.49153210e-04 9.99433757e-01 -2.12348801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630385722999996 meters 0.019613585952090524 Centerline is valid? [True, True] Translation: X:57.04, Y:-1.64, Z:-2.13 [[ 9.98404833e-01 4.47648565e-02 3.44078001e-02 5.70363492e+01] [-4.47130055e-02 9.98997282e-01 -2.27533266e-03 -1.63684229e+00] [-3.44751538e-02 7.33226967e-04 9.99405286e-01 -2.12579342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690385723 meters 0.01948507399717165 Centerline is valid? [True, True] Translation: X:57.09, Y:-1.64, Z:-2.13 [[ 9.98401818e-01 4.45787435e-02 3.47353543e-02 5.70949462e+01] [-4.45258720e-02 9.99005596e-01 -2.29457016e-03 -1.64144925e+00] [-3.48031024e-02 7.44281084e-04 9.99393911e-01 -2.12729599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750385722999994 meters 0.019951250110602316 Centerline is valid? [True, True] Translation: X:57.15, Y:-1.65, Z:-2.13 [[ 9.98540888e-01 4.29061333e-02 3.27896178e-02 5.71534003e+01] [-4.28581910e-02 9.99078822e-01 -2.16388542e-03 -1.64949318e+00] [-3.28522567e-02 7.55424363e-04 9.99459933e-01 -2.13211457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810385722999996 meters 0.02093003249621533 Centerline is valid? [True, True] Translation: X:57.21, Y:-1.66, Z:-2.13 [[ 9.98740780e-01 3.97141473e-02 3.06535573e-02 5.72130298e+01] [-3.96708134e-02 9.99210760e-01 -2.02078331e-03 -1.65568968e+00] [-3.07096180e-02 8.02187148e-04 9.99528027e-01 -2.13418558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870385723 meters 0.02157944749615316 Centerline is valid? [True, True] Translation: X:57.27, Y:-1.66, Z:-2.14 [[ 9.98861707e-01 3.69663731e-02 3.01459438e-02 5.72721208e+01] [-3.69232432e-02 9.99316131e-01 -1.98631010e-03 -1.66377306e+00] [-3.01987545e-02 8.70963083e-04 9.99543534e-01 -2.13638433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93038572299999 meters 0.02107115574404661 Centerline is valid? [True, True] Translation: X:57.33, Y:-1.67, Z:-2.14 [[ 9.98854188e-01 3.66803596e-02 3.07386174e-02 5.73314696e+01] [-3.66354143e-02 9.99326648e-01 -2.02428583e-03 -1.66823975e+00] [-3.07921710e-02 8.95844393e-04 9.99525407e-01 -2.13811436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990385722999996 meters 0.02092517695593598 Centerline is valid? [True, True] Translation: X:57.39, Y:-1.67, Z:-2.14 [[ 9.98763946e-01 3.80185630e-02 3.20182615e-02 5.73913033e+01] [-3.79705207e-02 9.99276638e-01 -2.10738306e-03 -1.67242474e+00] [-3.20752204e-02 8.89028155e-04 9.99485062e-01 -2.13799118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050385723 meters 0.021098369409751336 Centerline is valid? [True, True] Translation: X:57.45, Y:-1.68, Z:-2.14 [[ 9.98698856e-01 3.89869919e-02 3.28726162e-02 5.74499522e+01] [-3.89369131e-02 9.99239331e-01 -2.16243927e-03 -1.67973540e+00] [-3.29319180e-02 8.79667422e-04 9.99457210e-01 -2.14183628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11038572299999 meters 0.020274141802768184 Centerline is valid? [True, True] Translation: X:57.51, Y:-1.68, Z:-2.14 [[ 9.98651773e-01 3.89528953e-02 3.43119114e-02 5.75094331e+01] [-3.88983552e-02 9.99240626e-01 -2.25589602e-03 -1.68380488e+00] [-3.43737295e-02 9.18177639e-04 9.99408627e-01 -2.14271453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170385722999995 meters 0.02089833846864697 Centerline is valid? [True, True] Translation: X:57.57, Y:-1.69, Z:-2.14 [[ 9.98664320e-01 3.80364185e-02 3.49686618e-02 5.75680621e+01] [-3.79792518e-02 9.99275886e-01 -2.29783466e-03 -1.68920622e+00] [-3.50307419e-02 9.66681872e-04 9.99385768e-01 -2.14268342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230385723 meters 0.020871575155744206 Centerline is valid? [True, True] Translation: X:57.63, Y:-1.70, Z:-2.15 [[ 9.98849289e-01 3.52614921e-02 3.25073053e-02 5.76279388e+01] [-3.52106816e-02 9.99377633e-01 -2.13435728e-03 -1.70038326e+00] [-3.25623344e-02 9.87296876e-04 9.99469219e-01 -2.15031536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290385723 meters 0.021145759859969075 Centerline is valid? [True, True] Translation: X:57.69, Y:-1.70, Z:-2.15 [[ 9.98963102e-01 3.46814433e-02 2.94943858e-02 5.76881678e+01] [-3.46393657e-02 9.99398001e-01 -1.93653570e-03 -1.70340673e+00] [-2.95437920e-02 9.12860889e-04 9.99563070e-01 -2.15496066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350385722999995 meters 0.020207466963764617 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.71, Z:-2.16 [[ 9.98961139e-01 3.73323914e-02 2.61330166e-02 5.77482082e+01] [-3.73002622e-02 9.99302630e-01 -1.71600798e-03 -1.70635264e+00] [-2.61788549e-02 7.39456916e-04 9.99657002e-01 -2.15657967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410385723 meters 0.019965099066783416 Centerline is valid? [True, True] Translation: X:57.81, Y:-1.71, Z:-2.16 [[ 9.98871681e-01 3.96882112e-02 2.60808410e-02 5.78070794e+01] [-3.96570110e-02 9.99211884e-01 -1.71263645e-03 -1.71138935e+00] [-2.61282577e-02 6.76415856e-04 9.99658370e-01 -2.15798749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470385723 meters 0.019208040235039733 Centerline is valid? [True, True] Translation: X:57.87, Y:-1.71, Z:-2.15 [[ 9.98684650e-01 4.29424943e-02 2.80162704e-02 5.78668800e+01] [-4.29078329e-02 9.99077345e-01 -1.83747128e-03 -1.71043916e+00] [-2.80693267e-02 6.32936914e-04 9.99605778e-01 -2.15435232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530385722999995 meters 0.018330296645238175 Centerline is valid? [True, True] Translation: X:57.93, Y:-1.71, Z:-2.16 [[ 9.98439425e-01 4.67278834e-02 3.05813550e-02 5.79254241e+01] [-4.66884072e-02 9.98907491e-01 -2.00404328e-03 -1.71271376e+00] [-3.06415893e-02 5.73121065e-04 9.99530272e-01 -2.15573396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590385723 meters 0.017933627988428805 Centerline is valid? [True, True] Translation: X:57.98, Y:-1.72, Z:-2.16 [[ 9.98404756e-01 4.74304956e-02 3.06315266e-02 5.79839209e+01] [-4.73912852e-02 9.98874389e-01 -2.00521359e-03 -1.71813824e+00] [-3.06921557e-02 5.50347375e-04 9.99528733e-01 -2.15889901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650385723 meters 0.018024058117104287 Centerline is valid? [True, True] Translation: X:58.04, Y:-1.72, Z:-2.16 [[ 9.98467743e-01 4.69528595e-02 2.92847174e-02 5.80428400e+01] [-4.69168737e-02 9.98896961e-01 -1.91511500e-03 -1.72001258e+00] [-2.93423353e-02 5.38233165e-04 9.99569276e-01 -2.16067032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710385722999995 meters 0.018631617357286176 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.73, Z:-2.16 [[ 9.98566218e-01 4.48107958e-02 2.92831285e-02 5.81010361e+01] [-4.47739534e-02 9.98995312e-01 -1.91296694e-03 -1.72630280e+00] [-2.93394297e-02 5.99102732e-04 9.99569327e-01 -2.16315101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770385723 meters 0.019521645670145606 Centerline is valid? [True, True] Translation: X:58.16, Y:-1.73, Z:-2.17 [[ 9.98761189e-01 4.16339583e-02 2.72525405e-02 5.81591488e+01] [-4.16009161e-02 9.99132724e-01 -1.77854240e-03 -1.73478504e+00] [-2.73029528e-02 6.42608468e-04 9.99626998e-01 -2.16800954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830385723 meters 0.019165859659778482 Centerline is valid? [True, True] Translation: X:58.22, Y:-1.74, Z:-2.17 [[ 9.98895047e-01 3.94317848e-02 2.55699120e-02 5.82180273e+01] [-3.94020095e-02 9.99222048e-01 -1.66745302e-03 -1.73804018e+00] [-2.56157705e-02 6.58104649e-04 9.99671646e-01 -2.17039037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890385722999994 meters 0.02055741813182902 Centerline is valid? [True, True] Translation: X:58.28, Y:-1.75, Z:-2.17 [[ 9.98910720e-01 3.94538678e-02 2.49151622e-02 5.82757325e+01] [-3.94256427e-02 9.99221189e-01 -1.62325212e-03 -1.74542164e+00] [-2.49598016e-02 6.39187662e-04 9.99688251e-01 -2.17412214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950385723 meters 0.018578306272246235 Centerline is valid? [True, True] Translation: X:58.33, Y:-1.75, Z:-2.17 [[ 9.98805320e-01 4.09500117e-02 2.66651263e-02 5.83344852e+01] [-4.09182856e-02 9.99160991e-01 -1.73458645e-03 -1.74530163e+00] [-2.67137853e-02 6.41422918e-04 9.99642917e-01 -2.17295416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010385723 meters 0.018358530393337253 Centerline is valid? [True, True] Translation: X:58.39, Y:-1.75, Z:-2.17 [[ 9.98681488e-01 4.15996666e-02 3.00791292e-02 5.83934072e+01] [-4.15596616e-02 9.99134113e-01 -1.95422180e-03 -1.74916315e+00] [-3.01343790e-02 7.01566708e-04 9.99545610e-01 -2.17184465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070385722999994 meters 0.01956132249801489 Centerline is valid? [True, True] Translation: X:58.45, Y:-1.76, Z:-2.17 [[ 9.98708421e-01 3.91956735e-02 3.23293932e-02 5.84510572e+01] [-3.91482788e-02 9.99231210e-01 -2.09792073e-03 -1.75933363e+00] [-3.23867681e-02 8.29571001e-04 9.99475067e-01 -2.17125765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130385722999996 meters 0.020596805365051197 Centerline is valid? [True, True] Translation: X:58.51, Y:-1.77, Z:-2.18 [[ 9.98961831e-01 3.67054902e-02 2.69808760e-02 5.85099727e+01] [-3.66716295e-02 9.99325839e-01 -1.74889308e-03 -1.76742259e+00] [-2.70268805e-02 7.57644741e-04 9.99634420e-01 -2.17730798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190385723 meters 0.01866839971435746 Centerline is valid? [True, True] Translation: X:58.57, Y:-1.77, Z:-2.18 [[ 9.98902900e-01 3.79289213e-02 2.74662083e-02 5.85684955e+01] [-3.78942934e-02 9.99280167e-01 -1.78034315e-03 -1.77159519e+00] [-2.75139638e-02 7.37577376e-04 9.99621147e-01 -2.18018766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250385722999994 meters 0.017659443110678782 Centerline is valid? [True, True] Translation: X:58.63, Y:-1.77, Z:-2.18 [[ 9.98752579e-01 4.07091363e-02 2.89145778e-02 5.86275084e+01] [-4.06719867e-02 9.99170799e-01 -1.87201949e-03 -1.77476791e+00] [-2.89668101e-02 6.93670968e-04 9.99580133e-01 -2.17992268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310385722999996 meters 0.018007407952942044 Centerline is valid? [True, True] Translation: X:58.68, Y:-1.78, Z:-2.18 [[ 9.98781544e-01 4.10530334e-02 2.73875280e-02 5.86846656e+01] [-4.10198820e-02 9.99156760e-01 -1.77141614e-03 -1.77913989e+00] [-2.74371558e-02 6.45824581e-04 9.99623322e-01 -2.18156436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370385723 meters 0.017869164715906438 Centerline is valid? [True, True] Translation: X:58.74, Y:-1.78, Z:-2.18 [[ 9.98882052e-01 3.98852157e-02 2.53735197e-02 5.87435703e+01] [-3.98564429e-02 9.99204072e-01 -1.63889329e-03 -1.78484284e+00] [-2.54186919e-02 6.25762857e-04 9.99676697e-01 -2.18399916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43038572299999 meters 0.018422112322943086 Centerline is valid? [True, True] Translation: X:58.80, Y:-1.79, Z:-2.19 [[ 9.98993316e-01 3.74732650e-02 2.46598576e-02 5.88030430e+01] [-3.74454068e-02 9.99297409e-01 -1.59066500e-03 -1.79065555e+00] [-2.47021392e-02 6.65665305e-04 9.99694634e-01 -2.18609647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490385722999996 meters 0.020164874510683026 Centerline is valid? [True, True] Translation: X:58.86, Y:-1.80, Z:-2.19 [[ 9.99107131e-01 3.43957035e-02 2.45331718e-02 5.88622603e+01] [-3.43672253e-02 9.99408021e-01 -1.58161835e-03 -1.79849795e+00] [-2.45730496e-02 7.37069126e-04 9.99697765e-01 -2.19467428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550385723 meters 0.02085481108602203 Centerline is valid? [True, True] Translation: X:58.92, Y:-1.81, Z:-2.19 [[ 9.99241607e-01 2.96299385e-02 2.52641531e-02 5.89212088e+01] [-2.95982399e-02 9.99560551e-01 -1.62779323e-03 -1.80522051e+00] [-2.53012822e-02 8.78784262e-04 9.99679485e-01 -2.19201350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61038572299999 meters 0.022421103338947337 Centerline is valid? [True, True] Translation: X:58.98, Y:-1.81, Z:-2.19 [[ 9.99284807e-01 2.64653279e-02 2.70085385e-02 5.89808769e+01] [-2.64279780e-02 9.99649207e-01 -1.73897760e-03 -1.81065225e+00] [-2.70450867e-02 1.02395284e-03 9.99633690e-01 -2.19300998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670385722999995 meters 0.022944526639064437 Centerline is valid? [True, True] Translation: X:59.04, Y:-1.81, Z:-2.19 [[ 9.99404254e-01 2.15975349e-02 2.69199314e-02 5.90416616e+01] [-2.15586883e-02 9.99766083e-01 -1.73247573e-03 -1.81479211e+00] [-2.69510516e-02 1.15108520e-03 9.99636092e-01 -2.19452809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730385723 meters 0.02380554169243674 Centerline is valid? [True, True] Translation: X:59.10, Y:-1.82, Z:-2.20 [[ 9.99486459e-01 1.74923788e-02 2.68483810e-02 5.91025402e+01] [-1.74522518e-02 9.99846204e-01 -1.72819361e-03 -1.82297669e+00] [-2.68744820e-02 1.25874140e-03 9.99638023e-01 -2.19718192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790385723 meters 0.024516826486904304 Centerline is valid? [True, True] Translation: X:59.16, Y:-1.83, Z:-2.20 [[ 9.99475827e-01 1.67704104e-02 2.76916112e-02 5.91641118e+01] [-1.67274401e-02 9.99858497e-01 -1.78268280e-03 -1.82756266e+00] [-2.77175890e-02 1.31853860e-03 9.99614924e-01 -2.19868089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850385722999995 meters 0.023687776209586495 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.83, Z:-2.20 [[ 9.99457468e-01 1.78655312e-02 2.76693372e-02 5.92263461e+01] [-1.78229720e-02 9.99839567e-01 -1.78401445e-03 -1.83025149e+00] [-2.76967705e-02 1.28989675e-03 9.99615539e-01 -2.20083161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910385723 meters 0.025561904439918348 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.84, Z:-2.20 [[ 9.99527965e-01 1.81691924e-02 2.47735437e-02 5.92869540e+01] [-1.81350326e-02 9.99834262e-01 -1.60287304e-03 -1.83524745e+00] [-2.47985607e-02 1.15284740e-03 9.99691804e-01 -2.20378123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970385723 meters 0.02457079965328929 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.84, Z:-2.21 [[ 9.99503606e-01 1.98745326e-02 2.44447080e-02 5.93491995e+01] [-1.98416516e-02 9.99801876e-01 -1.58695804e-03 -1.83580227e+00] [-2.44714050e-02 1.10114690e-03 9.99699924e-01 -2.20723131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030385722999995 meters 0.022971922277740947 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.84, Z:-2.21 [[ 9.99392590e-01 2.38515610e-02 2.54077481e-02 5.94097193e+01] [-2.38170832e-02 9.99714957e-01 -1.65877498e-03 -1.83910627e+00] [-2.54400702e-02 1.05262898e-03 9.99675795e-01 -2.20808430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090385723 meters 0.02311353603485117 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.84, Z:-2.21 [[ 9.99265371e-01 2.88546998e-02 2.52215278e-02 5.94703718e+01] [-2.88223213e-02 9.99583195e-01 -1.64642780e-03 -1.83968073e+00] [-2.52585225e-02 9.18275304e-04 9.99680531e-01 -2.21338343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150385723 meters 0.01992157667793312 Centerline is valid? [True, True] Translation: X:59.53, Y:-1.84, Z:-2.21 [[ 9.98980445e-01 3.50176971e-02 2.84926597e-02 5.95316564e+01] [-3.49788535e-02 9.99386320e-01 -1.86071943e-03 -1.83693976e+00] [-2.85403324e-02 8.62181756e-04 9.99592270e-01 -2.20784394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210385722999995 meters 0.019791236632518937 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.84, Z:-2.21 [[ 9.98868352e-01 3.55536927e-02 3.15903358e-02 5.95913199e+01] [-3.55062099e-02 9.99367326e-01 -2.06295574e-03 -1.84160156e+00] [-3.16436951e-02 9.38968108e-04 9.99498772e-01 -2.20689357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270385723 meters 0.02013505876720137 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.85, Z:-2.21 [[ 9.98924129e-01 3.39751448e-02 3.15638166e-02 5.96519685e+01] [-3.39269945e-02 9.99422191e-01 -2.05995899e-03 -1.84691827e+00] [-3.16155661e-02 9.86877306e-04 9.99499616e-01 -2.20883582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330385723 meters 0.019826419963197475 Centerline is valid? [True, True] Translation: X:59.71, Y:-1.85, Z:-2.22 [[ 9.99106403e-01 3.17608162e-02 2.78862945e-02 5.97129202e+01] [-3.17223824e-02 9.99495062e-01 -1.81965892e-03 -1.84967752e+00] [-2.79300075e-02 9.33413179e-04 9.99609445e-01 -2.21552015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390385722999994 meters 0.021133676525288202 Centerline is valid? [True, True] Translation: X:59.77, Y:-1.86, Z:-2.22 [[ 9.99126033e-01 2.91721726e-02 2.99358381e-02 5.97723864e+01] [-2.91266772e-02 9.99573817e-01 -1.95479595e-03 -1.85582988e+00] [-2.99801056e-02 1.08115603e-03 9.99549911e-01 -2.21633152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450385723 meters 0.023333224402925103 Centerline is valid? [True, True] Translation: X:59.83, Y:-1.86, Z:-2.22 [[ 9.99172972e-01 2.48820680e-02 3.21598380e-02 5.98337926e+01] [-2.48273443e-02 9.99689549e-01 -2.09988496e-03 -1.85848411e+00] [-3.22021034e-02 1.29970492e-03 9.99480533e-01 -2.21807515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510385723 meters 0.02321047665940635 Centerline is valid? [True, True] Translation: X:59.90, Y:-1.86, Z:-2.22 [[ 9.99282519e-01 2.23095079e-02 3.06060953e-02 5.98954556e+01] [-2.22587424e-02 9.99750246e-01 -1.99841894e-03 -1.86424679e+00] [-3.06430350e-02 1.31573192e-03 9.99529526e-01 -2.21894951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570385722999994 meters 0.02652281253643257 Centerline is valid? [True, True] Translation: X:59.96, Y:-1.87, Z:-2.23 [[ 9.99465924e-01 1.33546714e-02 2.98247995e-02 5.99550155e+01] [-1.33022443e-02 9.99909609e-01 -1.95556771e-03 -1.87045374e+00] [-2.98482196e-02 1.55778652e-03 9.99553229e-01 -2.22854252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630385722999996 meters 0.028713326300869167 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.88, Z:-2.23 [[ 9.99492175e-01 9.67853859e-03 3.03597946e-02 6.00157414e+01] [-9.62253041e-03 9.99951721e-01 -1.99037809e-03 -1.87639057e+00] [-3.03775928e-02 1.69722928e-03 9.99537053e-01 -2.23180307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690385723 meters 0.029204791395258466 Centerline is valid? [True, True] Translation: X:60.08, Y:-1.88, Z:-2.23 [[ 9.99528699e-01 8.17248573e-03 2.95903825e-02 6.00779777e+01] [-8.11861872e-03 9.99965161e-01 -1.94011014e-03 -1.87986110e+00] [-2.96052071e-02 1.69896274e-03 9.99560226e-01 -2.22951025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750385722999994 meters 0.02841675481442836 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.88, Z:-2.23 [[ 9.99577928e-01 8.67801756e-03 2.77246764e-02 6.01411640e+01] [-8.63092499e-03 9.99961101e-01 -1.81779825e-03 -1.88037283e+00] [-2.77393729e-02 1.57774140e-03 9.99613944e-01 -2.23452060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810385722999996 meters 0.028436087116130573 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.88, Z:-2.24 [[ 9.99564798e-01 1.38328687e-02 2.60550559e-02 6.02003343e+01] [-1.37927654e-02 9.99903399e-01 -1.71826936e-03 -1.88108619e+00] [-2.60763075e-02 1.35815029e-03 9.99659033e-01 -2.23961052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870385723 meters 0.024025619251181927 Centerline is valid? [True, True] Translation: X:60.26, Y:-1.88, Z:-2.24 [[ 9.99311655e-01 2.26695042e-02 2.93651227e-02 6.02616612e+01] [-2.26223847e-02 9.99742207e-01 -1.93588502e-03 -1.87662530e+00] [-2.94014381e-02 1.27024336e-03 9.99566877e-01 -2.23706037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93038572299999 meters 0.021318682628476658 Centerline is valid? [True, True] Translation: X:60.32, Y:-1.87, Z:-2.24 [[ 9.99099699e-01 3.13809187e-02 2.85487030e-02 6.03226928e+01] [-3.13399170e-02 9.99507011e-01 -1.88263096e-03 -1.86974978e+00] [-2.85937075e-02 9.86222042e-04 9.99590630e-01 -2.23750328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990385722999996 meters 0.019780801834999914 Centerline is valid? [True, True] Translation: X:60.38, Y:-1.87, Z:-2.24 [[ 9.98977723e-01 3.65956845e-02 2.65380039e-02 6.03829350e+01] [-3.65620877e-02 9.99329851e-01 -1.75027795e-03 -1.86592838e+00] [-2.65842721e-02 7.78203858e-04 9.99646273e-01 -2.24003936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050385723 meters 0.017849166825767964 Centerline is valid? [True, True] Translation: X:60.44, Y:-1.86, Z:-2.24 [[ 9.98736645e-01 4.28399610e-02 2.62650096e-02 6.04424845e+01] [-4.28092266e-02 9.99081764e-01 -1.73159867e-03 -1.86418301e+00] [-2.63150737e-02 6.05026302e-04 9.99653515e-01 -2.24495668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11038572299999 meters 0.01701286020428537 Centerline is valid? [True, True] Translation: X:60.50, Y:-1.86, Z:-2.25 [[ 9.98606944e-01 4.65365778e-02 2.48700409e-02 6.05016861e+01] [-4.65101780e-02 9.98916471e-01 -1.63921557e-03 -1.86037969e+00] [-2.49193769e-02 4.80222024e-04 9.99689349e-01 -2.24747436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170385722999995 meters 0.01663885721801348 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.86, Z:-2.25 [[ 9.98526317e-01 4.80163502e-02 2.52907882e-02 6.05605285e+01] [-4.79895694e-02 9.98846449e-01 -1.66514427e-03 -1.85690129e+00] [-2.53415681e-02 4.48996338e-04 9.99678750e-01 -2.24767529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230385723 meters 0.01656356614982251 Centerline is valid? [True, True] Translation: X:60.62, Y:-1.86, Z:-2.25 [[ 9.98541248e-01 4.66989954e-02 2.71031228e-02 6.06191926e+01] [-4.66678114e-02 9.98908874e-01 -1.78231359e-03 -1.86063315e+00] [-2.71567821e-02 5.14870218e-04 9.99631054e-01 -2.24981822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290385723 meters 0.01795378376210341 Centerline is valid? [True, True] Translation: X:60.68, Y:-1.87, Z:-2.25 [[ 9.98846709e-01 3.94794768e-02 2.73244094e-02 6.06786936e+01] [-3.94451438e-02 9.99220126e-01 -1.79457759e-03 -1.86526597e+00] [-2.73739488e-02 7.14692659e-04 9.99625008e-01 -2.25101364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350385722999995 meters 0.019686699689174414 Centerline is valid? [True, True] Translation: X:60.74, Y:-1.87, Z:-2.25 [[ 9.99052457e-01 3.40958833e-02 2.70492124e-02 6.07363760e+01] [-3.40602904e-02 9.99418203e-01 -1.77563691e-03 -1.87095074e+00] [-2.70940172e-02 8.52650382e-04 9.99632526e-01 -2.25474433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410385723 meters 0.022120003622287995 Centerline is valid? [True, True] Translation: X:60.80, Y:-1.88, Z:-2.26 [[ 9.99052240e-01 3.16901137e-02 2.98388841e-02 6.07956790e+01] [-3.16457728e-02 9.99497231e-01 -1.95720300e-03 -1.87618324e+00] [-2.98859060e-02 1.01107350e-03 9.99552805e-01 -2.25622328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470385723 meters 0.021888797831246733 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.88, Z:-2.25 [[ 9.99051148e-01 3.08150755e-02 3.07771645e-02 6.08548542e+01] [-3.07675294e-02 9.99524532e-01 -2.01735015e-03 -1.88120888e+00] [-3.08246957e-02 1.06849867e-03 9.99524235e-01 -2.25324500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530385722999995 meters 0.021604776796102263 Centerline is valid? [True, True] Translation: X:60.92, Y:-1.89, Z:-2.26 [[ 9.99184469e-01 2.81990040e-02 2.89000601e-02 6.09152755e+01] [-2.81559810e-02 9.99601746e-01 -1.89462130e-03 -1.88803251e+00] [-2.89419770e-02 1.07936664e-03 9.99580510e-01 -2.25859196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590385723 meters 0.022751272356778814 Centerline is valid? [True, True] Translation: X:60.98, Y:-1.90, Z:-2.26 [[ 9.99303275e-01 2.52254685e-02 2.75070918e-02 6.09757996e+01] [-2.51853608e-02 9.99681171e-01 -1.80361952e-03 -1.89744991e+00] [-2.75438189e-02 1.10958686e-03 9.99619981e-01 -2.26365647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650385723 meters 0.023819095969834603 Centerline is valid? [True, True] Translation: X:61.04, Y:-1.90, Z:-2.27 [[ 9.99380963e-01 2.47698352e-02 2.49829337e-02 6.10372820e+01] [-2.47365909e-02 9.99692660e-01 -1.63889629e-03 -1.89998055e+00] [-2.50158507e-02 1.01988914e-03 9.99686534e-01 -2.26637657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710385722999995 meters 0.022558365675520588 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.90, Z:-2.26 [[ 9.99298368e-01 2.53075753e-02 2.76097644e-02 6.10979796e+01] [-2.52671360e-02 9.99679092e-01 -1.81262606e-03 -1.90154450e+00] [-2.76467773e-02 1.11373460e-03 9.99617134e-01 -2.26128735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770385723 meters 0.023250646748631188 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.91, Z:-2.27 [[ 9.99246721e-01 2.62246496e-02 2.86052294e-02 6.11582386e+01] [-2.61816633e-02 9.99655441e-01 -1.87631666e-03 -1.91145103e+00] [-2.86445790e-02 1.12597079e-03 9.99589026e-01 -2.26689621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830385723 meters 0.022629964545293795 Centerline is valid? [True, True] Translation: X:61.22, Y:-1.91, Z:-2.27 [[ 9.99253153e-01 2.74101088e-02 2.72363947e-02 6.12199148e+01] [-2.73713765e-02 9.99623724e-01 -1.79394826e-03 -1.91126706e+00] [-2.72753186e-02 1.04711085e-03 9.99627411e-01 -2.27012992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890385722999994 meters 0.02087356035315895 Centerline is valid? [True, True] Translation: X:61.28, Y:-1.91, Z:-2.27 [[ 9.99184482e-01 3.04919160e-02 2.64691259e-02 6.12811702e+01] [-3.04563865e-02 9.99534574e-01 -1.74450473e-03 -1.91155836e+00] [-2.65099998e-02 9.36928129e-04 9.99648109e-01 -2.26890826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950385723 meters 0.020381983364462865 Centerline is valid? [True, True] Translation: X:61.34, Y:-1.92, Z:-2.27 [[ 9.99116438e-01 3.20402205e-02 2.71986726e-02 6.13391639e+01] [-3.20032530e-02 9.99486156e-01 -1.79349220e-03 -1.91896037e+00] [-2.72421606e-02 9.21461535e-04 9.99628439e-01 -2.27041058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010385723 meters 0.020282102083500095 Centerline is valid? [True, True] Translation: X:61.40, Y:-1.92, Z:-2.27 [[ 9.99054555e-01 3.36259315e-02 2.75552688e-02 6.13989678e+01] [-3.35886089e-02 9.99434093e-01 -1.81633711e-03 -1.92196098e+00] [-2.76007511e-02 8.89076713e-04 9.99618631e-01 -2.27287608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070385722999994 meters 0.020919243429451808 Centerline is valid? [True, True] Translation: X:61.46, Y:-1.93, Z:-2.28 [[ 9.99179063e-01 3.29479666e-02 2.35718303e-02 6.14577996e+01] [-3.29204848e-02 9.99456767e-01 -1.55308206e-03 -1.92856532e+00] [-2.36101962e-02 7.75810993e-04 9.99720939e-01 -2.27849446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130385722999996 meters 0.021076868353209606 Centerline is valid? [True, True] Translation: X:61.52, Y:-1.94, Z:-2.28 [[ 9.99243206e-01 3.06593202e-02 2.39378466e-02 6.15160356e+01] [-3.06303330e-02 9.99529538e-01 -1.57674909e-03 -1.93538560e+00] [-2.39749268e-02 8.42331606e-04 9.99712205e-01 -2.27879733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190385723 meters 0.027701117733047422 Centerline is valid? [True, True] Translation: X:61.57, Y:-1.95, Z:-2.28 [[ 9.99255364e-01 2.93628930e-02 2.50307566e-02 6.15731494e+01] [-2.93308444e-02 9.99568402e-01 -1.64663083e-03 -1.95292224e+00] [-2.50683032e-02 9.11231460e-04 9.99685325e-01 -2.28299338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250385722999994 meters 0.022864052004294977 Centerline is valid? [True, True] Translation: X:61.63, Y:-1.95, Z:-2.28 [[ 9.99289540e-01 2.79203599e-02 2.53153707e-02 6.16329601e+01] [-2.78871551e-02 9.99609693e-01 -1.66381068e-03 -1.95027749e+00] [-2.53519442e-02 9.56654943e-04 9.99678130e-01 -2.28219801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310385722999996 meters 0.023807011351927122 Centerline is valid? [True, True] Translation: X:61.69, Y:-1.96, Z:-2.29 [[ 9.99329298e-01 2.71798916e-02 2.45399100e-02 6.16928126e+01] [-2.71484977e-02 9.99630112e-01 -1.61161533e-03 -1.95778826e+00] [-2.45746366e-02 9.44312725e-04 9.99697552e-01 -2.28524178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370385723 meters 0.023443887570355888 Centerline is valid? [True, True] Translation: X:61.75, Y:-1.97, Z:-2.28 [[ 9.99217822e-01 2.71959964e-02 2.87075244e-02 6.17515721e+01] [-2.71530328e-02 9.99629510e-01 -1.88544071e-03 -1.96613541e+00] [-2.87481650e-02 1.10446961e-03 9.99586076e-01 -2.28411691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43038572299999 meters 0.022808735208523726 Centerline is valid? [True, True] Translation: X:61.81, Y:-1.97, Z:-2.29 [[ 9.99188242e-01 2.86872157e-02 2.82825205e-02 6.18133753e+01] [-2.86461405e-02 9.99587891e-01 -1.85650597e-03 -1.96783181e+00] [-2.83241231e-02 1.04481388e-03 9.99598246e-01 -2.28574355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490385722999996 meters 0.022395452309319355 Centerline is valid? [True, True] Translation: X:61.87, Y:-1.98, Z:-2.29 [[ 9.99192660e-01 3.03081726e-02 2.63712509e-02 6.18738737e+01] [-3.02729804e-02 9.99540166e-01 -1.73279797e-03 -1.97627930e+00] [-2.64116425e-02 9.33062651e-04 9.99650716e-01 -2.29016576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550385723 meters 0.022074416921037707 Centerline is valid? [True, True] Translation: X:61.93, Y:-1.98, Z:-2.29 [[ 9.99126066e-01 3.27166407e-02 2.60139579e-02 6.19329122e+01] [-3.26831969e-02 9.99464299e-01 -1.70986482e-03 -1.98176588e+00] [-2.60559632e-02 8.58151206e-04 9.99660117e-01 -2.29392999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61038572299999 meters 0.019970029761222474 Centerline is valid? [True, True] Translation: X:61.99, Y:-1.98, Z:-2.30 [[ 9.98861412e-01 4.04402751e-02 2.53073743e-02 6.19920686e+01] [-4.04111217e-02 9.99181754e-01 -1.66255468e-03 -1.98449602e+00] [-2.53539008e-02 6.37962331e-04 9.99678335e-01 -2.29712403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670385722999995 meters 0.0190897385490507 Centerline is valid? [True, True] Translation: X:62.05, Y:-1.98, Z:-2.30 [[ 9.98716467e-01 4.35267576e-02 2.59005909e-02 6.20516232e+01] [-4.34972659e-02 9.99052098e-01 -1.70122501e-03 -1.98478158e+00] [-2.59500885e-02 5.72436545e-04 9.99663076e-01 -2.29735124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730385723 meters 0.017920162149307722 Centerline is valid? [True, True] Translation: X:62.11, Y:-1.98, Z:-2.30 [[ 9.98265009e-01 5.26379269e-02 2.63859758e-02 6.21113920e+01] [-5.26105816e-02 9.98613606e-01 -1.72998134e-03 -1.98448813e+00] [-2.64404570e-02 3.38798307e-04 9.99650333e-01 -2.29900749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790385723 meters 0.016996472416419044 Centerline is valid? [True, True] Translation: X:62.17, Y:-1.99, Z:-2.30 [[ 9.97875668e-01 5.91434349e-02 2.73167429e-02 6.21694879e+01] [-5.91165813e-02 9.98249480e-01 -1.79029399e-03 -1.98820276e+00] [-2.73748085e-02 1.71618360e-04 9.99625225e-01 -2.30172447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850385722999995 meters 0.016913169142480575 Centerline is valid? [True, True] Translation: X:62.23, Y:-1.99, Z:-2.30 [[ 9.97669147e-01 6.35131090e-02 2.49471034e-02 6.22279619e+01] [-6.34921163e-02 9.97981003e-01 -1.63348624e-03 -1.98979614e+00] [-2.50004831e-02 4.57344255e-05 9.99687438e-01 -2.30429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910385723 meters 0.01776868768108312 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.00, Z:-2.31 [[ 9.97694013e-01 6.37947151e-02 2.31708817e-02 6.22858815e+01] [-6.37767148e-02 9.97963042e-01 -1.51575745e-03 -1.99764361e+00] [-2.32203809e-02 3.44994171e-05 9.99730370e-01 -2.30826663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970385723 meters 0.016612681098050332 Centerline is valid? [True, True] Translation: X:62.34, Y:-2.00, Z:-2.31 [[ 9.97745554e-01 6.27991713e-02 2.36658751e-02 6.23442298e+01] [-6.27801544e-02 9.98026182e-01 -1.54641352e-03 -2.00353306e+00] [-2.37162765e-02 5.71799163e-05 9.99718728e-01 -2.30915178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030385723 meters 0.01762131240795585 Centerline is valid? [True, True] Translation: X:62.40, Y:-2.01, Z:-2.31 [[ 9.97816981e-01 6.11394118e-02 2.49648511e-02 6.24023866e+01] [-6.11177767e-02 9.98129231e-01 -1.62943870e-03 -2.01058701e+00] [-2.50177706e-02 1.00085410e-04 9.99687002e-01 -2.30958153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090385723 meters 0.017036932679899322 Centerline is valid? [True, True] Translation: X:62.46, Y:-2.02, Z:-2.31 [[ 9.98148399e-01 5.52051569e-02 2.55374921e-02 6.24604588e+01] [-5.51806244e-02 9.98475001e-01 -1.66489000e-03 -2.02149756e+00] [-2.55904580e-02 2.52632530e-04 9.99672479e-01 -2.31274780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150385723 meters 0.01832556911423971 Centerline is valid? [True, True] Translation: X:62.52, Y:-2.03, Z:-2.32 [[ 9.98528970e-01 4.87763327e-02 2.36804996e-02 6.25194067e+01] [-4.87534773e-02 9.98809652e-01 -1.54188056e-03 -2.02972081e+00] [-2.37275189e-02 3.85105707e-04 9.99718389e-01 -2.31562748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210385723 meters 0.01899280502267806 Centerline is valid? [True, True] Translation: X:62.58, Y:-2.04, Z:-2.32 [[ 9.98753687e-01 4.40697526e-02 2.34292441e-02 6.25783504e+01] [-4.40461044e-02 9.99028336e-01 -1.52469384e-03 -2.03868280e+00] [-2.34736716e-02 4.90826665e-04 9.99724335e-01 -2.31936129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27038572299999 meters 0.0218434796181302 Centerline is valid? [True, True] Translation: X:62.64, Y:-2.05, Z:-2.32 [[ 9.99014143e-01 3.70236208e-02 2.44947852e-02 6.26363435e+01] [-3.69956732e-02 9.99314156e-01 -1.59330292e-03 -2.04848033e+00] [-2.45369755e-02 6.85531076e-04 9.99698688e-01 -2.32159543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33038572299999 meters 0.023376792220103092 Centerline is valid? [True, True] Translation: X:62.70, Y:-2.06, Z:-2.32 [[ 9.99205555e-01 3.11174921e-02 2.48990180e-02 6.26958579e+01] [-3.10868247e-02 9.99515378e-01 -1.61789655e-03 -2.05576410e+00] [-2.49372963e-02 8.42579813e-04 9.99688662e-01 -2.32358268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390385723 meters 0.0247776193800639 Centerline is valid? [True, True] Translation: X:62.76, Y:-2.06, Z:-2.33 [[ 9.99321706e-01 2.83222507e-02 2.35367254e-02 6.27561886e+01] [-2.82940877e-02 9.99598473e-01 -1.52878156e-03 -2.06149810e+00] [-2.35705733e-02 8.61794418e-04 9.99721804e-01 -2.32768539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450385723 meters 0.0238665486031457 Centerline is valid? [True, True] Translation: X:62.82, Y:-2.06, Z:-2.33 [[ 9.99323959e-01 2.51306740e-02 2.68341995e-02 6.28167621e+01] [-2.50929156e-02 9.99683604e-01 -1.74296248e-03 -2.06220119e+00] [-2.68695111e-02 1.06843586e-03 9.99638379e-01 -2.32756063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510385723 meters 0.024715096602891402 Centerline is valid? [True, True] Translation: X:62.88, Y:-2.07, Z:-2.33 [[ 9.99206058e-01 2.37269848e-02 3.20044237e-02 6.28791951e+01] [-2.36725806e-02 9.99717606e-01 -2.07778962e-03 -2.06821692e+00] [-3.20446855e-02 1.31851268e-03 9.99485568e-01 -2.32688435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570385723 meters 0.025561221530833327 Centerline is valid? [True, True] Translation: X:62.94, Y:-2.07, Z:-2.33 [[ 9.99392170e-01 2.15622505e-02 2.73926902e-02 6.29406314e+01] [-2.15213857e-02 9.99766793e-01 -1.78579376e-03 -2.06772215e+00] [-2.74248078e-02 1.19517965e-03 9.99623155e-01 -2.33141120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630385723 meters 0.02808377316752136 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.07, Z:-2.34 [[ 9.99454797e-01 1.79054174e-02 2.77399459e-02 6.30000561e+01] [-1.78620677e-02 9.99838823e-01 -1.80974550e-03 -2.07492214e+00] [-2.77678791e-02 1.31326603e-03 9.99613535e-01 -2.33569277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69038572299999 meters 0.027526137080432545 Centerline is valid? [True, True] Translation: X:63.06, Y:-2.08, Z:-2.34 [[ 9.99501595e-01 1.65246337e-02 2.68979075e-02 6.30618473e+01] [-1.64834349e-02 9.99862603e-01 -1.75269525e-03 -2.07782064e+00] [-2.69231744e-02 1.30845179e-03 9.99636649e-01 -2.33754355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750385723 meters 0.028093045908519618 Centerline is valid? [True, True] Translation: X:63.12, Y:-2.08, Z:-2.34 [[ 9.99540546e-01 1.47821884e-02 2.64609723e-02 6.31240636e+01] [-1.47415080e-02 9.99889838e-01 -1.73179722e-03 -2.08245604e+00] [-2.64836571e-02 1.34092691e-03 9.99648347e-01 -2.34043519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810385723 meters 0.027152734685298188 Centerline is valid? [True, True] Translation: X:63.19, Y:-2.08, Z:-2.34 [[ 9.99440394e-01 1.71521505e-02 2.87176321e-02 6.31862052e+01] [-1.71051395e-02 9.99851925e-01 -1.88188798e-03 -2.08342025e+00] [-2.87456582e-02 1.38961576e-03 9.99585792e-01 -2.34016891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870385723 meters 0.02737827595352669 Centerline is valid? [True, True] Translation: X:63.25, Y:-2.08, Z:-2.34 [[ 9.99286174e-01 2.22443035e-02 3.05341485e-02 6.32469570e+01] [-2.21934651e-02 9.99751688e-01 -2.00291037e-03 -2.08313413e+00] [-3.05711199e-02 1.32382208e-03 9.99531717e-01 -2.34068085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930385723 meters 0.024852517510007187 Centerline is valid? [True, True] Translation: X:63.31, Y:-2.08, Z:-2.34 [[ 9.98915518e-01 3.03126636e-02 3.53402125e-02 6.33081660e+01] [-3.02495716e-02 9.99539688e-01 -2.31871356e-03 -2.07911384e+00] [-3.53942313e-02 1.24717267e-03 9.99372650e-01 -2.33553238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990385723 meters 0.023502796130011005 Centerline is valid? [True, True] Translation: X:63.37, Y:-2.08, Z:-2.34 [[ 9.98674537e-01 3.66099428e-02 3.61784558e-02 6.33684609e+01] [-3.65479469e-02 9.99329082e-01 -2.37369474e-03 -2.08004916e+00] [-3.62410838e-02 1.04830022e-03 9.99342526e-01 -2.34090101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05038572299999 meters 0.022429001477353567 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.08, Z:-2.34 [[ 9.98501647e-01 4.14093156e-02 3.57733093e-02 6.34297683e+01] [-4.13517778e-02 9.99141893e-01 -2.34710568e-03 -2.08054083e+00] [-3.58398040e-02 8.64298950e-04 9.99357174e-01 -2.34446593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110385723 meters 0.02095043808647826 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.08, Z:-2.34 [[ 9.98405032e-01 4.29347744e-02 3.66605649e-02 6.34881744e+01] [-4.28753258e-02 9.99077532e-01 -2.40660313e-03 -2.08354530e+00] [-3.67300736e-02 8.30931012e-04 9.99324878e-01 -2.34408411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170385723 meters 0.022471353332632935 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.09, Z:-2.35 [[ 9.98326778e-01 4.58814847e-02 3.51928058e-02 6.35468965e+01] [-4.58285951e-02 9.98946651e-01 -2.30847480e-03 -2.08674426e+00] [-3.52616517e-02 6.91775363e-04 9.99377875e-01 -2.34804738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230385723 meters 0.020683739367544935 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.09, Z:-2.35 [[ 9.98359381e-01 4.63796430e-02 3.35778841e-02 6.36054330e+01] [-4.63318335e-02 9.98923679e-01 -2.20094340e-03 -2.08747522e+00] [-3.36438225e-02 6.41607560e-04 9.99433680e-01 -2.34934737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290385723 meters 0.021078500525699033 Centerline is valid? [True, True] Translation: X:63.66, Y:-2.09, Z:-2.35 [[ 9.98321661e-01 4.72585490e-02 3.34737351e-02 6.36640169e+01] [-4.72116093e-02 9.98882506e-01 -2.19173760e-03 -2.09238115e+00] [-3.35399067e-02 6.07710218e-04 9.99437194e-01 -2.35362544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350385723 meters 0.0203717135318579 Centerline is valid? [True, True] Translation: X:63.72, Y:-2.09, Z:-2.35 [[ 9.98398023e-01 4.62647862e-02 3.25723291e-02 6.37231993e+01] [-4.62198856e-02 9.98929018e-01 -2.13049083e-03 -2.09473141e+00] [-3.26360114e-02 6.21588507e-04 9.99467110e-01 -2.35463195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41038572299999 meters 0.020531948529519607 Centerline is valid? [True, True] Translation: X:63.78, Y:-2.10, Z:-2.36 [[ 9.98493213e-01 4.45739036e-02 3.20073664e-02 6.37816063e+01] [-4.45297480e-02 9.99005870e-01 -2.09139766e-03 -2.09593522e+00] [-3.20687686e-02 6.62966405e-04 9.99485445e-01 -2.35554557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47038572299999 meters 0.021136368093494038 Centerline is valid? [True, True] Translation: X:63.84, Y:-2.10, Z:-2.35 [[ 9.98627978e-01 4.08452099e-02 3.27693502e-02 6.38396452e+01] [-4.07970378e-02 9.99165168e-01 -2.13759571e-03 -2.10100991e+00] [-3.28293039e-02 7.97770462e-04 9.99460655e-01 -2.35485748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530385723 meters 0.021821910927816032 Centerline is valid? [True, True] Translation: X:63.90, Y:-2.10, Z:-2.35 [[ 9.98826162e-01 3.62696896e-02 3.21062080e-02 6.38994998e+01] [-3.62211012e-02 9.99341607e-01 -2.09387614e-03 -2.10338853e+00] [-3.21610137e-02 9.28496055e-04 9.99482270e-01 -2.35314376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590385723 meters 0.023131984330216293 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.11, Z:-2.36 [[ 9.99045985e-01 3.13728927e-02 3.03786282e-02 6.39593209e+01] [-3.13271672e-02 9.99507223e-01 -1.98008153e-03 -2.10968755e+00] [-3.04257792e-02 1.02651614e-03 9.99536502e-01 -2.35612706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650385723 meters 0.024651301226640658 Centerline is valid? [True, True] Translation: X:64.02, Y:-2.12, Z:-2.36 [[ 9.99280595e-01 2.61055259e-02 2.75099006e-02 6.40195327e+01] [-2.60660581e-02 9.99658616e-01 -1.79236696e-03 -2.11715127e+00] [-2.75472998e-02 1.07400285e-03 9.99619924e-01 -2.36288571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710385723 meters 0.02765483239495998 Centerline is valid? [True, True] Translation: X:64.08, Y:-2.13, Z:-2.37 [[ 9.99493179e-01 1.79031720e-02 2.63222627e-02 6.40802140e+01] [-1.78641913e-02 9.99838951e-01 -1.71533206e-03 -2.12559989e+00] [-2.63487334e-02 1.24423676e-03 9.99652038e-01 -2.36653871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77038572299999 meters 0.029934740402018635 Centerline is valid? [True, True] Translation: X:64.14, Y:-2.13, Z:-2.37 [[ 9.99523266e-01 1.58936083e-02 2.64694724e-02 6.41422533e+01] [-1.58534782e-02 9.99872837e-01 -1.72526514e-03 -2.12821717e+00] [-2.64935271e-02 1.30480944e-03 9.99648133e-01 -2.36529988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83038572299999 meters 0.030491807921224565 Centerline is valid? [True, True] Translation: X:64.20, Y:-2.13, Z:-2.37 [[ 9.99544007e-01 1.73419569e-02 2.47191218e-02 6.42046016e+01] [-1.73074113e-02 9.99848918e-01 -1.61080221e-03 -2.13007539e+00] [-2.47433217e-02 1.18224368e-03 9.99693138e-01 -2.36934185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890385723 meters 0.03190017977225116 Centerline is valid? [True, True] Translation: X:64.27, Y:-2.14, Z:-2.38 [[ 9.99602191e-01 1.67682718e-02 2.26778387e-02 6.42653128e+01] [-1.67389068e-02 9.99858793e-01 -1.48409961e-03 -2.13627651e+00] [-2.26995223e-02 1.10390699e-03 9.99741723e-01 -2.37503003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950385723 meters 0.032315802961671185 Centerline is valid? [True, True] Translation: X:64.33, Y:-2.14, Z:-2.38 [[ 9.99616787e-01 1.67070696e-02 2.20715203e-02 6.43277021e+01] [-1.66792158e-02 9.99859847e-01 -1.44548321e-03 -2.14184476e+00] [-2.20925767e-02 1.07679363e-03 9.99755349e-01 -2.37796305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010385723 meters 0.032614249239619204 Centerline is valid? [True, True] Translation: X:64.39, Y:-2.15, Z:-2.38 [[ 9.99583259e-01 1.82868553e-02 2.23360361e-02 6.43887234e+01] [-1.82585978e-02 9.99832220e-01 -1.46840848e-03 -2.14502758e+00] [-2.23591411e-02 1.05997183e-03 9.99749441e-01 -2.37787775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070385723 meters 0.027292059555293412 Centerline is valid? [True, True] Translation: X:64.45, Y:-2.14, Z:-2.37 [[ 9.99546950e-01 2.04369776e-02 2.20958099e-02 6.44509115e+01] [-2.04096911e-02 9.99790635e-01 -1.45974916e-03 -2.13684196e+00] [-2.21210167e-02 1.00811916e-03 9.99754792e-01 -2.37193191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130385723 meters 0.028212292493296858 Centerline is valid? [True, True] Translation: X:64.51, Y:-2.14, Z:-2.38 [[ 9.99466011e-01 2.37875757e-02 2.24018809e-02 6.45115388e+01] [-2.37603495e-02 9.99716586e-01 -1.48077957e-03 -2.14114310e+00] [-2.24307561e-02 9.47712333e-04 9.99747950e-01 -2.38183418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19038572299999 meters 0.028018320180930527 Centerline is valid? [True, True] Translation: X:64.57, Y:-2.15, Z:-2.38 [[ 9.99417241e-01 2.50860125e-02 2.31488881e-02 6.45720316e+01] [-2.50572575e-02 9.99684845e-01 -1.53144986e-03 -2.14586393e+00] [-2.31800106e-02 9.50509740e-04 9.99730856e-01 -2.38396380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250385723 meters 0.025413603028557614 Centerline is valid? [True, True] Translation: X:64.63, Y:-2.14, Z:-2.38 [[ 9.99397852e-01 2.63347575e-02 2.25923647e-02 6.46323869e+01] [-2.63076764e-02 9.99652775e-01 -1.49511282e-03 -2.14014892e+00] [-2.26238935e-02 8.99859918e-04 9.99743642e-01 -2.38137509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310385723 meters 0.027089020909026047 Centerline is valid? [True, True] Translation: X:64.69, Y:-2.15, Z:-2.38 [[ 9.99413664e-01 2.64860568e-02 2.16983125e-02 6.46907204e+01] [-2.64611233e-02 9.99648813e-01 -1.43546085e-03 -2.14541571e+00] [-2.17287120e-02 8.60457462e-04 9.99763533e-01 -2.38492605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370385723 meters 0.02530318849041647 Centerline is valid? [True, True] Translation: X:64.75, Y:-2.15, Z:-2.39 [[ 9.99409586e-01 2.70237010e-02 2.12178756e-02 6.47498417e+01] [-2.70000036e-02 9.99634449e-01 -1.40259108e-03 -2.14819537e+00] [-2.12480226e-02 8.28880249e-04 9.99773892e-01 -2.38963119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430385723 meters 0.026313304524251967 Centerline is valid? [True, True] Translation: X:64.81, Y:-2.15, Z:-2.39 [[ 9.99381426e-01 2.73473580e-02 2.21108046e-02 6.48090476e+01] [-2.73217358e-02 9.99625625e-01 -1.46012878e-03 -2.15351197e+00] [-2.21424576e-02 8.55120021e-04 9.99754460e-01 -2.39406291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490385723 meters 0.024353140141185295 Centerline is valid? [True, True] Translation: X:64.87, Y:-2.16, Z:-2.39 [[ 9.99382119e-01 2.66163210e-02 2.29554117e-02 6.48682039e+01] [-2.65885249e-02 9.99645314e-01 -1.51529537e-03 -2.15670869e+00] [-2.29876013e-02 9.04008559e-04 9.99735341e-01 -2.39230275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55038572299999 meters 0.024945254792897345 Centerline is valid? [True, True] Translation: X:64.93, Y:-2.17, Z:-2.39 [[ 9.99398943e-01 2.48946250e-02 2.41248866e-02 6.49271560e+01] [-2.48634618e-02 9.99689590e-01 -1.59088785e-03 -2.16505575e+00] [-2.41570026e-02 9.90103441e-04 9.99707687e-01 -2.39434417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610385723 meters 0.025813118191958983 Centerline is valid? [True, True] Translation: X:64.99, Y:-2.17, Z:-2.40 [[ 9.99352732e-01 2.35548949e-02 2.71897757e-02 6.49869378e+01] [-2.35148522e-02 9.99721882e-01 -1.79155557e-03 -2.17315991e+00] [-2.72244136e-02 1.15103239e-03 9.99628684e-01 -2.39682582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670385723 meters 0.02699451108760981 Centerline is valid? [True, True] Translation: X:65.05, Y:-2.18, Z:-2.40 [[ 9.99404353e-01 2.36534260e-02 2.51287428e-02 6.50490533e+01] [-2.36193238e-02 9.99719658e-01 -1.65308154e-03 -2.17743667e+00] [-2.51607992e-02 1.05857298e-03 9.99682857e-01 -2.40372081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730385723 meters 0.025562873838522644 Centerline is valid? [True, True] Translation: X:65.11, Y:-2.18, Z:-2.41 [[ 9.99421681e-01 2.33053089e-02 2.47621990e-02 6.51097906e+01] [-2.32718814e-02 9.99727832e-01 -1.63729842e-03 -2.18126221e+00] [-2.47936173e-02 1.06008858e-03 9.99692029e-01 -2.40708120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790385723 meters 0.026383684408149356 Centerline is valid? [True, True] Translation: X:65.17, Y:-2.19, Z:-2.41 [[ 9.99415386e-01 2.38720455e-02 2.44747302e-02 6.51704433e+01] [-2.38395680e-02 9.99714488e-01 -1.61794531e-03 -2.18839794e+00] [-2.45063661e-02 1.03353244e-03 9.99699140e-01 -2.41170955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850385723 meters 0.025945227570723855 Centerline is valid? [True, True] Translation: X:65.23, Y:-2.19, Z:-2.41 [[ 9.99341339e-01 2.64298409e-02 2.48666870e-02 6.52314628e+01] [-2.63969809e-02 9.99650179e-01 -1.64882837e-03 -2.18777622e+00] [-2.49015664e-02 9.91336892e-04 9.99689416e-01 -2.41252877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91038572299999 meters 0.024095010244109774 Centerline is valid? [True, True] Translation: X:65.29, Y:-2.19, Z:-2.41 [[ 9.99178583e-01 2.98662550e-02 2.73891449e-02 6.52915623e+01] [-2.98276536e-02 9.99553405e-01 -1.81693365e-03 -2.19213650e+00] [-2.74311781e-02 9.98487260e-04 9.99623196e-01 -2.41359498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97038572299999 meters 0.0240110134667953 Centerline is valid? [True, True] Translation: X:65.35, Y:-2.20, Z:-2.42 [[ 9.99068136e-01 3.15615075e-02 2.94402983e-02 6.53515666e+01] [-3.15176571e-02 9.99501288e-01 -1.95244157e-03 -2.19555364e+00] [-2.94872380e-02 1.02273294e-03 9.99564634e-01 -2.41535094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030385723 meters 0.024250011451708946 Centerline is valid? [True, True] Translation: X:65.41, Y:-2.20, Z:-2.42 [[ 9.99121281e-01 3.19488333e-02 2.71281678e-02 6.54120950e+01] [-3.19117604e-02 9.99489072e-01 -1.79852861e-03 -2.19666859e+00] [-2.71717681e-02 9.31240616e-04 9.99630346e-01 -2.41941209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090385723 meters 0.023805692685429453 Centerline is valid? [True, True] Translation: X:65.47, Y:-2.20, Z:-2.42 [[ 9.99149644e-01 3.14169059e-02 2.67014509e-02 6.54713534e+01] [-3.13807921e-02 9.99505933e-01 -1.77056429e-03 -2.20173475e+00] [-2.67438842e-02 9.31145997e-04 9.99641885e-01 -2.42267355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150385723 meters 0.024066079807821824 Centerline is valid? [True, True] Translation: X:65.53, Y:-2.21, Z:-2.43 [[ 9.99130707e-01 3.15831338e-02 2.72091165e-02 6.55303163e+01] [-3.15457215e-02 9.99500683e-01 -1.80324644e-03 -2.20774641e+00] [-2.72524827e-02 9.43347673e-04 9.99628137e-01 -2.42685146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210385723 meters 0.023965758336590762 Centerline is valid? [True, True] Translation: X:65.59, Y:-2.21, Z:-2.43 [[ 9.99118935e-01 3.28265740e-02 2.61489976e-02 6.55891836e+01] [-3.27924702e-02 9.99460681e-01 -1.73207947e-03 -2.21063415e+00] [-2.61917532e-02 8.73063175e-04 9.99656556e-01 -2.42871241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27038572299999 meters 0.02232087201364056 Centerline is valid? [True, True] Translation: X:65.65, Y:-2.21, Z:-2.43 [[ 9.99051888e-01 3.38891595e-02 2.73285542e-02 6.56488559e+01] [-3.38523295e-02 9.99425208e-01 -1.80933820e-03 -2.21136448e+00] [-2.73741630e-02 8.82487518e-04 9.99624868e-01 -2.42935961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33038572299999 meters 0.023215162815309883 Centerline is valid? [True, True] Translation: X:65.71, Y:-2.22, Z:-2.43 [[ 9.98988300e-01 3.43117439e-02 2.90702553e-02 6.57081233e+01] [-3.42702786e-02 9.99410750e-01 -1.92355890e-03 -2.21799940e+00] [-2.91191264e-02 9.25367087e-04 9.99575520e-01 -2.43429469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390385723 meters 0.023454888039671083 Centerline is valid? [True, True] Translation: X:65.77, Y:-2.22, Z:-2.44 [[ 9.98891109e-01 3.71292875e-02 2.89476809e-02 6.57675472e+01] [-3.70893818e-02 9.99310118e-01 -1.91445277e-03 -2.21994040e+00] [-2.89987927e-02 8.38678264e-04 9.99579095e-01 -2.43700186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450385723 meters 0.022060145239276935 Centerline is valid? [True, True] Translation: X:65.83, Y:-2.22, Z:-2.44 [[ 9.98793374e-01 3.94490894e-02 2.92500532e-02 6.58269771e+01] [-3.94093687e-02 9.99221279e-01 -1.93343893e-03 -2.22007086e+00] [-2.93035479e-02 7.78379864e-04 9.99570256e-01 -2.43641330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510385723 meters 0.022088744857993333 Centerline is valid? [True, True] Translation: X:65.89, Y:-2.22, Z:-2.44 [[ 9.98761972e-01 3.94189806e-02 3.03425044e-02 6.58856215e+01] [-3.93762492e-02 9.99222444e-01 -2.00477033e-03 -2.22458152e+00] [-3.03979374e-02 8.07514355e-04 9.99537550e-01 -2.43776187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570385723 meters 0.023879526580681463 Centerline is valid? [True, True] Translation: X:65.94, Y:-2.23, Z:-2.44 [[ 9.98817045e-01 3.72143615e-02 3.12986050e-02 6.59447591e+01] [-3.71678841e-02 9.99306901e-01 -2.06565496e-03 -2.23457752e+00] [-3.13537840e-02 8.99908461e-04 9.99507944e-01 -2.44354044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630385723 meters 0.024933087176854232 Centerline is valid? [True, True] Translation: X:66.00, Y:-2.24, Z:-2.45 [[ 9.98879825e-01 3.47566556e-02 3.21102847e-02 6.60044149e+01] [-3.47065034e-02 9.99395303e-01 -2.11808659e-03 -2.24227491e+00] [-3.21644853e-02 1.00127825e-03 9.99482088e-01 -2.44599943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69038572299999 meters 0.026397442712691205 Centerline is valid? [True, True] Translation: X:66.06, Y:-2.25, Z:-2.45 [[ 9.99008080e-01 3.27057469e-02 3.02190476e-02 6.60638149e+01] [-3.26604099e-02 9.99464520e-01 -1.99279040e-03 -2.24541998e+00] [-3.02680416e-02 1.00384723e-03 9.99541314e-01 -2.44834643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750385723 meters 0.026856714679358774 Centerline is valid? [True, True] Translation: X:66.12, Y:-2.25, Z:-2.45 [[ 9.99113261e-01 2.95535448e-02 2.99880024e-02 6.61234210e+01] [-2.95074779e-02 9.99562603e-01 -1.97764748e-03 -2.25423712e+00] [-3.00333322e-02 1.09102350e-03 9.99548302e-01 -2.44900169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810385723 meters 0.022234911559205622 Centerline is valid? [True, True] Translation: X:66.18, Y:-2.25, Z:-2.45 [[ 9.99185143e-01 2.79767678e-02 2.90921199e-02 6.61847741e+01] [-2.79327688e-02 9.99607964e-01 -1.91778021e-03 -2.25263862e+00] [-2.91343681e-02 1.10359403e-03 9.99574895e-01 -2.45073624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870385723 meters 0.031043479287022852 Centerline is valid? [True, True] Translation: X:66.25, Y:-2.27, Z:-2.46 [[ 9.99205497e-01 2.73125803e-02 2.90240928e-02 6.62452813e+01] [-2.72685159e-02 9.99626314e-01 -1.91299521e-03 -2.26627517e+00] [-2.90654957e-02 1.12003140e-03 9.99576882e-01 -2.45735569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930385723 meters 0.022863280503886897 Centerline is valid? [True, True] Translation: X:66.31, Y:-2.26, Z:-2.45 [[ 9.99151335e-01 2.76852929e-02 3.04980981e-02 6.63069644e+01] [-2.76365580e-02 9.99616000e-01 -2.01841824e-03 -2.25824546e+00] [-3.05422674e-02 1.17384282e-03 9.99532787e-01 -2.45480265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990385723 meters 0.02350824974362277 Centerline is valid? [True, True] Translation: X:66.37, Y:-2.26, Z:-2.46 [[ 9.99121733e-01 2.83967232e-02 3.08121422e-02 6.63692271e+01] [-2.83473169e-02 9.99596054e-01 -2.03919980e-03 -2.26170958e+00] [-3.08576023e-02 1.16396728e-03 9.99523113e-01 -2.45800920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05038572299999 meters 0.02332228616218486 Centerline is valid? [True, True] Translation: X:66.43, Y:-2.27, Z:-2.46 [[ 9.99142358e-01 2.74005557e-02 3.10444668e-02 6.64305967e+01] [-2.73496606e-02 9.99623799e-01 -2.06295244e-03 -2.26845497e+00] [-3.10893138e-02 1.21212754e-03 9.99515875e-01 -2.45983249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110385723 meters 0.02355558908257285 Centerline is valid? [True, True] Translation: X:66.49, Y:-2.27, Z:-2.46 [[ 9.99140800e-01 2.74436904e-02 3.10564772e-02 6.64927778e+01] [-2.73926661e-02 9.99622613e-01 -2.06730456e-03 -2.27309537e+00] [-3.11014914e-02 1.21480862e-03 9.99515493e-01 -2.46241937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170385723 meters 0.02362289819638638 Centerline is valid? [True, True] Translation: X:66.55, Y:-2.28, Z:-2.47 [[ 9.99167896e-01 2.81664593e-02 2.94985661e-02 6.65549562e+01] [-2.81205381e-02 9.99602597e-01 -1.97050121e-03 -2.27884465e+00] [-2.95423454e-02 1.13934600e-03 9.99562880e-01 -2.46628347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230385723 meters 0.024141864514914235 Centerline is valid? [True, True] Translation: X:66.62, Y:-2.29, Z:-2.47 [[ 9.99231014e-01 2.71253544e-02 2.83124850e-02 6.66171927e+01] [-2.70824473e-02 9.99631402e-01 -1.89791628e-03 -2.28534700e+00] [-2.83535307e-02 1.12968542e-03 9.99597319e-01 -2.47046598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290385723 meters 0.02371182906857778 Centerline is valid? [True, True] Translation: X:66.68, Y:-2.29, Z:-2.47 [[ 9.99325667e-01 2.49510429e-02 2.69380128e-02 6.66793263e+01] [-2.49112041e-02 9.99688023e-01 -1.81353522e-03 -2.29068021e+00] [-2.69748584e-02 1.14125396e-03 9.99635461e-01 -2.47337961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350385723 meters 0.02473843046689486 Centerline is valid? [True, True] Translation: X:66.74, Y:-2.29, Z:-2.47 [[ 9.99330357e-01 2.53890615e-02 2.63483135e-02 6.67407602e+01] [-2.53510918e-02 9.99677035e-01 -1.77415913e-03 -2.29386993e+00] [-2.63848482e-02 1.10501257e-03 9.99651249e-01 -2.47422063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41038572299999 meters 0.02497729973884147 Centerline is valid? [True, True] Translation: X:66.80, Y:-2.30, Z:-2.48 [[ 9.99266627e-01 2.60500179e-02 2.80643006e-02 6.68020674e+01] [-2.60069591e-02 9.99659960e-01 -1.89826702e-03 -2.29877086e+00] [-2.81042075e-02 1.16700776e-03 9.99604318e-01 -2.47628646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47038572299999 meters 0.025459743978254526 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.31, Z:-2.48 [[ 9.99157343e-01 2.59623210e-02 3.17893222e-02 6.68634210e+01] [-2.59070077e-02 9.99662044e-01 -2.15071792e-03 -2.30547525e+00] [-3.18344164e-02 1.32533939e-03 9.99492278e-01 -2.47529101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530385723 meters 0.025122727486991025 Centerline is valid? [True, True] Translation: X:66.93, Y:-2.31, Z:-2.48 [[ 9.99205978e-01 2.48107037e-02 3.11743756e-02 6.69256704e+01] [-2.47567403e-02 9.99691266e-01 -2.11586786e-03 -2.30781433e+00] [-3.12172472e-02 1.34241190e-03 9.99511721e-01 -2.47740765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590385723 meters 0.026620720286115843 Centerline is valid? [True, True] Translation: X:66.99, Y:-2.31, Z:-2.48 [[ 9.99233745e-01 2.42035372e-02 3.07589282e-02 6.69864205e+01] [-2.41504663e-02 9.99706138e-01 -2.09577601e-03 -2.31425286e+00] [-3.08006145e-02 1.35132765e-03 9.99524635e-01 -2.48018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650385723 meters 0.02525818318545668 Centerline is valid? [True, True] Translation: X:67.05, Y:-2.32, Z:-2.48 [[ 9.99244935e-01 2.29824718e-02 3.13267612e-02 6.70483379e+01] [-2.29267093e-02 9.99734862e-01 -2.13811265e-03 -2.31696043e+00] [-3.13675944e-02 1.41827869e-03 9.99506910e-01 -2.48267218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710385723 meters 0.027998319530093123 Centerline is valid? [True, True] Translation: X:67.11, Y:-2.33, Z:-2.49 [[ 9.99275521e-01 2.20568733e-02 3.10149460e-02 6.71088234e+01] [-2.20015256e-02 9.99755679e-01 -2.12472881e-03 -2.32833895e+00] [-3.10542332e-02 1.44081336e-03 9.99516663e-01 -2.48624128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77038572299999 meters 0.028150042189252517 Centerline is valid? [True, True] Translation: X:67.17, Y:-2.33, Z:-2.49 [[ 9.99287751e-01 2.32511224e-02 2.97216271e-02 6.71693688e+01] [-2.32006275e-02 9.99728742e-01 -2.04270204e-03 -2.33416334e+00] [-2.97610600e-02 1.35168673e-03 9.99556128e-01 -2.48981425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83038572299999 meters 0.027486888532922815 Centerline is valid? [True, True] Translation: X:67.23, Y:-2.33, Z:-2.49 [[ 9.99186271e-01 2.79885893e-02 2.90419636e-02 6.72305925e+01] [-2.79421549e-02 9.99607534e-01 -2.00355675e-03 -2.33333367e+00] [-2.90866424e-02 1.19043135e-03 9.99576185e-01 -2.49258617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890385723 meters 0.022000211703571314 Centerline is valid? [True, True] Translation: X:67.29, Y:-2.33, Z:-2.49 [[ 9.98992447e-01 3.23466243e-02 3.11092724e-02 6.72919724e+01] [-3.22954329e-02 9.99476061e-01 -2.14672590e-03 -2.32887751e+00] [-3.11624124e-02 1.13987554e-03 9.99513684e-01 -2.49218680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950385723 meters 0.021390251729498225 Centerline is valid? [True, True] Translation: X:67.35, Y:-2.33, Z:-2.50 [[ 9.98813870e-01 3.74267259e-02 3.11463049e-02 6.73512236e+01] [-3.73778556e-02 9.99298891e-01 -2.15001390e-03 -2.33368941e+00] [-3.12049359e-02 9.83281612e-04 9.99512524e-01 -2.49607398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010385723 meters 0.020064586631720508 Centerline is valid? [True, True] Translation: X:67.41, Y:-2.33, Z:-2.50 [[ 9.98619498e-01 4.27849496e-02 3.04720588e-02 6.74111742e+01] [-4.27406776e-02 9.99083986e-01 -2.10304234e-03 -2.33328608e+00] [-3.05341246e-02 7.97742646e-04 9.99533407e-01 -2.49702325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070385723 meters 0.01877322450807839 Centerline is valid? [True, True] Translation: X:67.47, Y:-2.34, Z:-2.50 [[ 9.98309801e-01 4.92122976e-02 3.09142455e-02 6.74696486e+01] [-4.91698408e-02 9.98788155e-01 -2.13254190e-03 -2.33666977e+00] [-3.09817295e-02 6.08888950e-04 9.99519766e-01 -2.49856883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130385723 meters 0.018628180613238413 Centerline is valid? [True, True] Translation: X:67.53, Y:-2.34, Z:-2.50 [[ 9.98206524e-01 5.21005884e-02 2.94832800e-02 6.75281236e+01] [-5.20632706e-02 9.98641720e-01 -2.03250326e-03 -2.33934486e+00] [-2.95491280e-02 4.93862031e-04 9.99563207e-01 -2.50102477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19038572299999 meters 0.01843264103347998 Centerline is valid? [True, True] Translation: X:67.59, Y:-2.34, Z:-2.50 [[ 9.98041592e-01 5.54059127e-02 2.90372960e-02 6.75869942e+01] [-5.53711702e-02 9.98463837e-01 -1.99981835e-03 -2.34225312e+00] [-2.91034917e-02 3.88072837e-04 9.99576328e-01 -2.50321863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250385723 meters 0.017605857313297363 Centerline is valid? [True, True] Translation: X:67.65, Y:-2.35, Z:-2.50 [[ 9.97879467e-01 5.74246470e-02 3.06427562e-02 6.76457206e+01] [-5.73869782e-02 9.98349784e-01 -2.10805748e-03 -2.34986801e+00] [-3.07132435e-02 3.45092090e-04 9.99528177e-01 -2.50471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310385723 meters 0.017287534514805955 Centerline is valid? [True, True] Translation: X:67.70, Y:-2.35, Z:-2.50 [[ 9.97823283e-01 5.75820314e-02 3.21404091e-02 6.77041482e+01] [-5.75407482e-02 9.98340715e-01 -2.20868844e-03 -2.35416039e+00] [-3.22142598e-02 3.54497569e-04 9.99480923e-01 -2.50318599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370385723 meters 0.01693523246410421 Centerline is valid? [True, True] Translation: X:67.76, Y:-2.36, Z:-2.50 [[ 9.97925274e-01 5.59856172e-02 3.17924232e-02 6.77625227e+01] [-5.59444840e-02 9.98431495e-01 -2.18256478e-03 -2.35857697e+00] [-3.18647489e-02 3.99425847e-04 9.99492110e-01 -2.50402488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430385723 meters 0.01881593052056959 Centerline is valid? [True, True] Translation: X:67.82, Y:-2.37, Z:-2.51 [[ 9.98306223e-01 5.00620140e-02 2.96391735e-02 6.78215135e+01] [-5.00237183e-02 9.98745962e-01 -2.03261571e-03 -2.36927326e+00] [-2.97037617e-02 5.46511242e-04 9.99558597e-01 -2.50942864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490385723 meters 0.020322907939585105 Centerline is valid? [True, True] Translation: X:67.88, Y:-2.38, Z:-2.51 [[ 9.98640226e-01 4.24012106e-02 3.03288036e-02 6.78797802e+01] [-4.23576079e-02 9.99100351e-01 -2.07899050e-03 -2.38109270e+00] [-3.03896701e-02 7.91507971e-04 9.99537814e-01 -2.51274577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55038572299999 meters 0.021045586483541337 Centerline is valid? [True, True] Translation: X:67.94, Y:-2.39, Z:-2.51 [[ 9.98837408e-01 3.69907642e-02 3.09114069e-02 6.79382265e+01] [-3.69429581e-02 9.99315135e-01 -2.11643579e-03 -2.39047220e+00] [-3.09685253e-02 9.72016428e-04 9.99519888e-01 -2.51404290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610385723 meters 0.022974060408381958 Centerline is valid? [True, True] Translation: X:68.00, Y:-2.40, Z:-2.51 [[ 9.98978979e-01 3.16272412e-02 3.22601541e-02 6.79975634e+01] [-3.15724188e-02 9.99499029e-01 -2.20749673e-03 -2.39886546e+00] [-3.23138097e-02 1.18671173e-03 9.99477068e-01 -2.51460907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670385723 meters 0.023797344901433093 Centerline is valid? [True, True] Translation: X:68.06, Y:-2.41, Z:-2.51 [[ 9.98931937e-01 2.90657525e-02 3.59189034e-02 6.80587611e+01] [-2.89961556e-02 9.99576503e-01 -2.45713000e-03 -2.40785083e+00] [-3.59751102e-02 1.41299551e-03 9.99351687e-01 -2.51327171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730385723 meters 0.025028164632446677 Centerline is valid? [True, True] Translation: X:68.12, Y:-2.42, Z:-2.52 [[ 9.99041944e-01 2.42996887e-02 3.63966997e-02 6.81188247e+01] [-2.42247636e-02 9.99703416e-01 -2.49821835e-03 -2.41848091e+00] [-3.64466110e-02 1.61412347e-03 9.99334298e-01 -2.51754524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790385723 meters 0.02821448853478766 Centerline is valid? [True, True] Translation: X:68.18, Y:-2.43, Z:-2.52 [[ 9.99245074e-01 2.09518746e-02 3.27154466e-02 6.81785162e+01] [-2.08895420e-02 9.99779267e-01 -2.24596895e-03 -2.42598866e+00] [-3.27552825e-02 1.56086271e-03 9.99462183e-01 -2.52344454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850385723 meters 0.027261175570614544 Centerline is valid? [True, True] Translation: X:68.24, Y:-2.43, Z:-2.53 [[ 9.99369645e-01 1.95126793e-02 2.96574968e-02 6.82406042e+01] [-1.94607982e-02 9.99808546e-01 -2.03700745e-03 -2.42527318e+00] [-2.96915662e-02 1.45856485e-03 9.99558044e-01 -2.52789289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91038572299999 meters 0.02556824007236123 Centerline is valid? [True, True] Translation: X:68.30, Y:-2.43, Z:-2.53 [[ 9.99291690e-01 2.00596194e-02 3.18391119e-02 6.83025412e+01] [-2.00000424e-02 9.99797584e-01 -2.18859031e-03 -2.42929481e+00] [-3.18765695e-02 1.55025652e-03 9.99490611e-01 -2.52846028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97038572299999 meters 0.025807957941365204 Centerline is valid? [True, True] Translation: X:68.36, Y:-2.43, Z:-2.53 [[ 9.99185409e-01 2.61075607e-02 3.07719646e-02 6.83621892e+01] [-2.60544988e-02 9.99658267e-01 -2.12413610e-03 -2.42596045e+00] [-3.08169048e-02 1.32065769e-03 9.99524174e-01 -2.52940148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030385723 meters 0.021726299544128663 Centerline is valid? [True, True] Translation: X:68.42, Y:-2.42, Z:-2.53 [[ 9.98822122e-01 3.64311860e-02 3.20489731e-02 6.84233426e+01] [-3.63789507e-02 9.99335620e-01 -2.21165125e-03 -2.42243934e+00] [-3.21082535e-02 1.04313818e-03 9.99483853e-01 -2.53206074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090385723 meters 0.02027316230326542 Centerline is valid? [True, True] Translation: X:68.48, Y:-2.42, Z:-2.53 [[ 9.98521197e-01 4.23840666e-02 3.40442387e-02 6.84832420e+01] [-4.23285532e-02 9.99100981e-01 -2.35002828e-03 -2.42119060e+00] [-3.41132361e-02 9.05509680e-04 9.99417564e-01 -2.53243625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150385723 meters 0.018867846195137164 Centerline is valid? [True, True] Translation: X:68.54, Y:-2.42, Z:-2.53 [[ 9.98055118e-01 4.95383847e-02 3.78408386e-02 6.85435737e+01] [-4.94749837e-02 9.98771951e-01 -2.61062809e-03 -2.41502619e+00] [-3.79236945e-02 7.33375851e-04 9.99280369e-01 -2.52934660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210385723 meters 0.018840565766120004 Centerline is valid? [True, True] Translation: X:68.60, Y:-2.42, Z:-2.54 [[ 9.98088023e-01 5.12776161e-02 3.45094710e-02 6.86024677e+01] [-5.12259682e-02 9.98684253e-01 -2.37970517e-03 -2.41835179e+00] [-3.45860909e-02 6.07374167e-04 9.99401538e-01 -2.53563941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27038572299999 meters 0.019874504961299812 Centerline is valid? [True, True] Translation: X:68.66, Y:-2.43, Z:-2.54 [[ 9.98318526e-01 4.74055918e-02 3.33591288e-02 6.86596621e+01] [-4.73552469e-02 9.98875467e-01 -2.29809461e-03 -2.42529999e+00] [-3.34305579e-02 7.14500644e-04 9.99440787e-01 -2.54006398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33038572299999 meters 0.01891324832211564 Centerline is valid? [True, True] Translation: X:68.72, Y:-2.43, Z:-2.54 [[ 9.98497928e-01 4.42390981e-02 3.23232137e-02 6.87187959e+01] [-4.41902687e-02 9.99020658e-01 -2.22382481e-03 -2.42895911e+00] [-3.23899382e-02 7.92112964e-04 9.99474994e-01 -2.53920648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390385723 meters 0.021055934959396966 Centerline is valid? [True, True] Translation: X:68.78, Y:-2.43, Z:-2.55 [[ 9.98483589e-01 4.50348979e-02 3.16603864e-02 6.87759474e+01] [-4.49884980e-02 9.98985133e-01 -2.17674409e-03 -2.43208003e+00] [-3.17262848e-02 7.49090017e-04 9.99496314e-01 -2.54533264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450385723 meters 0.018355393553617934 Centerline is valid? [True, True] Translation: X:68.83, Y:-2.43, Z:-2.54 [[ 9.98420166e-01 4.54956167e-02 3.29745415e-02 6.88348110e+01] [-4.54456342e-02 9.98964248e-01 -2.26407629e-03 -2.43198965e+00] [-3.30433936e-02 7.61950475e-04 9.99453628e-01 -2.54253527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510385723 meters 0.01843942667526879 Centerline is valid? [True, True] Translation: X:68.89, Y:-2.43, Z:-2.54 [[ 9.98399386e-01 4.55060095e-02 3.35837603e-02 6.88933809e+01] [-4.54542508e-02 9.98963766e-01 -2.30345163e-03 -2.43488851e+00] [-3.36537805e-02 7.73240035e-04 9.99433252e-01 -2.54467439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570385723 meters 0.020055525795162205 Centerline is valid? [True, True] Translation: X:68.95, Y:-2.44, Z:-2.55 [[ 9.98366452e-01 4.59399213e-02 3.39698614e-02 6.89507986e+01] [-4.58872984e-02 9.98943912e-01 -2.32751667e-03 -2.43838108e+00] [-3.40409122e-02 7.64929395e-04 9.99420147e-01 -2.55025274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63038572299999 meters 0.021018345126254164 Centerline is valid? [True, True] Translation: X:69.01, Y:-2.44, Z:-2.55 [[ 9.98361349e-01 4.47710196e-02 3.56394793e-02 6.90088162e+01] [-4.47124673e-02 9.98996921e-01 -2.43863208e-03 -2.44204895e+00] [-3.57129101e-02 8.41106957e-04 9.99361737e-01 -2.55195632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69038572299999 meters 0.019358122950486178 Centerline is valid? [True, True] Translation: X:69.07, Y:-2.44, Z:-2.55 [[ 9.98405923e-01 4.24290444e-02 3.72208077e-02 6.90684144e+01] [-4.23636749e-02 9.99099019e-01 -2.54354227e-03 -2.44491541e+00] [-3.72951925e-02 9.62677469e-04 9.99303829e-01 -2.55100979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750385723 meters 0.020128003144383833 Centerline is valid? [True, True] Translation: X:69.13, Y:-2.45, Z:-2.55 [[ 9.98534154e-01 4.01058937e-02 3.63464010e-02 6.91276586e+01] [-4.00420697e-02 9.99194911e-01 -2.48252089e-03 -2.44949753e+00] [-3.64167027e-02 1.02349677e-03 9.99336168e-01 -2.55467867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810385723 meters 0.02136643726878085 Centerline is valid? [True, True] Translation: X:69.19, Y:-2.45, Z:-2.56 [[ 9.98593198e-01 4.18061769e-02 3.26170001e-02 6.91874392e+01] [-4.17557236e-02 9.99125368e-01 -2.22676324e-03 -2.45059005e+00] [-3.26815647e-02 8.61684185e-04 9.99465444e-01 -2.56243524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870385723 meters 0.020499999932544213 Centerline is valid? [True, True] Translation: X:69.25, Y:-2.45, Z:-2.56 [[ 9.98516316e-01 4.44905726e-02 3.13967412e-02 6.92467123e+01] [-4.44451793e-02 9.99009527e-01 -2.14255312e-03 -2.44873818e+00] [-3.14609670e-02 7.43940457e-04 9.99504704e-01 -2.56402378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930385723 meters 0.020631004615363612 Centerline is valid? [True, True] Translation: X:69.31, Y:-2.45, Z:-2.57 [[ 9.98246743e-01 4.93269078e-02 3.27153678e-02 6.93056280e+01] [-4.92802939e-02 9.98782498e-01 -2.23012450e-03 -2.44729504e+00] [-3.27855419e-02 6.13991585e-04 9.99462221e-01 -2.56674576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990385723 meters 0.02037951858273869 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.45, Z:-2.57 [[ 9.98024311e-01 5.28479001e-02 3.39790280e-02 6.93642551e+01] [-5.27997395e-02 9.98602440e-01 -2.31373139e-03 -2.44700878e+00] [-3.40538161e-02 5.15076346e-04 9.99419868e-01 -2.56871151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05038572299999 meters 0.018545758287066845 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.45, Z:-2.57 [[ 9.98042021e-01 5.22522768e-02 3.43776774e-02 6.94237537e+01] [-5.22027111e-02 9.98633771e-01 -2.33840637e-03 -2.44632743e+00] [-3.44528967e-02 5.39219858e-04 9.99406177e-01 -2.56595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110385723 meters 0.020084884246833426 Centerline is valid? [True, True] Translation: X:69.48, Y:-2.45, Z:-2.57 [[ 9.98065160e-01 5.15921802e-02 3.47013504e-02 6.94806266e+01] [-5.15413646e-02 9.98668077e-01 -2.35792461e-03 -2.45253953e+00] [-3.47767814e-02 5.64807447e-04 9.99394945e-01 -2.57193746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170385723 meters 0.019816409327260705 Centerline is valid? [True, True] Translation: X:69.54, Y:-2.46, Z:-2.57 [[ 9.98182458e-01 4.81966552e-02 3.61782151e-02 6.95387014e+01] [-4.81393119e-02 9.98837614e-01 -2.45494230e-03 -2.45806266e+00] [-3.62544820e-02 7.08885960e-04 9.99342339e-01 -2.57070286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230385723 meters 0.020183232223774945 Centerline is valid? [True, True] Translation: X:69.60, Y:-2.46, Z:-2.57 [[ 9.98421249e-01 4.41134963e-02 3.47708056e-02 6.95984289e+01] [-4.40581587e-02 9.99026189e-01 -2.35646659e-03 -2.46161087e+00] [-3.48408974e-02 8.20808648e-04 9.99392535e-01 -2.57224256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290385723 meters 0.020539160777255493 Centerline is valid? [True, True] Translation: X:69.66, Y:-2.47, Z:-2.58 [[ 9.98467811e-01 4.31800425e-02 3.46051241e-02 6.96571055e+01] [-4.31247120e-02 9.99066947e-01 -2.34406017e-03 -2.46695558e+00] [-3.46740523e-02 8.48132623e-04 9.99398314e-01 -2.57602553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350385723 meters 0.022395811949678046 Centerline is valid? [True, True] Translation: X:69.72, Y:-2.47, Z:-2.58 [[ 9.98527930e-01 4.32489885e-02 3.27337311e-02 6.97152929e+01] [-4.31995916e-02 9.99064006e-01 -2.21511467e-03 -2.47299684e+00] [-3.27988940e-02 7.97770059e-04 9.99461653e-01 -2.58459993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41038572299999 meters 0.022133240318200867 Centerline is valid? [True, True] Translation: X:69.77, Y:-2.47, Z:-2.59 [[ 9.98541033e-01 4.47096463e-02 3.02795780e-02 6.97745711e+01] [-4.46681108e-02 9.98999784e-01 -2.04710773e-03 -2.47282925e+00] [-3.03408174e-02 6.91589520e-04 9.99539372e-01 -2.58713751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47038572299999 meters 0.021337197248692204 Centerline is valid? [True, True] Translation: X:69.83, Y:-2.47, Z:-2.59 [[ 9.98262768e-01 4.93229084e-02 3.22288075e-02 6.98327140e+01] [-4.92783307e-02 9.98782714e-01 -2.17648515e-03 -2.47225861e+00] [-3.22969264e-02 5.84522258e-04 9.99478147e-01 -2.58617538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530385723 meters 0.019845848082328147 Centerline is valid? [True, True] Translation: X:69.89, Y:-2.47, Z:-2.59 [[ 9.97791056e-01 5.62524696e-02 3.53365031e-02 6.98913608e+01] [-5.62033393e-02 9.98416499e-01 -2.38293365e-03 -2.47435495e+00] [-3.54145937e-02 3.91640404e-04 9.99372630e-01 -2.58595839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590385723 meters 0.01904574924610731 Centerline is valid? [True, True] Translation: X:69.95, Y:-2.47, Z:-2.59 [[ 9.97532511e-01 6.05728924e-02 3.54938582e-02 6.99498084e+01] [-6.05261446e-02 9.98163748e-01 -2.39107007e-03 -2.47406179e+00] [-3.55735165e-02 2.36863736e-04 9.99367034e-01 -2.58564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650385723 meters 0.018529410132358 Centerline is valid? [True, True] Translation: X:70.01, Y:-2.48, Z:-2.59 [[ 9.97439803e-01 6.22373994e-02 3.52185252e-02 7.00083050e+01] [-6.21924956e-02 9.98061359e-01 -2.37014013e-03 -2.47811457e+00] [-3.52977605e-02 1.73744131e-04 9.99376825e-01 -2.58803697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710385723 meters 0.019467857680627636 Centerline is valid? [True, True] Translation: X:70.07, Y:-2.49, Z:-2.59 [[ 9.97429084e-01 6.33008066e-02 3.35891417e-02 7.00655694e+01] [-6.32606387e-02 9.97994485e-01 -2.25831807e-03 -2.48675750e+00] [-3.36647316e-02 1.27641567e-04 9.99433174e-01 -2.59351554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77038572299999 meters 0.019715135788055057 Centerline is valid? [True, True] Translation: X:70.12, Y:-2.49, Z:-2.59 [[ 9.97443894e-01 6.31068074e-02 3.35143162e-02 7.01219160e+01] [-6.30668247e-02 9.98006770e-01 -2.24984081e-03 -2.49180132e+00] [-3.35894947e-02 1.30448476e-04 9.99435705e-01 -2.59489295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83038572299999 meters 0.019769259411951044 Centerline is valid? [True, True] Translation: X:70.18, Y:-2.50, Z:-2.60 [[ 9.97423684e-01 6.34158560e-02 3.35324422e-02 7.01792392e+01] [-6.33761415e-02 9.97987182e-01 -2.24698809e-03 -2.49837898e+00] [-3.36074422e-02 1.16042337e-04 9.99435104e-01 -2.59759909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890385723 meters 0.019864156613404207 Centerline is valid? [True, True] Translation: X:70.24, Y:-2.51, Z:-2.60 [[ 9.97538555e-01 6.26042294e-02 3.15838801e-02 7.02376460e+01] [-6.25686896e-02 9.98038423e-01 -2.11329811e-03 -2.50675248e+00] [-3.16542273e-02 1.31934350e-04 9.99498871e-01 -2.60073997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950385723 meters 0.01911795020030535 Centerline is valid? [True, True] Translation: X:70.30, Y:-2.51, Z:-2.60 [[ 9.97650603e-01 5.98613981e-02 3.33149830e-02 7.02957211e+01] [-5.98204072e-02 9.98206672e-01 -2.22667740e-03 -2.51441902e+00] [-3.33885303e-02 2.28530205e-04 9.99442421e-01 -2.59841481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010385723 meters 0.020031125162006728 Centerline is valid? [True, True] Translation: X:70.35, Y:-2.52, Z:-2.60 [[ 9.97717734e-01 5.82339031e-02 3.41780107e-02 7.03538221e+01] [-5.81898900e-02 9.98302925e-01 -2.28189600e-03 -2.52337315e+00] [-3.42528918e-02 2.87873427e-04 9.99413156e-01 -2.60110123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070385723 meters 0.02061337685403103 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.53, Z:-2.60 [[ 9.97747393e-01 5.77685423e-02 3.41018323e-02 7.04122998e+01] [-5.77245356e-02 9.98329958e-01 -2.27440969e-03 -2.53120716e+00] [-3.41762702e-02 3.00773910e-04 9.99415775e-01 -2.60496241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13038572299999 meters 0.020212453666479523 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.54, Z:-2.61 [[ 9.97672451e-01 5.86458035e-02 3.47900811e-02 7.04705128e+01] [-5.86006220e-02 9.98278816e-01 -2.31781661e-03 -2.53596582e+00] [-3.48661312e-02 2.73701388e-04 9.99391954e-01 -2.60557469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19038572299999 meters 0.01989631719213652 Centerline is valid? [True, True] Translation: X:70.53, Y:-2.54, Z:-2.61 [[ 9.97618230e-01 6.00643781e-02 3.39136697e-02 7.05291186e+01] [-6.00223428e-02 9.98194482e-01 -2.25712294e-03 -2.54361873e+00] [-3.39880107e-02 2.16169081e-04 9.99422217e-01 -2.60705722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250385723 meters 0.020301293198956873 Centerline is valid? [True, True] Translation: X:70.59, Y:-2.55, Z:-2.61 [[ 9.97587767e-01 6.15367523e-02 3.21228154e-02 7.05854729e+01] [-6.14998652e-02 9.98104806e-01 -2.13601932e-03 -2.55148046e+00] [-3.21933802e-02 1.55317925e-04 9.99481647e-01 -2.61072511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310385723 meters 0.019824993314897794 Centerline is valid? [True, True] Translation: X:70.64, Y:-2.56, Z:-2.61 [[ 9.97486646e-01 6.36800129e-02 3.10684376e-02 7.06428721e+01] [-6.36466614e-02 9.97970365e-01 -2.06225075e-03 -2.55574424e+00] [-3.11367042e-02 7.96652519e-05 9.99515132e-01 -2.61186984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370385723 meters 0.01975764660885958 Centerline is valid? [True, True] Translation: X:70.70, Y:-2.56, Z:-2.61 [[ 9.97142713e-01 6.84131307e-02 3.20320619e-02 7.07009250e+01] [-6.83802362e-02 9.97657074e-01 -2.12254602e-03 -2.56336738e+00] [-3.21022232e-02 -7.38786575e-05 9.99484588e-01 -2.61418642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430385723 meters 0.02005481243960895 Centerline is valid? [True, True] Translation: X:70.76, Y:-2.57, Z:-2.61 [[ 9.96862272e-01 7.20698572e-02 3.27344852e-02 7.07591147e+01] [-7.20375516e-02 9.97399567e-01 -2.16673564e-03 -2.56880841e+00] [-3.28055177e-02 -1.98175157e-04 9.99461735e-01 -2.61393576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490385723 meters 0.019517996441119036 Centerline is valid? [True, True] Translation: X:70.82, Y:-2.58, Z:-2.62 [[ 9.96871406e-01 7.20566085e-02 3.24845509e-02 7.08158011e+01] [-7.20248484e-02 9.97400524e-01 -2.14832037e-03 -2.57762598e+00] [-3.25549087e-02 -1.98095703e-04 9.99469929e-01 -2.61596145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55038572299999 meters 0.020015869143841073 Centerline is valid? [True, True] Translation: X:70.87, Y:-2.59, Z:-2.62 [[ 9.96870063e-01 7.09807643e-02 3.48110400e-02 7.08740087e+01] [-7.09438902e-02 9.97477668e-01 -2.29487225e-03 -2.59366774e+00] [-3.48861268e-02 -1.81941161e-04 9.99391277e-01 -2.61986230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610385723 meters 0.019415107985955336 Centerline is valid? [True, True] Translation: X:70.93, Y:-2.60, Z:-2.62 [[ 9.96728865e-01 7.25558374e-02 3.55980326e-02 7.09319401e+01] [-7.25183741e-02 9.97364322e-01 -2.34414056e-03 -2.60053260e+00] [-3.56742887e-02 -2.45038886e-04 9.99363440e-01 -2.61846024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670385723 meters 0.019509016570223726 Centerline is valid? [True, True] Translation: X:70.99, Y:-2.61, Z:-2.62 [[ 9.96483422e-01 7.59062301e-02 3.54828576e-02 7.09898307e+01] [-7.58712433e-02 9.97114893e-01 -2.33341876e-03 -2.61064901e+00] [-3.55576068e-02 -3.66915407e-04 9.99367561e-01 -2.61970333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730385723 meters 0.020966057106586427 Centerline is valid? [True, True] Translation: X:71.05, Y:-2.63, Z:-2.63 [[ 9.96386889e-01 7.71414625e-02 3.55297389e-02 7.10467408e+01] [-7.71072574e-02 9.97020072e-01 -2.33399287e-03 -2.62782687e+00] [-3.56039104e-02 -4.14040831e-04 9.99365894e-01 -2.62725384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790385723 meters 0.018794027624508457 Centerline is valid? [True, True] Translation: X:71.10, Y:-2.64, Z:-2.62 [[ 9.96430720e-01 7.65187421e-02 3.56469090e-02 7.11045318e+01] [-7.64840769e-02 9.97068064e-01 -2.33709576e-03 -2.64230868e+00] [-3.57212262e-02 -3.97666923e-04 9.99361714e-01 -2.62336101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850385723 meters 0.01898700395939201 Centerline is valid? [True, True] Translation: X:71.16, Y:-2.66, Z:-2.63 [[ 9.96720909e-01 7.30759960e-02 3.47466297e-02 7.11618642e+01] [-7.30410507e-02 9.97326339e-01 -2.27570336e-03 -2.66174111e+00] [-3.48200282e-02 -2.69689214e-04 9.99393563e-01 -2.62968128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91038572299999 meters 0.02003967235293445 Centerline is valid? [True, True] Translation: X:71.22, Y:-2.68, Z:-2.63 [[ 9.96888473e-01 6.95739733e-02 3.70517842e-02 7.12185891e+01] [-6.95319204e-02 9.97576782e-01 -2.42391967e-03 -2.68274595e+00] [-3.71306413e-02 -1.59904130e-04 9.99310407e-01 -2.63346926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97038572299999 meters 0.019412462361012094 Centerline is valid? [True, True] Translation: X:71.28, Y:-2.69, Z:-2.63 [[ 9.96945924e-01 6.84870405e-02 3.75279856e-02 7.12772051e+01] [-6.84432509e-02 9.97651998e-01 -2.45184364e-03 -2.69479763e+00] [-3.76077894e-02 -1.24181817e-04 9.99292569e-01 -2.63308427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030385723 meters 0.019337642010817717 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.71, Z:-2.63 [[ 9.96473936e-01 7.35511543e-02 4.03723066e-02 7.13338410e+01] [-7.35047529e-02 9.97291387e-01 -2.63453510e-03 -2.70727019e+00] [-4.04567268e-02 -3.42310860e-04 9.99181233e-01 -2.63181580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090385723 meters 0.01938458123047247 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.72, Z:-2.63 [[ 9.95716810e-01 8.36422958e-02 3.93954295e-02 7.13926593e+01] [-8.36061182e-02 9.96495571e-01 -2.56780954e-03 -2.72204974e+00] [-3.94721485e-02 -7.36887805e-04 9.99220399e-01 -2.63336906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150385723 meters 0.020719082480414593 Centerline is valid? [True, True] Translation: X:71.45, Y:-2.73, Z:-2.63 [[ 9.95139038e-01 8.97865285e-02 4.04558296e-02 7.14504780e+01] [-8.97535112e-02 9.95960522e-01 -2.63534397e-03 -2.73153111e+00] [-4.05290276e-02 -1.00851910e-03 9.99177852e-01 -2.63359777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210385723 meters 0.020556549342060377 Centerline is valid? [True, True] Translation: X:71.51, Y:-2.75, Z:-2.63 [[ 9.94576131e-01 9.37824279e-02 4.49797333e-02 7.15089237e+01] [-9.37458466e-02 9.95591860e-01 -2.92666032e-03 -2.74729651e+00] [-4.50559256e-02 -1.30587668e-03 9.98983613e-01 -2.63364399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27038572299999 meters 0.020842386575727602 Centerline is valid? [True, True] Translation: X:71.57, Y:-2.77, Z:-2.64 [[ 9.94399928e-01 9.54465360e-02 4.53733627e-02 7.15664307e+01] [-9.54111926e-02 9.95433578e-01 -2.94895019e-03 -2.76534045e+00] [-4.54476358e-02 -1.39669079e-03 9.98965746e-01 -2.63587765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33038572299999 meters 0.020981709656362865 Centerline is valid? [True, True] Translation: X:71.62, Y:-2.79, Z:-2.64 [[ 9.94639910e-01 9.41826554e-02 4.26740760e-02 7.16229528e+01] [-9.41503458e-02 9.95554135e-01 -2.77078167e-03 -2.79254617e+00] [-4.27453124e-02 -1.26184898e-03 9.99085205e-01 -2.63948422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390385723 meters 0.020526318391195474 Centerline is valid? [True, True] Translation: X:71.68, Y:-2.82, Z:-2.64 [[ 9.94875786e-01 9.17221775e-02 4.25348482e-02 7.16809043e+01] [-9.16879212e-02 9.95783967e-01 -2.75964754e-03 -2.81925005e+00] [-4.26086408e-02 -1.15442530e-03 9.99091173e-01 -2.64225920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450385723 meters 0.020701344926249157 Centerline is valid? [True, True] Translation: X:71.74, Y:-2.84, Z:-2.64 [[ 9.94847662e-01 9.11651820e-02 4.43513038e-02 7.17392394e+01] [-9.11274551e-02 9.95835085e-01 -2.87592511e-03 -2.83763371e+00] [-4.44287686e-02 -1.18051407e-03 9.99011857e-01 -2.64314111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510385723 meters 0.02081710602296405 Centerline is valid? [True, True] Translation: X:71.80, Y:-2.87, Z:-2.64 [[ 9.94883596e-01 9.06778759e-02 4.45438383e-02 7.17990055e+01] [-9.06393749e-02 9.95879594e-01 -2.88747083e-03 -2.86525966e+00] [-4.46221294e-02 -1.16472830e-03 9.99003258e-01 -2.64404216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570385723 meters 0.021856583151198174 Centerline is valid? [True, True] Translation: X:71.86, Y:-2.89, Z:-2.64 [[ 9.94515240e-01 9.33561167e-02 4.71600734e-02 7.18587386e+01] [-9.33157937e-02 9.95631857e-01 -3.06074128e-03 -2.88925619e+00] [-4.72398104e-02 -1.35682583e-03 9.98882655e-01 -2.64249836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63038572299999 meters 0.02410038437928646 Centerline is valid? [True, True] Translation: X:71.92, Y:-2.91, Z:-2.64 [[ 9.94063626e-01 9.83968589e-02 4.64280661e-02 7.19175013e+01] [-9.83628899e-02 9.95146026e-01 -3.02127925e-03 -2.91409254e+00] [-4.64999899e-02 -1.56345494e-03 9.98917067e-01 -2.64306416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69038572299999 meters 0.021493584408034287 Centerline is valid? [True, True] Translation: X:71.98, Y:-2.95, Z:-2.65 [[ 9.93479248e-01 1.03494565e-01 4.78315753e-02 7.19762261e+01] [-1.03464321e-01 9.94628290e-01 -3.11439412e-03 -2.95007299e+00] [-4.78969608e-02 -1.85477554e-03 9.98850560e-01 -2.64632582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750385723 meters 0.022536097791174988 Centerline is valid? [True, True] Translation: X:72.04, Y:-2.97, Z:-2.65 [[ 9.93136004e-01 1.06279969e-01 4.88410256e-02 7.20365373e+01] [-1.06251619e-01 9.94334178e-01 -3.18373332e-03 -2.97072227e+00] [-4.89026681e-02 -2.02755787e-03 9.98801491e-01 -2.64654863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810385723 meters 0.023431249316450374 Centerline is valid? [True, True] Translation: X:72.10, Y:-3.00, Z:-2.65 [[ 9.93178018e-01 1.06891712e-01 4.66002757e-02 7.20953736e+01] [-1.06866093e-01 9.94268751e-01 -3.04793362e-03 -3.00217057e+00] [-4.66589967e-02 -1.95284871e-03 9.98908967e-01 -2.64925803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870385723 meters 0.022285204692321182 Centerline is valid? [True, True] Translation: X:72.15, Y:-3.04, Z:-2.65 [[ 9.93965877e-01 9.97789221e-02 4.55631654e-02 7.21540219e+01] [-9.97466038e-02 9.95008385e-01 -2.98802033e-03 -3.03752620e+00] [-4.56338731e-02 -1.57478075e-03 9.98956991e-01 -2.65020213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930385723 meters 0.019437643348106253 Centerline is valid? [True, True] Translation: X:72.21, Y:-3.07, Z:-2.65 [[ 9.94689416e-01 9.20149372e-02 4.61109266e-02 7.22135995e+01] [-9.19734913e-02 9.95756864e-01 -3.02416329e-03 -3.06584054e+00] [-4.61935398e-02 -1.23287968e-03 9.98931748e-01 -2.65224792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990385723 meters 0.01851042080578902 Centerline is valid? [True, True] Translation: X:72.27, Y:-3.09, Z:-2.65 [[ 9.95647793e-01 8.08240224e-02 4.63998804e-02 7.22714048e+01] [-8.07698741e-02 9.96728129e-01 -3.04375080e-03 -3.09411981e+00] [-4.64940742e-02 -7.17208727e-04 9.98918308e-01 -2.65392777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05038572299999 meters 0.0178099316458838 Centerline is valid? [True, True] Translation: X:72.33, Y:-3.12, Z:-2.66 [[ 9.96184200e-01 7.33849378e-02 4.72407821e-02 7.23319933e+01] [-7.33203141e-02 9.97303620e-01 -3.10167904e-03 -3.12235200e+00] [-4.73410196e-02 -3.73865335e-04 9.98878715e-01 -2.65676839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110385723 meters 0.017823440062707974 Centerline is valid? [True, True] Translation: X:72.39, Y:-3.14, Z:-2.66 [[ 9.96365810e-01 7.10965872e-02 4.69089392e-02 7.23919372e+01] [-7.10298469e-02 9.97469404e-01 -3.09023311e-03 -3.14104912e+00] [-4.70099367e-02 -2.52932153e-04 9.98894390e-01 -2.65830935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170385723 meters 0.018024459313580817 Centerline is valid? [True, True] Translation: X:72.45, Y:-3.15, Z:-2.66 [[ 9.96284841e-01 7.31515254e-02 4.54463369e-02 7.24540982e+01] [-7.30906795e-02 9.97320783e-01 -3.00135450e-03 -3.15360295e+00] [-4.55441300e-02 -3.31499655e-04 9.98962273e-01 -2.66248847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230385723 meters 0.018363387213760917 Centerline is valid? [True, True] Translation: X:72.52, Y:-3.17, Z:-2.66 [[ 9.95885702e-01 7.69980942e-02 4.77803428e-02 7.25152561e+01] [-7.69346162e-02 9.97031104e-01 -3.16888775e-03 -3.17045382e+00] [-4.78824862e-02 -5.20112335e-04 9.98852841e-01 -2.66358588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290385723 meters 0.01875976447808753 Centerline is valid? [True, True] Translation: X:72.58, Y:-3.19, Z:-2.66 [[ 9.95465753e-01 7.95217142e-02 5.21941810e-02 7.25763927e+01] [-7.94488536e-02 9.96832895e-01 -3.47256770e-03 -3.18583994e+00] [-5.23050211e-02 -6.89945626e-04 9.98630917e-01 -2.66130097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350385723 meters 0.019532013154498293 Centerline is valid? [True, True] Translation: X:72.64, Y:-3.20, Z:-2.66 [[ 9.95274956e-01 8.00170882e-02 5.50002452e-02 7.26370738e+01] [-7.99365444e-02 9.96793212e-01 -3.66633860e-03 -3.19563898e+00] [-5.51172408e-02 -7.47514555e-04 9.98479610e-01 -2.66090350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41038572299999 meters 0.019944625710252382 Centerline is valid? [True, True] Translation: X:72.70, Y:-3.22, Z:-2.66 [[ 9.95199035e-01 7.95470345e-02 5.70188502e-02 7.26982101e+01] [-7.94589111e-02 9.96830843e-01 -3.81462985e-03 -3.21506251e+00] [-5.71415911e-02 -7.34339804e-04 9.98365814e-01 -2.66256744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47038572299999 meters 0.020425616202182407 Centerline is valid? [True, True] Translation: X:72.76, Y:-3.22, Z:-2.66 [[ 9.95091881e-01 7.93048810e-02 5.91851658e-02 7.27587031e+01] [-7.92087795e-02 9.96850136e-01 -3.97173891e-03 -3.22373977e+00] [-5.93137189e-02 -7.35739607e-04 9.98239120e-01 -2.66270010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530385723 meters 0.020800467038410313 Centerline is valid? [True, True] Translation: X:72.82, Y:-3.24, Z:-2.66 [[ 9.94456121e-01 8.04628152e-02 6.76960760e-02 7.28191025e+01] [-8.03393695e-02 9.96757191e-01 -4.54844555e-03 -3.23776461e+00] [-6.78425313e-02 -9.15430549e-04 9.97695621e-01 -2.65950723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590385723 meters 0.021629480452494996 Centerline is valid? [True, True] Translation: X:72.88, Y:-3.25, Z:-2.66 [[ 9.93764937e-01 8.29836796e-02 7.44644870e-02 7.28794472e+01] [-8.28412992e-02 9.96550189e-01 -5.00403852e-03 -3.25123525e+00] [-7.46228521e-02 -1.19589682e-03 9.97211111e-01 -2.65762123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650385723 meters 0.02496183986969482 Centerline is valid? [True, True] Translation: X:72.94, Y:-3.27, Z:-2.65 [[ 9.92666569e-01 8.75177640e-02 8.33889931e-02 7.29384121e+01] [-8.73549235e-02 9.96161476e-01 -5.60640871e-03 -3.26692009e+00] [-8.35595627e-02 -1.71914461e-03 9.96501302e-01 -2.65075067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710385723 meters 0.02496302925885767 Centerline is valid? [True, True] Translation: X:73.00, Y:-3.28, Z:-2.65 [[ 9.92058832e-01 8.86683631e-02 8.92031132e-02 7.29984124e+01] [-8.84863795e-02 9.96059313e-01 -6.00040337e-03 -3.28083941e+00] [-8.93836377e-02 -1.94050736e-03 9.95995381e-01 -2.65455704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77038572299999 meters 0.026880012119605407 Centerline is valid? [True, True] Translation: X:73.06, Y:-3.30, Z:-2.65 [[ 9.91277293e-01 8.81698354e-02 9.79561608e-02 7.30568835e+01] [-8.79476298e-02 9.96103285e-01 -6.59248264e-03 -3.30221462e+00] [-9.81557116e-02 -2.08003382e-03 9.95168895e-01 -2.65021683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83038572299999 meters 0.026721741229508923 Centerline is valid? [True, True] Translation: X:73.12, Y:-3.33, Z:-2.65 [[ 9.90783169e-01 8.75468421e-02 1.03364705e-01 7.31160967e+01] [-8.72958384e-02 9.96158129e-01 -6.95838055e-03 -3.32604279e+00] [-1.03576776e-01 -2.12906229e-03 9.94619183e-01 -2.65169478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890385723 meters 0.026246800368807468 Centerline is valid? [True, True] Translation: X:73.18, Y:-3.35, Z:-2.66 [[ 9.90145410e-01 8.85658301e-02 1.08481155e-01 7.31762338e+01] [-8.82951891e-02 9.96067565e-01 -7.30518183e-03 -3.34613707e+00] [-1.08701550e-01 -2.34517185e-03 9.94071664e-01 -2.65652250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950385723 meters 0.026975140593733876 Centerline is valid? [True, True] Translation: X:73.24, Y:-3.36, Z:-2.66 [[ 9.89825207e-01 8.93129798e-02 1.10766653e-01 7.32357699e+01] [-8.90350244e-02 9.96000535e-01 -7.46311534e-03 -3.36432099e+00] [-1.10990199e-01 -2.47493195e-03 9.93818419e-01 -2.66124202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010385723 meters 0.027404732767605796 Centerline is valid? [True, True] Translation: X:73.30, Y:-3.38, Z:-2.67 [[ 9.89687422e-01 8.95469377e-02 1.11804081e-01 7.32964947e+01] [-8.92640378e-02 9.95979430e-01 -7.54366524e-03 -3.37780014e+00] [-1.12030077e-01 -2.51421311e-03 9.93701636e-01 -2.66529346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070385723 meters 0.026964051817903657 Centerline is valid? [True, True] Translation: X:73.36, Y:-3.40, Z:-2.67 [[ 9.89866455e-01 8.80776902e-02 1.11385462e-01 7.33572501e+01] [-8.77850180e-02 9.96110917e-01 -7.53872204e-03 -3.39814221e+00] [-1.11616268e-01 -2.31564673e-03 9.93748684e-01 -2.67310821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13038572299999 meters 0.02839703383587575 Centerline is valid? [True, True] Translation: X:73.42, Y:-3.41, Z:-2.67 [[ 9.90327109e-01 8.57590555e-02 1.09076123e-01 7.34160227e+01] [-8.54635506e-02 9.96313891e-01 -7.38995158e-03 -3.40959751e+00] [-1.09307812e-01 -2.00356337e-03 9.94005930e-01 -2.67476109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19038572299999 meters 0.025781914218654688 Centerline is valid? [True, True] Translation: X:73.48, Y:-3.43, Z:-2.69 [[ 9.91308747e-01 8.21034933e-02 1.02790978e-01 7.34752751e+01] [-8.18214325e-02 9.96622670e-01 -6.96462895e-03 -3.42566715e+00] [-1.03015640e-01 -1.50640751e-03 9.94678596e-01 -2.69091256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250385723 meters 0.024674338436018826 Centerline is valid? [True, True] Translation: X:73.54, Y:-3.44, Z:-2.70 [[ 9.92199689e-01 7.76754116e-02 9.75002974e-02 7.35353085e+01] [-7.74001570e-02 9.96978209e-01 -6.60799172e-03 -3.44018817e+00] [-9.77189504e-02 -9.90090991e-04 9.95213558e-01 -2.69996228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310385723 meters 0.02224705246439182 Centerline is valid? [True, True] Translation: X:73.59, Y:-3.45, Z:-2.72 [[ 9.93463996e-01 7.00166970e-02 9.01496011e-02 7.35942939e+01] [-6.97498057e-02 9.97545796e-01 -6.11140851e-03 -3.45483237e+00] [-9.03562562e-02 -2.16452840e-04 9.95909484e-01 -2.71538584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370385723 meters 0.021877870587040292 Centerline is valid? [True, True] Translation: X:73.65, Y:-3.46, Z:-2.73 [[ 9.94150640e-01 6.83633359e-02 8.36119530e-02 7.36539518e+01] [-6.81278965e-02 9.97660489e-01 -5.66913231e-03 -3.45719524e+00] [-8.38039027e-02 -6.03349646e-05 9.96482264e-01 -2.72695468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430385723 meters 0.020510658263675638 Centerline is valid? [True, True] Translation: X:73.71, Y:-3.46, Z:-2.74 [[ 9.94492612e-01 7.12977754e-02 7.68184337e-02 7.37145836e+01] [-7.11077269e-02 9.97455036e-01 -5.20989636e-03 -3.46110195e+00] [-7.69943875e-02 -2.81180764e-04 9.97031487e-01 -2.74113047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490385723 meters 0.020297076042530685 Centerline is valid? [True, True] Translation: X:73.78, Y:-3.46, Z:-2.75 [[ 9.94538053e-01 7.59213732e-02 7.16240654e-02 7.37755858e+01] [-7.57680432e-02 9.97113630e-01 -4.85917659e-03 -3.46071844e+00] [-7.17862472e-02 -5.94179260e-04 9.97419862e-01 -2.75089412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55038572299999 meters 0.020967900992745696 Centerline is valid? [True, True] Translation: X:73.83, Y:-3.46, Z:-2.77 [[ 9.94516337e-01 8.78064911e-02 5.68091168e-02 7.38349334e+01] [-8.77293909e-02 9.96136886e-01 -3.85452561e-03 -3.45621535e+00] [-5.69281091e-02 -1.15044053e-03 9.98377617e-01 -2.76708489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610385723 meters 0.022715038092960417 Centerline is valid? [True, True] Translation: X:73.90, Y:-3.45, Z:-2.78 [[ 9.94108927e-01 9.74340645e-02 4.74767798e-02 7.38963169e+01] [-9.73911138e-02 9.95240969e-01 -3.22256724e-03 -3.45363107e+00] [-4.75648242e-02 -1.42023360e-03 9.98867144e-01 -2.78170111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670385723 meters 0.024398786958289086 Centerline is valid? [True, True] Translation: X:73.96, Y:-3.46, Z:-2.79 [[ 9.93935991e-01 1.01324869e-01 4.27143673e-02 7.39565836e+01] [-1.01293490e-01 9.94852349e-01 -2.90391161e-03 -3.45619949e+00] [-4.27887271e-02 -1.44038507e-03 9.99083105e-01 -2.79154657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730385723 meters 0.024963475267769056 Centerline is valid? [True, True] Translation: X:74.02, Y:-3.46, Z:-2.80 [[ 9.93710554e-01 1.04726656e-01 3.96441985e-02 7.40180287e+01] [-1.04702157e-01 9.94499960e-01 -2.69943261e-03 -3.46239148e+00] [-3.97088564e-02 -1.46837842e-03 9.99210213e-01 -2.80008192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790385723 meters 0.024507574140539695 Centerline is valid? [True, True] Translation: X:74.08, Y:-3.47, Z:-2.81 [[ 9.93702703e-01 1.05766942e-01 3.69904248e-02 7.40792064e+01] [-1.05746237e-01 9.94389952e-01 -2.52127106e-03 -3.47075320e+00] [-3.70495739e-02 -1.40620437e-03 9.99312439e-01 -2.80635876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850385723 meters 0.023946747357592738 Centerline is valid? [True, True] Translation: X:74.14, Y:-3.49, Z:-2.82 [[ 9.93791270e-01 1.07510667e-01 2.86420666e-02 7.41396159e+01] [-1.07498829e-01 9.94203284e-01 -1.95730044e-03 -3.48861560e+00] [-2.86864673e-02 -1.13384052e-03 9.99587816e-01 -2.81597736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91038572299999 meters 0.024413344532575775 Centerline is valid? [True, True] Translation: X:74.20, Y:-3.50, Z:-2.82 [[ 9.93767045e-01 1.08580318e-01 2.52462887e-02 7.42005469e+01] [-1.08571342e-01 9.94087154e-01 -1.73005162e-03 -3.49817185e+00] [-2.52848608e-02 -1.02175516e-03 9.99679765e-01 -2.82109922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97038572299999 meters 0.02387829905322443 Centerline is valid? [True, True] Translation: X:74.26, Y:-3.51, Z:-2.83 [[ 9.93962511e-01 1.08230633e-01 1.80182167e-02 7.42612618e+01] [-1.08225972e-01 9.94125551e-01 -1.23645811e-03 -3.50888378e+00] [-1.80461923e-02 -7.21046007e-04 9.99836894e-01 -2.82884126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030385723 meters 0.024261509452195046 Centerline is valid? [True, True] Translation: X:74.32, Y:-3.52, Z:-2.84 [[ 9.94242386e-01 1.06429899e-01 1.24400121e-02 7.43216183e+01] [-1.06427531e-01 9.94320095e-01 -8.54050429e-04 -3.51994205e+00] [-1.24602505e-02 -4.74826636e-04 9.99922255e-01 -2.83601698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090385723 meters 0.02523317713108683 Centerline is valid? [True, True] Translation: X:74.38, Y:-3.53, Z:-2.84 [[ 9.94000286e-01 1.08806084e-01 1.11654556e-02 7.43817259e+01] [-1.08804250e-01 9.94062894e-01 -7.73401535e-04 -3.53098594e+00] [-1.11833159e-02 -4.46087678e-04 9.99937365e-01 -2.83885792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150385723 meters 0.02644497655709169 Centerline is valid? [True, True] Translation: X:74.44, Y:-3.54, Z:-2.84 [[ 9.93400284e-01 1.14097776e-01 1.17291965e-02 7.44421237e+01] [-1.14096117e-01 9.93469383e-01 -8.12677112e-04 -3.53864633e+00] [-1.17453223e-02 -5.30942102e-04 9.99930880e-01 -2.83852207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210385723 meters 0.02882790328609813 Centerline is valid? [True, True] Translation: X:74.50, Y:-3.54, Z:-2.84 [[ 9.92640534e-01 1.20670860e-01 1.01643854e-02 7.45032880e+01] [-1.20669961e-01 9.92692432e-01 -7.04006405e-04 -3.54402774e+00] [-1.01750616e-02 -5.27710696e-04 9.99948093e-01 -2.84007855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27038572299999 meters 0.030020690133060402 Centerline is valid? [True, True] Translation: X:74.56, Y:-3.55, Z:-2.84 [[ 9.92413146e-01 1.22694023e-01 7.89453942e-03 7.45644429e+01] [-1.22693545e-01 9.92444454e-01 -5.46674790e-04 -3.55003065e+00] [-7.90196560e-03 -4.26081780e-04 9.99968688e-01 -2.84146460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33038572299999 meters 0.028042199353649915 Centerline is valid? [True, True] Translation: X:74.63, Y:-3.56, Z:-2.84 [[ 9.92625144e-01 1.21079054e-01 5.93183826e-03 7.46267182e+01] [-1.21078773e-01 9.92642818e-01 -4.07683042e-04 -3.55573385e+00] [-5.93755853e-03 -3.13543262e-04 9.99982323e-01 -2.84449629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390385723 meters 0.02696841084703946 Centerline is valid? [True, True] Translation: X:74.69, Y:-3.56, Z:-2.85 [[ 9.93319314e-01 1.15385556e-01 1.70676598e-03 7.46872301e+01] [-1.15385524e-01 9.93320778e-01 -1.17487647e-04 -3.56446800e+00] [-1.70892249e-03 -8.02333384e-05 9.99998537e-01 -2.84922845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450385723 meters 0.025625511395552254 Centerline is valid? [True, True] Translation: X:74.75, Y:-3.57, Z:-2.85 [[ 9.94036706e-01 1.09038267e-01 1.29769333e-03 7.47474163e+01] [-1.09038242e-01 9.94037551e-01 -8.99897076e-05 -3.57425524e+00] [-1.29976822e-03 -5.20451270e-05 9.99999154e-01 -2.85141186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510385723 meters 0.022731289785685005 Centerline is valid? [True, True] Translation: X:74.81, Y:-3.58, Z:-2.85 [[ 9.94827736e-01 1.01093181e-01 9.89672560e-03 7.48078449e+01] [-1.01091330e-01 9.94876912e-01 -6.88331194e-04 -3.58354095e+00] [-9.91560939e-03 -3.15702195e-04 9.99950789e-01 -2.84648236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570385723 meters 0.020190131177996198 Centerline is valid? [True, True] Translation: X:74.87, Y:-3.59, Z:-2.84 [[ 9.95627672e-01 9.23615066e-02 1.39603171e-02 7.48682346e+01] [-9.23569583e-02 9.95725488e-01 -9.71535788e-04 -3.59456897e+00] [-1.39903761e-02 -3.22044510e-04 9.99902078e-01 -2.84326050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63038572299999 meters 0.018734876205847194 Centerline is valid? [True, True] Translation: X:74.93, Y:-3.61, Z:-2.84 [[ 9.96140775e-01 8.66438987e-02 1.40139396e-02 7.49290428e+01] [-8.66387595e-02 9.96239316e-01 -9.74553639e-04 -3.60686737e+00] [-1.40456767e-02 -2.43357723e-04 9.99901325e-01 -2.84225461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69038572299999 meters 0.018680647996218023 Centerline is valid? [True, True] Translation: X:74.99, Y:-3.62, Z:-2.84 [[ 9.96308983e-01 8.45790537e-02 1.46558693e-02 7.49894848e+01] [-8.45732598e-02 9.96416746e-01 -1.01577461e-03 -3.61686919e+00] [-1.46892669e-02 -2.27469278e-04 9.99892081e-01 -2.84364268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750385723 meters 0.02039108474858374 Centerline is valid? [True, True] Translation: X:75.05, Y:-3.62, Z:-2.85 [[ 9.95927050e-01 8.98000031e-02 8.07904905e-03 7.50501579e+01] [-8.97983802e-02 9.95959805e-01 -5.64140460e-04 -3.62394811e+00] [-8.09706793e-03 -1.63642775e-04 9.99967205e-01 -2.84952081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810385723 meters 0.02198066399864073 Centerline is valid? [True, True] Translation: X:75.11, Y:-3.63, Z:-2.85 [[ 9.95260716e-01 9.70927095e-02 5.39565910e-03 7.51105469e+01] [-9.70920929e-02 9.95275331e-01 -3.76715784e-04 -3.62735003e+00] [-5.40674275e-03 -1.48945414e-04 9.99985372e-01 -2.85193799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870385723 meters 0.025055168012364484 Centerline is valid? [True, True] Translation: X:75.17, Y:-3.62, Z:-2.85 [[ 9.94577699e-01 1.03774351e-01 6.78863491e-03 7.51706565e+01] [-1.03773528e-01 9.94600840e-01 -4.74324903e-04 -3.62349595e+00] [-6.80120474e-03 -2.32727623e-04 9.99976844e-01 -2.85325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930385723 meters 0.026356912479525343 Centerline is valid? [True, True] Translation: X:75.23, Y:-3.63, Z:-2.85 [[ 9.94027716e-01 1.08752576e-01 9.04304627e-03 7.52326769e+01] [-1.08751375e-01 9.94068784e-01 -6.25935752e-04 -3.62533240e+00] [-9.05748213e-03 -3.61246231e-04 9.99958915e-01 -2.85024821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990385723 meters 0.02751405575585771 Centerline is valid? [True, True] Translation: X:75.29, Y:-3.62, Z:-2.85 [[ 9.93297574e-01 1.14894989e-01 1.26123648e-02 7.52936105e+01] [-1.14893012e-01 9.93377479e-01 -8.83596590e-04 -3.62354943e+00] [-1.26303600e-02 -5.71398239e-04 9.99920071e-01 -2.84949245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05038572299999 meters 0.031602045532890734 Centerline is valid? [True, True] Translation: X:75.36, Y:-3.62, Z:-2.85 [[ 9.92289705e-01 1.22628756e-01 1.79813410e-02 7.53551877e+01] [-1.22625992e-01 9.92452154e-01 -1.26036444e-03 -3.61914675e+00] [-1.80001775e-02 -9.54333127e-04 9.99837528e-01 -2.84823606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110385723 meters 0.03270477176095817 Centerline is valid? [True, True] Translation: X:75.42, Y:-3.62, Z:-2.85 [[ 9.91763938e-01 1.26739970e-01 1.84735273e-02 7.54155691e+01] [-1.26737760e-01 9.91935413e-01 -1.29510037e-03 -3.62386846e+00] [-1.84886869e-02 -1.05685961e-03 9.99828511e-01 -2.84757403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170385723 meters 0.032187000040234046 Centerline is valid? [True, True] Translation: X:75.48, Y:-3.63, Z:-2.85 [[ 9.91387590e-01 1.29869968e-01 1.68652997e-02 7.54761430e+01] [-1.29868573e-01 9.91530512e-01 -1.18257061e-03 -3.63000112e+00] [-1.68760397e-02 -1.01788657e-03 9.99857071e-01 -2.84790127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230385723 meters 0.035351381867837275 Centerline is valid? [True, True] Translation: X:75.54, Y:-3.63, Z:-2.85 [[ 9.91224616e-01 1.31058288e-01 1.72477942e-02 7.55374368e+01] [-1.31057069e-01 9.91374092e-01 -1.20586048e-03 -3.62510316e+00] [-1.72570543e-02 -1.06516676e-03 9.99850519e-01 -2.85380213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290385723 meters 0.03635339138019699 Centerline is valid? [True, True] Translation: X:75.60, Y:-3.63, Z:-2.86 [[ 9.91391809e-01 1.29887993e-01 1.64739341e-02 7.55988354e+01] [-1.29886668e-01 9.91528174e-01 -1.15488655e-03 -3.62763843e+00] [-1.64843757e-02 -9.94799341e-04 9.99863629e-01 -2.85667739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350385723 meters 0.029131517034055802 Centerline is valid? [True, True] Translation: X:75.66, Y:-3.64, Z:-2.85 [[ 9.92120903e-01 1.23920098e-01 1.84370160e-02 7.56592171e+01] [-1.23917244e-01 9.92291702e-01 -1.30152793e-03 -3.64329356e+00] [-1.84561835e-02 -9.93391149e-04 9.99829177e-01 -2.85110033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41038572299999 meters 0.030042234126055885 Centerline is valid? [True, True] Translation: X:75.72, Y:-3.64, Z:-2.85 [[ 9.92671089e-01 1.18819453e-01 2.20464557e-02 7.57188028e+01] [-1.18814097e-01 9.92915296e-01 -1.55729306e-03 -3.64075546e+00] [-2.20752998e-02 -1.07354994e-03 9.99755734e-01 -2.85153395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47038572299999 meters 0.026384455746973477 Centerline is valid? [True, True] Translation: X:75.78, Y:-3.65, Z:-2.85 [[ 9.92785338e-01 1.17237364e-01 2.51529986e-02 7.57800525e+01] [-1.17229908e-01 9.93103215e-01 -1.77587118e-03 -3.64936477e+00] [-2.51877222e-02 -1.18562485e-03 9.99682036e-01 -2.84764390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530385723 meters 0.02737535254646087 Centerline is valid? [True, True] Translation: X:75.84, Y:-3.65, Z:-2.85 [[ 9.92675651e-01 1.17955528e-01 2.61064403e-02 7.58434973e+01] [-1.17947781e-01 9.93018091e-01 -1.84178231e-03 -3.64513918e+00] [-2.61414159e-02 -1.25090426e-03 9.99657472e-01 -2.85045729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590385723 meters 0.02857556912320645 Centerline is valid? [True, True] Translation: X:75.91, Y:-3.64, Z:-2.86 [[ 9.92504421e-01 1.19878137e-01 2.37530163e-02 7.59053275e+01] [-1.19872067e-01 9.92787918e-01 -1.68443690e-03 -3.64108243e+00] [-2.37836348e-02 -1.17551208e-03 9.99716438e-01 -2.85604213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650385723 meters 0.029254117654716243 Centerline is valid? [True, True] Translation: X:75.97, Y:-3.64, Z:-2.86 [[ 9.92432399e-01 1.20715502e-01 2.24878168e-02 7.59674161e+01] [-1.20710322e-01 9.92686497e-01 -1.59262217e-03 -3.64463050e+00] [-2.25156063e-02 -1.13394177e-03 9.99745849e-01 -2.85712233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710385723 meters 0.028011075393674038 Centerline is valid? [True, True] Translation: X:76.03, Y:-3.65, Z:-2.86 [[ 9.92599134e-01 1.18792318e-01 2.52060482e-02 7.60287790e+01] [-1.18784955e-01 9.92918382e-01 -1.79454656e-03 -3.64754234e+00] [-2.52407269e-02 -1.21283393e-03 9.99680666e-01 -2.85557478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77038572299999 meters 0.02629377416955005 Centerline is valid? [True, True] Translation: X:76.09, Y:-3.65, Z:-2.86 [[ 9.93128167e-01 1.14321887e-01 2.50389706e-02 7.60899564e+01] [-1.14313178e-01 9.93443162e-01 -1.78365089e-03 -3.65082134e+00] [-2.50787045e-02 -1.09089036e-03 9.99684885e-01 -2.85803175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83038572299999 meters 0.023504650534597007 Centerline is valid? [True, True] Translation: X:76.15, Y:-3.66, Z:-2.86 [[ 9.94095467e-01 1.05225948e-01 2.64896767e-02 7.61504132e+01] [-1.05212953e-01 9.94447923e-01 -1.88772566e-03 -3.66113799e+00] [-2.65412417e-02 -9.10477591e-04 9.99647305e-01 -2.85626337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890385723 meters 0.020734957988786065 Centerline is valid? [True, True] Translation: X:76.21, Y:-3.67, Z:-2.86 [[ 9.94772888e-01 9.80465718e-02 2.85266671e-02 7.62110183e+01] [-9.80285392e-02 9.95181527e-01 -2.03332106e-03 -3.66750993e+00] [-2.85885723e-02 -7.73734838e-04 9.99590964e-01 -2.85747240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950385723 meters 0.018688239075063694 Centerline is valid? [True, True] Translation: X:76.27, Y:-3.67, Z:-2.86 [[ 9.95538309e-01 8.84453471e-02 3.28769675e-02 7.62714205e+01] [-8.84161414e-02 9.96080866e-01 -2.34395090e-03 -3.67367660e+00] [-3.29554298e-02 -5.73361696e-04 9.99456658e-01 -2.85654288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010385723 meters 0.018020190388187703 Centerline is valid? [True, True] Translation: X:76.33, Y:-3.68, Z:-2.85 [[ 9.95953075e-01 8.24649451e-02 3.57351972e-02 7.63325482e+01] [-8.24265672e-02 9.96593883e-01 -2.54837786e-03 -3.68102291e+00] [-3.58236308e-02 -4.07464867e-04 9.99358045e-01 -2.85381209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070385723 meters 0.017935680969375645 Centerline is valid? [True, True] Translation: X:76.39, Y:-3.68, Z:-2.86 [[ 9.96028002e-01 8.16466390e-02 3.55252730e-02 7.63947637e+01] [-8.16081496e-02 9.96661269e-01 -2.53455087e-03 -3.68065235e+00] [-3.56136013e-02 -3.74668159e-04 9.99365564e-01 -2.85797481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13038572299999 meters 0.01782847724638592 Centerline is valid? [True, True] Translation: X:76.46, Y:-3.68, Z:-2.86 [[ 9.96069080e-01 8.20059303e-02 3.34875450e-02 7.64575632e+01] [-8.19716801e-02 9.96631777e-01 -2.39671584e-03 -3.67890930e+00] [-3.35712964e-02 -3.57735788e-04 9.99436261e-01 -2.86276470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19038572299999 meters 0.017956421246998547 Centerline is valid? [True, True] Translation: X:76.52, Y:-3.68, Z:-2.87 [[ 9.96188631e-01 8.25283529e-02 2.82361744e-02 7.65187663e+01] [-8.25040214e-02 9.96588669e-01 -2.02765352e-03 -3.67658879e+00] [-2.83071904e-02 -3.09672554e-04 9.99599223e-01 -2.86972190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250385723 meters 0.017950992340418487 Centerline is valid? [True, True] Translation: X:76.58, Y:-3.68, Z:-2.87 [[ 9.96168419e-01 8.30821656e-02 2.73099572e-02 7.65815758e+01] [-8.30594637e-02 9.96542652e-01 -1.96657171e-03 -3.67539987e+00] [-2.73789242e-02 -3.09313765e-04 9.99625079e-01 -2.87397407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310385723 meters 0.01812671463675178 Centerline is valid? [True, True] Translation: X:76.64, Y:-3.68, Z:-2.88 [[ 9.95929397e-01 8.52882210e-02 2.91642832e-02 7.66443179e+01] [-8.52630221e-02 9.96356247e-01 -2.10879932e-03 -3.67515587e+00] [-2.92378715e-02 -3.86419687e-04 9.99572407e-01 -2.87522761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370385723 meters 0.01943920684815703 Centerline is valid? [True, True] Translation: X:76.71, Y:-3.67, Z:-2.88 [[ 9.95319897e-01 9.20767686e-02 2.93286674e-02 7.67058528e+01] [-9.20539752e-02 9.95751742e-01 -2.12930138e-03 -3.67188219e+00] [-2.94001309e-02 -5.80484394e-04 9.99567554e-01 -2.87816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430385723 meters 0.021979995440952 Centerline is valid? [True, True] Translation: X:76.77, Y:-3.67, Z:-2.88 [[ 9.94454962e-01 1.01321969e-01 2.81635898e-02 7.67673241e+01] [-1.01304439e-01 9.94853355e-01 -2.05227055e-03 -3.66812240e+00] [-2.82265819e-02 -8.12206039e-04 9.99601221e-01 -2.88260118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490385723 meters 0.024849750631806857 Centerline is valid? [True, True] Translation: X:76.83, Y:-3.67, Z:-2.89 [[ 9.93767605e-01 1.07783562e-01 2.84367748e-02 7.68274066e+01] [-1.07768311e-01 9.94173875e-01 -2.07285783e-03 -3.66737086e+00] [-2.84945186e-02 -1.00464423e-03 9.99593444e-01 -2.88520419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55038572299999 meters 0.026487304347734802 Centerline is valid? [True, True] Translation: X:76.89, Y:-3.67, Z:-2.89 [[ 9.93496953e-01 1.10313051e-01 2.81928155e-02 7.68894358e+01] [-1.10299092e-01 9.93896317e-01 -2.05455685e-03 -3.67405745e+00] [-2.82473800e-02 -1.06844598e-03 9.99600392e-01 -2.88655787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610385723 meters 0.028552909946437766 Centerline is valid? [True, True] Translation: X:76.95, Y:-3.68, Z:-2.89 [[ 9.93089706e-01 1.14299727e-01 2.66159219e-02 7.69498950e+01] [-1.14288664e-01 9.93445686e-01 -1.94153157e-03 -3.68075692e+00] [-2.66633894e-02 -1.11378314e-03 9.99643848e-01 -2.89018328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670385723 meters 0.02636442441799639 Centerline is valid? [True, True] Translation: X:77.01, Y:-3.69, Z:-2.89 [[ 9.92860480e-01 1.16430331e-01 2.59238235e-02 7.70109352e+01] [-1.16420545e-01 9.93198207e-01 -1.89160044e-03 -3.69494079e+00] [-2.59677346e-02 -1.13997034e-03 9.99662132e-01 -2.89203860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730385723 meters 0.024697358008701018 Centerline is valid? [True, True] Translation: X:77.07, Y:-3.71, Z:-2.89 [[ 9.92910720e-01 1.15404364e-01 2.84628633e-02 7.70719209e+01] [-1.15392123e-01 9.93317845e-01 -2.07773865e-03 -3.71214289e+00] [-2.85124501e-02 -1.22138123e-03 9.99592691e-01 -2.88929813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790385723 meters 0.02770708224222652 Centerline is valid? [True, True] Translation: X:77.13, Y:-3.72, Z:-2.89 [[ 9.92918120e-01 1.14903371e-01 3.01798484e-02 7.71324183e+01] [-1.14889132e-01 9.93375859e-01 -2.21120513e-03 -3.71607343e+00] [-3.02340078e-02 -1.27179095e-03 9.99542039e-01 -2.89279487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850385723 meters 0.02608296031943884 Centerline is valid? [True, True] Translation: X:77.19, Y:-3.73, Z:-2.89 [[ 9.92879977e-01 1.14988011e-01 3.10983644e-02 7.71943520e+01] [-1.14972710e-01 9.93366021e-01 -2.28571150e-03 -3.72631370e+00] [-3.11548879e-02 -1.30602604e-03 9.99513715e-01 -2.89468374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91038572299999 meters 0.02642984006809658 Centerline is valid? [True, True] Translation: X:77.26, Y:-3.73, Z:-2.90 [[ 9.92787273e-01 1.15787401e-01 3.10919480e-02 7.72562269e+01] [-1.15772265e-01 9.93273138e-01 -2.29268109e-03 -3.73287178e+00] [-3.11482604e-02 -1.32344063e-03 9.99513899e-01 -2.89656578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97038572299999 meters 0.025153833393299223 Centerline is valid? [True, True] Translation: X:77.32, Y:-3.74, Z:-2.90 [[ 9.92745092e-01 1.16435192e-01 3.00004817e-02 7.73171388e+01] [-1.16421191e-01 9.93197454e-01 -2.21899486e-03 -3.74460783e+00] [-3.00547711e-02 -1.28979554e-03 9.99547421e-01 -2.89895350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030385723 meters 0.02404209838391073 Centerline is valid? [True, True] Translation: X:77.38, Y:-3.75, Z:-2.90 [[ 9.92955487e-01 1.14989247e-01 2.85809985e-02 7.73792458e+01] [-1.14975719e-01 9.93366036e-01 -2.12173877e-03 -3.75382827e+00] [-2.86353703e-02 -1.17932869e-03 9.99589228e-01 -2.90228199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090385723 meters 0.021293325233551177 Centerline is valid? [True, True] Translation: X:77.44, Y:-3.77, Z:-2.90 [[ 9.94134785e-01 1.04626397e-01 2.73741771e-02 7.74386821e+01] [-1.04609980e-01 9.94511242e-01 -2.03506876e-03 -3.77063727e+00] [-2.74368488e-02 -8.40479464e-04 9.99623185e-01 -2.90377246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150385723 meters 0.017716974394990648 Centerline is valid? [True, True] Translation: X:77.50, Y:-3.79, Z:-2.90 [[ 9.95861999e-01 8.63767815e-02 2.82476703e-02 7.74980426e+01] [-8.63519342e-02 9.96262481e-01 -2.10059178e-03 -3.79115579e+00] [-2.83235365e-02 -3.47341442e-04 9.99598748e-01 -2.90464983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210385723 meters 0.01716626712682551 Centerline is valid? [True, True] Translation: X:77.56, Y:-3.81, Z:-2.91 [[ 9.96923474e-01 7.31366001e-02 2.81890722e-02 7.75588903e+01] [-7.31066114e-02 9.97321932e-01 -2.09437001e-03 -3.80947385e+00] [-2.82667551e-02 2.71190777e-05 9.99600415e-01 -2.90631041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27038572299999 meters 0.017214543077882172 Centerline is valid? [True, True] Translation: X:77.62, Y:-3.82, Z:-2.91 [[ 9.97088465e-01 7.02273681e-02 2.97104241e-02 7.76214236e+01] [-7.01925403e-02 9.97531003e-01 -2.21486973e-03 -3.81693249e+00] [-2.97926136e-02 1.22970917e-04 9.99556094e-01 -2.90712277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33038572299999 meters 0.01708112236743515 Centerline is valid? [True, True] Translation: X:77.68, Y:-3.82, Z:-2.91 [[ 9.96829104e-01 7.25566985e-02 3.26689822e-02 7.76839646e+01] [-7.25155067e-02 9.97364287e-01 -2.44550786e-03 -3.81707779e+00] [-3.27603141e-02 6.87456123e-05 9.99463234e-01 -2.90951738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390385723 meters 0.01721288827183566 Centerline is valid? [True, True] Translation: X:77.75, Y:-3.82, Z:-2.91 [[ 9.96378627e-01 7.97542374e-02 2.94770091e-02 7.77451595e+01] [-7.97236417e-02 9.96814547e-01 -2.21363753e-03 -3.81761243e+00] [-2.95596584e-02 -1.44393387e-04 9.99563007e-01 -2.91395962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450385723 meters 0.01832663676747114 Centerline is valid? [True, True] Translation: X:77.81, Y:-3.82, Z:-2.92 [[ 9.95907693e-01 8.68311054e-02 2.50644393e-02 7.78072949e+01] [-8.68111418e-02 9.96223002e-01 -1.88556097e-03 -3.81779829e+00] [-2.51334963e-02 -2.98027913e-04 9.99684059e-01 -2.91941645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510385723 meters 0.018305207090422815 Centerline is valid? [True, True] Translation: X:77.87, Y:-3.82, Z:-2.92 [[ 9.95510781e-01 9.09847942e-02 2.60778239e-02 7.78690906e+01] [-9.09646076e-02 9.95852194e-01 -1.96179682e-03 -3.81860972e+00] [-2.61481518e-02 -4.19169132e-04 9.99657991e-01 -2.92212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570385723 meters 0.01869821199491988 Centerline is valid? [True, True] Translation: X:77.93, Y:-3.83, Z:-2.92 [[ 9.95206601e-01 9.34975145e-02 2.86711780e-02 7.79311572e+01] [-9.34739290e-02 9.95619374e-01 -2.16474143e-03 -3.82527643e+00] [-2.87479783e-02 -5.25642704e-04 9.99586553e-01 -2.92084264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63038572299999 meters 0.0182947535606046 Centerline is valid? [True, True] Translation: X:77.99, Y:-3.84, Z:-2.92 [[ 9.95427364e-01 9.09888648e-02 2.90755882e-02 7.79925045e+01] [-9.09633279e-02 9.95851807e-01 -2.20252506e-03 -3.83632735e+00] [-2.91553823e-02 -4.52358551e-04 9.99574789e-01 -2.91979567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69038572299999 meters 0.01883544185468613 Centerline is valid? [True, True] Translation: X:78.05, Y:-3.84, Z:-2.92 [[ 9.95458058e-01 8.99079330e-02 3.13020584e-02 7.80540095e+01] [-8.98775368e-02 9.95949982e-01 -2.37958750e-03 -3.83863998e+00] [-3.13892283e-02 -4.44572349e-04 9.99507138e-01 -2.92321469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750385723 meters 0.018549970611582433 Centerline is valid? [True, True] Translation: X:78.12, Y:-3.85, Z:-2.92 [[ 9.95354392e-01 9.10824053e-02 3.12030340e-02 7.81152564e+01] [-9.10525436e-02 9.95843247e-01 -2.37954462e-03 -3.84605527e+00] [-3.12900653e-02 -4.72625426e-04 9.99510234e-01 -2.92441689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810385723 meters 0.01931458014761864 Centerline is valid? [True, True] Translation: X:78.18, Y:-3.85, Z:-2.93 [[ 9.94885066e-01 9.58598465e-02 3.18527064e-02 7.81778592e+01] [-9.58308985e-02 9.95394644e-01 -2.43771904e-03 -3.84656927e+00] [-3.19396927e-02 -6.27223209e-04 9.99489601e-01 -2.92696245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870385723 meters 0.02055414304682326 Centerline is valid? [True, True] Translation: X:78.24, Y:-3.85, Z:-2.93 [[ 9.94360467e-01 1.02086654e-01 2.87328557e-02 7.82383941e+01] [-1.02065633e-01 9.94775232e-01 -2.20109901e-03 -3.84815836e+00] [-2.88074360e-02 -7.43951273e-04 9.99584703e-01 -2.93098058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930385723 meters 0.02115269850358622 Centerline is valid? [True, True] Translation: X:78.30, Y:-3.86, Z:-2.94 [[ 9.94386245e-01 1.03451974e-01 2.22190144e-02 7.83001125e+01] [-1.03439755e-01 9.94634265e-01 -1.70163480e-03 -3.85620906e+00] [-2.22758306e-02 -6.06247165e-04 9.99751679e-01 -2.93856793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990385723 meters 0.021991558027971106 Centerline is valid? [True, True] Translation: X:78.36, Y:-3.87, Z:-2.94 [[ 9.94388524e-01 1.03858144e-01 2.01233492e-02 7.83606137e+01] [-1.03848229e-01 9.94591964e-01 -1.53990353e-03 -3.86556379e+00] [-2.01744529e-02 -5.58511783e-04 9.99796319e-01 -2.94301103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05038572299999 meters 0.021127338251575603 Centerline is valid? [True, True] Translation: X:78.42, Y:-3.88, Z:-2.94 [[ 9.94482703e-01 1.02712509e-01 2.13141775e-02 7.84223661e+01] [-1.02701018e-01 9.94710925e-01 -1.63593285e-03 -3.87708369e+00] [-2.13694760e-02 -5.62080812e-04 9.99771489e-01 -2.94354423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110385723 meters 0.020407855706969878 Centerline is valid? [True, True] Translation: X:78.48, Y:-3.89, Z:-2.94 [[ 9.94520302e-01 1.02153042e-01 2.22288982e-02 7.84838554e+01] [-1.02140279e-01 9.94768533e-01 -1.71177470e-03 -3.89217368e+00] [-2.22874714e-02 -5.68071162e-04 9.99751442e-01 -2.94375667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170385723 meters 0.020652102261240098 Centerline is valid? [True, True] Translation: X:78.55, Y:-3.90, Z:-2.94 [[ 9.94402354e-01 1.02946972e-01 2.37882067e-02 7.85458794e+01] [-1.02932437e-01 9.94686652e-01 -1.83794050e-03 -3.90310764e+00] [-2.38510220e-02 -6.20925729e-04 9.99715331e-01 -2.94423976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230385723 meters 0.021375717964344485 Centerline is valid? [True, True] Translation: X:78.61, Y:-3.91, Z:-2.95 [[ 9.94114926e-01 1.05614287e-01 2.41067904e-02 7.86069690e+01] [-1.05599961e-01 9.94406934e-01 -1.87005445e-03 -3.91233088e+00] [-2.41694640e-02 -6.86627095e-04 9.99707640e-01 -2.94538187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290385723 meters 0.021957765751861424 Centerline is valid? [True, True] Translation: X:78.67, Y:-3.92, Z:-2.95 [[ 9.93961943e-01 1.06902297e-01 2.47296239e-02 7.86688002e+01] [-1.06887481e-01 9.94269262e-01 -1.92399262e-03 -3.92127858e+00] [-2.47935841e-02 -7.30911770e-04 9.99692325e-01 -2.94540806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350385723 meters 0.021859056921734513 Centerline is valid? [True, True] Translation: X:78.73, Y:-3.93, Z:-2.95 [[ 9.94093897e-01 1.05829688e-01 2.40291517e-02 7.87308149e+01] [-1.05815207e-01 9.94384040e-01 -1.87692435e-03 -3.93090760e+00] [-2.40928393e-02 -6.76810630e-04 9.99709496e-01 -2.94676606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41038572299999 meters 0.02064491717186659 Centerline is valid? [True, True] Translation: X:78.79, Y:-3.94, Z:-2.95 [[ 9.94509191e-01 1.01870992e-01 2.39535148e-02 7.87920227e+01] [-1.01855395e-01 9.94797451e-01 -1.87347220e-03 -3.94097412e+00] [-2.40197480e-02 -5.76609392e-04 9.99711318e-01 -2.95096775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47038572299999 meters 0.019926124453542433 Centerline is valid? [True, True] Translation: X:78.85, Y:-3.95, Z:-2.95 [[ 9.94942724e-01 9.79518968e-02 2.22351696e-02 7.88531793e+01] [-9.79375144e-02 9.95191049e-01 -1.73750075e-03 -3.95380756e+00] [-2.22984332e-02 -4.48943506e-04 9.99751258e-01 -2.95423783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530385723 meters 0.019086209315701465 Centerline is valid? [True, True] Translation: X:78.92, Y:-3.96, Z:-2.96 [[ 9.95266137e-01 9.44628614e-02 2.28491672e-02 7.89150712e+01] [-9.44465752e-02 9.95528316e-01 -1.79329649e-03 -3.96410053e+00] [-2.29163928e-02 -3.73218319e-04 9.99737315e-01 -2.95502304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590385723 meters 0.019155114805095012 Centerline is valid? [True, True] Translation: X:78.98, Y:-3.97, Z:-2.96 [[ 9.95208112e-01 9.49312384e-02 2.34280601e-02 7.89779272e+01] [-9.49142513e-02 9.95483754e-01 -1.83851055e-03 -3.96748251e+00] [-2.34967853e-02 -3.93956168e-04 9.99723835e-01 -2.95712910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650385723 meters 0.01939053406622515 Centerline is valid? [True, True] Translation: X:79.04, Y:-3.97, Z:-2.96 [[ 9.95169098e-01 9.54311581e-02 2.30512540e-02 7.90401968e+01] [-9.54146969e-02 9.95435955e-01 -1.81544020e-03 -3.96877655e+00] [-2.31192966e-02 -3.92758429e-04 9.99732636e-01 -2.96067216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710385723 meters 0.019476775482902428 Centerline is valid? [True, True] Translation: X:79.10, Y:-3.97, Z:-2.96 [[ 9.95153230e-01 9.54293462e-02 2.37336918e-02 7.91025138e+01] [-9.54117386e-02 9.95436126e-01 -1.87576615e-03 -3.97328711e+00] [-2.38043774e-02 -3.97798060e-04 9.99716557e-01 -2.96061907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77038572299999 meters 0.01936808701984764 Centerline is valid? [True, True] Translation: X:79.16, Y:-3.97, Z:-2.96 [[ 9.94883174e-01 9.77132568e-02 2.56824688e-02 7.91644485e+01] [-9.76932275e-02 9.95214493e-01 -2.03644531e-03 -3.97486373e+00] [-2.57585529e-02 -4.82978099e-04 9.99668077e-01 -2.96155674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83038572299999 meters 0.020394098254315436 Centerline is valid? [True, True] Translation: X:79.23, Y:-3.98, Z:-2.97 [[ 9.94750841e-01 9.88823796e-02 2.63256400e-02 7.92258141e+01] [-9.88615614e-02 9.95098993e-01 -2.09434566e-03 -3.97579117e+00] [-2.64037117e-02 -5.19241762e-04 9.99651226e-01 -2.96509560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890385723 meters 0.020540226173253923 Centerline is valid? [True, True] Translation: X:79.29, Y:-3.98, Z:-2.97 [[ 9.94351742e-01 1.03001766e-01 2.55978362e-02 7.92879399e+01] [-1.02983264e-01 9.94680990e-01 -2.04356669e-03 -3.97948517e+00] [-2.56721720e-02 -6.04124615e-04 9.99670233e-01 -2.96746537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950385723 meters 0.022287659080427506 Centerline is valid? [True, True] Translation: X:79.35, Y:-3.98, Z:-2.97 [[ 9.93910902e-01 1.07409926e-01 2.45810430e-02 7.93492189e+01] [-1.07394160e-01 9.94214582e-01 -1.96443928e-03 -3.98117805e+00] [-2.46498317e-02 -6.87382852e-04 9.99695910e-01 -2.97062270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010385723 meters 0.022450556191182625 Centerline is valid? [True, True] Translation: X:79.41, Y:-3.98, Z:-2.98 [[ 9.93774684e-01 1.08969567e-01 2.31842734e-02 7.94110810e+01] [-1.08956011e-01 9.94044849e-01 -1.85088338e-03 -3.98368427e+00] [-2.32478976e-02 -6.86704901e-04 9.99729495e-01 -2.97561430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070385723 meters 0.02192562711659239 Centerline is valid? [True, True] Translation: X:79.47, Y:-3.99, Z:-2.98 [[ 9.93892571e-01 1.07755789e-01 2.37959434e-02 7.94732353e+01] [-1.07740970e-01 9.94177169e-01 -1.90770807e-03 -3.99139224e+00] [-2.38629502e-02 -6.67741137e-04 9.99715016e-01 -2.97698788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13038572299999 meters 0.022730444349982098 Centerline is valid? [True, True] Translation: X:79.54, Y:-4.00, Z:-2.98 [[ 9.93929699e-01 1.07523726e-01 2.32895362e-02 7.95351576e+01] [-1.07509472e-01 9.94202307e-01 -1.86693304e-03 -3.99761274e+00] [-2.33552502e-02 -6.48245536e-04 9.99727019e-01 -2.97933314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19038572299999 meters 0.02202510724305593 Centerline is valid? [True, True] Translation: X:79.60, Y:-4.00, Z:-2.98 [[ 9.93716207e-01 1.09893106e-01 2.12509957e-02 7.95964830e+01] [-1.09881639e-01 9.93943208e-01 -1.71011371e-03 -4.00354433e+00] [-2.13102126e-02 -6.35726524e-04 9.99772710e-01 -2.98269303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250385723 meters 0.02261005304853011 Centerline is valid? [True, True] Translation: X:79.66, Y:-4.00, Z:-2.99 [[ 9.93450959e-01 1.12027896e-01 2.24709090e-02 7.96583274e+01] [-1.12015592e-01 9.93704802e-01 -1.80949640e-03 -4.00453775e+00] [-2.25321642e-02 -7.19446231e-04 9.99745860e-01 -2.98676346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310385723 meters 0.02199904868090891 Centerline is valid? [True, True] Translation: X:79.72, Y:-4.01, Z:-2.98 [[ 9.93666486e-01 1.08245800e-01 3.01622452e-02 7.97187645e+01] [-1.08221541e-01 9.94123806e-01 -2.44041506e-03 -4.01310284e+00] [-3.02491707e-02 -8.39245980e-04 9.99542037e-01 -2.98130173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370385723 meters 0.02375393007542479 Centerline is valid? [True, True] Translation: X:79.78, Y:-4.01, Z:-2.98 [[ 9.93565399e-01 1.08486970e-01 3.25326874e-02 7.97800756e+01] [-1.08458880e-01 9.94097452e-01 -2.63212038e-03 -4.01428059e+00] [-3.26262124e-02 -9.13275107e-04 9.99467206e-01 -2.98103996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430385723 meters 0.02108692781566561 Centerline is valid? [True, True] Translation: X:79.84, Y:-4.03, Z:-2.99 [[ 9.93678533e-01 1.08775034e-01 2.77662508e-02 7.98416993e+01] [-1.08754553e-01 9.94066084e-01 -2.25120768e-03 -4.02572168e+00] [-2.78463634e-02 -7.82729437e-04 9.99611908e-01 -2.98605386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490385723 meters 0.020931087243452533 Centerline is valid? [True, True] Translation: X:79.90, Y:-4.03, Z:-2.99 [[ 9.93862264e-01 1.07959051e-01 2.41380163e-02 7.99037939e+01] [-1.07943222e-01 9.94155125e-01 -1.96160167e-03 -4.03126937e+00] [-2.42087053e-02 -6.55973372e-04 9.99706711e-01 -2.99178730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55038572299999 meters 0.020617459151472204 Centerline is valid? [True, True] Translation: X:79.97, Y:-4.04, Z:-3.00 [[ 9.94149183e-01 1.05897171e-01 2.12882680e-02 7.99651736e+01] [-1.05884270e-01 9.94376945e-01 -1.73545987e-03 -4.03642295e+00] [-2.13523432e-02 -5.28786706e-04 9.99771873e-01 -2.99590808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610385723 meters 0.019869810013984704 Centerline is valid? [True, True] Translation: X:80.03, Y:-4.04, Z:-2.99 [[ 9.94467696e-01 1.02080908e-01 2.47687409e-02 8.00253860e+01] [-1.02062036e-01 9.94775968e-01 -2.02820311e-03 -4.04343128e+00] [-2.48463891e-02 -5.10965662e-04 9.99691150e-01 -2.99441252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670385723 meters 0.019039138855328628 Centerline is valid? [True, True] Translation: X:80.09, Y:-4.05, Z:-2.99 [[ 9.94580520e-01 1.00200077e-01 2.77404779e-02 8.00871373e+01] [-1.00175613e-01 9.94967174e-01 -2.27373060e-03 -4.05284290e+00] [-2.78286929e-02 -5.17511216e-04 9.99612573e-01 -2.99171346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730385723 meters 0.0203693307855255 Centerline is valid? [True, True] Translation: X:80.15, Y:-4.05, Z:-3.00 [[ 9.94129097e-01 1.04481164e-01 2.81251520e-02 8.01479303e+01] [-1.04457502e-01 9.94526661e-01 -2.31328012e-03 -4.05388156e+00] [-2.82129077e-02 -6.38184042e-04 9.99601733e-01 -2.99586018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790385723 meters 0.02160584888057771 Centerline is valid? [True, True] Translation: X:80.21, Y:-4.05, Z:-3.00 [[ 9.93494944e-01 1.09712518e-01 3.05116214e-02 8.02099283e+01] [-1.09687000e-01 9.93962998e-01 -2.51391113e-03 -4.05335075e+00] [-3.06032302e-02 -8.49170227e-04 9.99531251e-01 -2.99819402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850385723 meters 0.023027594260957674 Centerline is valid? [True, True] Translation: X:80.27, Y:-4.06, Z:-3.00 [[ 9.93071855e-01 1.13519643e-01 3.03575634e-02 8.02710304e+01] [-1.13496100e-01 9.93535289e-01 -2.50309847e-03 -4.05833291e+00] [-3.04454613e-02 -9.59708420e-04 9.99535969e-01 -2.99677512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91038572299999 meters 0.02462737541959969 Centerline is valid? [True, True] Translation: X:80.33, Y:-4.06, Z:-3.00 [[ 9.92852129e-01 1.16220709e-01 2.71550389e-02 8.03324735e+01] [-1.16202831e-01 9.93222976e-01 -2.24086903e-03 -4.05776839e+00] [-2.72314439e-02 -9.30640796e-04 9.99628722e-01 -3.00323287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97038572299999 meters 0.023297743101406424 Centerline is valid? [True, True] Translation: X:80.39, Y:-4.06, Z:-3.01 [[ 9.92754460e-01 1.17998164e-01 2.26939612e-02 8.03937280e+01] [-1.17986059e-01 9.93013479e-01 -1.87629099e-03 -4.06447006e+00] [-2.27568082e-02 -8.14874794e-04 9.99740698e-01 -3.01023967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030385723 meters 0.022638623033623934 Centerline is valid? [True, True] Translation: X:80.45, Y:-4.07, Z:-3.01 [[ 9.93281230e-01 1.13441089e-01 2.28804983e-02 8.04537000e+01] [-1.13427395e-01 9.93544472e-01 -1.89963334e-03 -4.07344804e+00] [-2.29482891e-02 -7.08405175e-04 9.99736402e-01 -3.01093364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090385723 meters 0.020742573255462343 Centerline is valid? [True, True] Translation: X:80.51, Y:-4.08, Z:-3.01 [[ 9.93733587e-01 1.09077939e-01 2.44041349e-02 8.05144938e+01] [-1.09061036e-01 9.94032989e-01 -2.02651274e-03 -4.08494899e+00] [-2.44795630e-02 -6.47726472e-04 9.99700121e-01 -3.01007239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150385723 meters 0.0197334084974241 Centerline is valid? [True, True] Translation: X:80.58, Y:-4.09, Z:-3.01 [[ 9.94058420e-01 1.05592149e-01 2.64226351e-02 8.05758638e+01] [-1.05571081e-01 9.94409337e-01 -2.19498878e-03 -4.09269957e+00] [-2.65066887e-02 -6.07519070e-04 9.99648451e-01 -3.01043866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210385723 meters 0.019327581817606524 Centerline is valid? [True, True] Translation: X:80.64, Y:-4.10, Z:-3.01 [[ 9.94079915e-01 1.04942699e-01 2.81452113e-02 8.06372630e+01] [-1.04918531e-01 9.94478072e-01 -2.33819465e-03 -4.09943077e+00] [-2.82351720e-02 -6.28601892e-04 9.99601110e-01 -3.01149119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27038572299999 meters 0.019701045637214233 Centerline is valid? [True, True] Translation: X:80.70, Y:-4.10, Z:-3.02 [[ 9.93889846e-01 1.06731123e-01 2.81325638e-02 8.06993028e+01] [-1.06707494e-01 9.94287693e-01 -2.34414967e-03 -4.09979615e+00] [-2.82220557e-02 -6.72128822e-04 9.99601452e-01 -3.01681889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33038572299999 meters 0.020885991971861344 Centerline is valid? [True, True] Translation: X:80.76, Y:-4.10, Z:-3.02 [[ 9.93496797e-01 1.11068905e-01 2.50562019e-02 8.07604324e+01] [-1.11051350e-01 9.93812461e-01 -2.09533273e-03 -4.10118233e+00] [-2.51338920e-02 -7.00818684e-04 9.99683848e-01 -3.02134466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390385723 meters 0.022849494241076955 Centerline is valid? [True, True] Translation: X:80.82, Y:-4.10, Z:-3.03 [[ 9.93202472e-01 1.14203616e-01 2.25029639e-02 8.08205808e+01] [-1.14190261e-01 9.93457117e-01 -1.88178891e-03 -4.10010737e+00] [-2.25706368e-02 -7.00621919e-04 9.99745005e-01 -3.02638033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450385723 meters 0.021238574511808557 Centerline is valid? [True, True] Translation: X:80.88, Y:-4.11, Z:-3.03 [[ 9.93034187e-01 1.16108942e-01 2.00453727e-02 8.08821925e+01] [-1.16098700e-01 9.93236264e-01 -1.67789902e-03 -4.10772205e+00] [-2.01046102e-02 -6.61030615e-04 9.99797663e-01 -3.02756683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510385723 meters 0.02228927749969332 Centerline is valid? [True, True] Translation: X:80.94, Y:-4.10, Z:-3.03 [[ 9.93007906e-01 1.16035215e-01 2.17054596e-02 8.09440966e+01] [-1.16023203e-01 9.93244843e-01 -1.81616910e-03 -4.10472928e+00] [-2.17695754e-02 -7.14866665e-04 9.99762759e-01 -3.03252532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570385723 meters 0.020309512163909697 Centerline is valid? [True, True] Translation: X:81.00, Y:-4.12, Z:-3.03 [[ 9.93256149e-01 1.12840937e-01 2.66297944e-02 8.10049498e+01] [-1.12821431e-01 9.93612758e-01 -2.23867064e-03 -4.11588316e+00] [-2.67123171e-02 -7.80838120e-04 9.99642857e-01 -3.02677214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63038572299999 meters 0.019577594400150607 Centerline is valid? [True, True] Translation: X:81.06, Y:-4.12, Z:-3.03 [[ 9.93832622e-01 1.06439722e-01 3.11015248e-02 8.10644586e+01] [-1.06409931e-01 9.94318904e-01 -2.61616756e-03 -4.11967827e+00] [-3.12032982e-02 -7.09478431e-04 9.99512807e-01 -3.02577647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69038572299999 meters 0.019178103185386215 Centerline is valid? [True, True] Translation: X:81.13, Y:-4.12, Z:-3.03 [[ 9.93746523e-01 1.07030453e-01 3.18171268e-02 8.11275388e+01] [-1.06999636e-01 9.94255463e-01 -2.67454710e-03 -4.12125900e+00] [-3.19206102e-02 -7.46599098e-04 9.99490129e-01 -3.03007004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750385723 meters 0.020100067761116707 Centerline is valid? [True, True] Translation: X:81.19, Y:-4.12, Z:-3.03 [[ 9.93603092e-01 1.08451310e-01 3.14834760e-02 8.11884517e+01] [-1.08421561e-01 9.94101460e-01 -2.65561193e-03 -4.12318933e+00] [-3.15857741e-02 -7.74863384e-04 9.99500745e-01 -3.03360897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810385723 meters 0.02056847606499254 Centerline is valid? [True, True] Translation: X:81.25, Y:-4.12, Z:-3.04 [[ 9.93296892e-01 1.11716720e-01 2.96758965e-02 8.12503414e+01] [-1.11691556e-01 9.93739754e-01 -2.50945239e-03 -4.12296942e+00] [-2.97704658e-02 -8.21915799e-04 9.99556424e-01 -3.03723927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870385723 meters 0.022704959791399918 Centerline is valid? [True, True] Translation: X:81.31, Y:-4.12, Z:-3.04 [[ 9.92952768e-01 1.14831070e-01 2.93023255e-02 8.13116621e+01] [-1.14807697e-01 9.93384629e-01 -2.48443457e-03 -4.12119973e+00] [-2.93937700e-02 -8.97206308e-04 9.99567507e-01 -3.03838196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930385723 meters 0.0230799278324404 Centerline is valid? [True, True] Translation: X:81.37, Y:-4.12, Z:-3.04 [[ 9.92769733e-01 1.16159330e-01 3.02533884e-02 8.13740046e+01] [-1.16134821e-01 9.93230129e-01 -2.57198484e-03 -4.12164867e+00] [-3.03473369e-02 -9.60083126e-04 9.99538952e-01 -3.03988795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990385723 meters 0.02075134364793038 Centerline is valid? [True, True] Translation: X:81.44, Y:-4.13, Z:-3.04 [[ 9.92970102e-01 1.14477417e-01 3.00881666e-02 8.14362467e+01] [-1.14452169e-01 9.93425447e-01 -2.56570051e-03 -4.12894009e+00] [-3.01840651e-02 -8.95992037e-04 9.99543956e-01 -3.04146035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05038572299999 meters 0.020251102462810446 Centerline is valid? [True, True] Translation: X:81.50, Y:-4.13, Z:-3.04 [[ 9.93308028e-01 1.11783314e-01 2.90456863e-02 8.14986373e+01] [-1.11758563e-01 9.93732296e-01 -2.47923925e-03 -4.13353864e+00] [-2.91407741e-02 -7.83455915e-04 9.99575010e-01 -3.04497102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110385723 meters 0.01995002618876641 Centerline is valid? [True, True] Translation: X:81.56, Y:-4.14, Z:-3.05 [[ 9.93395695e-01 1.10744655e-01 3.00102377e-02 8.15608384e+01] [-1.10717705e-01 9.93848590e-01 -2.56336128e-03 -4.13827735e+00] [-3.01095110e-02 -7.76232592e-04 9.99546304e-01 -3.04577821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170385723 meters 0.019829623193400963 Centerline is valid? [True, True] Translation: X:81.62, Y:-4.14, Z:-3.05 [[ 9.93441954e-01 1.09747558e-01 3.20711271e-02 8.16235880e+01] [-1.09715969e-01 9.93959180e-01 -2.74846209e-03 -4.13888539e+00] [-3.21790282e-02 -7.88277228e-04 9.99481810e-01 -3.04831322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230385723 meters 0.02120085254151459 Centerline is valid? [True, True] Translation: X:81.68, Y:-4.14, Z:-3.05 [[ 9.93346621e-01 1.10779342e-01 3.14710733e-02 8.16846167e+01] [-1.10749376e-01 9.93844701e-01 -2.69911429e-03 -4.13818208e+00] [-3.15763655e-02 -8.04245658e-04 9.99501019e-01 -3.05172614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290385723 meters 0.021578973450542174 Centerline is valid? [True, True] Translation: X:81.75, Y:-4.14, Z:-3.05 [[ 9.93313289e-01 1.11484900e-01 2.99971336e-02 8.17460766e+01] [-1.11457805e-01 9.93765821e-01 -2.57903939e-03 -4.14186744e+00] [-3.00976501e-02 -7.81620576e-04 9.99546658e-01 -3.05375456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350385723 meters 0.021645789572045555 Centerline is valid? [True, True] Translation: X:81.81, Y:-4.14, Z:-3.06 [[ 9.93555887e-01 1.10233672e-01 2.63673596e-02 8.18068910e+01] [-1.10212152e-01 9.93905487e-01 -2.27249676e-03 -4.14400363e+00] [-2.64571690e-02 -6.48150900e-04 9.99649738e-01 -3.05845291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41038572299999 meters 0.020506618386727245 Centerline is valid? [True, True] Translation: X:81.87, Y:-4.15, Z:-3.06 [[ 9.93663071e-01 1.09224014e-01 2.65295359e-02 8.18695132e+01] [-1.09201766e-01 9.94016966e-01 -2.29030104e-03 -4.14506449e+00] [-2.66209646e-02 -6.21284613e-04 9.99645406e-01 -3.06261904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47038572299999 meters 0.02190358218119043 Centerline is valid? [True, True] Translation: X:81.93, Y:-4.15, Z:-3.06 [[ 9.93588490e-01 1.09957999e-01 2.62897693e-02 8.19308761e+01] [-1.09936384e-01 9.93936032e-01 -2.27050906e-03 -4.14771569e+00] [-2.63800096e-02 -6.34250505e-04 9.99651786e-01 -3.06363702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530385723 meters 0.02036932919615538 Centerline is valid? [True, True] Translation: X:81.99, Y:-4.15, Z:-3.07 [[ 9.93426554e-01 1.11370748e-01 2.64620212e-02 8.19934870e+01] [-1.11349207e-01 9.93778701e-01 -2.29076183e-03 -4.14933699e+00] [-2.65525169e-02 -6.70821463e-04 9.99647195e-01 -3.06561986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590385723 meters 0.01999166559308182 Centerline is valid? [True, True] Translation: X:82.06, Y:-4.15, Z:-3.07 [[ 9.93502230e-01 1.09983359e-01 2.92742325e-02 8.20561554e+01] [-1.09956131e-01 9.93933188e-01 -2.54315788e-03 -4.15265792e+00] [-2.93763362e-02 -6.92248321e-04 9.99568183e-01 -3.06555227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650385723 meters 0.019420643826618875 Centerline is valid? [True, True] Translation: X:82.12, Y:-4.16, Z:-3.07 [[ 9.93798266e-01 1.07506156e-01 2.84153702e-02 8.21175850e+01] [-1.07479456e-01 9.94204238e-01 -2.46975040e-03 -4.16225196e+00] [-2.85161948e-02 -5.99634850e-04 9.99593151e-01 -3.06675580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710385723 meters 0.01956221725152998 Centerline is valid? [True, True] Translation: X:82.18, Y:-4.16, Z:-3.07 [[ 9.93783509e-01 1.07612256e-01 2.85296252e-02 8.21797689e+01] [-1.07585191e-01 9.94192760e-01 -2.48645925e-03 -4.16467885e+00] [-2.86315203e-02 -5.98362977e-04 9.99589855e-01 -3.07012597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77038572299999 meters 0.019482167972925794 Centerline is valid? [True, True] Translation: X:82.24, Y:-4.17, Z:-3.08 [[ 9.93610386e-01 1.09662796e-01 2.66921835e-02 8.22411362e+01] [-1.09639647e-01 9.93968662e-01 -2.33366019e-03 -4.16779757e+00] [-2.67871096e-02 -6.07772569e-04 9.99640976e-01 -3.07503571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83038572299999 meters 0.02068622984498627 Centerline is valid? [True, True] Translation: X:82.30, Y:-4.18, Z:-3.08 [[ 9.93192103e-01 1.14376123e-01 2.20804959e-02 8.23016062e+01] [-1.14361368e-01 9.93437334e-01 -1.93397530e-03 -4.17503463e+00] [-2.21567895e-02 -6.04346719e-04 9.99754326e-01 -3.07834277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890385723 meters 0.021083398959901946 Centerline is valid? [True, True] Translation: X:82.36, Y:-4.18, Z:-3.08 [[ 9.92919638e-01 1.16212282e-01 2.46028210e-02 8.23636704e+01] [-1.16194578e-01 9.93224137e-01 -2.15284020e-03 -4.17792980e+00] [-2.46863022e-02 -7.21117085e-04 9.99694987e-01 -3.07965143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950385723 meters 0.020507485129094918 Centerline is valid? [True, True] Translation: X:82.43, Y:-4.19, Z:-3.08 [[ 9.93026852e-01 1.15124238e-01 2.53787560e-02 8.24251131e+01] [-1.15104880e-01 9.93350848e-01 -2.22718417e-03 -4.19383273e+00] [-2.54664116e-02 -7.09564977e-04 9.99675427e-01 -3.07768311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010385723 meters 0.02130107381874597 Centerline is valid? [True, True] Translation: X:82.49, Y:-4.20, Z:-3.08 [[ 9.93043607e-01 1.14215934e-01 2.86201975e-02 8.24856318e+01] [-1.14190700e-01 9.93455653e-01 -2.51992361e-03 -4.20173623e+00] [-2.87207124e-02 -7.65766366e-04 9.99587182e-01 -3.07809361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070385723 meters 0.021721035004971773 Centerline is valid? [True, True] Translation: X:82.55, Y:-4.21, Z:-3.08 [[ 9.92966306e-01 1.15238937e-01 2.71643677e-02 8.25471616e+01] [-1.15216436e-01 9.93337519e-01 -2.39730469e-03 -4.21318432e+00] [-2.72596485e-02 -7.49338843e-04 9.99628106e-01 -3.08179487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13038572299999 meters 0.025231220720432705 Centerline is valid? [True, True] Translation: X:82.61, Y:-4.22, Z:-3.08 [[ 9.92246773e-01 1.20998277e-01 2.83858884e-02 8.26069649e+01] [-1.20975812e-01 9.92652272e-01 -2.51377309e-03 -4.22204463e+00] [-2.84814789e-02 -9.39722653e-04 9.99593879e-01 -3.08044372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19038572299999 meters 0.02650461358676039 Centerline is valid? [True, True] Translation: X:82.67, Y:-4.22, Z:-3.09 [[ 9.91825278e-01 1.24623196e-01 2.74167402e-02 8.26674873e+01] [-1.24603609e-01 9.92203630e-01 -2.42838265e-03 -4.22422329e+00] [-2.75056220e-02 -1.00769347e-03 9.99621141e-01 -3.08628465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250385723 meters 0.02773496292357615 Centerline is valid? [True, True] Translation: X:82.73, Y:-4.24, Z:-3.09 [[ 9.91043870e-01 1.31661984e-01 2.22973157e-02 8.27269626e+01] [-1.31650798e-01 9.91294187e-01 -1.97529606e-03 -4.23651544e+00] [-2.23632709e-02 -9.77854346e-04 9.99749433e-01 -3.09185636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310385723 meters 0.028827002179947717 Centerline is valid? [True, True] Translation: X:82.79, Y:-4.25, Z:-3.09 [[ 9.91104912e-01 1.31257896e-01 2.19640267e-02 8.27877040e+01] [-1.31247002e-01 9.91347794e-01 -1.94304040e-03 -4.24507840e+00] [-2.20290288e-02 -9.56955773e-04 9.99756874e-01 -3.09262193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370385723 meters 0.024196689380819886 Centerline is valid? [True, True] Translation: X:82.85, Y:-4.26, Z:-3.09 [[ 9.91667890e-01 1.27249166e-01 2.00610524e-02 8.28482189e+01] [-1.27239132e-01 9.91870471e-01 -1.78099254e-03 -4.26285563e+00] [-2.01245953e-02 -7.86397781e-04 9.99797171e-01 -3.09344058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430385723 meters 0.023175493844353277 Centerline is valid? [True, True] Translation: X:82.91, Y:-4.28, Z:-3.10 [[ 9.92251622e-01 1.22825872e-01 1.87222678e-02 8.29081408e+01] [-1.22816324e-01 9.92428025e-01 -1.66330603e-03 -4.27839533e+00] [-1.87848003e-02 -6.48982003e-04 9.99823339e-01 -3.09505523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49038572299999 meters 0.023376413036449183 Centerline is valid? [True, True] Translation: X:82.97, Y:-4.29, Z:-3.10 [[ 9.92681392e-01 1.19023333e-01 2.04230066e-02 8.29684828e+01] [-1.19011150e-01 9.92891258e-01 -1.81525543e-03 -4.28574330e+00] [-2.04938825e-02 -6.28595214e-04 9.99789781e-01 -3.09973021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55038572299999 meters 0.020682275217293457 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.30, Z:-3.10 [[ 9.93266570e-01 1.13913926e-01 2.10983013e-02 8.30293194e+01] [-1.13899761e-01 9.93490476e-01 -1.87576135e-03 -4.30238932e+00] [-2.11746367e-02 -5.39960435e-04 9.99775646e-01 -3.09915501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610385723 meters 0.020799559243740932 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.31, Z:-3.10 [[ 9.93540034e-01 1.11648263e-01 2.03191303e-02 8.30903868e+01] [-1.11634691e-01 9.93747674e-01 -1.80454464e-03 -4.30972909e+00] [-2.03935627e-02 -4.75432493e-04 9.99791917e-01 -3.10259934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670385723 meters 0.019559758435004574 Centerline is valid? [True, True] Translation: X:83.15, Y:-4.32, Z:-3.11 [[ 9.94211549e-01 1.05560229e-01 2.00108630e-02 8.31505992e+01] [-1.05545672e-01 9.94412854e-01 -1.78513151e-03 -4.32256716e+00] [-2.00874983e-02 -3.37261628e-04 9.99798169e-01 -3.10653915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730385723 meters 0.019214389982118933 Centerline is valid? [True, True] Translation: X:83.21, Y:-4.33, Z:-3.11 [[ 9.94337402e-01 1.03643166e-01 2.34781979e-02 8.32122703e+01] [-1.03622630e-01 9.94614483e-01 -2.09289609e-03 -4.32813757e+00] [-2.35686701e-02 -3.51827754e-04 9.99722158e-01 -3.11021691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790385723 meters 0.019348728977787538 Centerline is valid? [True, True] Translation: X:83.27, Y:-4.33, Z:-3.11 [[ 9.94260305e-01 1.04073323e-01 2.48030205e-02 8.32732229e+01] [-1.04050370e-01 9.94569556e-01 -2.21769168e-03 -4.33089489e+00] [-2.48991316e-02 -3.75800658e-04 9.99689898e-01 -3.11221042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850385723 meters 0.019997954896205962 Centerline is valid? [True, True] Translation: X:83.34, Y:-4.33, Z:-3.11 [[ 9.93886651e-01 1.07539474e-01 2.49917108e-02 8.33355939e+01] [-1.07517129e-01 9.94200709e-01 -2.24001051e-03 -4.33379561e+00] [-2.50876661e-02 -4.60720458e-04 9.99685149e-01 -3.11256191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91038572299999 meters 0.01998727648418865 Centerline is valid? [True, True] Translation: X:83.40, Y:-4.34, Z:-3.11 [[ 9.93921573e-01 1.06248759e-01 2.88289491e-02 8.33967602e+01] [-1.06218243e-01 9.94339462e-01 -2.59219654e-03 -4.33729261e+00] [-2.89411794e-02 -4.85720268e-04 9.99580998e-01 -3.11257956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97038572299999 meters 0.0191202221182816 Centerline is valid? [True, True] Translation: X:83.46, Y:-4.34, Z:-3.11 [[ 9.93904291e-01 1.05415021e-01 3.22790053e-02 8.34587320e+01] [-1.05376070e-01 9.94428185e-01 -2.91022331e-03 -4.34203337e+00] [-3.24059339e-02 -5.08951300e-04 9.99474660e-01 -3.11427909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030385723 meters 0.01899006791204762 Centerline is valid? [True, True] Translation: X:83.52, Y:-4.35, Z:-3.11 [[ 9.93937116e-01 1.04593363e-01 3.39004260e-02 8.35202046e+01] [-1.04549626e-01 9.94514947e-01 -3.06513800e-03 -4.34817559e+00] [-3.40350735e-02 -4.97722419e-04 9.99420515e-01 -3.11415139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090385723 meters 0.018774153281314074 Centerline is valid? [True, True] Translation: X:83.58, Y:-4.35, Z:-3.12 [[ 9.94058954e-01 1.04170355e-01 3.15489003e-02 8.35826311e+01] [-1.04132046e-01 9.94559370e-01 -2.85936170e-03 -4.35469102e+00] [-3.16751152e-02 -4.42877451e-04 9.99498120e-01 -3.11753195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150385723 meters 0.01888128420122163 Centerline is valid? [True, True] Translation: X:83.64, Y:-4.35, Z:-3.13 [[ 9.93923684e-01 1.06908552e-01 2.61967766e-02 8.36444014e+01] [-1.06882932e-01 9.94268763e-01 -2.38026524e-03 -4.35468865e+00] [-2.63011073e-02 -4.34186301e-04 9.99653972e-01 -3.12745825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210385723 meters 0.019622629122771813 Centerline is valid? [True, True] Translation: X:83.71, Y:-4.36, Z:-3.13 [[ 9.93595106e-01 1.10060595e-01 2.56013745e-02 8.37053017e+01] [-1.10037013e-01 9.93924754e-01 -2.33237397e-03 -4.35883925e+00] [-2.57025423e-02 -4.99663415e-04 9.99669510e-01 -3.13009575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27038572299999 meters 0.02013380426420264 Centerline is valid? [True, True] Translation: X:83.77, Y:-4.37, Z:-3.13 [[ 9.93442662e-01 1.10955198e-01 2.75793677e-02 8.37673891e+01] [-1.10927991e-01 9.93825253e-01 -2.51922651e-03 -4.36563499e+00] [-2.76885933e-02 -5.56616757e-04 9.99616442e-01 -3.12874008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33038572299999 meters 0.02023202166460034 Centerline is valid? [True, True] Translation: X:83.83, Y:-4.37, Z:-3.13 [[ 9.93072036e-01 1.14031346e-01 2.83687149e-02 8.38292704e+01] [-1.14003596e-01 9.93476938e-01 -2.59896555e-03 -4.37313750e+00] [-2.84800275e-02 -6.53175500e-04 9.99594148e-01 -3.12896162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390385723 meters 0.02010413388519392 Centerline is valid? [True, True] Translation: X:83.89, Y:-4.38, Z:-3.13 [[ 9.93157432e-01 1.12713428e-01 3.05613706e-02 8.38911295e+01] [-1.12680347e-01 9.93627322e-01 -2.80805379e-03 -4.37827571e+00] [-3.06831182e-02 -6.54826340e-04 9.99528948e-01 -3.13199200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450385723 meters 0.02005436495224772 Centerline is valid? [True, True] Translation: X:83.95, Y:-4.39, Z:-3.14 [[ 9.93211475e-01 1.12853857e-01 2.81952699e-02 8.39524925e+01] [-1.12825549e-01 9.93611416e-01 -2.59798828e-03 -4.38685888e+00] [-2.83083350e-02 -6.00795040e-04 9.99599058e-01 -3.13516386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510385723 meters 0.020431623181842884 Centerline is valid? [True, True] Translation: X:84.01, Y:-4.39, Z:-3.14 [[ 9.93061507e-01 1.14140444e-01 2.82984529e-02 8.40141598e+01] [-1.14112414e-01 9.93464419e-01 -2.60877071e-03 -4.39185014e+00] [-2.84112723e-02 -6.38535015e-04 9.99596114e-01 -3.13689066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570385723 meters 0.021506148004255723 Centerline is valid? [True, True] Translation: X:84.08, Y:-4.39, Z:-3.14 [[ 9.92714938e-01 1.16865045e-01 2.93191578e-02 8.40766826e+01] [-1.16835920e-01 9.93147532e-01 -2.71044776e-03 -4.39312824e+00] [-2.94350058e-02 -7.34828791e-04 9.99566426e-01 -3.13830486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63038572299999 meters 0.021807214753733976 Centerline is valid? [True, True] Translation: X:84.14, Y:-4.40, Z:-3.14 [[ 9.92401841e-01 1.19090226e-01 3.09209397e-02 8.41376874e+01] [-1.19058658e-01 9.92883084e-01 -2.86664696e-03 -4.39563036e+00] [-3.10422676e-02 -8.36539863e-04 9.99517723e-01 -3.13966286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69038572299999 meters 0.02165762122466462 Centerline is valid? [True, True] Translation: X:84.20, Y:-4.40, Z:-3.14 [[ 9.92394585e-01 1.18383531e-01 3.37391141e-02 8.41996067e+01] [-1.18345254e-01 9.92967555e-01 -3.13630284e-03 -4.40294969e+00] [-3.38731322e-02 -8.80414084e-04 9.99425753e-01 -3.13927221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750385723 meters 0.022548827375087625 Centerline is valid? [True, True] Translation: X:84.26, Y:-4.41, Z:-3.14 [[ 9.92311683e-01 1.19265091e-01 3.30660304e-02 8.42603970e+01] [-1.19228563e-01 9.92862052e-01 -3.08133917e-03 -4.40701275e+00] [-3.31975030e-02 -8.84766427e-04 9.99448419e-01 -3.14192376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810385723 meters 0.024264645023721797 Centerline is valid? [True, True] Translation: X:84.32, Y:-4.41, Z:-3.15 [[ 9.92148430e-01 1.21470046e-01 2.97744841e-02 8.43216973e+01] [-1.21441251e-01 9.92594727e-01 -2.78023235e-03 -4.40754321e+00] [-2.98917109e-02 -8.57447448e-04 9.99552775e-01 -3.14956615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870385723 meters 0.022390297101964163 Centerline is valid? [True, True] Translation: X:84.38, Y:-4.42, Z:-3.15 [[ 9.91862561e-01 1.24298736e-01 2.75405843e-02 8.43833691e+01] [-1.24275013e-01 9.92244463e-01 -2.57802577e-03 -4.41574379e+00] [-2.76474376e-02 -8.65559219e-04 9.99617362e-01 -3.15275873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930385723 meters 0.0237272885453644 Centerline is valid? [True, True] Translation: X:84.44, Y:-4.42, Z:-3.15 [[ 9.91695593e-01 1.25664386e-01 2.73552986e-02 8.44446362e+01] [-1.25641483e-01 9.92072405e-01 -2.56129098e-03 -4.42010958e+00] [-2.74602999e-02 -8.96939296e-04 9.99622492e-01 -3.15285665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99038572299999 meters 0.022296593849555603 Centerline is valid? [True, True] Translation: X:84.51, Y:-4.43, Z:-3.15 [[ 9.91534492e-01 1.26491122e-01 2.93146134e-02 8.45074079e+01] [-1.26464986e-01 9.91967256e-01 -2.75136091e-03 -4.42769351e+00] [-2.94271594e-02 -9.79202938e-04 9.99566448e-01 -3.15331214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05038572299999 meters 0.021951529941475176 Centerline is valid? [True, True] Translation: X:84.57, Y:-4.43, Z:-3.15 [[ 9.91396372e-01 1.27125696e-01 3.11815692e-02 8.45702621e+01] [-1.27096147e-01 9.91886057e-01 -2.93590175e-03 -4.43363528e+00] [-3.13017922e-02 -1.05241495e-03 9.99509425e-01 -3.15453938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110385723 meters 0.022109390907228 Centerline is valid? [True, True] Translation: X:84.63, Y:-4.44, Z:-3.16 [[ 9.91292673e-01 1.28161547e-01 3.02234017e-02 8.46313408e+01] [-1.28134009e-01 9.91752756e-01 -2.85417327e-03 -4.44170117e+00] [-3.03399372e-02 -1.04332459e-03 9.99539094e-01 -3.15583367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170385723 meters 0.02358284079500337 Centerline is valid? [True, True] Translation: X:84.69, Y:-4.44, Z:-3.16 [[ 9.91142307e-01 1.29308208e-01 3.02706762e-02 8.46921017e+01] [-1.29280907e-01 9.91603870e-01 -2.86556024e-03 -4.44416275e+00] [-3.03870602e-02 -1.07324250e-03 9.99537630e-01 -3.15936303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230385723 meters 0.023801641203988023 Centerline is valid? [True, True] Translation: X:84.75, Y:-4.45, Z:-3.16 [[ 9.90936833e-01 1.31369889e-01 2.80382850e-02 8.47539186e+01] [-1.31347074e-01 9.91332871e-01 -2.66191057e-03 -4.44877086e+00] [-2.81449685e-02 -1.04496147e-03 9.99603306e-01 -3.16419319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290385723 meters 0.02438681496245825 Centerline is valid? [True, True] Translation: X:84.81, Y:-4.46, Z:-3.17 [[ 9.90863960e-01 1.32536812e-01 2.49520943e-02 8.48149996e+01] [-1.32519117e-01 9.91177619e-01 -2.36874461e-03 -4.45715719e+00] [-2.50459033e-02 -9.59525833e-04 9.99685842e-01 -3.16568163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350385723 meters 0.021447605040366025 Centerline is valid? [True, True] Translation: X:84.87, Y:-4.47, Z:-3.16 [[ 9.91404406e-01 1.27845213e-01 2.78011764e-02 8.48749061e+01] [-1.27821158e-01 9.91793698e-01 -2.64797065e-03 -4.46962845e+00] [-2.79115619e-02 -9.28368805e-04 9.99609965e-01 -3.16460540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41038572299999 meters 0.021187483321884224 Centerline is valid? [True, True] Translation: X:84.94, Y:-4.48, Z:-3.17 [[ 9.91759581e-01 1.24265062e-01 3.11629208e-02 8.49363116e+01] [-1.24233058e-01 9.92248625e-01 -2.96863097e-03 -4.47656276e+00] [-3.12902625e-02 -9.27296737e-04 9.99509910e-01 -3.16566218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47038572299999 meters 0.02045225242829508 Centerline is valid? [True, True] Translation: X:85.00, Y:-4.48, Z:-3.17 [[ 9.92112751e-01 1.20957719e-01 3.28864739e-02 8.49976923e+01] [-1.20920200e-01 9.92657282e-01 -3.13466380e-03 -4.48344755e+00] [-3.30241596e-02 -8.66699076e-04 9.99454178e-01 -3.16683563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530385723 meters 0.020242442847990705 Centerline is valid? [True, True] Translation: X:85.06, Y:-4.49, Z:-3.17 [[ 9.92179929e-01 1.19993835e-01 3.43579355e-02 8.50599087e+01] [-1.19952242e-01 9.92774255e-01 -3.27677538e-03 -4.49030892e+00] [-3.45028667e-02 -8.70160632e-04 9.99404220e-01 -3.16778034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590385723 meters 0.019963597195599588 Centerline is valid? [True, True] Translation: X:85.12, Y:-4.50, Z:-3.17 [[ 9.92078383e-01 1.20759070e-01 3.46082124e-02 8.51226470e+01] [-1.20717235e-01 9.92681437e-01 -3.30350194e-03 -4.49878831e+00] [-3.47538579e-02 -9.00474843e-04 9.99395497e-01 -3.16742313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650385723 meters 0.021166217127589378 Centerline is valid? [True, True] Translation: X:85.18, Y:-4.50, Z:-3.17 [[ 9.91507378e-01 1.26804972e-01 2.88724548e-02 8.51842765e+01] [-1.26778170e-01 9.91927242e-01 -2.76441249e-03 -4.49700395e+00] [-2.89899157e-02 -9.19461600e-04 9.99579281e-01 -3.17456516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710385723 meters 0.02424915643292822 Centerline is valid? [True, True] Translation: X:85.24, Y:-4.49, Z:-3.18 [[ 9.90862122e-01 1.32522933e-01 2.50983560e-02 8.52449021e+01] [-1.32504486e-01 9.91179490e-01 -2.40400511e-03 -4.49364202e+00] [-2.51955615e-02 -9.43607163e-04 9.99682096e-01 -3.18363416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77038572299999 meters 0.023977838688820533 Centerline is valid? [True, True] Translation: X:85.31, Y:-4.50, Z:-3.18 [[ 9.91174382e-01 1.29861896e-01 2.66314350e-02 8.53052614e+01] [-1.29840161e-01 9.91531656e-01 -2.55108060e-03 -4.50159130e+00] [-2.67371990e-02 -9.29264073e-04 9.99642065e-01 -3.18362888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83038572299999 meters 0.020325426933870808 Centerline is valid? [True, True] Translation: X:85.37, Y:-4.52, Z:-3.18 [[ 9.91994855e-01 1.22199045e-01 3.18371038e-02 8.53653627e+01] [-1.22163995e-01 9.92505239e-01 -3.05109641e-03 -4.51753933e+00] [-3.19713334e-02 -8.62675836e-04 9.99488414e-01 -3.17881714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890385723 meters 0.018979296602386713 Centerline is valid? [True, True] Translation: X:85.43, Y:-4.53, Z:-3.18 [[ 9.92533893e-01 1.17094688e-01 3.41365765e-02 8.54262514e+01] [-1.17051347e-01 9.93120473e-01 -3.27223129e-03 -4.52875590e+00] [-3.42848939e-02 -7.47931807e-04 9.99411820e-01 -3.17816950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950385723 meters 0.01860954742718009 Centerline is valid? [True, True] Translation: X:85.49, Y:-4.53, Z:-3.18 [[ 9.92630951e-01 1.16660593e-01 3.27734799e-02 8.54880840e+01] [-1.16620346e-01 9.93171593e-01 -3.14344357e-03 -4.53447698e+00] [-3.29164052e-02 -7.01775183e-04 9.99457862e-01 -3.18302067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010385723 meters 0.018879890780416932 Centerline is valid? [True, True] Translation: X:85.55, Y:-4.54, Z:-3.19 [[ 9.92560898e-01 1.17478677e-01 3.19628711e-02 8.55501045e+01] [-1.17440579e-01 9.93075156e-01 -3.07322236e-03 -4.53927490e+00] [-3.21025713e-02 -7.03377725e-04 9.99484332e-01 -3.18663454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070385723 meters 0.019810148512714978 Centerline is valid? [True, True] Translation: X:85.61, Y:-4.54, Z:-3.19 [[ 9.92247397e-01 1.20381279e-01 3.08779958e-02 8.56116579e+01] [-1.20346907e-01 9.92727438e-01 -2.97603281e-03 -4.54263515e+00] [-3.10116923e-02 -7.63110468e-04 9.99518730e-01 -3.19141124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13038572299999 meters 0.019599396394172294 Centerline is valid? [True, True] Translation: X:85.67, Y:-4.55, Z:-3.19 [[ 9.92044844e-01 1.22386431e-01 2.94718496e-02 8.56728398e+01] [-1.22355823e-01 9.92482216e-01 -2.84655936e-03 -4.55253210e+00] [-2.95986668e-02 -7.82137860e-04 9.99561557e-01 -3.19360062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19038572299999 meters 0.02037606034841359 Centerline is valid? [True, True] Translation: X:85.73, Y:-4.56, Z:-3.20 [[ 9.92034447e-01 1.22998072e-01 2.71869543e-02 8.57329847e+01] [-1.22972077e-01 9.92406640e-01 -2.63239655e-03 -4.55848841e+00] [-2.73042937e-02 -7.31808195e-04 9.99626900e-01 -3.19984208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250385723 meters 0.019723611773799415 Centerline is valid? [True, True] Translation: X:85.79, Y:-4.57, Z:-3.20 [[ 9.91940631e-01 1.23750977e-01 2.71933748e-02 8.57941637e+01] [-1.23725126e-01 9.92313023e-01 -2.63764352e-03 -4.56841632e+00] [-2.73107509e-02 -7.48117931e-04 9.99626712e-01 -3.20007148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310385723 meters 0.019953060600810212 Centerline is valid? [True, True] Translation: X:85.86, Y:-4.57, Z:-3.20 [[ 9.91803897e-01 1.24417785e-01 2.90730859e-02 8.58568158e+01] [-1.24388304e-01 9.92229588e-01 -2.82744328e-03 -4.57477442e+00] [-2.91989603e-02 -8.12082593e-04 9.99573290e-01 -3.19988411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370385723 meters 0.019852530109271276 Centerline is valid? [True, True] Translation: X:85.92, Y:-4.58, Z:-3.20 [[ 9.91572180e-01 1.25313028e-01 3.28824748e-02 8.59199115e+01] [-1.25275461e-01 9.92116810e-01 -3.20837618e-03 -4.57972946e+00] [-3.30253074e-02 -9.38030637e-04 9.99454076e-01 -3.19871826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430385723 meters 0.020189786099882527 Centerline is valid? [True, True] Translation: X:85.98, Y:-4.58, Z:-3.20 [[ 9.91471571e-01 1.25396514e-01 3.54941893e-02 8.59822919e+01] [-1.25352408e-01 9.92106196e-01 -3.47407066e-03 -4.58237986e+00] [-3.56496415e-02 -1.00483982e-03 9.99363844e-01 -3.20074422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49038572299999 meters 0.020515917490662346 Centerline is valid? [True, True] Translation: X:86.04, Y:-4.59, Z:-3.20 [[ 9.91476273e-01 1.25856772e-01 3.36878791e-02 8.60445091e+01] [-1.25817043e-01 9.92047957e-01 -3.30508503e-03 -4.58864158e+00] [-3.38359589e-02 -9.61595931e-04 9.99426937e-01 -3.20492058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55038572299999 meters 0.020621892127658963 Centerline is valid? [True, True] Translation: X:86.11, Y:-4.59, Z:-3.21 [[ 9.91609282e-01 1.25290598e-01 3.18323389e-02 8.61051436e+01] [-1.25254554e-01 9.92119695e-01 -3.13177004e-03 -4.59460832e+00] [-3.19738717e-02 -8.81653159e-04 9.99488316e-01 -3.21005673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610385723 meters 0.02019783264755028 Centerline is valid? [True, True] Translation: X:86.17, Y:-4.60, Z:-3.21 [[ 9.91718051e-01 1.24526595e-01 3.14393703e-02 8.61668579e+01] [-1.24490809e-01 9.92215916e-01 -3.10078188e-03 -4.60196311e+00] [-3.15807734e-02 -8.38811280e-04 9.99500851e-01 -3.21302275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670385723 meters 0.02014849605163037 Centerline is valid? [True, True] Translation: X:86.23, Y:-4.61, Z:-3.22 [[ 9.91662613e-01 1.25382277e-01 2.97413342e-02 8.62280872e+01] [-1.25350589e-01 9.92108168e-01 -2.93489430e-03 -4.60730980e+00] [-2.98746043e-02 -8.17668820e-04 9.99553320e-01 -3.21666592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730385723 meters 0.01941004576870154 Centerline is valid? [True, True] Translation: X:86.29, Y:-4.62, Z:-3.22 [[ 9.91754742e-01 1.24779205e-01 2.92006992e-02 8.62896550e+01] [-1.24748210e-01 9.92184229e-01 -2.88797250e-03 -4.61644080e+00] [-2.93328321e-02 -7.78574523e-04 9.99569397e-01 -3.21877243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790385723 meters 0.019131438369252563 Centerline is valid? [True, True] Translation: X:86.35, Y:-4.63, Z:-3.22 [[ 9.91891581e-01 1.23611844e-01 2.95161560e-02 8.63517493e+01] [-1.23579420e-01 9.92330368e-01 -2.92722786e-03 -4.62516620e+00] [-2.96516179e-02 -7.44096752e-04 9.99560017e-01 -3.22051317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850385723 meters 0.020373911236531532 Centerline is valid? [True, True] Translation: X:86.41, Y:-4.63, Z:-3.22 [[ 9.91989011e-01 1.21399167e-01 3.49291196e-02 8.64133944e+01] [-1.21352197e-01 9.92603449e-01 -3.46947965e-03 -4.62800669e+00] [-3.50919565e-02 -7.97039716e-04 9.99383770e-01 -3.21920865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91038572299999 meters 0.018077821665717277 Centerline is valid? [True, True] Translation: X:86.47, Y:-4.64, Z:-3.22 [[ 9.92184149e-01 1.18948462e-01 3.77077953e-02 8.64744994e+01] [-1.18891577e-01 9.92900141e-01 -3.75536661e-03 -4.63703480e+00] [-3.78867703e-02 -7.57124029e-04 9.99281752e-01 -3.22050808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97038572299999 meters 0.018254908394390614 Centerline is valid? [True, True] Translation: X:86.54, Y:-4.64, Z:-3.22 [[ 9.92297646e-01 1.19082309e-01 3.41289442e-02 8.65363170e+01] [-1.19035531e-01 9.92884151e-01 -3.40650118e-03 -4.64291826e+00] [-3.42917418e-02 -6.82293883e-04 9.99411632e-01 -3.22495430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030385723 meters 0.018291405900912414 Centerline is valid? [True, True] Translation: X:86.60, Y:-4.65, Z:-3.23 [[ 9.92086391e-01 1.21763367e-01 3.06312691e-02 8.65981468e+01] [-1.21726745e-01 9.92558919e-01 -3.06447171e-03 -4.64596869e+00] [-3.07764797e-02 -6.88424003e-04 9.99526055e-01 -3.23063308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090385723 meters 0.018841995388433008 Centerline is valid? [True, True] Translation: X:86.66, Y:-4.65, Z:-3.24 [[ 9.91944946e-01 1.23750581e-01 2.70373320e-02 8.66603812e+01] [-1.23722633e-01 9.92313137e-01 -2.71059043e-03 -4.64701284e+00] [-2.71649369e-02 -6.56373429e-04 9.99630750e-01 -3.23692442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150385723 meters 0.01856274560775272 Centerline is valid? [True, True] Translation: X:86.72, Y:-4.65, Z:-3.24 [[ 9.92116893e-01 1.22138001e-01 2.80424447e-02 8.67219307e+01] [-1.22107089e-01 9.92512929e-01 -2.81858289e-03 -4.65373750e+00] [-2.81767450e-02 -6.27817582e-04 9.99602760e-01 -3.23752288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210385723 meters 0.01785881338951343 Centerline is valid? [True, True] Translation: X:86.78, Y:-4.67, Z:-3.23 [[ 9.92573413e-01 1.17633310e-01 3.09907238e-02 8.67822775e+01] [-1.17593062e-01 9.93056952e-01 -3.12444745e-03 -4.66591311e+00] [-3.11430928e-02 -5.43050644e-04 9.99514789e-01 -3.23469926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27038572299999 meters 0.01775690296202698 Centerline is valid? [True, True] Translation: X:86.84, Y:-4.67, Z:-3.24 [[ 9.92741005e-01 1.15824435e-01 3.24036563e-02 8.68431272e+01] [-1.15779452e-01 9.93269572e-01 -3.26743563e-03 -4.67043900e+00] [-3.25640147e-02 -5.07960243e-04 9.99469523e-01 -3.23705270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33038572299999 meters 0.01781451725389538 Centerline is valid? [True, True] Translation: X:86.90, Y:-4.67, Z:-3.24 [[ 9.92386809e-01 1.18839474e-01 3.23357570e-02 8.69046913e+01] [-1.18796035e-01 9.92913300e-01 -3.26810170e-03 -4.67434014e+00] [-3.24949827e-02 -5.98138704e-04 9.99471720e-01 -3.24019570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390385723 meters 0.018612793991871216 Centerline is valid? [True, True] Translation: X:86.97, Y:-4.68, Z:-3.24 [[ 9.92145372e-01 1.20206261e-01 3.46123637e-02 8.69651924e+01] [-1.20157152e-01 9.92748703e-01 -3.50300514e-03 -4.67933175e+00] [-3.47824624e-02 -6.83432727e-04 9.99394673e-01 -3.23955682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450385723 meters 0.018334205566487488 Centerline is valid? [True, True] Translation: X:87.03, Y:-4.68, Z:-3.24 [[ 9.92100728e-01 1.20804346e-01 3.38002424e-02 8.70275095e+01] [-1.20757651e-01 9.92676103e-01 -3.42701623e-03 -4.68485358e+00] [-3.39666914e-02 -6.81692584e-04 9.99422733e-01 -3.24272032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510385723 meters 0.01900351787223137 Centerline is valid? [True, True] Translation: X:87.09, Y:-4.69, Z:-3.25 [[ 9.91912957e-01 1.22916396e-01 3.16266472e-02 8.70890241e+01] [-1.22876318e-01 9.92416784e-01 -3.21509656e-03 -4.69016108e+00] [-3.17820036e-02 -6.97070012e-04 9.99494581e-01 -3.24585426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570385723 meters 0.021005131414909776 Centerline is valid? [True, True] Translation: X:87.15, Y:-4.69, Z:-3.25 [[ 9.91734439e-01 1.24613427e-01 3.05662478e-02 8.71500398e+01] [-1.24576573e-01 9.92205108e-01 -3.11457128e-03 -4.68920312e+00] [-3.07161046e-02 -7.19010796e-04 9.99527891e-01 -3.25192092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63038572299999 meters 0.020726550320992108 Centerline is valid? [True, True] Translation: X:87.21, Y:-4.70, Z:-3.26 [[ 9.92042264e-01 1.22380926e-01 2.95813208e-02 8.72102706e+01] [-1.22345225e-01 9.92483008e-01 -3.02065155e-03 -4.69603254e+00] [-2.97286284e-02 -6.22519360e-04 9.99557813e-01 -3.25634382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69038572299999 meters 0.019674337036847737 Centerline is valid? [True, True] Translation: X:87.27, Y:-4.71, Z:-3.26 [[ 9.92454038e-01 1.18930539e-01 2.98414060e-02 8.72722575e+01] [-1.18892436e-01 9.92902442e-01 -3.05429459e-03 -4.70661278e+00] [-2.99928538e-02 -5.16670454e-04 9.99549980e-01 -3.25665232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750385723 meters 0.01781048764906289 Centerline is valid? [True, True] Translation: X:87.33, Y:-4.72, Z:-3.26 [[ 9.92649490e-01 1.17022343e-01 3.08668223e-02 8.73337584e+01] [-1.16980602e-01 9.93129169e-01 -3.16093454e-03 -4.71576341e+00] [-3.10246416e-02 -4.73119391e-04 9.99518508e-01 -3.25703708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810385723 meters 0.017740865592357203 Centerline is valid? [True, True] Translation: X:87.40, Y:-4.72, Z:-3.26 [[ 9.92681802e-01 1.16189258e-01 3.29074026e-02 8.73963662e+01] [-1.16141054e-01 9.93226982e-01 -3.37903371e-03 -4.71842111e+00] [-3.30771275e-02 -4.67595158e-04 9.99452693e-01 -3.25959528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870385723 meters 0.017815559575919807 Centerline is valid? [True, True] Translation: X:87.46, Y:-4.72, Z:-3.26 [[ 9.92882141e-01 1.14519251e-01 3.27168840e-02 8.74577504e+01] [-1.14470620e-01 9.93420946e-01 -3.36182586e-03 -4.72326071e+00] [-3.28866316e-02 -4.07225120e-04 9.99459005e-01 -3.26123386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930385723 meters 0.01784856831611011 Centerline is valid? [True, True] Translation: X:87.52, Y:-4.73, Z:-3.26 [[ 9.92911234e-01 1.14312642e-01 3.25561148e-02 8.75203074e+01] [-1.14264126e-01 9.93444748e-01 -3.35295514e-03 -4.72595844e+00] [-3.27259864e-02 -3.90809180e-04 9.99464285e-01 -3.26337715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99038572299999 meters 0.0181336277479566 Centerline is valid? [True, True] Translation: X:87.58, Y:-4.73, Z:-3.27 [[ 9.92867421e-01 1.15424334e-01 2.98581133e-02 8.75826000e+01] [-1.15383802e-01 9.93316201e-01 -3.08268305e-03 -4.72686913e+00] [-3.00143643e-02 -3.84447068e-04 9.99549394e-01 -3.26918320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05038572299999 meters 0.01796496769423906 Centerline is valid? [True, True] Translation: X:87.65, Y:-4.73, Z:-3.27 [[ 9.93039401e-01 1.14393434e-01 2.80515627e-02 8.76451712e+01] [-1.14357085e-01 9.93435471e-01 -2.90194414e-03 -4.73175105e+00] [-2.81993808e-02 -3.26150068e-04 9.99602265e-01 -3.27420206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110385723 meters 0.017998540388912257 Centerline is valid? [True, True] Translation: X:87.71, Y:-4.74, Z:-3.27 [[ 9.93265868e-01 1.12278534e-01 2.85735255e-02 8.77067838e+01] [-1.12239697e-01 9.93676739e-01 -2.96453295e-03 -4.74044023e+00] [-2.87257010e-02 -2.62514459e-04 9.99587297e-01 -3.27205153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170385723 meters 0.01794465478649236 Centerline is valid? [True, True] Translation: X:87.77, Y:-4.74, Z:-3.27 [[ 9.93558602e-01 1.09315896e-01 2.98553180e-02 8.77685024e+01] [-1.09271926e-01 9.94007044e-01 -3.10527499e-03 -4.74357211e+00] [-3.00158523e-02 -1.77075405e-04 9.99549407e-01 -3.27441585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230385723 meters 0.017927182030444046 Centerline is valid? [True, True] Translation: X:87.83, Y:-4.76, Z:-3.28 [[ 9.94183866e-01 1.03444497e-01 2.99612595e-02 8.78296630e+01] [-1.03397324e-01 9.94635228e-01 -3.12368261e-03 -4.75650980e+00] [-3.01236520e-02 7.60079864e-06 9.99546180e-01 -3.27554660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290385723 meters 0.018420517554395326 Centerline is valid? [True, True] Translation: X:87.89, Y:-4.76, Z:-3.28 [[ 9.94810554e-01 9.73614713e-02 2.95415789e-02 8.78898132e+01] [-9.73127002e-02 9.95249067e-01 -3.08758732e-03 -4.76399951e+00] [-2.97018409e-02 1.96793635e-04 9.99558784e-01 -3.28069814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350385723 meters 0.018461551645158482 Centerline is valid? [True, True] Translation: X:87.95, Y:-4.77, Z:-3.28 [[ 9.94926087e-01 9.61672251e-02 2.95625849e-02 8.79525486e+01] [-9.61177732e-02 9.95365164e-01 -3.09261868e-03 -4.76872327e+00] [-2.97229758e-02 2.35437167e-04 9.99558147e-01 -3.28197714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41038572299999 meters 0.018601835468276935 Centerline is valid? [True, True] Translation: X:88.01, Y:-4.78, Z:-3.28 [[ 9.94793698e-01 9.75429514e-02 2.95105281e-02 8.80130925e+01] [-9.74940167e-02 9.95231295e-01 -3.09599794e-03 -4.77830901e+00] [-2.96717939e-02 2.02779326e-04 9.99559675e-01 -3.28169313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47038572299999 meters 0.018501382446516168 Centerline is valid? [True, True] Translation: X:88.07, Y:-4.78, Z:-3.28 [[ 9.94320406e-01 1.02400716e-01 2.90003934e-02 8.80749382e+01] [-1.02355337e-01 9.94743228e-01 -3.04887710e-03 -4.78117242e+00] [-2.91601522e-02 6.32156652e-05 9.99574750e-01 -3.28358573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530385723 meters 0.01853887619813818 Centerline is valid? [True, True] Translation: X:88.14, Y:-4.78, Z:-3.29 [[ 9.93607653e-01 1.09417655e-01 2.77778563e-02 8.81371423e+01] [-1.09378582e-01 9.93995855e-01 -2.92680034e-03 -4.77779051e+00] [-2.79313176e-02 -1.30211303e-04 9.99609836e-01 -3.29059768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590385723 meters 0.018998093264451166 Centerline is valid? [True, True] Translation: X:88.20, Y:-4.79, Z:-3.29 [[ 9.92864541e-01 1.16317510e-01 2.62724346e-02 8.81985842e+01] [-1.16284811e-01 9.93212035e-01 -2.77419348e-03 -4.78530009e+00] [-2.64167855e-02 -3.00686754e-04 9.99650971e-01 -3.29050257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650385723 meters 0.019559710743463674 Centerline is valid? [True, True] Translation: X:88.26, Y:-4.79, Z:-3.29 [[ 9.92324535e-01 1.20462911e-01 2.79410879e-02 8.82609312e+01] [-1.20427362e-01 9.92717736e-01 -2.95771127e-03 -4.78819032e+00] [-2.80939080e-02 -4.29862047e-04 9.99605196e-01 -3.29170789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710385723 meters 0.020589056273102913 Centerline is valid? [True, True] Translation: X:88.32, Y:-4.79, Z:-3.29 [[ 9.91929179e-01 1.23360793e-01 2.93022010e-02 8.83217400e+01] [-1.23322727e-01 9.92361746e-01 -3.10970110e-03 -4.78940760e+00] [-2.94619986e-02 -5.29024079e-04 9.99565761e-01 -3.29366533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77038572299999 meters 0.02092914573430335 Centerline is valid? [True, True] Translation: X:88.38, Y:-4.80, Z:-3.30 [[ 9.91791869e-01 1.25125186e-01 2.63168528e-02 8.83827895e+01] [-1.25094998e-01 9.92140826e-01 -2.79678687e-03 -4.79993557e+00] [-2.64599725e-02 -5.18276186e-04 9.99649739e-01 -3.29507380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83038572299999 meters 0.02017804569380462 Centerline is valid? [True, True] Translation: X:88.44, Y:-4.81, Z:-3.30 [[ 9.91868324e-01 1.24193328e-01 2.78072721e-02 8.84441114e+01] [-1.24159069e-01 9.92257906e-01 -2.96196097e-03 -4.80854451e+00] [-2.79598413e-02 -5.14649751e-04 9.99608915e-01 -3.29541971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890385723 meters 0.01978486620579072 Centerline is valid? [True, True] Translation: X:88.51, Y:-4.82, Z:-3.30 [[ 9.92131171e-01 1.21676879e-01 2.95038403e-02 8.85057667e+01] [-1.21636972e-01 9.92569656e-01 -3.15033580e-03 -4.81718129e+00] [-2.96679397e-02 -4.63211443e-04 9.99559702e-01 -3.29675801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950385723 meters 0.019468413203233805 Centerline is valid? [True, True] Translation: X:88.57, Y:-4.83, Z:-3.30 [[ 9.92448982e-01 1.19028539e-01 2.96179827e-02 8.85667935e+01] [-1.18986931e-01 9.92890761e-01 -3.16962690e-03 -4.82825589e+00] [-2.97846974e-02 -3.78459856e-04 9.99556266e-01 -3.29819662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010385723 meters 0.019034826363750913 Centerline is valid? [True, True] Translation: X:88.63, Y:-4.84, Z:-3.30 [[ 9.92858638e-01 1.15814799e-01 2.86121738e-02 8.86284199e+01] [-1.15774448e-01 9.93270790e-01 -3.06848413e-03 -4.83794959e+00] [-2.87750123e-02 -2.65987640e-04 9.99585878e-01 -3.30271501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070385723 meters 0.01902202251917676 Centerline is valid? [True, True] Translation: X:88.69, Y:-4.85, Z:-3.31 [[ 9.93080939e-01 1.14474476e-01 2.61886029e-02 8.86901777e+01] [-1.14440070e-01 9.93426169e-01 -2.81375522e-03 -4.84722402e+00] [-2.63385466e-02 -2.02738866e-04 9.99653060e-01 -3.30671401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13038572299999 meters 0.019158967006510097 Centerline is valid? [True, True] Translation: X:88.75, Y:-4.85, Z:-3.31 [[ 9.93042793e-01 1.14751326e-01 2.64224308e-02 8.87520450e+01] [-1.14716182e-01 9.93394228e-01 -2.84710539e-03 -4.85442964e+00] [-2.65745993e-02 -2.03782881e-04 9.99646812e-01 -3.30891941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19038572299999 meters 0.019180786202359135 Centerline is valid? [True, True] Translation: X:88.81, Y:-4.86, Z:-3.31 [[ 9.92854000e-01 1.16365713e-01 2.64566629e-02 8.88146719e+01] [-1.16330959e-01 9.93206404e-01 -2.85421427e-03 -4.85957815e+00] [-2.66090598e-02 -2.43910927e-04 9.99645887e-01 -3.31055600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250385723 meters 0.019294003130714967 Centerline is valid? [True, True] Translation: X:88.88, Y:-4.87, Z:-3.31 [[ 9.92792169e-01 1.17055465e-01 2.57240523e-02 8.88771400e+01] [-1.17022666e-01 9.93125348e-01 -2.78192622e-03 -4.86675201e+00] [-2.58728480e-02 -2.48422623e-04 9.99665211e-01 -3.31366571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310385723 meters 0.01934908139019103 Centerline is valid? [True, True] Translation: X:88.94, Y:-4.87, Z:-3.32 [[ 9.92914298e-01 1.16375361e-01 2.40410527e-02 8.89395907e+01] [-1.16346370e-01 9.93205282e-01 -2.60593173e-03 -4.87344146e+00] [-2.41809668e-02 -2.09622331e-04 9.99707576e-01 -3.31811481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370385723 meters 0.019130527687910535 Centerline is valid? [True, True] Translation: X:89.00, Y:-4.88, Z:-3.32 [[ 9.92987225e-01 1.15669405e-01 2.44327685e-02 8.90013648e+01] [-1.15639070e-01 9.93287749e-01 -2.65559014e-03 -4.88129586e+00] [-2.45759402e-02 -1.88415555e-04 9.99697948e-01 -3.31946011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430385723 meters 0.019179863431291147 Centerline is valid? [True, True] Translation: X:89.06, Y:-4.89, Z:-3.32 [[ 9.92841204e-01 1.16361854e-01 2.69492725e-02 8.90627279e+01] [-1.16324993e-01 9.93206862e-01 -2.93683545e-03 -4.88842711e+00] [-2.71079380e-02 -2.19062703e-04 9.99632488e-01 -3.31962859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49038572299999 meters 0.01933762260774727 Centerline is valid? [True, True] Translation: X:89.13, Y:-4.89, Z:-3.32 [[ 9.92615896e-01 1.18100749e-01 2.76748280e-02 8.91255659e+01] [-1.18062364e-01 9.93001582e-01 -3.02266584e-03 -4.89164370e+00] [-2.78381271e-02 -2.67009452e-04 9.99612409e-01 -3.32287609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55038572299999 meters 0.01949090395907256 Centerline is valid? [True, True] Translation: X:89.19, Y:-4.90, Z:-3.33 [[ 9.92513949e-01 1.19167795e-01 2.67413185e-02 8.91871373e+01] [-1.19132141e-01 9.92874090e-01 -2.92820102e-03 -4.89869681e+00] [-2.68997096e-02 -2.79470176e-04 9.99638098e-01 -3.32501174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610385723 meters 0.019532349231129915 Centerline is valid? [True, True] Translation: X:89.25, Y:-4.90, Z:-3.33 [[ 9.92621551e-01 1.18209960e-01 2.69974616e-02 8.92483841e+01] [-1.18173085e-01 9.92988592e-01 -2.96287686e-03 -4.90441098e+00] [-2.71584129e-02 -2.49357905e-04 9.99631111e-01 -3.32898623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670385723 meters 0.01946868244072773 Centerline is valid? [True, True] Translation: X:89.31, Y:-4.91, Z:-3.33 [[ 9.92766898e-01 1.16199652e-01 3.01915095e-02 8.93104793e+01] [-1.16152357e-01 9.93225854e-01 -3.32156504e-03 -4.91194452e+00] [-3.03729525e-02 -2.09275178e-04 9.99538614e-01 -3.32848519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730385723 meters 0.019515053702272238 Centerline is valid? [True, True] Translation: X:89.37, Y:-4.92, Z:-3.33 [[ 9.92731997e-01 1.16524122e-01 3.00883759e-02 8.93726830e+01] [-1.16477084e-01 9.93187839e-01 -3.31732573e-03 -4.92104249e+00] [-3.02699576e-02 -2.11390895e-04 9.99541737e-01 -3.32838386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790385723 meters 0.01967020360647534 Centerline is valid? [True, True] Translation: X:89.43, Y:-4.92, Z:-3.33 [[ 9.92372943e-01 1.19357623e-01 3.08172022e-02 8.94346675e+01] [-1.19309364e-01 9.92851283e-01 -3.40668608e-03 -4.91998702e+00] [-3.10035127e-02 -2.96077685e-04 9.99519232e-01 -3.33363774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850385723 meters 0.019954853400962893 Centerline is valid? [True, True] Translation: X:89.50, Y:-4.92, Z:-3.34 [[ 9.92104279e-01 1.22011812e-01 2.90209686e-02 8.94957477e+01] [-1.21969932e-01 9.92528587e-01 -3.21562259e-03 -4.92329328e+00] [-2.91964849e-02 -3.49452628e-04 9.99573631e-01 -3.33852851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91038572299999 meters 0.020701947855734117 Centerline is valid? [True, True] Translation: X:89.56, Y:-4.93, Z:-3.34 [[ 9.91813797e-01 1.24270575e-01 2.93635332e-02 8.95565743e+01] [-1.24228591e-01 9.92248280e-01 -3.25692092e-03 -4.92668002e+00] [-2.95406548e-02 -4.17531248e-04 9.99563492e-01 -3.34061163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97038572299999 meters 0.02007079312388341 Centerline is valid? [True, True] Translation: X:89.62, Y:-4.93, Z:-3.34 [[ 9.91631776e-01 1.25759098e-01 2.91730912e-02 8.96181620e+01] [-1.25718118e-01 9.92060706e-01 -3.24199154e-03 -4.93361711e+00] [-2.93491873e-02 -4.52724294e-04 9.99569117e-01 -3.34181767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030385723 meters 0.020187105036587397 Centerline is valid? [True, True] Translation: X:89.68, Y:-4.94, Z:-3.34 [[ 9.91556689e-01 1.26376762e-01 2.90559214e-02 8.96799774e+01] [-1.26336169e-01 9.91982208e-01 -3.23603903e-03 -4.93908475e+00] [-2.92319172e-02 -4.62097660e-04 9.99572549e-01 -3.34337189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090385723 meters 0.02015169487297466 Centerline is valid? [True, True] Translation: X:89.74, Y:-4.94, Z:-3.35 [[ 9.91659695e-01 1.25767982e-01 2.81684886e-02 8.97414050e+01] [-1.25729383e-01 9.92059593e-01 -3.14435036e-03 -4.94273487e+00] [-2.83402779e-02 -4.23481160e-04 9.99598244e-01 -3.34815857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150385723 meters 0.019429595864787246 Centerline is valid? [True, True] Translation: X:89.80, Y:-4.95, Z:-3.35 [[ 9.92175633e-01 1.22039698e-01 2.63405743e-02 8.98024322e+01] [-1.22004464e-01 9.92525177e-01 -2.94667363e-03 -4.95232116e+00] [-2.65032944e-02 -2.90049873e-04 9.99648684e-01 -3.34981808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210385723 meters 0.018907528403479555 Centerline is valid? [True, True] Translation: X:89.86, Y:-4.96, Z:-3.35 [[ 9.92851821e-01 1.16548036e-01 2.57258223e-02 8.98639444e+01] [-1.16512429e-01 9.93185047e-01 -2.88383316e-03 -4.96223118e+00] [-2.58866071e-02 -1.34159046e-04 9.99664877e-01 -3.35283289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27038572299999 meters 0.018711627033420105 Centerline is valid? [True, True] Translation: X:89.93, Y:-4.97, Z:-3.36 [[ 9.93322235e-01 1.12097390e-01 2.72967360e-02 8.99257577e+01] [-1.12055422e-01 9.93697225e-01 -3.06712544e-03 -4.96988117e+00] [-2.74685076e-02 -1.21033808e-05 9.99622669e-01 -3.35648135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33038572299999 meters 0.018662839314720587 Centerline is valid? [True, True] Translation: X:89.99, Y:-4.98, Z:-3.36 [[ 9.93264628e-01 1.12354328e-01 2.83175530e-02 8.99882391e+01] [-1.12309070e-01 9.93668207e-01 -3.18873282e-03 -4.97897368e+00] [-2.84965200e-02 -1.30625075e-05 9.99593892e-01 -3.35740432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390385723 meters 0.018757161876157544 Centerline is valid? [True, True] Translation: X:90.05, Y:-4.98, Z:-3.36 [[ 9.92844736e-01 1.16135771e-01 2.77815307e-02 9.00504598e+01] [-1.16093475e-01 9.93233341e-01 -3.13604439e-03 -4.98485167e+00] [-2.79577495e-02 -1.11649285e-04 9.99609099e-01 -3.35979197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450385723 meters 0.019044328299150644 Centerline is valid? [True, True] Translation: X:90.11, Y:-4.99, Z:-3.36 [[ 9.91983700e-01 1.22983139e-01 2.90428434e-02 9.01122459e+01] [-1.22939589e-01 9.92408712e-01 -3.28721404e-03 -4.98673912e+00] [-2.92266427e-02 -3.09652478e-04 9.99572762e-01 -3.36354743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510385723 meters 0.019219433472685562 Centerline is valid? [True, True] Translation: X:90.17, Y:-5.00, Z:-3.36 [[ 9.91607917e-01 1.26229396e-01 2.79263163e-02 9.01734776e+01] [-1.26190234e-01 9.92001004e-01 -3.16735120e-03 -4.99762041e+00] [-2.81027466e-02 -3.83257851e-04 9.99604966e-01 -3.36450070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570385723 meters 0.019095236125408522 Centerline is valid? [True, True] Translation: X:90.23, Y:-5.00, Z:-3.37 [[ 9.91609246e-01 1.26059742e-01 2.86364086e-02 9.02340056e+01] [-1.26018261e-01 9.92022579e-01 -3.25590828e-03 -5.00416653e+00] [-2.88184029e-02 -3.80121645e-04 9.99584591e-01 -3.36752783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63038572299999 meters 0.019160702516655574 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.01, Z:-3.37 [[ 9.91435147e-01 1.27232070e-01 2.94677633e-02 9.02960402e+01] [-1.27188566e-01 9.91872886e-01 -3.35367232e-03 -5.01397509e+00] [-2.96549701e-02 -4.23013957e-04 9.99560105e-01 -3.36845717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69038572299999 meters 0.01927039558188295 Centerline is valid? [True, True] Translation: X:90.36, Y:-5.02, Z:-3.37 [[ 9.91281078e-01 1.28226943e-01 3.03261493e-02 9.03572833e+01] [-1.28181059e-01 9.91744746e-01 -3.46033579e-03 -5.02479532e+00] [-3.05195076e-02 -4.57072553e-04 9.99534067e-01 -3.36968282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750385723 meters 0.01958026259043136 Centerline is valid? [True, True] Translation: X:90.42, Y:-5.03, Z:-3.37 [[ 9.91057276e-01 1.30249724e-01 2.89911113e-02 9.04189223e+01] [-1.30208443e-01 9.91481099e-01 -3.31532750e-03 -5.03170654e+00] [-2.91759594e-02 -4.89208026e-04 9.99574171e-01 -3.37345244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810385723 meters 0.021298331920191968 Centerline is valid? [True, True] Translation: X:90.48, Y:-5.04, Z:-3.38 [[ 9.90005705e-01 1.38221618e-01 2.79908492e-02 9.04797066e+01] [-1.38186092e-01 9.90401084e-01 -3.20893669e-03 -5.03986728e+00] [-2.81657118e-02 -6.91080440e-04 9.99603029e-01 -3.37542384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870385723 meters 0.020752701370423628 Centerline is valid? [True, True] Translation: X:90.54, Y:-5.05, Z:-3.38 [[ 9.89658799e-01 1.41116671e-01 2.57205519e-02 9.05403831e+01] [-1.41087684e-01 9.89992716e-01 -2.94740559e-03 -5.05190794e+00] [-2.58790871e-02 -7.11927214e-04 9.99664827e-01 -3.37775767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930385723 meters 0.021978421680463132 Centerline is valid? [True, True] Translation: X:90.60, Y:-5.06, Z:-3.38 [[ 9.89278856e-01 1.44278234e-01 2.26083439e-02 9.06006056e+01] [-1.44256504e-01 9.89536918e-01 -2.59769153e-03 -5.05869666e+00] [-2.27465813e-02 -6.91559346e-04 9.99741024e-01 -3.38409594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99038572299999 meters 0.021538104212101155 Centerline is valid? [True, True] Translation: X:90.66, Y:-5.07, Z:-3.39 [[ 9.89184782e-01 1.44961337e-01 2.23534895e-02 9.06617555e+01] [-1.44940318e-01 9.89437072e-01 -2.56622799e-03 -5.07177202e+00] [-2.24893750e-02 -7.01448200e-04 9.99746836e-01 -3.38632170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05038572299999 meters 0.020795261763865498 Centerline is valid? [True, True] Translation: X:90.72, Y:-5.09, Z:-3.39 [[ 9.89578753e-01 1.42237397e-01 2.24145982e-02 9.07223999e+01] [-1.42215431e-01 9.89832369e-01 -2.57913446e-03 -5.08913622e+00] [-2.25535443e-02 -6.35445092e-04 9.99745435e-01 -3.38583140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110385723 meters 0.02033710738849307 Centerline is valid? [True, True] Translation: X:90.78, Y:-5.10, Z:-3.39 [[ 9.89805755e-01 1.40185295e-01 2.51525425e-02 9.07830830e+01] [-1.40156727e-01 9.90125073e-01 -2.90388653e-03 -5.10061593e+00] [-2.53112452e-02 -6.51014429e-04 9.99679407e-01 -3.38519865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170385723 meters 0.02024448232826434 Centerline is valid? [True, True] Translation: X:90.85, Y:-5.11, Z:-3.39 [[ 9.89761261e-01 1.40621171e-01 2.44608391e-02 9.08452850e+01] [-1.40594335e-01 9.90063265e-01 -2.82203777e-03 -5.10849376e+00] [-2.46146165e-02 -6.45911749e-04 9.99696806e-01 -3.38799541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230385723 meters 0.02057952648900425 Centerline is valid? [True, True] Translation: X:90.91, Y:-5.12, Z:-3.39 [[ 9.89690277e-01 1.41248384e-01 2.37075892e-02 9.09071356e+01] [-1.41223190e-01 9.89973985e-01 -2.74206454e-03 -5.11625483e+00] [-2.38572087e-02 -6.34266758e-04 9.99715175e-01 -3.39019482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290385723 meters 0.02090206175116222 Centerline is valid? [True, True] Translation: X:90.97, Y:-5.13, Z:-3.39 [[ 9.89817252e-01 1.40659622e-01 2.18329483e-02 9.09694419e+01] [-1.40638018e-01 9.90057852e-01 -2.52947723e-03 -5.12590628e+00] [-2.19716772e-02 -5.66822381e-04 9.99758433e-01 -3.39433988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350385723 meters 0.01965286173077934 Centerline is valid? [True, True] Translation: X:91.03, Y:-5.14, Z:-3.40 [[ 9.90332299e-01 1.36888160e-01 2.24403499e-02 9.10306482e+01] [-1.36864152e-01 9.90586389e-01 -2.60949744e-03 -5.13541785e+00] [-2.25863144e-02 -4.87009860e-04 9.99744778e-01 -3.39671178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41038572299999 meters 0.019052491200855004 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.15, Z:-3.40 [[ 9.90691627e-01 1.34443260e-01 2.13332929e-02 9.10922379e+01] [-1.34420984e-01 9.90921209e-01 -2.48132346e-03 -5.14821165e+00] [-2.14732096e-02 -4.09415847e-04 9.99769340e-01 -3.39835835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47038572299999 meters 0.018552329402362948 Centerline is valid? [True, True] Translation: X:91.15, Y:-5.16, Z:-3.40 [[ 9.90809821e-01 1.33467540e-01 2.19616443e-02 9.11536932e+01] [-1.33443697e-01 9.91053104e-01 -2.55420364e-03 -5.15654946e+00] [-2.21060590e-02 -3.99912936e-04 9.99755551e-01 -3.39932628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530385723 meters 0.019161761715696123 Centerline is valid? [True, True] Translation: X:91.22, Y:-5.16, Z:-3.40 [[ 9.90638490e-01 1.34599691e-01 2.27663187e-02 9.12153658e+01] [-1.34574235e-01 9.90899962e-01 -2.65357097e-03 -5.16140206e+00] [-2.29163142e-02 -4.35030374e-04 9.99737292e-01 -3.40165400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590385723 meters 0.019284831166775502 Centerline is valid? [True, True] Translation: X:91.28, Y:-5.17, Z:-3.40 [[ 9.90103775e-01 1.38005602e-01 2.54748644e-02 9.12772531e+01] [-1.37974650e-01 9.90431286e-01 -2.97719813e-03 -5.16553514e+00] [-2.56419727e-02 -5.67150398e-04 9.99671030e-01 -3.40098029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650385723 meters 0.019925064272573484 Centerline is valid? [True, True] Translation: X:91.34, Y:-5.17, Z:-3.40 [[ 9.89817314e-01 1.39828241e-01 2.66410897e-02 9.13384066e+01] [-1.39794856e-01 9.90175570e-01 -3.12069171e-03 -5.17123304e+00] [-2.68157170e-02 -6.35372621e-04 9.99640192e-01 -3.40138474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710385723 meters 0.02030168422190635 Centerline is valid? [True, True] Translation: X:91.40, Y:-5.18, Z:-3.41 [[ 9.89735787e-01 1.40454584e-01 2.63738866e-02 9.14001560e+01] [-1.40421936e-01 9.90086915e-01 -3.09511345e-03 -5.17667520e+00] [-2.65471629e-02 -6.40127674e-04 9.99647357e-01 -3.40531219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77038572299999 meters 0.02025463233071842 Centerline is valid? [True, True] Translation: X:91.46, Y:-5.18, Z:-3.41 [[ 9.89850730e-01 1.39826904e-01 2.53765494e-02 9.14608013e+01] [-1.39796298e-01 9.90175785e-01 -2.98491380e-03 -5.18201340e+00] [-2.55446160e-02 -5.92928558e-04 9.99673507e-01 -3.40992378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83038572299999 meters 0.02013489691603348 Centerline is valid? [True, True] Translation: X:91.52, Y:-5.19, Z:-3.41 [[ 9.89934616e-01 1.39465539e-01 2.40586781e-02 9.15232718e+01] [-1.39437890e-01 9.90226771e-01 -2.83127382e-03 -5.18988860e+00] [-2.42184123e-02 -5.51915342e-04 9.99706539e-01 -3.41270866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890385723 meters 0.019821521062175277 Centerline is valid? [True, True] Translation: X:91.58, Y:-5.20, Z:-3.42 [[ 9.90199451e-01 1.37739571e-01 2.30836930e-02 9.15843574e+01] [-1.37713499e-01 9.90468363e-01 -2.72297697e-03 -5.19648593e+00] [-2.32387293e-02 -4.82645828e-04 9.99729828e-01 -3.41537922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950385723 meters 0.01782101988100742 Centerline is valid? [True, True] Translation: X:91.65, Y:-5.21, Z:-3.42 [[ 9.90583814e-01 1.34886608e-01 2.34373573e-02 9.16455916e+01] [-1.34858823e-01 9.90860953e-01 -2.76933087e-03 -5.20738894e+00] [-2.35967078e-02 -4.17480091e-04 9.99721472e-01 -3.41584988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010385723 meters 0.01740558742704983 Centerline is valid? [True, True] Translation: X:91.71, Y:-5.22, Z:-3.41 [[ 9.90907542e-01 1.32432093e-01 2.37483252e-02 9.17071356e+01] [-1.32402670e-01 9.91192017e-01 -2.81404179e-03 -5.22134085e+00] [-2.39118198e-02 -3.55886442e-04 9.99714008e-01 -3.41414367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070385723 meters 0.017410910911882037 Centerline is valid? [True, True] Translation: X:91.77, Y:-5.22, Z:-3.42 [[ 9.90836326e-01 1.32375826e-01 2.68330918e-02 9.17689938e+01] [-1.32338204e-01 9.91199516e-01 -3.18097202e-03 -5.22237312e+00] [-2.70180314e-02 -3.99220538e-04 9.99634867e-01 -3.41859738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13038572299999 meters 0.01827857602134728 Centerline is valid? [True, True] Translation: X:91.83, Y:-5.23, Z:-3.42 [[ 9.90307570e-01 1.36857196e-01 2.36859513e-02 9.18304117e+01] [-1.36829043e-01 9.90590683e-01 -2.81291558e-03 -5.22779695e+00] [-2.38480504e-02 -4.55274452e-04 9.99715491e-01 -3.42280722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19038572299999 meters 0.019004850828459426 Centerline is valid? [True, True] Translation: X:91.89, Y:-5.24, Z:-3.42 [[ 9.90007125e-01 1.39310730e-01 2.18726451e-02 9.18915117e+01] [-1.39287225e-01 9.90248605e-01 -2.60193172e-03 -5.23593604e+00] [-2.20218332e-02 -4.70649089e-04 9.99757379e-01 -3.42373282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250385723 meters 0.019902668555368576 Centerline is valid? [True, True] Translation: X:91.95, Y:-5.24, Z:-3.43 [[ 9.89715586e-01 1.41258128e-01 2.25654763e-02 9.19526775e+01] [-1.41233494e-01 9.89972659e-01 -2.68968926e-03 -5.24060060e+00] [-2.27191451e-02 -5.24973681e-04 9.99741749e-01 -3.42568343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310385723 meters 0.020141181026354486 Centerline is valid? [True, True] Translation: X:92.02, Y:-5.24, Z:-3.43 [[ 9.89559202e-01 1.42128239e-01 2.39196257e-02 9.20150154e+01] [-1.42100689e-01 9.89848087e-01 -2.85627762e-03 -5.24489708e+00] [-2.40827535e-02 -5.72539486e-04 9.99709804e-01 -3.42823269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370385723 meters 0.019789894924243163 Centerline is valid? [True, True] Translation: X:92.08, Y:-5.26, Z:-3.43 [[ 9.89055833e-01 1.45864092e-01 2.21861843e-02 9.20760944e+01] [-1.45841152e-01 9.89304451e-01 -2.65721457e-03 -5.25694689e+00] [-2.23364831e-02 -6.07525115e-04 9.99750325e-01 -3.42687679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430385723 meters 0.02074985651096927 Centerline is valid? [True, True] Translation: X:92.14, Y:-5.26, Z:-3.43 [[ 9.88678002e-01 1.48276224e-01 2.30210716e-02 9.21369207e+01] [-1.48252185e-01 9.88945746e-01 -2.75689980e-03 -5.26120434e+00] [-2.31753736e-02 -6.87237983e-04 9.99731179e-01 -3.42954137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49038572299999 meters 0.02111106346683505 Centerline is valid? [True, True] Translation: X:92.20, Y:-5.27, Z:-3.43 [[ 9.88328910e-01 1.50376212e-01 2.43507745e-02 9.21986016e+01] [-1.50349808e-01 9.88628544e-01 -2.92201151e-03 -5.26687039e+00] [-2.45132717e-02 -7.73225812e-04 9.99699206e-01 -3.43077028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55038572299999 meters 0.025326324179703916 Centerline is valid? [True, True] Translation: X:92.26, Y:-5.27, Z:-3.43 [[ 9.88244899e-01 1.51013141e-01 2.38128380e-02 9.22600324e+01] [-1.50987933e-01 9.88531459e-01 -2.86340594e-03 -5.26787909e+00] [-2.39721514e-02 -7.65704877e-04 9.99712333e-01 -3.43455925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610385723 meters 0.0220524933213806 Centerline is valid? [True, True] Translation: X:92.32, Y:-5.28, Z:-3.44 [[ 9.88214638e-01 1.51044110e-01 2.48496734e-02 9.23214005e+01] [-1.51016524e-01 9.88526705e-01 -2.99386386e-03 -5.27837538e+00] [-2.50167712e-02 -7.94131216e-04 9.99686716e-01 -3.43568942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670385723 meters 0.022520576029212657 Centerline is valid? [True, True] Translation: X:92.38, Y:-5.29, Z:-3.44 [[ 9.88178880e-01 1.51310046e-01 2.46530249e-02 9.23841048e+01] [-1.51282840e-01 9.88486038e-01 -2.97573359e-03 -5.28516830e+00] [-2.48194293e-02 -7.89022529e-04 9.99691639e-01 -3.43866253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730385723 meters 0.020924538376884766 Centerline is valid? [True, True] Translation: X:92.44, Y:-5.30, Z:-3.44 [[ 9.88452357e-01 1.49668674e-01 2.36901957e-02 9.24449091e+01] [-1.49642929e-01 9.88735951e-01 -2.86588510e-03 -5.30002435e+00] [-2.38522813e-02 -7.12279375e-04 9.99715240e-01 -3.43715894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790385723 meters 0.01991231584604795 Centerline is valid? [True, True] Translation: X:92.51, Y:-5.31, Z:-3.44 [[ 9.88602421e-01 1.48456001e-01 2.50213707e-02 9.25063382e+01] [-1.48426728e-01 9.88918755e-01 -3.03344247e-03 -5.30760810e+00] [-2.51944355e-02 -7.14971632e-04 9.99682314e-01 -3.43920294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850385723 meters 0.02078922432389583 Centerline is valid? [True, True] Translation: X:92.57, Y:-5.31, Z:-3.44 [[ 9.88661172e-01 1.48219527e-01 2.40844218e-02 9.25681706e+01] [-1.48192207e-01 9.88954252e-01 -2.92515803e-03 -5.31099051e+00] [-2.42519569e-02 -6.77133440e-04 9.99705649e-01 -3.44466945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91038572299999 meters 0.019760780133341895 Centerline is valid? [True, True] Translation: X:92.63, Y:-5.33, Z:-3.44 [[ 9.88959533e-01 1.46056856e-01 2.50287110e-02 9.26292282e+01] [-1.46026461e-01 9.89275990e-01 -3.04769866e-03 -5.32587340e+00] [-2.52054402e-02 -6.40803447e-04 9.99682087e-01 -3.44116028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97038572299999 meters 0.01951461567256376 Centerline is valid? [True, True] Translation: X:92.69, Y:-5.33, Z:-3.44 [[ 9.89338808e-01 1.43312096e-01 2.58914175e-02 9.26916345e+01] [-1.43278421e-01 9.89677374e-01 -3.16077389e-03 -5.32984128e+00] [-2.60771272e-02 -5.82605131e-04 9.99659764e-01 -3.44452762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030385723 meters 0.019567112949480003 Centerline is valid? [True, True] Translation: X:92.75, Y:-5.34, Z:-3.44 [[ 9.89541227e-01 1.41825635e-01 2.63372375e-02 9.27520891e+01] [-1.41790191e-01 9.89891502e-01 -3.21795356e-03 -5.33726789e+00] [-2.65273959e-02 -5.50064216e-04 9.99647935e-01 -3.44476035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090385723 meters 0.018677893567745702 Centerline is valid? [True, True] Translation: X:92.81, Y:-5.35, Z:-3.44 [[ 9.89979623e-01 1.38669867e-01 2.66648630e-02 9.28129470e+01] [-1.38632232e-01 9.90338554e-01 -3.26387384e-03 -5.35012585e+00] [-2.68598428e-02 -4.65440891e-04 9.99639101e-01 -3.44322009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150385723 meters 0.018632929158908452 Centerline is valid? [True, True] Translation: X:92.88, Y:-5.36, Z:-3.45 [[ 9.90031530e-01 1.38300276e-01 2.66571290e-02 9.28750668e+01] [-1.38262353e-01 9.90390242e-01 -3.26945897e-03 -5.35658954e+00] [-2.68531276e-02 -4.48809934e-04 9.99639289e-01 -3.44708202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210385723 meters 0.018725475319144088 Centerline is valid? [True, True] Translation: X:92.94, Y:-5.36, Z:-3.45 [[ 9.90022655e-01 1.38350350e-01 2.67268418e-02 9.29382094e+01] [-1.38312078e-01 9.90383250e-01 -3.28431333e-03 -5.36003070e+00] [-2.69242024e-02 -4.45100412e-04 9.99637379e-01 -3.45240484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27038572299999 meters 0.018885303048227327 Centerline is valid? [True, True] Translation: X:93.00, Y:-5.37, Z:-3.45 [[ 9.89977910e-01 1.38389941e-01 2.81418208e-02 9.29994660e+01] [-1.38347277e-01 9.90377712e-01 -3.46690391e-03 -5.37001137e+00] [-2.83508167e-02 -4.61185986e-04 9.99597928e-01 -3.45125198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33038572299999 meters 0.01911337099193376 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.38, Z:-3.45 [[ 9.89916855e-01 1.38354205e-01 3.03765390e-02 9.30607422e+01] [-1.38304210e-01 9.90382692e-01 -3.75094837e-03 -5.37605737e+00] [-3.06033579e-02 -4.88076226e-04 9.99531488e-01 -3.45190346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390385723 meters 0.01961731084733734 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.38, Z:-3.46 [[ 9.89776098e-01 1.38959177e-01 3.21500107e-02 9.31229154e+01] [-1.38903350e-01 9.90297967e-01 -3.97431969e-03 -5.37913079e+00] [-3.23903584e-02 -5.32057552e-04 9.99475153e-01 -3.45648173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450385723 meters 0.019788359464008854 Centerline is valid? [True, True] Translation: X:93.19, Y:-5.39, Z:-3.46 [[ 9.89604969e-01 1.39844518e-01 3.35487092e-02 9.31850933e+01] [-1.39783934e-01 9.90173307e-01 -4.15615905e-03 -5.38668424e+00] [-3.38002524e-02 -5.76614902e-04 9.99428442e-01 -3.45731079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510385723 meters 0.020330688810505797 Centerline is valid? [True, True] Translation: X:93.25, Y:-5.39, Z:-3.46 [[ 9.89179914e-01 1.43140552e-01 3.21540044e-02 9.32474721e+01] [-1.43086360e-01 9.89702156e-01 -3.99200644e-03 -5.39065296e+00] [-3.23943055e-02 -6.51986876e-04 9.99474954e-01 -3.45955920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570385723 meters 0.02196945681578943 Centerline is valid? [True, True] Translation: X:93.31, Y:-5.39, Z:-3.46 [[ 9.88699727e-01 1.46834344e-01 3.02080348e-02 9.33084563e+01] [-1.46787990e-01 9.89160836e-01 -3.75849711e-03 -5.39066550e+00] [-3.04324814e-02 -7.18151655e-04 9.99536567e-01 -3.46215287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63038572299999 meters 0.02222059329868223 Centerline is valid? [True, True] Translation: X:93.37, Y:-5.40, Z:-3.46 [[ 9.88695472e-01 1.46976804e-01 2.96493441e-02 9.33695820e+01] [-1.46932222e-01 9.89139685e-01 -3.68867606e-03 -5.39711417e+00] [-2.98694927e-02 -7.09466700e-04 9.99553555e-01 -3.46433831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69038572299999 meters 0.0215474412143833 Centerline is valid? [True, True] Translation: X:93.43, Y:-5.40, Z:-3.47 [[ 9.88821334e-01 1.46081750e-01 2.98746047e-02 9.34309458e+01] [-1.46035851e-01 9.89272288e-01 -3.72431680e-03 -5.40283554e+00] [-3.00981732e-02 -6.80079395e-04 9.99546716e-01 -3.46863602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750385723 meters 0.02147058370466329 Centerline is valid? [True, True] Translation: X:93.49, Y:-5.41, Z:-3.47 [[ 9.88794634e-01 1.46234028e-01 3.00130021e-02 9.34928694e+01] [-1.46187562e-01 9.89249789e-01 -3.74854120e-03 -5.41150719e+00] [-3.02385203e-02 -6.80990188e-04 9.99542479e-01 -3.46861404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810385723 meters 0.0224608554610561 Centerline is valid? [True, True] Translation: X:93.55, Y:-5.41, Z:-3.47 [[ 9.88646723e-01 1.47111375e-01 3.05924945e-02 9.35543095e+01] [-1.47063243e-01 9.89119677e-01 -3.82978916e-03 -5.41481947e+00] [-3.08230438e-02 -7.12722937e-04 9.99524603e-01 -3.47114131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870385723 meters 0.022313605254301105 Centerline is valid? [True, True] Translation: X:93.62, Y:-5.42, Z:-3.47 [[ 9.88664025e-01 1.46567187e-01 3.25807469e-02 9.36160092e+01] [-1.46512048e-01 9.89200446e-01 -4.08632515e-03 -5.42220551e+00] [-3.28278105e-02 -7.33469296e-04 9.99460753e-01 -3.47323594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930385723 meters 0.021773022608074934 Centerline is valid? [True, True] Translation: X:93.68, Y:-5.43, Z:-3.47 [[ 9.88889066e-01 1.44610553e-01 3.44412911e-02 9.36772538e+01] [-1.44547459e-01 9.89488403e-01 -4.32804562e-03 -5.43276888e+00] [-3.47051392e-02 -6.98444114e-04 9.99397351e-01 -3.47306767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99038572299999 meters 0.020290777707602257 Centerline is valid? [True, True] Translation: X:93.74, Y:-5.45, Z:-3.47 [[ 9.89379870e-01 1.41278625e-01 3.41734327e-02 9.37377580e+01] [-1.41214251e-01 9.89969710e-01 -4.30221502e-03 -5.44852671e+00] [-3.44384743e-02 -5.69250785e-04 9.99406658e-01 -3.47235376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05038572299999 meters 0.020185464282940026 Centerline is valid? [True, True] Translation: X:93.80, Y:-5.45, Z:-3.48 [[ 9.89575215e-01 1.40427472e-01 3.19533814e-02 9.37992602e+01] [-1.40370514e-01 9.90090843e-01 -4.03000404e-03 -5.45288789e+00] [-3.22026736e-02 -4.97320451e-04 9.99481236e-01 -3.47903521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110385723 meters 0.02014126624398199 Centerline is valid? [True, True] Translation: X:93.86, Y:-5.46, Z:-3.48 [[ 9.89896849e-01 1.38581244e-01 2.99911066e-02 9.38594357e+01] [-1.38530012e-01 9.90350986e-01 -3.78945093e-03 -5.46348596e+00] [-3.02268688e-02 -4.03502813e-04 9.99542982e-01 -3.48310243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170385723 meters 0.019633665600621568 Centerline is valid? [True, True] Translation: X:93.92, Y:-5.47, Z:-3.48 [[ 9.90224596e-01 1.35635273e-01 3.25318652e-02 9.39212830e+01] [-1.35573123e-01 9.90758781e-01 -4.11892910e-03 -5.47374559e+00] [-3.27899032e-02 -3.31781653e-04 9.99462211e-01 -3.48355516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230385723 meters 0.019798803570784836 Centerline is valid? [True, True] Translation: X:93.98, Y:-5.48, Z:-3.49 [[ 9.90179378e-01 1.35297554e-01 3.52047053e-02 9.39829593e+01] [-1.35224440e-01 9.90804952e-01 -4.46060041e-03 -5.48006695e+00] [-3.54845047e-02 -3.43742029e-04 9.99370168e-01 -3.48506396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290385723 meters 0.019901401078174306 Centerline is valid? [True, True] Translation: X:94.04, Y:-5.49, Z:-3.49 [[ 9.89871408e-01 1.37287095e-01 3.61503769e-02 9.40441610e+01] [-1.37210999e-01 9.90531211e-01 -4.58939398e-03 -5.48691755e+00] [-3.64381412e-02 -4.17319442e-04 9.99335823e-01 -3.48679410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350385723 meters 0.02057820132562765 Centerline is valid? [True, True] Translation: X:94.11, Y:-5.49, Z:-3.49 [[ 9.89264199e-01 1.41400332e-01 3.69092206e-02 9.41061139e+01] [-1.41323669e-01 9.89952330e-01 -4.69100376e-03 -5.49192548e+00] [-3.72016784e-02 -5.75504416e-04 9.99307612e-01 -3.48870035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41038572299999 meters 0.02111397734254053 Centerline is valid? [True, True] Translation: X:94.17, Y:-5.50, Z:-3.49 [[ 9.88769198e-01 1.44487070e-01 3.81963178e-02 9.41681924e+01] [-1.44406895e-01 9.89506436e-01 -4.86425366e-03 -5.49562031e+00] [-3.84983241e-02 -7.06187452e-04 9.99258415e-01 -3.49148479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47038572299999 meters 0.02213737446110541 Centerline is valid? [True, True] Translation: X:94.23, Y:-5.50, Z:-3.49 [[ 9.88369991e-01 1.47280316e-01 3.78585566e-02 9.42305643e+01] [-1.47203259e-01 9.89094470e-01 -4.83013982e-03 -5.50037151e+00] [-3.81570735e-02 -7.98937684e-04 9.99271434e-01 -3.49366153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530385723 meters 0.022202472852669294 Centerline is valid? [True, True] Translation: X:94.29, Y:-5.51, Z:-3.50 [[ 9.88194342e-01 1.48882145e-01 3.61392958e-02 9.42915017e+01] [-1.48812887e-01 9.88854609e-01 -4.61386260e-03 -5.50909882e+00] [-3.64234309e-02 -8.18600014e-04 9.99336111e-01 -3.49715034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590385723 meters 0.02188131643196798 Centerline is valid? [True, True] Translation: X:94.35, Y:-5.52, Z:-3.50 [[ 9.88445513e-01 1.46977700e-01 3.70543297e-02 9.43532553e+01] [-1.46903226e-01 9.89139515e-01 -4.73940260e-03 -5.51798740e+00] [-3.73484882e-02 -7.58759343e-04 9.99302014e-01 -3.49950024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650385723 meters 0.021575811216279894 Centerline is valid? [True, True] Translation: X:94.41, Y:-5.53, Z:-3.50 [[ 9.88532483e-01 1.46181930e-01 3.78731155e-02 9.44145970e+01] [-1.46103190e-01 9.89257450e-01 -4.85342732e-03 -5.52903455e+00] [-3.81757451e-02 -7.35612427e-04 9.99270770e-01 -3.50127070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710385723 meters 0.020792541987460656 Centerline is valid? [True, True] Translation: X:94.48, Y:-5.54, Z:-3.50 [[ 9.88810416e-01 1.43019109e-01 4.24204715e-02 9.44757987e+01] [-1.42916927e-01 9.89719696e-01 -5.44743947e-03 -5.53987672e+00] [-4.27634641e-02 -6.76118557e-04 9.99084996e-01 -3.50325680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77038572299999 meters 0.020604377112793646 Centerline is valid? [True, True] Translation: X:94.54, Y:-5.55, Z:-3.51 [[ 9.89067159e-01 1.41341282e-01 4.20570721e-02 9.45357024e+01] [-1.41238898e-01 9.89960755e-01 -5.41091034e-03 -5.54935432e+00] [-4.23996359e-02 -5.88340790e-04 9.99100558e-01 -3.50616823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83038572299999 meters 0.01992983662784806 Centerline is valid? [True, True] Translation: X:94.60, Y:-5.56, Z:-3.51 [[ 9.89593910e-01 1.37953270e-01 4.08997465e-02 9.45966814e+01] [-1.37853176e-01 9.90438649e-01 -5.27110319e-03 -5.56376450e+00] [-4.12358555e-02 -4.21908341e-04 9.99149351e-01 -3.50869318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890385723 meters 0.019631311385652828 Centerline is valid? [True, True] Translation: X:94.66, Y:-5.57, Z:-3.51 [[ 9.89888539e-01 1.35825672e-01 4.08909304e-02 9.46580502e+01] [-1.35723390e-01 9.90732700e-01 -5.28005147e-03 -5.57136156e+00] [-4.12291484e-02 -3.23193279e-04 9.99149665e-01 -3.51228343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950385723 meters 0.01948438092316374 Centerline is valid? [True, True] Translation: X:94.72, Y:-5.58, Z:-3.52 [[ 9.89770864e-01 1.37267978e-01 3.88733735e-02 9.47203651e+01] [-1.37176295e-01 9.90533884e-01 -5.02873210e-03 -5.57646959e+00] [-3.91956776e-02 -3.55212827e-04 9.99231491e-01 -3.51927651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010385723 meters 0.01946336303702898 Centerline is valid? [True, True] Translation: X:94.78, Y:-5.59, Z:-3.52 [[ 9.89782754e-01 1.37927789e-01 3.61389643e-02 9.47816339e+01] [-1.37848644e-01 9.90442227e-01 -4.68459389e-03 -5.58513351e+00] [-3.64396920e-02 -3.44976991e-04 9.99335794e-01 -3.52304297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070385723 meters 0.019487989815502104 Centerline is valid? [True, True] Translation: X:94.84, Y:-5.59, Z:-3.53 [[ 9.89896712e-01 1.37111390e-01 3.61243250e-02 9.48426744e+01] [-1.37031418e-01 9.90555588e-01 -4.69221939e-03 -5.59222473e+00] [-3.64265087e-02 -3.05354941e-04 9.99336288e-01 -3.52670007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13038572299999 meters 0.01898256609245145 Centerline is valid? [True, True] Translation: X:94.90, Y:-5.60, Z:-3.53 [[ 9.90296157e-01 1.33978639e-01 3.69221452e-02 9.49044142e+01] [-1.33892602e-01 9.90984203e-01 -4.80432933e-03 -5.60125750e+00] [-3.72329401e-02 -1.85893199e-04 9.99306596e-01 -3.52981234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19038572299999 meters 0.018980250218203674 Centerline is valid? [True, True] Translation: X:94.97, Y:-5.61, Z:-3.53 [[ 9.90459580e-01 1.32747883e-01 3.69840440e-02 9.49666211e+01] [-1.32660365e-01 9.91149828e-01 -4.82133273e-03 -5.60898456e+00] [-3.72967506e-02 -1.30981575e-04 9.99304226e-01 -3.53134649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250385723 meters 0.019082132702640895 Centerline is valid? [True, True] Translation: X:95.03, Y:-5.61, Z:-3.54 [[ 9.90076937e-01 1.36220022e-01 3.45219404e-02 9.50289945e+01] [-1.36145571e-01 9.90678581e-01 -4.50923429e-03 -5.61217725e+00] [-3.48143949e-02 -2.35520417e-04 9.99393767e-01 -3.53703934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310385723 meters 0.019257280095987196 Centerline is valid? [True, True] Translation: X:95.09, Y:-5.62, Z:-3.54 [[ 9.89710165e-01 1.39612334e-01 3.13398293e-02 9.50905486e+01] [-1.39552460e-01 9.90206189e-01 -4.10049691e-03 -5.61605862e+00] [-3.16053729e-02 -3.15246821e-04 9.99500376e-01 -3.54397158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370385723 meters 0.01930362816161964 Centerline is valid? [True, True] Translation: X:95.15, Y:-5.62, Z:-3.55 [[ 9.89443498e-01 1.41843154e-01 2.96999125e-02 9.51519794e+01] [-1.41790184e-01 9.89889080e-01 -3.89272816e-03 -5.62233239e+00] [-2.99517759e-02 -3.59521493e-04 9.99551280e-01 -3.54626944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430385723 meters 0.019567677443075398 Centerline is valid? [True, True] Translation: X:95.21, Y:-5.63, Z:-3.55 [[ 9.89147148e-01 1.44252664e-01 2.79121740e-02 9.52140325e+01] [-1.44206660e-01 9.89540807e-01 -3.66474270e-03 -5.62667618e+00] [-2.81488841e-02 -4.00151613e-04 9.99603662e-01 -3.55068112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49038572299999 meters 0.020341465166145344 Centerline is valid? [True, True] Translation: X:95.28, Y:-5.63, Z:-3.55 [[ 9.88542987e-01 1.48216327e-01 2.85426507e-02 9.52750930e+01] [-1.48169638e-01 9.88954829e-01 -3.75563346e-03 -5.62644276e+00] [-2.87840385e-02 -5.16549126e-04 9.99585520e-01 -3.55437143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55038572299999 meters 0.020479876464757893 Centerline is valid? [True, True] Translation: X:95.34, Y:-5.63, Z:-3.56 [[ 9.88387416e-01 1.49719095e-01 2.59713172e-02 9.53367017e+01] [-1.49680917e-01 9.88728443e-01 -3.41888400e-03 -5.63163417e+00] [-2.61904523e-02 -5.08228657e-04 9.99656842e-01 -3.55839430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610385723 meters 0.020502416127068733 Centerline is valid? [True, True] Translation: X:95.40, Y:-5.64, Z:-3.56 [[ 9.88326217e-01 1.49987997e-01 2.67374177e-02 9.53996533e+01] [-1.49947459e-01 9.88687679e-01 -3.52614590e-03 -5.63814031e+00] [-2.69638350e-02 -5.24225400e-04 9.99636272e-01 -3.55985021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670385723 meters 0.02071316173332247 Centerline is valid? [True, True] Translation: X:95.46, Y:-5.64, Z:-3.56 [[ 9.87845237e-01 1.52808566e-01 2.84838448e-02 9.54617097e+01] [-1.52763479e-01 9.88255606e-01 -3.76515734e-03 -5.64030474e+00] [-2.87246676e-02 -6.31898494e-04 9.99587162e-01 -3.56244385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730385723 meters 0.021830545110059545 Centerline is valid? [True, True] Translation: X:95.52, Y:-5.65, Z:-3.56 [[ 9.87368787e-01 1.56158412e-01 2.67848526e-02 9.55221535e+01] [-1.56119563e-01 9.87731791e-01 -3.54844590e-03 -5.64516776e+00] [-2.70103701e-02 -6.78014741e-04 9.99634923e-01 -3.56497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790385723 meters 0.022293590265265107 Centerline is valid? [True, True] Translation: X:95.58, Y:-5.65, Z:-3.57 [[ 9.87374804e-01 1.56420871e-01 2.49701384e-02 9.55830966e+01] [-1.56387222e-01 9.87690286e-01 -3.30683151e-03 -5.64977893e+00] [-2.51800206e-02 -6.39928458e-04 9.99682728e-01 -3.56894052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850385723 meters 0.020448225729283117 Centerline is valid? [True, True] Translation: X:95.64, Y:-5.66, Z:-3.57 [[ 9.87169982e-01 1.58056724e-01 2.26604916e-02 9.56436498e+01] [-1.58029352e-01 9.87429843e-01 -3.00493147e-03 -5.66080198e+00] [-2.28505953e-02 -6.14644661e-04 9.99738702e-01 -3.57127321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91038572299999 meters 0.02085700709877067 Centerline is valid? [True, True] Translation: X:95.70, Y:-5.67, Z:-3.57 [[ 9.87199002e-01 1.58038399e-01 2.14940474e-02 9.57042080e+01] [-1.58013636e-01 9.87432799e-01 -2.85635736e-03 -5.66714361e+00] [-2.16753415e-02 -5.76559443e-04 9.99764896e-01 -3.57462180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97038572299999 meters 0.020119015357291322 Centerline is valid? [True, True] Translation: X:95.77, Y:-5.68, Z:-3.58 [[ 9.87606461e-01 1.55456061e-01 2.16076516e-02 9.57654369e+01] [-1.55430387e-01 9.87842670e-01 -2.87286751e-03 -5.67831783e+00] [-2.17915649e-02 -5.21223132e-04 9.99762400e-01 -3.57614410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030385723 meters 0.019880645141355242 Centerline is valid? [True, True] Translation: X:95.82, Y:-5.69, Z:-3.57 [[ 9.88104579e-01 1.51869508e-01 2.41866467e-02 9.58244201e+01] [-1.51836020e-01 9.88400434e-01 -3.22578033e-03 -5.69354845e+00] [-2.43959897e-02 -4.84995862e-04 9.99702256e-01 -3.57432363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090385723 meters 0.019544281540354203 Centerline is valid? [True, True] Translation: X:95.89, Y:-5.70, Z:-3.57 [[ 9.87974520e-01 1.52144203e-01 2.75406878e-02 9.58854194e+01] [-1.52100926e-01 9.88358147e-01 -3.67176973e-03 -5.70291932e+00] [-2.77787016e-02 -5.61349180e-04 9.99613940e-01 -3.57365250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150385723 meters 0.021335111911524447 Centerline is valid? [True, True] Translation: X:95.94, Y:-5.71, Z:-3.58 [[ 9.87087845e-01 1.57761148e-01 2.77309715e-02 9.59448055e+01] [-1.57719228e-01 9.87477042e-01 -3.70627718e-03 -5.71003450e+00] [-2.79684043e-02 -7.15286259e-04 9.99608552e-01 -3.57644731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210385723 meters 0.021934350305307253 Centerline is valid? [True, True] Translation: X:96.01, Y:-5.72, Z:-3.58 [[ 9.86423238e-01 1.62006419e-01 2.68907970e-02 9.60053867e+01] [-1.61968580e-01 9.86789371e-01 -3.59383090e-03 -5.71738086e+00] [-2.71177764e-02 -8.10425901e-04 9.99631917e-01 -3.57942149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27038572299999 meters 0.024189430107277563 Centerline is valid? [True, True] Translation: X:96.07, Y:-5.73, Z:-3.58 [[ 9.85539685e-01 1.67574577e-01 2.51056027e-02 9.60653452e+01] [-1.67543389e-01 9.85858992e-01 -3.35565145e-03 -5.72541463e+00] [-2.53129061e-02 -8.99150082e-04 9.99679173e-01 -3.58227371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33038572299999 meters 0.024853621092524397 Centerline is valid? [True, True] Translation: X:96.13, Y:-5.74, Z:-3.58 [[ 9.85413554e-01 1.68291234e-01 2.52623868e-02 9.61269625e+01] [-1.68259939e-01 9.85736884e-01 -3.37466704e-03 -5.73663874e+00] [-2.54699933e-02 -9.25205015e-04 9.99675159e-01 -3.58354090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390385723 meters 0.023361390847155807 Centerline is valid? [True, True] Translation: X:96.19, Y:-5.75, Z:-3.58 [[ 9.85484830e-01 1.67657771e-01 2.66556056e-02 9.61876011e+01] [-1.67622510e-01 9.85844798e-01 -3.56774385e-03 -5.74948631e+00] [-2.68764501e-02 -9.52122081e-04 9.99638310e-01 -3.58494543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450385723 meters 0.02387628506639247 Centerline is valid? [True, True] Translation: X:96.25, Y:-5.76, Z:-3.58 [[ 9.85982484e-01 1.63978399e-01 3.08160130e-02 9.62468240e+01] [-1.63929168e-01 9.86463448e-01 -4.13447428e-03 -5.76114753e+00] [-3.10768349e-02 -9.75124158e-04 9.99516523e-01 -3.58245225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510385723 meters 0.021540313491966445 Centerline is valid? [True, True] Translation: X:96.31, Y:-5.78, Z:-3.58 [[ 9.86469577e-01 1.60565900e-01 3.31114257e-02 9.63068740e+01] [-1.60507011e-01 9.87024686e-01 -4.44631750e-03 -5.77617540e+00] [-3.33957215e-02 -9.28459017e-04 9.99441776e-01 -3.58264443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570385723 meters 0.022209155398126033 Centerline is valid? [True, True] Translation: X:96.37, Y:-5.79, Z:-3.58 [[ 9.86955870e-01 1.57637932e-01 3.26862951e-02 9.63671058e+01] [-1.57578923e-01 9.87496639e-01 -4.38978756e-03 -5.78701130e+00] [-3.29696036e-02 -8.18144565e-04 9.99456020e-01 -3.58455774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63038572299999 meters 0.020342136554488823 Centerline is valid? [True, True] Translation: X:96.43, Y:-5.80, Z:-3.59 [[ 9.87497411e-01 1.54584621e-01 3.08619133e-02 9.64277688e+01] [-1.54530324e-01 9.87979325e-01 -4.15119879e-03 -5.80295507e+00] [-3.11326438e-02 -6.69803416e-04 9.99515037e-01 -3.58779479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69038572299999 meters 0.02034702674517967 Centerline is valid? [True, True] Translation: X:96.49, Y:-5.81, Z:-3.60 [[ 9.87668126e-01 1.54176182e-01 2.72282418e-02 9.64900878e+01] [-1.54133624e-01 9.88043205e-01 -3.66757100e-03 -5.81037052e+00] [-2.74681314e-02 -5.74444593e-04 9.99622515e-01 -3.59516372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750385723 meters 0.022317137967023972 Centerline is valid? [True, True] Translation: X:96.55, Y:-5.82, Z:-3.60 [[ 9.87588218e-01 1.55090085e-01 2.48309658e-02 9.65512387e+01] [-1.55054821e-01 9.87900184e-01 -3.35102303e-03 -5.81539922e+00] [-2.50502261e-02 -5.40730093e-04 9.99686048e-01 -3.60088993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810385723 meters 0.019532943621733845 Centerline is valid? [True, True] Translation: X:96.61, Y:-5.83, Z:-3.60 [[ 9.87474830e-01 1.55674161e-01 2.56712926e-02 9.66123760e+01] [-1.55636535e-01 9.87808297e-01 -3.46948782e-03 -5.83147445e+00] [-2.58984255e-02 -5.69359152e-04 9.99664417e-01 -3.59801543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870385723 meters 0.020034670326507718 Centerline is valid? [True, True] Translation: X:96.67, Y:-5.84, Z:-3.60 [[ 9.87328932e-01 1.55748772e-01 3.03957381e-02 9.66737275e+01] [-1.55695723e-01 9.87796475e-01 -4.11885467e-03 -5.83788790e+00] [-3.06663095e-02 -6.65822037e-04 9.99529456e-01 -3.59655984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930385723 meters 0.019621621699761 Centerline is valid? [True, True] Translation: X:96.74, Y:-5.84, Z:-3.60 [[ 9.86827418e-01 1.58517744e-01 3.23074683e-02 9.67355589e+01] [-1.58459021e-01 9.87355812e-01 -4.38627853e-03 -5.84489408e+00] [-3.25942695e-02 -7.90909866e-04 9.99468353e-01 -3.59810846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99038572299999 meters 0.01982260658935821 Centerline is valid? [True, True] Translation: X:96.80, Y:-5.85, Z:-3.60 [[ 9.86618392e-01 1.59849086e-01 3.21312804e-02 9.67971732e+01] [-1.59791444e-01 9.87141121e-01 -4.37045508e-03 -5.85310785e+00] [-3.24167214e-02 -8.22332337e-04 9.99474102e-01 -3.60012257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05038572299999 meters 0.020621353305779997 Centerline is valid? [True, True] Translation: X:96.86, Y:-5.86, Z:-3.60 [[ 9.86266470e-01 1.62322358e-01 3.04942916e-02 9.68589435e+01] [-1.62271398e-01 9.86737416e-01 -4.15505516e-03 -5.86009804e+00] [-3.07643169e-02 -8.50359735e-04 9.99526305e-01 -3.60426231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110385723 meters 0.02196465844808717 Centerline is valid? [True, True] Translation: X:96.92, Y:-5.86, Z:-3.61 [[ 9.85956492e-01 1.64580432e-01 2.83386058e-02 9.69201713e+01] [-1.64537166e-01 9.86363300e-01 -3.86789080e-03 -5.86368563e+00] [-2.85887399e-02 -8.49181850e-04 9.99590898e-01 -3.60991100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170385723 meters 0.021807724542179465 Centerline is valid? [True, True] Translation: X:96.98, Y:-5.87, Z:-3.61 [[ 9.86159523e-01 1.63412331e-01 2.80322020e-02 9.69813275e+01] [-1.63369349e-01 9.86557535e-01 -3.83227567e-03 -5.87283454e+00] [-2.82816212e-02 -8.00367445e-04 9.99599675e-01 -3.61260850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230385723 meters 0.02042635945715494 Centerline is valid? [True, True] Translation: X:97.04, Y:-5.89, Z:-3.61 [[ 9.86826725e-01 1.59524424e-01 2.69253374e-02 9.70415705e+01] [-1.59483107e-01 9.87193766e-01 -3.68887966e-03 -5.88553019e+00] [-2.71689916e-02 -6.53851434e-04 9.99630641e-01 -3.61466336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290385723 meters 0.02003058677696339 Centerline is valid? [True, True] Translation: X:97.10, Y:-5.90, Z:-3.62 [[ 9.87225221e-01 1.57321518e-01 2.52250652e-02 9.71030863e+01] [-1.57284570e-01 9.87547280e-01 -3.45459851e-03 -5.89535086e+00] [-2.54544272e-02 -5.57046756e-04 9.99675828e-01 -3.61719541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350385723 meters 0.019128485008066923 Centerline is valid? [True, True] Translation: X:97.16, Y:-5.90, Z:-3.62 [[ 9.87900927e-01 1.52625526e-01 2.75174069e-02 9.71633015e+01] [-1.52579485e-01 9.88283983e-01 -3.77754626e-03 -5.90475251e+00] [-2.77715625e-02 -4.66750315e-04 9.99614187e-01 -3.61802637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41038572299999 meters 0.017910921308039257 Centerline is valid? [True, True] Translation: X:97.22, Y:-5.92, Z:-3.62 [[ 9.88345217e-01 1.49394039e-01 2.92429899e-02 9.72242193e+01] [-1.49340636e-01 9.88777660e-01 -4.01412374e-03 -5.91796200e+00] [-2.95145013e-02 -3.99826710e-04 9.99564272e-01 -3.61705894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47038572299999 meters 0.017769516702000637 Centerline is valid? [True, True] Translation: X:97.29, Y:-5.93, Z:-3.62 [[ 9.88611848e-01 1.47390243e-01 3.03764790e-02 9.72861531e+01] [-1.47331408e-01 9.89078358e-01 -4.17836725e-03 -5.92792526e+00] [-3.06605686e-02 -3.44626063e-04 9.99529795e-01 -3.61723607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530385723 meters 0.018445791822484892 Centerline is valid? [True, True] Translation: X:97.35, Y:-5.93, Z:-3.62 [[ 9.88070179e-01 1.51414444e-01 2.81245145e-02 9.73477704e+01] [-1.51365609e-01 9.88470272e-01 -3.86965068e-03 -5.93308111e+00] [-2.83861675e-02 -4.33597832e-04 9.99596938e-01 -3.62093895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590385723 meters 0.01962177226415849 Centerline is valid? [True, True] Translation: X:97.41, Y:-5.94, Z:-3.62 [[ 9.87272146e-01 1.56670506e-01 2.73507149e-02 9.74102320e+01] [-1.56626124e-01 9.87650767e-01 -3.77088230e-03 -5.93661341e+00] [-2.76037406e-02 -5.60949395e-04 9.99618787e-01 -3.62494180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650385723 meters 0.020472633302769584 Centerline is valid? [True, True] Translation: X:97.47, Y:-5.94, Z:-3.63 [[ 9.86904200e-01 1.59028012e-01 2.70220436e-02 9.74708636e+01] [-1.58985559e-01 9.87273877e-01 -3.72608066e-03 -5.94444393e+00] [-2.72707090e-02 -6.18830048e-04 9.99627894e-01 -3.62596477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710385723 meters 0.02160080270023352 Centerline is valid? [True, True] Translation: X:97.53, Y:-5.95, Z:-3.63 [[ 9.86451808e-01 1.61790876e-01 2.71393213e-02 9.75326319e+01] [-1.61748938e-01 9.86824824e-01 -3.74806514e-03 -5.94832122e+00] [-2.73881587e-02 -6.92470773e-04 9.99624634e-01 -3.62946273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77038572299999 meters 0.020614425495599737 Centerline is valid? [True, True] Translation: X:97.59, Y:-5.96, Z:-3.63 [[ 9.86033958e-01 1.64361391e-01 2.68768660e-02 9.75939587e+01] [-1.64321053e-01 9.86399904e-01 -3.71777320e-03 -5.96083919e+00] [-2.71223964e-02 -7.50584296e-04 9.99631838e-01 -3.62825550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83038572299999 meters 0.022896432582113223 Centerline is valid? [True, True] Translation: X:97.66, Y:-5.97, Z:-3.63 [[ 9.86281569e-01 1.62754992e-01 2.75586513e-02 9.76551509e+01] [-1.62711755e-01 9.86666255e-01 -3.81924761e-03 -5.96509608e+00] [-2.78127929e-02 -7.17263014e-04 9.99612892e-01 -3.63026692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890385723 meters 0.01957808488708232 Centerline is valid? [True, True] Translation: X:97.72, Y:-5.98, Z:-3.63 [[ 9.86625290e-01 1.60289355e-01 2.96287131e-02 9.77161863e+01] [-1.60238053e-01 9.87069829e-01 -4.11325356e-03 -5.97893687e+00] [-2.99049195e-02 -6.89407313e-04 9.99552510e-01 -3.62936308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950385723 meters 0.018904341130166667 Centerline is valid? [True, True] Translation: X:97.78, Y:-5.99, Z:-3.63 [[ 9.86871477e-01 1.58755864e-01 2.96860858e-02 9.77773199e+01] [-1.58703450e-01 9.87317664e-01 -4.12854624e-03 -5.98952015e+00] [-2.99650278e-02 -6.36939715e-04 9.99550745e-01 -3.63000565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010385723 meters 0.019237230911587938 Centerline is valid? [True, True] Translation: X:97.84, Y:-6.00, Z:-3.64 [[ 9.87047431e-01 1.58308620e-01 2.59951958e-02 9.78382086e+01] [-1.58268129e-01 9.87389533e-01 -3.62082130e-03 -5.99638212e+00] [-2.62405914e-02 -5.40288642e-04 9.99655510e-01 -3.63544657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070385723 meters 0.0192859972827166 Centerline is valid? [True, True] Translation: X:97.90, Y:-6.01, Z:-3.64 [[ 9.87152226e-01 1.58380428e-01 2.11216348e-02 9.78989843e+01] [-1.58353643e-01 9.87378068e-01 -2.94531241e-03 -6.00602984e+00] [-2.13215188e-02 -4.37216107e-04 9.99772575e-01 -3.63977227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13038572299999 meters 0.018720052371538006 Centerline is valid? [True, True] Translation: X:97.96, Y:-6.02, Z:-3.64 [[ 9.87227832e-01 1.58005998e-01 2.03792224e-02 9.79608442e+01] [-1.57980913e-01 9.87438067e-01 -2.84517843e-03 -6.01708914e+00] [-2.05727753e-02 -4.10688841e-04 9.99788274e-01 -3.64047580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19038572299999 meters 0.018785589510804498 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.02, Z:-3.64 [[ 9.87280408e-01 1.57467324e-01 2.19417068e-02 9.80216277e+01] [-1.57437938e-01 9.87524108e-01 -3.07118493e-03 -6.02211602e+00] [-2.21515757e-02 -4.22336374e-04 9.99754535e-01 -3.64299137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250385723 meters 0.01833700068434554 Centerline is valid? [True, True] Translation: X:98.08, Y:-6.03, Z:-3.64 [[ 9.87477041e-01 1.55939961e-01 2.39127949e-02 9.80826471e+01] [-1.55904465e-01 9.87766447e-01 -3.35307566e-03 -6.03351573e+00] [-2.41431349e-02 -4.17026266e-04 9.99708425e-01 -3.64188397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310385723 meters 0.017590376834554805 Centerline is valid? [True, True] Translation: X:98.14, Y:-6.04, Z:-3.64 [[ 9.88275282e-01 1.50444755e-01 2.60449997e-02 9.81424867e+01] [-1.50400489e-01 9.88618373e-01 -3.66147531e-03 -6.04269512e+00] [-2.62994150e-02 -2.98635142e-04 9.99654066e-01 -3.64363910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370385723 meters 0.016874675678042496 Centerline is valid? [True, True] Translation: X:98.20, Y:-6.05, Z:-3.64 [[ 9.89069408e-01 1.44571812e-01 2.89947730e-02 9.82043908e+01] [-1.44514422e-01 9.89494298e-01 -4.07627256e-03 -6.05320947e+00] [-2.92794767e-02 -1.58446364e-04 9.99571252e-01 -3.64439630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430385723 meters 0.016762150442945253 Centerline is valid? [True, True] Translation: X:98.27, Y:-6.06, Z:-3.65 [[ 9.89734368e-01 1.39778353e-01 2.97975314e-02 9.82657447e+01] [-1.39715511e-01 9.90182817e-01 -4.19096657e-03 -6.06335813e+00] [-3.00908100e-02 -1.52336864e-05 9.99547169e-01 -3.64504968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49038572299999 meters 0.01672898424110271 Centerline is valid? [True, True] Translation: X:98.33, Y:-6.07, Z:-3.65 [[ 9.90214424e-01 1.37062394e-01 2.62544152e-02 9.83275841e+01] [-1.37012515e-01 9.90562414e-01 -3.69794416e-03 -6.06826187e+00] [-2.65134860e-02 6.45741901e-05 9.99648454e-01 -3.65200316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55038572299999 meters 0.016550703479954798 Centerline is valid? [True, True] Translation: X:98.39, Y:-6.07, Z:-3.65 [[ 9.90377581e-01 1.36145546e-01 2.48321948e-02 9.83896373e+01] [-1.36100497e-01 9.90688842e-01 -3.50321304e-03 -6.07472346e+00] [-2.50779251e-02 8.98296019e-05 9.99685495e-01 -3.65476340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610385723 meters 0.01662912460257013 Centerline is valid? [True, True] Translation: X:98.45, Y:-6.08, Z:-3.66 [[ 9.90482697e-01 1.35087184e-01 2.63719345e-02 9.84519670e+01] [-1.35035810e-01 9.90833707e-01 -3.72751233e-03 -6.07895465e+00] [-2.66337408e-02 1.30880918e-04 9.99645250e-01 -3.65677365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670385723 meters 0.016483176437323756 Centerline is valid? [True, True] Translation: X:98.51, Y:-6.08, Z:-3.66 [[ 9.90552309e-01 1.33950355e-01 2.93840877e-02 9.85140377e+01] [-1.33885828e-01 9.90988026e-01 -4.16151724e-03 -6.08149757e+00] [-2.96767158e-02 1.88087616e-04 9.99559532e-01 -3.65689315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730385723 meters 0.016455717569877112 Centerline is valid? [True, True] Translation: X:98.57, Y:-6.09, Z:-3.65 [[ 9.90463896e-01 1.34065195e-01 3.17457714e-02 9.85749811e+01] [-1.33989659e-01 9.90972492e-01 -4.50454328e-03 -6.08563020e+00] [-3.20630886e-02 2.07982392e-04 9.99485825e-01 -3.65482397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790385723 meters 0.016257069737101174 Centerline is valid? [True, True] Translation: X:98.64, Y:-6.08, Z:-3.66 [[ 9.90136036e-01 1.36324003e-01 3.23480563e-02 9.86368401e+01] [-1.36246536e-01 9.90664295e-01 -4.59740397e-03 -6.08097242e+00] [-3.26728009e-02 1.44744719e-04 9.99466091e-01 -3.65946254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850385723 meters 0.016182114769675387 Centerline is valid? [True, True] Translation: X:98.70, Y:-6.08, Z:-3.66 [[ 9.89913157e-01 1.38072749e-01 3.17467554e-02 9.86998881e+01] [-1.37998822e-01 9.90422085e-01 -4.51858996e-03 -6.08249853e+00] [-3.20665819e-02 9.19967916e-05 9.99485731e-01 -3.66367811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91038572299999 meters 0.016177100964711394 Centerline is valid? [True, True] Translation: X:98.76, Y:-6.09, Z:-3.67 [[ 9.89675556e-01 1.40201070e-01 2.97649660e-02 9.87627232e+01] [-1.40136828e-01 9.90123052e-01 -4.24385572e-03 -6.08510087e+00] [-3.00659721e-02 2.88723437e-05 9.99547916e-01 -3.66684546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97038572299999 meters 0.01622348366526544 Centerline is valid? [True, True] Translation: X:98.83, Y:-6.09, Z:-3.67 [[ 9.89536592e-01 1.41220373e-01 2.95658531e-02 9.88262355e+01] [-1.41157198e-01 9.89978185e-01 -4.22366925e-03 -6.08690843e+00] [-2.98660178e-02 6.04230239e-06 9.99553911e-01 -3.66990585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030385723 meters 0.016285088143366783 Centerline is valid? [True, True] Translation: X:98.89, Y:-6.09, Z:-3.67 [[ 9.89112693e-01 1.44640407e-01 2.71151964e-02 9.88874955e+01] [-1.44588347e-01 9.89484283e-01 -3.88122118e-03 -6.08596401e+00] [-2.73914421e-02 -8.15762864e-05 9.99624781e-01 -3.67405979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090385723 meters 0.016136623862180625 Centerline is valid? [True, True] Translation: X:98.95, Y:-6.09, Z:-3.68 [[ 9.89002161e-01 1.45325790e-01 2.74798144e-02 9.89509688e+01] [-1.45272455e-01 9.89383851e-01 -3.93808165e-03 -6.08983792e+00] [-2.77603894e-02 -9.72888305e-05 9.99614601e-01 -3.67576537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150385723 meters 0.016124853215221124 Centerline is valid? [True, True] Translation: X:99.01, Y:-6.09, Z:-3.68 [[ 9.89162675e-01 1.44586165e-01 2.55351449e-02 9.90129002e+01] [-1.44539660e-01 9.89492212e-01 -3.66740234e-03 -6.08936937e+00] [-2.57970826e-02 -6.31836526e-05 9.99667198e-01 -3.68088973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210385723 meters 0.01610274702535136 Centerline is valid? [True, True] Translation: X:99.08, Y:-6.10, Z:-3.68 [[ 9.88979887e-01 1.45721669e-01 2.61529680e-02 9.90753404e+01] [-1.45673223e-01 9.89325622e-01 -3.75841507e-03 -6.09580263e+00] [-2.64214838e-02 -9.27902147e-05 9.99650887e-01 -3.68290369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27038572299999 meters 0.016431280165638395 Centerline is valid? [True, True] Translation: X:99.14, Y:-6.10, Z:-3.68 [[ 9.88171497e-01 1.50725318e-01 2.82660741e-02 9.91383043e+01] [-1.50670522e-01 9.88575654e-01 -4.07076864e-03 -6.09572222e+00] [-2.85567206e-02 -2.36246589e-04 9.99592146e-01 -3.68402801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33038572299999 meters 0.01691713248476402 Centerline is valid? [True, True] Translation: X:99.20, Y:-6.10, Z:-3.69 [[ 9.87101480e-01 1.57769302e-01 2.71940197e-02 9.92007423e+01] [-1.57721031e-01 9.87475911e-01 -3.92445628e-03 -6.09633220e+00] [-2.74725981e-02 -4.15232238e-04 9.99622471e-01 -3.68679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390385723 meters 0.01922489416474148 Centerline is valid? [True, True] Translation: X:99.26, Y:-6.10, Z:-3.69 [[ 9.86254976e-01 1.63410347e-01 2.44577157e-02 9.92610423e+01] [-1.63372983e-01 9.86558055e-01 -3.53167911e-03 -6.09868587e+00] [-2.47060693e-02 -5.12593868e-04 9.99694627e-01 -3.69203994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450385723 meters 0.01895083704771306 Centerline is valid? [True, True] Translation: X:99.32, Y:-6.10, Z:-3.70 [[ 9.85385488e-01 1.68766929e-01 2.30903337e-02 9.93224682e+01] [-1.68735091e-01 9.85655797e-01 -3.33437645e-03 -6.10310903e+00] [-2.33218538e-02 -6.10503393e-04 9.99727822e-01 -3.69605298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510385723 meters 0.020765692536631762 Centerline is valid? [True, True] Translation: X:99.38, Y:-6.11, Z:-3.70 [[ 9.84630746e-01 1.72932862e-01 2.44237465e-02 9.93830324e+01] [-1.72898550e-01 9.84933328e-01 -3.52570376e-03 -6.11029282e+00] [-2.46654719e-02 -7.51314023e-04 9.99695479e-01 -3.69719762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570385723 meters 0.023680779633640178 Centerline is valid? [True, True] Translation: X:99.44, Y:-6.12, Z:-3.70 [[ 9.84472802e-01 1.73908069e-01 2.38597268e-02 9.94432349e+01] [-1.73875482e-01 9.84761604e-01 -3.44961146e-03 -6.12045112e+00] [-2.40960581e-02 -7.52572835e-04 9.99709365e-01 -3.69924619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63038572299999 meters 0.020777825968508995 Centerline is valid? [True, True] Translation: X:99.50, Y:-6.14, Z:-3.70 [[ 9.84492413e-01 1.73798528e-01 2.38487135e-02 9.95041590e+01] [-1.73765817e-01 9.84780949e-01 -3.45308965e-03 -6.13537873e+00] [-2.40859006e-02 -7.44550614e-04 9.99709615e-01 -3.70061731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69038572299999 meters 0.024317585283844374 Centerline is valid? [True, True] Translation: X:99.57, Y:-6.14, Z:-3.70 [[ 9.84635778e-01 1.72584985e-01 2.65858587e-02 9.95652416e+01] [-1.72543686e-01 9.84994315e-01 -3.85704062e-03 -6.14173426e+00] [-2.68525870e-02 -7.89441861e-04 9.99639093e-01 -3.70284717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750385723 meters 0.019100005173422464 Centerline is valid? [True, True] Translation: X:99.62, Y:-6.17, Z:-3.70 [[ 9.84908168e-01 1.70903383e-01 2.73483994e-02 9.96249478e+01] [-1.70858864e-01 9.85287500e-01 -3.97375647e-03 -6.16511597e+00] [-2.76251645e-02 -7.58931262e-04 9.99618064e-01 -3.70014546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810385723 meters 0.018366837443771256 Centerline is valid? [True, True] Translation: X:99.69, Y:-6.18, Z:-3.70 [[ 9.85298063e-01 1.68715871e-01 2.68827608e-02 9.96858705e+01] [-1.68671865e-01 9.85664493e-01 -3.91261570e-03 -6.17910374e+00] [-2.71575031e-02 -6.79272722e-04 9.99630936e-01 -3.70330084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870385723 meters 0.0183623675035107 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.19, Z:-3.71 [[ 9.85367493e-01 1.68357910e-01 2.65803991e-02 9.97469070e+01] [-1.68314582e-01 9.85725715e-01 -3.87516885e-03 -6.19235403e+00] [-2.68533982e-02 -6.55403357e-04 9.99639168e-01 -3.70622396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930385723 meters 0.018687264691422067 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.21, Z:-3.71 [[ 9.85296330e-01 1.68900108e-01 2.57661817e-02 9.98081573e+01] [-1.68859419e-01 9.85632964e-01 -3.76262549e-03 -6.20508829e+00] [-2.60315059e-02 -6.43561392e-04 9.99660916e-01 -3.70942031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99038572299999 meters 0.01923217050519453 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.22, Z:-3.71 [[ 9.85124764e-01 1.70119716e-01 2.42586354e-02 9.98692021e+01] [-1.70083885e-01 9.85423201e-01 -3.54795416e-03 -6.21804138e+00] [-2.45085991e-02 -6.30825442e-04 9.99699420e-01 -3.71325319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05038572299999 meters 0.018338544636191112 Centerline is valid? [True, True] Translation: X:99.93, Y:-6.24, Z:-3.71 [[ 9.85414502e-01 1.68471586e-01 2.39913454e-02 9.99292506e+01] [-1.68435914e-01 9.85706341e-01 -3.51452942e-03 -6.23618801e+00] [-2.42405197e-02 -5.77735952e-04 9.99705988e-01 -3.71446232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110385723 meters 0.017716062844476077 Centerline is valid? [True, True] Translation: X:99.99, Y:-6.25, Z:-3.72 [[ 9.86038924e-01 1.64897486e-01 2.31529452e-02 9.99894026e+01] [-1.64863151e-01 9.86310600e-01 -3.39716436e-03 -6.25233493e+00] [-2.33961791e-02 -4.67331216e-04 9.99726163e-01 -3.71952262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170385723 meters 0.017635690522098547 Centerline is valid? [True, True] Translation: X:100.05, Y:-6.27, Z:-3.72 [[ 9.86163369e-01 1.63813407e-01 2.54357550e-02 1.00049647e+02] [-1.63771423e-01 9.86491226e-01 -3.73926122e-03 -6.27111789e+00] [-2.57046903e-02 -4.78127341e-04 9.99669466e-01 -3.71745936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230385723 meters 0.017401343055814245 Centerline is valid? [True, True] Translation: X:100.11, Y:-6.28, Z:-3.72 [[ 9.86163509e-01 1.63444575e-01 2.77020627e-02 1.00110672e+02] [-1.63394421e-01 9.86552390e-01 -4.07988732e-03 -6.28421613e+00] [-2.79963716e-02 -5.02926486e-04 9.99607898e-01 -3.71840547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290385723 meters 0.017390478161926706 Centerline is valid? [True, True] Translation: X:100.17, Y:-6.30, Z:-3.72 [[ 9.86138235e-01 1.64212827e-01 2.37808464e-02 1.00170374e+02] [-1.64175976e-01 9.86424832e-01 -3.50717631e-03 -6.30066915e+00] [-2.40339408e-02 -4.45683006e-04 9.99711044e-01 -3.72381833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35038572299999 meters 0.017280670035496805 Centerline is valid? [True, True] Translation: X:100.23, Y:-6.32, Z:-3.73 [[ 9.86558528e-01 1.61609916e-01 2.41765550e-02 1.00229659e+02] [-1.61570902e-01 9.86854644e-01 -3.57141342e-03 -6.31551737e+00] [-2.44359214e-02 -3.82819442e-04 9.99701325e-01 -3.72727595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41038572299999 meters 0.01678023954363847 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.33, Z:-3.73 [[ 9.86948491e-01 1.58960780e-01 2.57710327e-02 1.00290171e+02] [-1.58915383e-01 9.87284842e-01 -3.81325113e-03 -6.32909950e+00] [-2.60495073e-02 -3.31931077e-04 9.99660599e-01 -3.72729968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47038572299999 meters 0.01667877055350264 Centerline is valid? [True, True] Translation: X:100.35, Y:-6.35, Z:-3.73 [[ 9.87204571e-01 1.57298086e-01 2.61619600e-02 1.00349076e+02] [-1.57250519e-01 9.87551128e-01 -3.87858133e-03 -6.34663612e+00] [-2.64463665e-02 -2.85028566e-04 9.99650193e-01 -3.72670731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530385723 meters 0.016538756503126924 Centerline is valid? [True, True] Translation: X:100.41, Y:-6.36, Z:-3.73 [[ 9.87132917e-01 1.57932379e-01 2.50193383e-02 1.00409675e+02] [-1.57889029e-01 9.87449888e-01 -3.71120602e-03 -6.35774189e+00] [-2.52914624e-02 -2.86825407e-04 9.99680079e-01 -3.73181579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590385723 meters 0.016885878893638594 Centerline is valid? [True, True] Translation: X:100.47, Y:-6.37, Z:-3.74 [[ 9.87107673e-01 1.58126668e-01 2.47870811e-02 1.00471091e+02] [-1.58084032e-01 9.87418795e-01 -3.68266592e-03 -6.36746765e+00] [-2.50575574e-02 -2.83253933e-04 9.99685970e-01 -3.73761835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650385723 meters 0.01645637794202521 Centerline is valid? [True, True] Translation: X:100.53, Y:-6.39, Z:-3.73 [[ 9.87430026e-01 1.55880847e-01 2.61362740e-02 1.00531627e+02] [-1.55832455e-01 9.87775839e-01 -3.89075086e-03 -6.38624480e+00] [-2.64232735e-02 -2.31035509e-04 9.99650818e-01 -3.73457574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710385723 meters 0.016372938138157017 Centerline is valid? [True, True] Translation: X:100.59, Y:-6.40, Z:-3.74 [[ 9.87550354e-01 1.55026728e-01 2.66648082e-02 1.00592571e+02] [-1.54975868e-01 9.87910255e-01 -3.97608958e-03 -6.39625163e+00] [-2.69588376e-02 -2.05813121e-04 9.99636523e-01 -3.73777725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77038572299999 meters 0.01651666640707382 Centerline is valid? [True, True] Translation: X:100.65, Y:-6.41, Z:-3.74 [[ 9.87473703e-01 1.55481006e-01 2.68578178e-02 1.00653072e+02] [-1.55429398e-01 9.87838859e-01 -4.01135433e-03 -6.40748120e+00] [-2.71548855e-02 -2.13387533e-04 9.99631215e-01 -3.74005918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83038572299999 meters 0.0164572334196841 Centerline is valid? [True, True] Translation: X:100.71, Y:-6.42, Z:-3.74 [[ 9.87276253e-01 1.56775322e-01 2.65913456e-02 1.00714707e+02] [-1.56725029e-01 9.87634265e-01 -3.97799912e-03 -6.41922546e+00] [-2.68861762e-02 -2.40145340e-04 9.99638473e-01 -3.74174102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890385723 meters 0.016689411059727887 Centerline is valid? [True, True] Translation: X:100.78, Y:-6.43, Z:-3.75 [[ 9.86985218e-01 1.58694857e-01 2.60023490e-02 1.00776256e+02] [-1.58647234e-01 9.87327638e-01 -3.89746946e-03 -6.42838818e+00] [-2.62913462e-02 -2.78456017e-04 9.99654284e-01 -3.74618076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950385723 meters 0.017083460320061986 Centerline is valid? [True, True] Translation: X:100.84, Y:-6.44, Z:-3.75 [[ 9.86630499e-01 1.61197326e-01 2.39933263e-02 1.00836990e+02] [-1.61157388e-01 9.86922147e-01 -3.60167316e-03 -6.44051488e+00] [-2.42601252e-02 -3.13181220e-04 9.99705631e-01 -3.74768001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010385723 meters 0.017693183365011387 Centerline is valid? [True, True] Translation: X:100.90, Y:-6.45, Z:-3.75 [[ 9.86203167e-01 1.63463768e-01 2.61325465e-02 1.00898132e+02] [-1.63416995e-01 9.86549259e-01 -3.93001241e-03 -6.45012556e+00] [-2.64234590e-02 -3.94711543e-04 9.99650762e-01 -3.74846648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070385723 meters 0.01799023752161508 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.46, Z:-3.75 [[ 9.85667204e-01 1.66479168e-01 2.72919230e-02 1.00959966e+02] [-1.66429092e-01 9.86044851e-01 -4.11215492e-03 -6.45797886e+00] [-2.75956483e-02 -4.88953721e-04 9.99619048e-01 -3.75113393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13038572299999 meters 0.018521793186607616 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.47, Z:-3.75 [[ 9.85523882e-01 1.67357350e-01 2.70960257e-02 1.01021131e+02] [-1.67308139e-01 9.85896173e-01 -4.08933524e-03 -6.47173058e+00] [-2.73982483e-02 -5.03248084e-04 9.99624471e-01 -3.75173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19038572299999 meters 0.01901221847197982 Centerline is valid? [True, True] Translation: X:101.08, Y:-6.48, Z:-3.76 [[ 9.85173682e-01 1.69597813e-01 2.58727186e-02 1.01082216e+02] [-1.69553561e-01 9.85513215e-01 -3.91066117e-03 -6.48271767e+00] [-2.61611457e-02 -5.34131111e-04 9.99657596e-01 -3.75558927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250385723 meters 0.01965952905263381 Centerline is valid? [True, True] Translation: X:101.14, Y:-6.49, Z:-3.76 [[ 9.84722200e-01 1.72264413e-01 2.54393590e-02 1.01143441e+02] [-1.72222364e-01 9.85050570e-01 -3.85125315e-03 -6.49051364e+00] [-2.57224890e-02 -5.88812062e-04 9.99668949e-01 -3.75916275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310385723 meters 0.02143869975544065 Centerline is valid? [True, True] Translation: X:101.20, Y:-6.50, Z:-3.76 [[ 9.84051572e-01 1.76276671e-01 2.38545532e-02 1.01204174e+02] [-1.76240690e-01 9.84340450e-01 -3.61898755e-03 -6.49784578e+00] [-2.41189447e-02 -6.42872539e-04 9.99708889e-01 -3.76259517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370385723 meters 0.021985149721217945 Centerline is valid? [True, True] Translation: X:101.27, Y:-6.51, Z:-3.76 [[ 9.84051510e-01 1.76265561e-01 2.39390538e-02 1.01266277e+02] [-1.76229370e-01 9.84342437e-01 -3.62982620e-03 -6.50768814e+00] [-2.42040399e-02 -6.46828420e-04 9.99706830e-01 -3.76460757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430385723 meters 0.021527816263937287 Centerline is valid? [True, True] Translation: X:101.33, Y:-6.52, Z:-3.76 [[ 9.84269613e-01 1.74886792e-01 2.50586915e-02 1.01326534e+02] [-1.74846490e-01 9.84588345e-01 -3.80744277e-03 -6.51929829e+00] [-2.53383670e-02 -6.33874038e-04 9.99678731e-01 -3.76404792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49038572299999 meters 0.021615589341428806 Centerline is valid? [True, True] Translation: X:101.39, Y:-6.53, Z:-3.77 [[ 9.84316471e-01 1.74506757e-01 2.58549236e-02 1.01388347e+02] [-1.74463568e-01 9.84655770e-01 -3.93433604e-03 -6.52619852e+00] [-2.61447679e-02 -6.38110446e-04 9.99657963e-01 -3.76741669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55038572299999 meters 0.021281914169792537 Centerline is valid? [True, True] Translation: X:101.45, Y:-6.54, Z:-3.77 [[ 9.84612921e-01 1.72701148e-01 2.66778853e-02 1.01449169e+02] [-1.72654330e-01 9.84974086e-01 -4.06599172e-03 -6.53629360e+00] [-2.69792271e-02 -6.02624418e-04 9.99635813e-01 -3.76847618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610385723 meters 0.019123655405152203 Centerline is valid? [True, True] Translation: X:101.51, Y:-6.55, Z:-3.77 [[ 9.84833590e-01 1.71192261e-01 2.82136551e-02 1.01510324e+02] [-1.71139051e-01 9.85237467e-01 -4.30795608e-03 -6.55201537e+00] [-2.85346388e-02 -5.85838319e-04 9.99592633e-01 -3.76628987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670385723 meters 0.02116014099152407 Centerline is valid? [True, True] Translation: X:101.57, Y:-6.56, Z:-3.77 [[ 9.84865050e-01 1.70924779e-01 2.87324340e-02 1.01571540e+02] [-1.70869432e-01 9.85283906e-01 -4.38881268e-03 -6.55634724e+00] [-2.90597617e-02 -5.87106468e-04 9.99577504e-01 -3.76937207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730385723 meters 0.022020610870387793 Centerline is valid? [True, True] Translation: X:101.63, Y:-6.56, Z:-3.77 [[ 9.84613527e-01 1.72614691e-01 2.72097632e-02 1.01631638e+02] [-1.72565515e-01 9.84989245e-01 -4.16296334e-03 -6.56314114e+00] [-2.75199127e-02 -5.96556785e-04 9.99621077e-01 -3.77444418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790385723 meters 0.019450955282565786 Centerline is valid? [True, True] Translation: X:101.69, Y:-6.58, Z:-3.77 [[ 9.84668110e-01 1.72166388e-01 2.80615193e-02 1.01691302e+02] [-1.72113843e-01 9.85067701e-01 -4.29540439e-03 -6.58141228e+00] [-2.83820206e-02 -6.00228201e-04 9.99596969e-01 -3.77247504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85038572299999 meters 0.019419317155317462 Centerline is valid? [True, True] Translation: X:101.75, Y:-6.59, Z:-3.78 [[ 9.84857432e-01 1.71259853e-01 2.69425717e-02 1.01753090e+02] [-1.71210905e-01 9.85225744e-01 -4.13039313e-03 -6.59003730e+00] [-2.72518857e-02 -5.45013713e-04 9.99628450e-01 -3.77813278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91038572299999 meters 0.019378688845896948 Centerline is valid? [True, True] Translation: X:101.81, Y:-6.60, Z:-3.78 [[ 9.84792343e-01 1.71396667e-01 2.84116712e-02 1.01813124e+02] [-1.71342050e-01 9.85201937e-01 -4.36403385e-03 -6.59966971e+00] [-2.87392144e-02 -5.70446864e-04 9.99586781e-01 -3.77673974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97038572299999 meters 0.019461690093776476 Centerline is valid? [True, True] Translation: X:101.87, Y:-6.61, Z:-3.78 [[ 9.84962591e-01 1.70173976e-01 2.98247022e-02 1.01873675e+02] [-1.70113111e-01 9.85413876e-01 -4.58502228e-03 -6.60898376e+00] [-3.01699269e-02 -5.57497456e-04 9.99544629e-01 -3.77699674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030385723 meters 0.019641340447942413 Centerline is valid? [True, True] Translation: X:101.94, Y:-6.62, Z:-3.78 [[ 9.84901710e-01 1.70688589e-01 2.88795205e-02 1.01935604e+02] [-1.70631570e-01 9.85324872e-01 -4.44559912e-03 -6.61734781e+00] [-2.92145229e-02 -5.49279747e-04 9.99573014e-01 -3.78078675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090385723 meters 0.020229337536960636 Centerline is valid? [True, True] Translation: X:102.00, Y:-6.63, Z:-3.78 [[ 9.84622166e-01 1.72297638e-01 2.88567920e-02 1.01996631e+02] [-1.72241160e-01 9.85044759e-01 -4.45031490e-03 -6.62560843e+00] [-2.91920104e-02 -5.88448619e-04 9.99573649e-01 -3.78280928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150385723 meters 0.019596067210279296 Centerline is valid? [True, True] Translation: X:102.06, Y:-6.64, Z:-3.78 [[ 9.84611617e-01 1.71796039e-01 3.20325529e-02 1.02058158e+02] [-1.71725924e-01 9.85132339e-01 -4.94792154e-03 -6.63620281e+00] [-3.24063371e-02 -6.29038712e-04 9.99474579e-01 -3.78190488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210385723 meters 0.020307552691182413 Centerline is valid? [True, True] Translation: X:102.12, Y:-6.64, Z:-3.78 [[ 9.84678618e-01 1.71240610e-01 3.29343571e-02 1.02118935e+02] [-1.71165897e-01 9.85229044e-01 -5.09569939e-03 -6.64395744e+00] [-3.33204759e-02 -6.19612560e-04 9.99444527e-01 -3.78309986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27038572299999 meters 0.019361641695417528 Centerline is valid? [True, True] Translation: X:102.18, Y:-6.66, Z:-3.79 [[ 9.84733492e-01 1.71293847e-01 3.09575106e-02 1.02180228e+02] [-1.71227667e-01 9.85219815e-01 -4.79606556e-03 -6.65670312e+00] [-3.13214894e-02 -5.77935931e-04 9.99509195e-01 -3.78511181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33038572299999 meters 0.01944523935461638 Centerline is valid? [True, True] Translation: X:102.24, Y:-6.67, Z:-3.79 [[ 9.84906882e-01 1.70772738e-01 2.81976332e-02 1.02242266e+02] [-1.70717416e-01 9.85310315e-01 -4.37562225e-03 -6.66881362e+00] [-2.85306559e-02 -5.04246624e-04 9.99592791e-01 -3.78771485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390385723 meters 0.019496359129644335 Centerline is valid? [True, True] Translation: X:102.30, Y:-6.67, Z:-3.79 [[ 9.84942011e-01 1.70486862e-01 2.86960641e-02 1.02304113e+02] [-1.70429198e-01 9.85359824e-01 -4.46150033e-03 -6.67419495e+00] [-2.90365759e-02 -4.96328088e-04 9.99578227e-01 -3.79297332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450385723 meters 0.01933932849040831 Centerline is valid? [True, True] Translation: X:102.37, Y:-6.68, Z:-3.79 [[ 9.85120601e-01 1.69142302e-01 3.04677473e-02 1.02365237e+02] [-1.69076406e-01 9.85591525e-01 -4.74496870e-03 -6.68435579e+00] [-3.08313284e-02 -4.77010786e-04 9.99524488e-01 -3.79243442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510385723 meters 0.01885009943756731 Centerline is valid? [True, True] Translation: X:102.43, Y:-6.70, Z:-3.79 [[ 9.85315868e-01 1.67727532e-01 3.19392314e-02 1.02426293e+02] [-1.67654112e-01 9.85833290e-01 -4.98222448e-03 -6.69941443e+00] [-3.23224138e-02 -4.45678641e-04 9.99477395e-01 -3.78924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570385723 meters 0.019234813002574715 Centerline is valid? [True, True] Translation: X:102.49, Y:-6.70, Z:-3.79 [[ 9.85097511e-01 1.69298737e-01 3.03451976e-02 1.02487017e+02] [-1.69232984e-01 9.85564671e-01 -4.74086982e-03 -6.70450312e+00] [-3.07097780e-02 -4.65189300e-04 9.99528235e-01 -3.79403981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63038572299999 meters 0.0194194077811505 Centerline is valid? [True, True] Translation: X:102.55, Y:-6.71, Z:-3.80 [[ 9.84825863e-01 1.71166845e-01 2.86344367e-02 1.02548488e+02] [-1.71108912e-01 9.85241936e-01 -4.47964877e-03 -6.71125709e+00] [-2.89786152e-02 -4.87933335e-04 9.99579913e-01 -3.79936226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69038572299999 meters 0.01930145236328561 Centerline is valid? [True, True] Translation: X:102.61, Y:-6.72, Z:-3.80 [[ 9.84826597e-01 1.71298584e-01 2.78095106e-02 1.02610312e+02] [-1.71243814e-01 9.85219048e-01 -4.35697435e-03 -6.72269216e+00] [-2.81448031e-02 -4.71342429e-04 9.99603745e-01 -3.80120031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750385723 meters 0.019190168868353466 Centerline is valid? [True, True] Translation: X:102.67, Y:-6.73, Z:-3.80 [[ 9.85139463e-01 1.69564559e-01 2.73513835e-02 1.02671206e+02] [-1.69510691e-01 9.85518998e-01 -4.29313460e-03 -6.73433431e+00] [-2.76832715e-02 -4.07015609e-04 9.99616662e-01 -3.80105224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810385723 meters 0.0191740015471943 Centerline is valid? [True, True] Translation: X:102.73, Y:-6.74, Z:-3.80 [[ 9.85100163e-01 1.69455749e-01 2.93669400e-02 1.02733199e+02] [-1.69393367e-01 9.85537705e-01 -4.61732003e-03 -6.74223721e+00] [-2.97246581e-02 -4.26042130e-04 9.99558034e-01 -3.80251043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870385723 meters 0.02013272750355547 Centerline is valid? [True, True] Translation: X:102.79, Y:-6.75, Z:-3.80 [[ 9.84418718e-01 1.73187418e-01 3.04286963e-02 1.02794316e+02] [-1.73121979e-01 9.84888732e-01 -4.79219168e-03 -6.74911102e+00] [-3.07988275e-02 -5.50352947e-04 9.99525452e-01 -3.80316290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930385723 meters 0.021150707228449566 Centerline is valid? [True, True] Translation: X:102.86, Y:-6.76, Z:-3.80 [[ 9.83392153e-01 1.78644959e-01 3.20289330e-02 1.02855485e+02] [-1.78575097e-01 9.83913316e-01 -5.05182651e-03 -6.75555609e+00] [-3.24161770e-02 -7.51643272e-04 9.99474175e-01 -3.80474210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99038572299999 meters 0.022362245120175945 Centerline is valid? [True, True] Translation: X:102.92, Y:-6.76, Z:-3.81 [[ 9.82268271e-01 1.84622513e-01 3.26124548e-02 1.02916500e+02] [-1.84553092e-01 9.82809041e-01 -5.15225141e-03 -6.76136768e+00] [-3.30030370e-02 -9.57836297e-04 9.99454792e-01 -3.80706070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05038572299999 meters 0.025115450748284907 Centerline is valid? [True, True] Translation: X:102.98, Y:-6.76, Z:-3.81 [[ 9.81910908e-01 1.86750946e-01 3.12258319e-02 1.02978027e+02] [-1.86688371e-01 9.82406796e-01 -4.93342793e-03 -6.76409791e+00] [-3.15977918e-02 -9.85312996e-04 9.99500179e-01 -3.81288241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110385723 meters 0.023175242381774885 Centerline is valid? [True, True] Translation: X:103.04, Y:-6.78, Z:-3.82 [[ 9.82290266e-01 1.85004890e-01 2.96483262e-02 1.03038212e+02] [-1.84947497e-01 9.82737210e-01 -4.69042352e-03 -6.77978633e+00] [-3.00042647e-02 -8.76026360e-04 9.99549387e-01 -3.81500046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170385723 meters 0.022726833302648197 Centerline is valid? [True, True] Translation: X:103.10, Y:-6.79, Z:-3.82 [[ 9.82292378e-01 1.85342639e-01 2.73822907e-02 1.03099336e+02] [-1.85293651e-01 9.82673621e-01 -4.33788110e-03 -6.78976214e+00] [-2.77118491e-02 -8.12697081e-04 9.99615623e-01 -3.81977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230385723 meters 0.023010345978705507 Centerline is valid? [True, True] Translation: X:103.16, Y:-6.80, Z:-3.82 [[ 9.82442995e-01 1.84621558e-01 2.68447871e-02 1.03159529e+02] [-1.84574024e-01 9.82809385e-01 -4.25941301e-03 -6.80031292e+00] [-2.71696882e-02 -7.70219922e-04 9.99630539e-01 -3.82142389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290385723 meters 0.021124526044242243 Centerline is valid? [True, True] Translation: X:103.22, Y:-6.81, Z:-3.82 [[ 9.82969985e-01 1.81380747e-01 2.95132832e-02 1.03220319e+02] [-1.81321573e-01 9.83412669e-01 -4.69148217e-03 -6.81198134e+00] [-2.98746811e-02 -7.39808762e-04 9.99553378e-01 -3.82302972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35038572299999 meters 0.020664247585561804 Centerline is valid? [True, True] Translation: X:103.28, Y:-6.83, Z:-3.82 [[ 9.83581438e-01 1.77819728e-01 3.07847378e-02 1.03280146e+02] [-1.77753543e-01 9.84062860e-01 -4.89543499e-03 -6.82583760e+00] [-3.11646221e-02 -6.57037225e-04 9.99514049e-01 -3.82285764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41038572299999 meters 0.02017228779812329 Centerline is valid? [True, True] Translation: X:103.34, Y:-6.84, Z:-3.82 [[ 9.84223539e-01 1.74129865e-01 3.13498833e-02 1.03339662e+02] [-1.74059345e-01 9.84722544e-01 -4.98563301e-03 -6.83971179e+00] [-3.17390844e-02 -5.49762779e-04 9.99496037e-01 -3.82341931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47038572299999 meters 0.020412410885021562 Centerline is valid? [True, True] Translation: X:103.40, Y:-6.84, Z:-3.83 [[ 9.84142615e-01 1.74860411e-01 2.97850498e-02 1.03400449e+02] [-1.74796898e-01 9.84593087e-01 -4.74316741e-03 -6.84460109e+00] [-3.01555463e-02 -5.38381135e-04 9.99545073e-01 -3.83142861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530385723 meters 0.020669063239497788 Centerline is valid? [True, True] Translation: X:103.46, Y:-6.86, Z:-3.83 [[ 9.83477304e-01 1.79251760e-01 2.53219017e-02 1.03460519e+02] [-1.79207196e-01 9.83803072e-01 -4.03689803e-03 -6.85809391e+00] [-2.56353858e-02 -5.67669409e-04 9.99671198e-01 -3.83286307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590385723 meters 0.021320556584549673 Centerline is valid? [True, True] Translation: X:103.52, Y:-6.87, Z:-3.84 [[ 9.83154856e-01 1.81172835e-01 2.41440058e-02 1.03522025e+02] [-1.81132778e-01 9.83451098e-01 -3.85409766e-03 -6.86516965e+00] [-2.44427069e-02 -5.84096021e-04 9.99701062e-01 -3.83737353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650385723 meters 0.021783168727445516 Centerline is valid? [True, True] Translation: X:103.58, Y:-6.87, Z:-3.84 [[ 9.82962109e-01 1.81833473e-01 2.68715351e-02 1.03582067e+02] [-1.81783890e-01 9.83329116e-01 -4.29723356e-03 -6.87435434e+00] [-2.72049438e-02 -6.60794407e-04 9.99629659e-01 -3.83910346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710385723 meters 0.021088681390692508 Centerline is valid? [True, True] Translation: X:103.64, Y:-6.89, Z:-3.84 [[ 9.82960192e-01 1.81297060e-01 3.03419963e-02 1.03642638e+02] [-1.81233346e-01 9.83428114e-01 -4.85996688e-03 -6.89009807e+00] [-3.07202699e-02 -7.21827519e-04 9.99527760e-01 -3.83578551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77038572299999 meters 0.021380934523014313 Centerline is valid? [True, True] Translation: X:103.70, Y:-6.90, Z:-3.84 [[ 9.83080594e-01 1.80093437e-01 3.34499605e-02 1.03702914e+02] [-1.80014990e-01 9.83649225e-01 -5.36702484e-03 -6.89822915e+00] [-3.38695937e-02 -7.45276332e-04 9.99425983e-01 -3.83657285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83038572299999 meters 0.021892249467217052 Centerline is valid? [True, True] Translation: X:103.76, Y:-6.90, Z:-3.84 [[ 9.82834987e-01 1.81702885e-01 3.19288263e-02 1.03763321e+02] [-1.81632035e-01 9.83353186e-01 -5.12989660e-03 -6.90441176e+00] [-3.23294301e-02 -7.57455844e-04 9.99476980e-01 -3.84247881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890385723 meters 0.02157628896324388 Centerline is valid? [True, True] Translation: X:103.82, Y:-6.91, Z:-3.85 [[ 9.82753158e-01 1.82700399e-01 2.85796065e-02 1.03824605e+02] [-1.82643901e-01 9.83168384e-01 -4.59718860e-03 -6.91343707e+00] [-2.89384737e-02 -7.01989205e-04 9.99580948e-01 -3.84823172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950385723 meters 0.02243204238801014 Centerline is valid? [True, True] Translation: X:103.89, Y:-6.92, Z:-3.85 [[ 9.82569777e-01 1.83903569e-01 2.71313500e-02 1.03886449e+02] [-1.83852943e-01 9.82944045e-01 -4.37033494e-03 -6.92103688e+00] [-2.74723191e-02 -6.94019507e-04 9.99622324e-01 -3.85117752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010385723 meters 0.022291706058557043 Centerline is valid? [True, True] Translation: X:103.95, Y:-6.93, Z:-3.86 [[ 9.82406561e-01 1.85295168e-01 2.33034172e-02 1.03947937e+02] [-1.85258109e-01 9.82682711e-01 -3.75808653e-03 -6.92796430e+00] [-2.35962204e-02 -6.25178149e-04 9.99721375e-01 -3.85873072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070385723 meters 0.021032887082734972 Centerline is valid? [True, True] Translation: X:104.01, Y:-6.94, Z:-3.86 [[ 9.83055680e-01 1.81719324e-01 2.40752326e-02 1.04008127e+02] [-1.81678495e-01 9.83350286e-01 -3.89085471e-03 -6.94095807e+00] [-2.43814303e-02 -5.49025185e-04 9.99702578e-01 -3.86126355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13038572299999 meters 0.019673438766999254 Centerline is valid? [True, True] Translation: X:104.07, Y:-6.96, Z:-3.86 [[ 9.84141810e-01 1.74910604e-01 2.95157237e-02 1.04067084e+02] [-1.74846124e-01 9.84584209e-01 -4.77161571e-03 -6.95661110e+00] [-2.98953217e-02 -4.64763378e-04 9.99552927e-01 -3.85734806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19038572299999 meters 0.019220351223250068 Centerline is valid? [True, True] Translation: X:104.13, Y:-6.97, Z:-3.86 [[ 9.84604757e-01 1.71655768e-01 3.29813463e-02 1.04128520e+02] [-1.71573445e-01 9.85156906e-01 -5.33134744e-03 -6.96702705e+00] [-3.34069576e-02 -4.09453163e-04 9.99441748e-01 -3.85828643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250385723 meters 0.019104810234807368 Centerline is valid? [True, True] Translation: X:104.19, Y:-6.98, Z:-3.86 [[ 9.84812359e-01 1.70079482e-01 3.48939380e-02 1.04189645e+02] [-1.69986020e-01 9.85430279e-01 -5.64962098e-03 -6.97795772e+00] [-3.53464277e-02 -3.67665083e-04 9.99375052e-01 -3.85867718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310385723 meters 0.01901210349793555 Centerline is valid? [True, True] Translation: X:104.25, Y:-6.99, Z:-3.86 [[ 9.84729843e-01 1.70864513e-01 3.33534827e-02 1.04252138e+02] [-1.70779313e-01 9.85294464e-01 -5.40789917e-03 -6.98801157e+00] [-3.37870200e-02 -3.70765182e-04 9.99428987e-01 -3.86226289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370385723 meters 0.019868067474431796 Centerline is valid? [True, True] Translation: X:104.31, Y:-6.99, Z:-3.87 [[ 9.83664906e-01 1.77876508e-01 2.76279099e-02 1.04313156e+02] [-1.77820579e-01 9.84052691e-01 -4.48798113e-03 -6.99064277e+00] [-2.79856255e-02 -4.98141409e-04 9.99608202e-01 -3.87135587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430385723 meters 0.020476959355424006 Centerline is valid? [True, True] Translation: X:104.37, Y:-7.00, Z:-3.87 [[ 9.83122789e-01 1.80969862e-01 2.68233392e-02 1.04374371e+02] [-1.80918337e-01 9.83488476e-01 -4.35569850e-03 -7.00070562e+00] [-2.71686951e-02 -5.70647451e-04 9.99630700e-01 -3.87328517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49038572299999 meters 0.022469476809195327 Centerline is valid? [True, True] Translation: X:104.44, Y:-7.00, Z:-3.88 [[ 9.82367935e-01 1.84495564e-01 3.02428183e-02 1.04436195e+02] [-1.84431459e-01 9.82833064e-01 -4.91981388e-03 -7.00315342e+00] [-3.06313256e-02 -7.44659700e-04 9.99530473e-01 -3.87548705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55038572299999 meters 0.022591968212375132 Centerline is valid? [True, True] Translation: X:104.50, Y:-7.01, Z:-3.88 [[ 9.81603904e-01 1.88093743e-01 3.27798620e-02 1.04496784e+02] [-1.88020159e-01 9.82150648e-01 -5.34078906e-03 -7.01402857e+00] [-3.31993317e-02 -9.20735457e-04 9.99448326e-01 -3.87502692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610385723 meters 0.023942906212303116 Centerline is valid? [True, True] Translation: X:104.56, Y:-7.02, Z:-3.87 [[ 9.81111691e-01 1.90591824e-01 3.30848511e-02 1.04558118e+02] [-1.90518029e-01 9.81668856e-01 -5.39800577e-03 -7.02327288e+00] [-3.35071837e-02 -1.00721405e-03 9.99437969e-01 -3.87493972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670385723 meters 0.02488453470825708 Centerline is valid? [True, True] Translation: X:104.62, Y:-7.03, Z:-3.88 [[ 9.80820272e-01 1.91863696e-01 3.43499042e-02 1.04620062e+02] [-1.91784628e-01 9.81420985e-01 -5.61300115e-03 -7.03050042e+00] [-3.47886480e-02 -1.08243831e-03 9.99394106e-01 -3.87794188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730385723 meters 0.025960668245966195 Centerline is valid? [True, True] Translation: X:104.68, Y:-7.04, Z:-3.88 [[ 9.80729113e-01 1.92204312e-01 3.50415340e-02 1.04681790e+02] [-1.92121941e-01 9.81354306e-01 -5.73456516e-03 -7.03710518e+00] [-3.54903685e-02 -1.10819255e-03 9.99369404e-01 -3.88104510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790385723 meters 0.026701314271685827 Centerline is valid? [True, True] Translation: X:104.74, Y:-7.05, Z:-3.89 [[ 9.80658127e-01 1.93086035e-01 3.20534103e-02 1.04742943e+02] [-1.93017344e-01 9.81181283e-01 -5.25299818e-03 -7.04782868e+00] [-3.24644869e-02 -1.03546876e-03 9.99472353e-01 -3.88546724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85038572299999 meters 0.02484004826844626 Centerline is valid? [True, True] Translation: X:104.80, Y:-7.06, Z:-3.89 [[ 9.80322700e-01 1.95302444e-01 2.87116599e-02 1.04803173e+02] [-1.95248106e-01 9.80742566e-01 -4.71129746e-03 -7.06066839e+00] [-2.90788749e-02 -9.87305368e-04 9.99576633e-01 -3.89148032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91038572299999 meters 0.02420786663907211 Centerline is valid? [True, True] Translation: X:104.86, Y:-7.07, Z:-3.89 [[ 9.80136183e-01 1.96572152e-01 2.63144794e-02 1.04863538e+02] [-1.96526828e-01 9.80488917e-01 -4.32314860e-03 -7.07404098e+00] [-2.66508660e-02 -9.34226801e-04 9.99644366e-01 -3.89351174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97038572299999 meters 0.023441062775484477 Centerline is valid? [True, True] Translation: X:104.93, Y:-7.09, Z:-3.89 [[ 9.80066995e-01 1.96894267e-01 2.64827055e-02 1.04925309e+02] [-1.96848312e-01 9.80424275e-01 -4.35701285e-03 -7.08627498e+00] [-2.68221582e-02 -9.42911371e-04 9.99639776e-01 -3.89499658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030385723 meters 0.02289695660232914 Centerline is valid? [True, True] Translation: X:104.99, Y:-7.10, Z:-3.90 [[ 9.80621239e-01 1.93946794e-01 2.76880138e-02 1.04985016e+02] [-1.93895090e-01 9.81011645e-01 -4.56585856e-03 -7.10051714e+00] [-2.80477975e-02 -8.91192041e-04 9.99606186e-01 -3.89506354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090385723 meters 0.023137685655930097 Centerline is valid? [True, True] Translation: X:105.04, Y:-7.11, Z:-3.90 [[ 9.81017654e-01 1.91574182e-01 3.00615178e-02 1.05044294e+02] [-1.91512095e-01 9.81477730e-01 -4.95807851e-03 -7.11101787e+00] [-3.04545501e-02 -8.93181682e-04 9.99535754e-01 -3.89629598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150385723 meters 0.021724043118574884 Centerline is valid? [True, True] Translation: X:105.11, Y:-7.13, Z:-3.90 [[ 9.81181331e-01 1.90796443e-01 2.96633159e-02 1.05105230e+02] [-1.90735567e-01 9.81629251e-01 -4.89465258e-03 -7.12517609e+00] [-3.00522608e-02 -8.55307650e-04 9.99547963e-01 -3.89760052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210385723 meters 0.02202976231913781 Centerline is valid? [True, True] Translation: X:105.17, Y:-7.13, Z:-3.90 [[ 9.81085194e-01 1.91217700e-01 3.01269702e-02 1.05167374e+02] [-1.91154874e-01 9.81547262e-01 -4.97867812e-03 -7.13469137e+00] [-3.05230565e-02 -8.74409828e-04 9.99533680e-01 -3.89919752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27038572299999 meters 0.02265108291851674 Centerline is valid? [True, True] Translation: X:105.23, Y:-7.14, Z:-3.90 [[ 9.80865433e-01 1.92536835e-01 2.88542721e-02 1.05228689e+02] [-1.92479542e-01 9.81289362e-01 -4.77639252e-03 -7.14173807e+00] [-2.92340218e-02 -8.68858760e-04 9.99572217e-01 -3.90277272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33038572299999 meters 0.02278291969941705 Centerline is valid? [True, True] Translation: X:105.29, Y:-7.15, Z:-3.91 [[ 9.80720328e-01 1.93473700e-01 2.74875674e-02 1.05290458e+02] [-1.93421897e-01 9.81105095e-01 -4.55648782e-03 -7.15023805e+00] [-2.78497530e-02 -8.48057223e-04 9.99611761e-01 -3.90703413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390385723 meters 0.022853422957483265 Centerline is valid? [True, True] Translation: X:105.35, Y:-7.16, Z:-3.91 [[ 9.80476521e-01 1.94584621e-01 2.83305103e-02 1.05352076e+02] [-1.94529848e-01 9.80885323e-01 -4.70341746e-03 -7.15794382e+00] [-2.87041945e-02 -8.99539491e-04 9.99587545e-01 -3.90932292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450385723 meters 0.022391098518037878 Centerline is valid? [True, True] Translation: X:105.41, Y:-7.17, Z:-3.91 [[ 9.80533008e-01 1.94359352e-01 2.79188708e-02 1.05412957e+02] [-1.94305878e-01 9.80930007e-01 -4.64178167e-03 -7.17191436e+00] [-2.82886318e-02 -8.73380561e-04 9.99599415e-01 -3.90884561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510385723 meters 0.023522570614774262 Centerline is valid? [True, True] Translation: X:105.47, Y:-7.18, Z:-3.91 [[ 9.80320094e-01 1.95354509e-01 2.84452035e-02 1.05473484e+02] [-1.95299194e-01 9.80732270e-01 -4.73708277e-03 -7.17670099e+00] [-2.88225395e-02 -9.11467882e-04 9.99584129e-01 -3.91284193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570385723 meters 0.025428361125200825 Centerline is valid? [True, True] Translation: X:105.53, Y:-7.18, Z:-3.92 [[ 9.79930004e-01 1.97641412e-01 2.59819012e-02 1.05534524e+02] [-1.97595953e-01 9.80273982e-01 -4.33114092e-03 -7.18172264e+00] [-2.63253946e-02 -8.89703594e-04 9.99653031e-01 -3.91796761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63038572299999 meters 0.025863614595065938 Centerline is valid? [True, True] Translation: X:105.60, Y:-7.19, Z:-3.92 [[ 9.79632976e-01 1.98990540e-01 2.68699968e-02 1.05596205e+02] [-1.98942250e-01 9.80000949e-01 -4.48564477e-03 -7.19027076e+00] [-2.72252233e-02 -9.51292086e-04 9.99628872e-01 -3.91922048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69038572299999 meters 0.023197671063063818 Centerline is valid? [True, True] Translation: X:105.66, Y:-7.21, Z:-3.92 [[ 9.79713912e-01 1.98354731e-01 2.85666185e-02 1.05656581e+02] [-1.98299676e-01 9.80129802e-01 -4.77593370e-03 -7.20636192e+00] [-2.89463232e-02 -9.85702501e-04 9.99580481e-01 -3.91777075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750385723 meters 0.022440713701331168 Centerline is valid? [True, True] Translation: X:105.72, Y:-7.22, Z:-3.92 [[ 9.80019945e-01 1.96825274e-01 2.86481922e-02 1.05718301e+02] [-1.96769010e-01 9.80438135e-01 -4.79788636e-03 -7.21724423e+00] [-2.90321254e-02 -9.35052069e-04 9.99578042e-01 -3.92012290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810385723 meters 0.021746958350141076 Centerline is valid? [True, True] Translation: X:105.78, Y:-7.23, Z:-3.92 [[ 9.80722174e-01 1.93292878e-01 2.86684606e-02 1.05778478e+02] [-1.93234938e-01 9.81140753e-01 -4.80426778e-03 -7.22930156e+00] [-2.90564258e-02 -8.28096279e-04 9.99577430e-01 -3.92264143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870385723 meters 0.02149941839206374 Centerline is valid? [True, True] Translation: X:105.84, Y:-7.24, Z:-3.92 [[ 9.81661404e-01 1.88329660e-01 2.95436594e-02 1.05837857e+02] [-1.88265844e-01 9.82105620e-01 -4.95214330e-03 -7.23853839e+00] [-2.99476294e-02 -7.00734032e-04 9.99551224e-01 -3.92426678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930385723 meters 0.02021377685270737 Centerline is valid? [True, True] Translation: X:105.90, Y:-7.25, Z:-3.93 [[ 9.82483900e-01 1.84076653e-01 2.90029589e-02 1.05898036e+02] [-1.84013287e-01 9.82911732e-01 -4.86190552e-03 -7.25199096e+00] [-2.94023119e-02 -5.60185918e-04 9.99567502e-01 -3.92606390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99038572299999 meters 0.019463183301960344 Centerline is valid? [True, True] Translation: X:105.96, Y:-7.26, Z:-3.93 [[ 9.82903341e-01 1.81936904e-01 2.82840080e-02 1.05958906e+02] [-1.81875772e-01 9.83310088e-01 -4.74080688e-03 -7.26151749e+00] [-2.86744781e-02 -4.84420858e-04 9.99588685e-01 -3.92896198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05038572299999 meters 0.019642859578455397 Centerline is valid? [True, True] Translation: X:106.02, Y:-7.27, Z:-3.93 [[ 9.82845325e-01 1.82345412e-01 2.76625823e-02 1.06021007e+02] [-1.82286880e-01 9.83234419e-01 -4.64444367e-03 -7.26719734e+00] [-2.80456960e-02 -4.77756083e-04 9.99606528e-01 -3.93337568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110385723 meters 0.019655598569409766 Centerline is valid? [True, True] Translation: X:106.08, Y:-7.28, Z:-3.93 [[ 9.82506121e-01 1.84136079e-01 2.78500577e-02 1.06082195e+02] [-1.84077435e-01 9.82900617e-01 -4.67715716e-03 -7.27534463e+00] [-2.82350723e-02 -5.31231645e-04 9.99601170e-01 -3.93407931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170385723 meters 0.019728817645511824 Centerline is valid? [True, True] Translation: X:106.14, Y:-7.28, Z:-3.93 [[ 9.82063034e-01 1.86141434e-01 3.00593267e-02 1.06144289e+02] [-1.86073801e-01 9.82522759e-01 -5.05645346e-03 -7.28144780e+00] [-3.04751881e-02 -6.27497150e-04 9.99535327e-01 -3.93347407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230385723 meters 0.019577834418110323 Centerline is valid? [True, True] Translation: X:106.21, Y:-7.29, Z:-3.94 [[ 9.81803327e-01 1.87710813e-01 2.87554772e-02 1.06205888e+02] [-1.87649397e-01 9.82224130e-01 -4.84386200e-03 -7.29105701e+00] [-2.91535689e-02 -6.40228131e-04 9.99574739e-01 -3.93582390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290385723 meters 0.020022294767695566 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.30, Z:-3.94 [[ 9.81729580e-01 1.88332286e-01 2.71658010e-02 1.06266788e+02] [-1.88277529e-01 9.82105173e-01 -4.58271311e-03 -7.29789297e+00] [-2.75427465e-02 -6.15724869e-04 9.99620437e-01 -3.93943547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35038572299999 meters 0.01924311672666412 Centerline is valid? [True, True] Translation: X:106.33, Y:-7.31, Z:-3.94 [[ 9.82140001e-01 1.85912872e-01 2.89382572e-02 1.06328673e+02] [-1.85849451e-01 9.82566065e-01 -4.88969341e-03 -7.30704051e+00] [-2.93428064e-02 -5.75795725e-04 9.99569241e-01 -3.94017133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41038572299999 meters 0.0184393985722515 Centerline is valid? [True, True] Translation: X:106.39, Y:-7.32, Z:-3.94 [[ 9.83017570e-01 1.80857163e-01 3.10989290e-02 1.06388854e+02] [-1.80781225e-01 9.83509269e-01 -5.25984402e-03 -7.31889933e+00] [-3.15373654e-02 -4.51583394e-04 9.99502472e-01 -3.93899288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47038572299999 meters 0.018233987152854365 Centerline is valid? [True, True] Translation: X:106.45, Y:-7.33, Z:-3.94 [[ 9.83380308e-01 1.78942936e-01 3.07017277e-02 1.06450450e+02] [-1.78867967e-01 9.83859379e-01 -5.19349790e-03 -7.33006613e+00] [-3.11355225e-02 -3.84372043e-04 9.99515098e-01 -3.94078629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530385723 meters 0.01773321632525394 Centerline is valid? [True, True] Translation: X:106.51, Y:-7.34, Z:-3.94 [[ 9.84364333e-01 1.73486004e-01 3.04871542e-02 1.06510723e+02] [-1.73409400e-01 9.84836313e-01 -5.15916344e-03 -7.33818191e+00] [-3.09198991e-02 -2.08262617e-04 9.99521844e-01 -3.94486111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590385723 meters 0.01752184684538676 Centerline is valid? [True, True] Translation: X:106.57, Y:-7.35, Z:-3.95 [[ 9.85177089e-01 1.69036787e-01 2.92004897e-02 1.06571689e+02] [-1.68964376e-01 9.85609741e-01 -4.94756150e-03 -7.34818534e+00] [-2.96166070e-02 -5.96183056e-05 9.99561330e-01 -3.94896585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650385723 meters 0.017403564414873656 Centerline is valid? [True, True] Translation: X:106.63, Y:-7.36, Z:-3.95 [[ 9.85707743e-01 1.66363230e-01 2.65239553e-02 1.06632957e+02] [-1.66302371e-01 9.86064539e-01 -4.49958530e-03 -7.35566482e+00] [-2.69028973e-02 2.42794219e-05 9.99638051e-01 -3.95196543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710385723 meters 0.017371732824391063 Centerline is valid? [True, True] Translation: X:106.69, Y:-7.36, Z:-3.96 [[ 9.85323979e-01 1.68839884e-01 2.50948124e-02 1.06694608e+02] [-1.68786069e-01 9.85643491e-01 -4.26270428e-03 -7.36142333e+00] [-2.54542530e-02 -3.55099845e-05 9.99675987e-01 -3.95528657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77038572299999 meters 0.017393524938545648 Centerline is valid? [True, True] Translation: X:106.76, Y:-7.36, Z:-3.96 [[ 9.84467887e-01 1.73733657e-01 2.52902227e-02 1.06756582e+02] [-1.73680417e-01 9.84792665e-01 -4.30354402e-03 -7.36214431e+00] [-2.56532963e-02 -1.55715529e-04 9.99670888e-01 -3.95952212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83038572299999 meters 0.01742253605521292 Centerline is valid? [True, True] Translation: X:106.82, Y:-7.37, Z:-3.96 [[ 9.83455985e-01 1.79456486e-01 2.46920035e-02 1.06818694e+02] [-1.79407486e-01 9.83765868e-01 -4.20379034e-03 -7.36524112e+00] [-2.50455477e-02 -2.95687495e-04 9.99686267e-01 -3.96024660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890385723 meters 0.018420721766434153 Centerline is valid? [True, True] Translation: X:106.88, Y:-7.37, Z:-3.96 [[ 9.82400720e-01 1.85308330e-01 2.34445742e-02 1.06879820e+02] [-1.85265629e-01 9.82680340e-01 -3.99944258e-03 -7.36661135e+00] [-2.37796521e-02 -4.14418523e-04 9.99717138e-01 -3.96317325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950385723 meters 0.01812833687548044 Centerline is valid? [True, True] Translation: X:106.94, Y:-7.37, Z:-3.96 [[ 9.81768399e-01 1.88222352e-01 2.65171196e-02 1.06942167e+02] [-1.88168809e-01 9.82126287e-01 -4.52270219e-03 -7.37180131e+00] [-2.68944339e-02 -5.49448729e-04 9.99638128e-01 -3.96041040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010385723 meters 0.019401284856614742 Centerline is valid? [True, True] Translation: X:107.00, Y:-7.37, Z:-3.96 [[ 9.81611967e-01 1.88944003e-01 2.71681774e-02 1.07004705e+02] [-1.88887880e-01 9.81987694e-01 -4.64083127e-03 -7.37322896e+00] [-2.75556731e-02 -5.76243913e-04 9.99620104e-01 -3.96234955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070385723 meters 0.01864204785895425 Centerline is valid? [True, True] Translation: X:107.07, Y:-7.39, Z:-3.96 [[ 9.81645314e-01 1.89130266e-01 2.45401810e-02 1.07065809e+02] [-1.89084386e-01 9.81951869e-01 -4.19791274e-03 -7.38607739e+00] [-2.48912290e-02 -5.19303677e-04 9.99690030e-01 -3.96474995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13038572299999 meters 0.01850696191694734 Centerline is valid? [True, True] Translation: X:107.13, Y:-7.39, Z:-3.97 [[ 9.81892654e-01 1.87864739e-01 2.43650539e-02 1.07127667e+02] [-1.87818972e-01 9.82194793e-01 -4.17397715e-03 -7.39085133e+00] [-2.47153722e-02 -4.77821863e-04 9.99694414e-01 -3.96992513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19038572299999 meters 0.0180494261545234 Centerline is valid? [True, True] Translation: X:107.19, Y:-7.40, Z:-3.97 [[ 9.82096924e-01 1.86864820e-01 2.38153602e-02 1.07188598e+02] [-1.86820665e-01 9.82385539e-01 -4.08545359e-03 -7.40079939e+00] [-2.41592930e-02 -4.36890035e-04 9.99708026e-01 -3.97327321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250385723 meters 0.01809689357997753 Centerline is valid? [True, True] Translation: X:107.25, Y:-7.41, Z:-3.98 [[ 9.82223009e-01 1.86355346e-01 2.25753112e-02 1.07249806e+02] [-1.86315426e-01 9.82482329e-01 -3.87753289e-03 -7.41362854e+00] [-2.29024434e-02 -3.97526696e-04 9.99737626e-01 -3.97515802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310385723 meters 0.01852388053722248 Centerline is valid? [True, True] Translation: X:107.31, Y:-7.42, Z:-3.98 [[ 9.82038555e-01 1.87480800e-01 2.12420996e-02 1.07310274e+02] [-1.87445584e-01 9.82268189e-01 -3.65478928e-03 -7.42329166e+00] [-2.15506415e-02 -3.92593787e-04 9.99767681e-01 -3.97865680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370385723 meters 0.01916735126527272 Centerline is valid? [True, True] Translation: X:107.37, Y:-7.43, Z:-3.98 [[ 9.81593221e-01 1.89535969e-01 2.34705210e-02 1.07371618e+02] [-1.89493425e-01 9.81873662e-01 -4.04398885e-03 -7.43417990e+00] [-2.38115677e-02 -4.77957363e-04 9.99716350e-01 -3.97843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430385723 meters 0.01968382446413179 Centerline is valid? [True, True] Translation: X:107.43, Y:-7.45, Z:-3.98 [[ 9.81230811e-01 1.91102513e-01 2.58055105e-02 1.07433704e+02] [-1.91051429e-01 9.81569924e-01 -4.45374874e-03 -7.44565573e+00] [-2.61810356e-02 -5.60024164e-04 9.99657061e-01 -3.97898457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49038572299999 meters 0.020356216513073185 Centerline is valid? [True, True] Translation: X:107.49, Y:-7.46, Z:-3.98 [[ 9.81078979e-01 1.92031668e-01 2.46551388e-02 1.07493381e+02] [-1.91985158e-01 9.81388574e-01 -4.26205656e-03 -7.45660478e+00] [-2.50147214e-02 -5.52006634e-04 9.99686930e-01 -3.98361720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55038572299999 meters 0.0182939943875873 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.48, Z:-3.98 [[ 9.81196183e-01 1.91569188e-01 2.35647384e-02 1.07553974e+02] [-1.91526477e-01 9.81478978e-01 -4.07737436e-03 -7.47728569e+00] [-2.39093946e-02 -5.12567156e-04 9.99713998e-01 -3.98125503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610385723 meters 0.018128009012410996 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.49, Z:-3.98 [[ 9.81475335e-01 1.89920332e-01 2.52276432e-02 1.07614665e+02] [-1.89870614e-01 9.81799379e-01 -4.37375574e-03 -7.49038534e+00] [-2.55991496e-02 -4.97254731e-04 9.99672164e-01 -3.98245028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670385723 meters 0.018950654136392086 Centerline is valid? [True, True] Translation: X:107.67, Y:-7.50, Z:-3.99 [[ 9.81799001e-01 1.88096091e-01 2.62789297e-02 1.07674580e+02] [-1.88041294e-01 9.82150522e-01 -4.56330502e-03 -7.49956860e+00] [-2.66682043e-02 -4.61275644e-04 9.99644234e-01 -3.98653092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730385723 meters 0.01764787189647115 Centerline is valid? [True, True] Translation: X:107.73, Y:-7.52, Z:-3.99 [[ 9.82637273e-01 1.83692677e-01 2.60958019e-02 1.07734742e+02] [-1.83636903e-01 9.82983667e-01 -4.53849588e-03 -7.51968671e+00] [-2.64854355e-02 -3.32457022e-04 9.99649144e-01 -3.98697641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790385723 meters 0.016847393990385727 Centerline is valid? [True, True] Translation: X:107.80, Y:-7.54, Z:-3.99 [[ 9.83663765e-01 1.77980857e-01 2.69891154e-02 1.07795296e+02] [-1.77918935e-01 9.84033933e-01 -4.69793230e-03 -7.53761620e+00] [-2.73943474e-02 -1.80688897e-04 9.99624688e-01 -3.98824274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85038572299999 meters 0.01703996135052039 Centerline is valid? [True, True] Translation: X:107.85, Y:-7.55, Z:-3.99 [[ 9.84293522e-01 1.74118528e-01 2.91376018e-02 1.07854347e+02] [-1.74044601e-01 9.84724699e-01 -5.07390936e-03 -7.55454465e+00] [-2.95759777e-02 -7.70261580e-05 9.99562532e-01 -3.98901904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91038572299999 meters 0.01678685374091726 Centerline is valid? [True, True] Translation: X:107.92, Y:-7.57, Z:-3.99 [[ 9.84241532e-01 1.74486800e-01 2.86873272e-02 1.07916446e+02] [-1.74415119e-01 9.84659510e-01 -5.00163512e-03 -7.56631530e+00] [-2.91199689e-02 -8.06865677e-05 9.99575921e-01 -3.99288030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97038572299999 meters 0.016831616349019876 Centerline is valid? [True, True] Translation: X:107.98, Y:-7.58, Z:-4.00 [[ 9.83886251e-01 1.76822573e-01 2.64881675e-02 1.07977589e+02] [-1.76762116e-01 9.84242735e-01 -4.62534689e-03 -7.57683220e+00] [-2.68886521e-02 -1.31289319e-04 9.99638426e-01 -3.99760074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030385723 meters 0.017022762172308473 Centerline is valid? [True, True] Translation: X:108.04, Y:-7.59, Z:-4.00 [[ 9.83079857e-01 1.81251138e-01 2.64956603e-02 1.08038262e+02] [-1.81192076e-01 9.83436813e-01 -4.63324306e-03 -7.59101517e+00] [-2.68965883e-02 -2.45955774e-04 9.99638191e-01 -3.99814551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090385723 meters 0.017249067796132944 Centerline is valid? [True, True] Translation: X:108.10, Y:-7.60, Z:-4.00 [[ 9.82638448e-01 1.83568824e-01 2.69103572e-02 1.08099832e+02] [-1.83508580e-01 9.83006812e-01 -4.71261492e-03 -7.60086468e+00] [-2.73181536e-02 -3.07484808e-04 9.99626742e-01 -4.00153754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150385723 meters 0.01762911414536889 Centerline is valid? [True, True] Translation: X:108.16, Y:-7.61, Z:-4.00 [[ 9.81874525e-01 1.87550329e-01 2.73366218e-02 1.08160195e+02] [-1.87489508e-01 9.82254905e-01 -4.79428630e-03 -7.61339353e+00] [-2.77507009e-02 -4.17942185e-04 9.99614788e-01 -4.00231212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210385723 meters 0.018147691746150097 Centerline is valid? [True, True] Translation: X:108.22, Y:-7.63, Z:-4.00 [[ 9.81358865e-01 1.90372690e-01 2.63252017e-02 1.08220553e+02] [-1.90317150e-01 9.81711778e-01 -4.62255280e-03 -7.62908488e+00] [-2.67237683e-02 -4.73754181e-04 9.99642744e-01 -4.00387301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27038572299999 meters 0.019635318239597348 Centerline is valid? [True, True] Translation: X:108.28, Y:-7.64, Z:-4.01 [[ 9.80800325e-01 1.93016066e-01 2.78481759e-02 1.08281160e+02] [-1.92954758e-01 9.81195431e-01 -4.89772496e-03 -7.63723717e+00] [-2.82698425e-02 -5.69747801e-04 9.99600166e-01 -4.00828985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33038572299999 meters 0.019389670078871386 Centerline is valid? [True, True] Translation: X:108.34, Y:-7.66, Z:-4.01 [[ 9.80086665e-01 1.96381182e-01 2.94034167e-02 1.08340795e+02] [-1.96314134e-01 9.80527381e-01 -5.17835455e-03 -7.65505077e+00] [-2.98477866e-02 -6.97070061e-04 9.99554213e-01 -4.00709592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390385723 meters 0.01941313152759395 Centerline is valid? [True, True] Translation: X:108.40, Y:-7.67, Z:-4.01 [[ 9.79779332e-01 1.97862128e-01 2.97159589e-02 1.08401581e+02] [-1.97794101e-01 9.80229578e-01 -5.24090398e-03 -7.66910282e+00] [-3.01654383e-02 -7.42711973e-04 9.99544644e-01 -4.00816431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450385723 meters 0.019582770806618566 Centerline is valid? [True, True] Translation: X:108.46, Y:-7.68, Z:-4.01 [[ 9.79591926e-01 1.98712590e-01 3.02153025e-02 1.08462142e+02] [-1.98642418e-01 9.80057502e-01 -5.33689372e-03 -7.67984856e+00] [-3.06732419e-02 -7.74062734e-04 9.99529166e-01 -4.01132782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510385723 meters 0.019658449653421235 Centerline is valid? [True, True] Translation: X:108.52, Y:-7.70, Z:-4.02 [[ 9.79725810e-01 1.98457216e-01 2.74238999e-02 1.08523085e+02] [-1.98399165e-01 9.80109309e-01 -4.84912808e-03 -7.69539544e+00] [-2.78407640e-02 -6.90062907e-04 9.99612133e-01 -4.01558725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570385723 meters 0.019232326399423013 Centerline is valid? [True, True] Translation: X:108.58, Y:-7.71, Z:-4.02 [[ 9.80201926e-01 1.96108659e-01 2.73052631e-02 1.08583200e+02] [-1.96049972e-01 9.80581980e-01 -4.83629008e-03 -7.71218733e+00] [-2.77234873e-02 -6.12655211e-04 9.99615443e-01 -4.01736731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63038572299999 meters 0.018703670930439502 Centerline is valid? [True, True] Translation: X:108.64, Y:-7.73, Z:-4.02 [[ 9.80721830e-01 1.93273100e-01 2.88131950e-02 1.08643298e+02] [-1.93206306e-01 9.81144842e-01 -5.11097194e-03 -7.72863190e+00] [-2.92577310e-02 -5.54449207e-04 9.99571747e-01 -4.01949053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69038572299999 meters 0.01845702763448724 Centerline is valid? [True, True] Translation: X:108.70, Y:-7.74, Z:-4.02 [[ 9.80848347e-01 1.92456482e-01 2.99503265e-02 1.08703984e+02] [-1.92383665e-01 9.81305359e-01 -5.32138542e-03 -7.74499005e+00] [-3.04145510e-02 -5.42481494e-04 9.99537223e-01 -4.02141356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750385723 meters 0.0192206747042112 Centerline is valid? [True, True] Translation: X:108.76, Y:-7.76, Z:-4.03 [[ 9.81004921e-01 1.91934712e-01 2.81142499e-02 1.08763725e+02] [-1.91870307e-01 9.81407572e-01 -4.99620372e-03 -7.75995689e+00] [-2.85504827e-02 -4.92989332e-04 9.99592230e-01 -4.02505498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810385723 meters 0.01879853727161888 Centerline is valid? [True, True] Translation: X:108.82, Y:-7.77, Z:-4.03 [[ 9.81014088e-01 1.91824282e-01 2.85447541e-02 1.08824740e+02] [-1.91757613e-01 9.81429165e-01 -5.08062108e-03 -7.77327035e+00] [-2.89892407e-02 -4.89513064e-04 9.99579604e-01 -4.02794308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870385723 meters 0.018899489859124947 Centerline is valid? [True, True] Translation: X:108.89, Y:-7.79, Z:-4.03 [[ 9.80690056e-01 1.93069195e-01 3.11656783e-02 1.08886321e+02] [-1.92990090e-01 9.81184980e-01 -5.55522870e-03 -7.78844766e+00] [-3.16518389e-02 -5.66709503e-04 9.99498794e-01 -4.02782729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930385723 meters 0.01895884810501978 Centerline is valid? [True, True] Translation: X:108.95, Y:-7.80, Z:-4.03 [[ 9.80618967e-01 1.93439743e-01 3.11047924e-02 1.08947219e+02] [-1.93360859e-01 9.81111993e-01 -5.55304039e-03 -7.80394603e+00] [-3.15914636e-02 -5.69032652e-04 9.99500703e-01 -4.02987291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99038572299999 meters 0.018411607991817576 Centerline is valid? [True, True] Translation: X:109.01, Y:-7.82, Z:-4.03 [[ 9.80931332e-01 1.91970974e-01 3.03457969e-02 1.09007331e+02] [-1.91894933e-01 9.81400476e-01 -5.42591418e-03 -7.81850381e+00] [-3.08229975e-02 -5.00755419e-04 9.99524733e-01 -4.03398896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05038572299999 meters 0.01818571274844273 Centerline is valid? [True, True] Translation: X:109.07, Y:-7.83, Z:-4.04 [[ 9.81159502e-01 1.90602789e-01 3.15691180e-02 1.09068837e+02] [-1.90519503e-01 9.81667132e-01 -5.65339648e-03 -7.83019051e+00] [-3.20679187e-02 -4.67649017e-04 9.99485583e-01 -4.03675840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110385723 meters 0.018864791122018342 Centerline is valid? [True, True] Translation: X:109.13, Y:-7.84, Z:-4.04 [[ 9.80618953e-01 1.93128387e-01 3.29832631e-02 1.09130822e+02] [-1.93038810e-01 9.81173327e-01 -5.90926346e-03 -7.83634779e+00] [-3.35035445e-02 -5.72314113e-04 9.99438435e-01 -4.03860893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170385723 meters 0.01985056763063999 Centerline is valid? [True, True] Translation: X:109.19, Y:-7.84, Z:-4.04 [[ 9.79554307e-01 1.98719594e-01 3.13669078e-02 1.09192262e+02] [-1.98641217e-01 9.80056124e-01 -5.62680802e-03 -7.84084057e+00] [-3.18594870e-02 -7.18996688e-04 9.99492099e-01 -4.04366147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230385723 meters 0.0208618827306564 Centerline is valid? [True, True] Translation: X:109.25, Y:-7.85, Z:-4.05 [[ 9.78739246e-01 2.02805584e-01 3.06493633e-02 1.09253774e+02] [-2.02732517e-01 9.79218675e-01 -5.50563616e-03 -7.85035334e+00] [-3.11290027e-02 -8.25040389e-04 9.99515035e-01 -4.04613114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290385723 meters 0.02295217826425072 Centerline is valid? [True, True] Translation: X:109.32, Y:-7.86, Z:-4.05 [[ 9.78633587e-01 2.03361044e-01 3.03411972e-02 1.09315824e+02] [-2.03289671e-01 9.79103463e-01 -5.45142418e-03 -7.85592874e+00] [-3.08157785e-02 -8.33105184e-04 9.99524734e-01 -4.05074419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35038572299999 meters 0.021380797544421133 Centerline is valid? [True, True] Translation: X:109.38, Y:-7.87, Z:-4.05 [[ 9.78525696e-01 2.03851740e-01 3.05275228e-02 1.09377563e+02] [-2.03779481e-01 9.79001406e-01 -5.49281669e-03 -7.87003168e+00] [-3.10062080e-02 -8.46020471e-04 9.99518834e-01 -4.05241877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41038572299999 meters 0.02078816003642397 Centerline is valid? [True, True] Translation: X:109.44, Y:-7.88, Z:-4.05 [[ 9.78408033e-01 2.04235281e-01 3.17123030e-02 1.09439004e+02] [-2.04157205e-01 9.78921433e-01 -5.71527006e-03 -7.88325859e+00] [-3.22111129e-02 -8.82429007e-04 9.99480698e-01 -4.05366453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47038572299999 meters 0.019875134241313798 Centerline is valid? [True, True] Translation: X:109.50, Y:-7.90, Z:-4.05 [[ 9.79297776e-01 1.99639143e-01 3.34675706e-02 1.09498757e+02] [-1.99549140e-01 9.79869192e-01 -6.04217566e-03 -7.90085614e+00] [-3.40000961e-02 -7.61335738e-04 9.99421540e-01 -4.05416877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530385723 meters 0.020150528920400174 Centerline is valid? [True, True] Translation: X:109.56, Y:-7.91, Z:-4.06 [[ 9.79447691e-01 1.98663587e-01 3.48568347e-02 1.09558456e+02] [-1.98565229e-01 9.80067452e-01 -6.29604245e-03 -7.91183279e+00] [-3.54128436e-02 -7.54711127e-04 9.99372484e-01 -4.05559146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590385723 meters 0.019889741626622767 Centerline is valid? [True, True] Translation: X:109.62, Y:-7.92, Z:-4.06 [[ 9.79219926e-01 1.99860892e-01 3.44087134e-02 1.09619759e+02] [-1.99765504e-01 9.79823972e-01 -6.22316172e-03 -7.92316122e+00] [-3.49582489e-02 -7.79830017e-04 9.99388469e-01 -4.05931317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650385723 meters 0.019769688223480224 Centerline is valid? [True, True] Translation: X:109.68, Y:-7.94, Z:-4.06 [[ 9.79218864e-01 2.00075085e-01 3.31719203e-02 1.09681304e+02] [-1.99986288e-01 9.79780279e-01 -6.00741493e-03 -7.93581778e+00] [-3.37031273e-02 -7.51355166e-04 9.99431606e-01 -4.06344511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710385723 meters 0.020494974055194855 Centerline is valid? [True, True] Translation: X:109.74, Y:-7.95, Z:-4.07 [[ 9.79273731e-01 1.99788332e-01 3.32803525e-02 1.09741846e+02] [-1.99698451e-01 9.79838805e-01 -6.03701298e-03 -7.94610762e+00] [-3.38155056e-02 -7.34146615e-04 9.99427823e-01 -4.06509122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77038572299999 meters 0.020338204796216088 Centerline is valid? [True, True] Translation: X:109.80, Y:-7.96, Z:-4.07 [[ 9.79227559e-01 1.99686033e-01 3.51976638e-02 1.09803369e+02] [-1.99585243e-01 9.79859632e-01 -6.38998179e-03 -7.95549533e+00] [-3.57647600e-02 -7.67687993e-04 9.99359941e-01 -4.06677191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83038572299999 meters 0.020489623655815713 Centerline is valid? [True, True] Translation: X:109.86, Y:-7.97, Z:-4.07 [[ 9.79098089e-01 2.00559029e-01 3.38084026e-02 1.09864454e+02] [-2.00466288e-01 9.79681325e-01 -6.14570154e-03 -7.96763489e+00] [-3.43540366e-02 -7.60200331e-04 9.99409437e-01 -4.06912257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890385723 meters 0.0207051428008452 Centerline is valid? [True, True] Translation: X:109.93, Y:-7.98, Z:-4.07 [[ 9.78930422e-01 2.01358087e-01 3.39138500e-02 1.09925937e+02] [-2.01264962e-01 9.79517385e-01 -6.17305329e-03 -7.97758359e+00] [-3.44621999e-02 -7.82680094e-04 9.99405695e-01 -4.07236328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950385723 meters 0.02067600623481275 Centerline is valid? [True, True] Translation: X:109.99, Y:-7.99, Z:-4.08 [[ 9.79049201e-01 2.00788211e-01 3.38637823e-02 1.09986729e+02] [-2.00694745e-01 9.79634384e-01 -6.17196762e-03 -7.98815443e+00] [-3.44133838e-02 -7.53623174e-04 9.99407400e-01 -4.07520443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010385723 meters 0.01932231149588167 Centerline is valid? [True, True] Translation: X:110.05, Y:-8.00, Z:-4.08 [[ 9.79370700e-01 1.99306612e-01 3.33152480e-02 1.10046570e+02] [-1.99215034e-01 9.79936941e-01 -6.07963053e-03 -8.00381720e+00] [-3.38585527e-02 -6.82686247e-04 9.99426402e-01 -4.07600663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070385723 meters 0.01899469829004969 Centerline is valid? [True, True] Translation: X:110.11, Y:-8.02, Z:-4.08 [[ 9.79681216e-01 1.97968381e-01 3.21439641e-02 1.10106947e+02] [-1.97882159e-01 9.80208219e-01 -5.87356934e-03 -8.01750486e+00] [-3.26705589e-02 -6.06491478e-04 9.99465991e-01 -4.07849331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13038572299999 meters 0.018768165272125898 Centerline is valid? [True, True] Translation: X:110.17, Y:-8.03, Z:-4.08 [[ 9.79572994e-01 1.98600834e-01 3.15350378e-02 1.10169108e+02] [-1.98517929e-01 9.80080272e-01 -5.77000412e-03 -8.02651094e+00] [-3.20527961e-02 -6.08130197e-04 9.99485992e-01 -4.08238902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19038572299999 meters 0.018750113545000485 Centerline is valid? [True, True] Translation: X:110.23, Y:-8.04, Z:-4.08 [[ 9.79631540e-01 1.98308097e-01 3.15585812e-02 1.10228770e+02] [-1.98224608e-01 9.80139557e-01 -5.78393156e-03 -8.03853245e+00] [-3.20788142e-02 -5.89565589e-04 9.99485169e-01 -4.08357292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250385723 meters 0.018120365227560244 Centerline is valid? [True, True] Translation: X:110.29, Y:-8.05, Z:-4.09 [[ 9.80074796e-01 1.96227369e-01 3.07930896e-02 1.10289520e+02] [-1.96146635e-01 9.80558294e-01 -5.65062289e-03 -8.05232070e+00] [-3.13032263e-02 -5.01927847e-04 9.99509808e-01 -4.08503022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310385723 meters 0.017983975759839357 Centerline is valid? [True, True] Translation: X:110.35, Y:-8.06, Z:-4.09 [[ 9.80186020e-01 1.95606108e-01 3.12028218e-02 1.10350264e+02] [-1.95522645e-01 9.80682425e-01 -5.73377525e-03 -8.06393015e+00] [-3.17216204e-02 -4.80691899e-04 9.99496627e-01 -4.08708678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370385723 meters 0.017983382723754632 Centerline is valid? [True, True] Translation: X:110.41, Y:-8.08, Z:-4.09 [[ 9.80335040e-01 1.94871360e-01 3.11185353e-02 1.10411580e+02] [-1.94787730e-01 9.80828707e-01 -5.72608737e-03 -8.07520910e+00] [-3.16378031e-02 -4.48024754e-04 9.99499299e-01 -4.08888468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430385723 meters 0.018071191932516096 Centerline is valid? [True, True] Translation: X:110.47, Y:-8.08, Z:-4.09 [[ 9.80072217e-01 1.95925536e-01 3.27358036e-02 1.10473821e+02] [-1.95833294e-01 9.80618649e-01 -6.03203924e-03 -8.08415742e+00] [-3.32831700e-02 -4.98926180e-04 9.99445837e-01 -4.09078517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49038572299999 meters 0.018848271723193716 Centerline is valid? [True, True] Translation: X:110.53, Y:-8.09, Z:-4.09 [[ 9.79553469e-01 1.98494477e-01 3.27863508e-02 1.10534615e+02] [-1.98403073e-01 9.80101836e-01 -6.05077246e-03 -8.09308195e+00] [-3.33350076e-02 -5.77857604e-04 9.99444067e-01 -4.09290081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55038572299999 meters 0.019420069192359963 Centerline is valid? [True, True] Translation: X:110.60, Y:-8.10, Z:-4.10 [[ 9.79032315e-01 2.01407651e-01 3.05071134e-02 1.10596398e+02] [-2.01329737e-01 9.79507309e-01 -5.63634264e-03 -8.10156044e+00] [-3.10171431e-02 -6.23827524e-04 9.99518658e-01 -4.09743463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610385723 meters 0.02029838757858177 Centerline is valid? [True, True] Translation: X:110.66, Y:-8.11, Z:-4.10 [[ 9.78879255e-01 2.02378710e-01 2.89527447e-02 1.10657914e+02] [-2.02308741e-01 9.79307143e-01 -5.35655925e-03 -8.11032511e+00] [-2.94376833e-02 -6.13968603e-04 9.99566429e-01 -4.10213648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670385723 meters 0.018743812292165565 Centerline is valid? [True, True] Translation: X:110.72, Y:-8.13, Z:-4.10 [[ 9.79103516e-01 2.01268958e-01 2.91051875e-02 1.10717772e+02] [-2.01197717e-01 9.79535843e-01 -5.38617878e-03 -8.12607067e+00] [-2.95936450e-02 -5.82270710e-04 9.99561843e-01 -4.10203101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730385723 meters 0.018483985108594468 Centerline is valid? [True, True] Translation: X:110.78, Y:-8.14, Z:-4.10 [[ 9.79208660e-01 2.00585253e-01 3.02647830e-02 1.10779156e+02] [-2.00507652e-01 9.79676081e-01 -5.60869863e-03 -8.13772951e+00] [-3.07747062e-02 -5.76234299e-04 9.99526180e-01 -4.10299341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790385723 meters 0.018553038231969386 Centerline is valid? [True, True] Translation: X:110.84, Y:-8.15, Z:-4.11 [[ 9.78939555e-01 2.01751127e-01 3.12062513e-02 1.10840603e+02] [-2.01668961e-01 9.79436620e-01 -5.79109736e-03 -8.14769246e+00] [-3.17329057e-02 -6.24198006e-04 9.99496190e-01 -4.10524715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85038572299999 meters 0.019436710364732518 Centerline is valid? [True, True] Translation: X:110.90, Y:-8.16, Z:-4.11 [[ 9.78340801e-01 2.04382561e-01 3.28183837e-02 1.10902113e+02] [-2.04292862e-01 9.78890814e-01 -6.09929783e-03 -8.15898310e+00] [-3.33722044e-02 -7.37369618e-04 9.99442721e-01 -4.10534643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91038572299999 meters 0.020533394334916355 Centerline is valid? [True, True] Translation: X:110.96, Y:-8.17, Z:-4.11 [[ 9.77913133e-01 2.06518191e-01 3.21891589e-02 1.10962303e+02] [-2.06432977e-01 9.78442440e-01 -5.98472781e-03 -8.16703046e+00] [-3.27311943e-02 -7.92359968e-04 9.99463877e-01 -4.10832702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97038572299999 meters 0.021240256579141612 Centerline is valid? [True, True] Translation: X:111.02, Y:-8.18, Z:-4.11 [[ 9.77595985e-01 2.08311928e-01 3.02031578e-02 1.11023974e+02] [-2.08237561e-01 9.78062120e-01 -5.62201726e-03 -8.17537381e+00] [-3.07116978e-02 -7.93370408e-04 9.99527970e-01 -4.11478388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030385723 meters 0.019768128121104594 Centerline is valid? [True, True] Translation: X:111.08, Y:-8.19, Z:-4.12 [[ 9.78004314e-01 2.06348642e-01 3.04598055e-02 1.11084195e+02] [-2.06271828e-01 9.78478259e-01 -5.67705473e-03 -8.19127742e+00] [-3.09757100e-02 -7.30815738e-04 9.99519870e-01 -4.11538204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090385723 meters 0.02087676618680375 Centerline is valid? [True, True] Translation: X:111.15, Y:-8.20, Z:-4.12 [[ 9.77997487e-01 2.06533193e-01 2.94101274e-02 1.11146004e+02] [-2.06461447e-01 9.78439341e-01 -5.48876034e-03 -8.19952450e+00] [-2.99096369e-02 -7.04063644e-04 9.99552359e-01 -4.12022007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150385723 meters 0.019195200498587542 Centerline is valid? [True, True] Translation: X:111.21, Y:-8.22, Z:-4.12 [[ 9.78347814e-01 2.04869557e-01 2.93942237e-02 1.11205926e+02] [-2.04796998e-01 9.78789070e-01 -5.49047207e-03 -8.21641888e+00] [-2.98955754e-02 -6.48257415e-04 9.99552817e-01 -4.12162602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210385723 meters 0.020456367296764665 Centerline is valid? [True, True] Translation: X:111.27, Y:-8.23, Z:-4.12 [[ 9.78693028e-01 2.02871631e-01 3.16711069e-02 1.11266295e+02] [-2.02786074e-01 9.79205143e-01 -5.92425997e-03 -8.22636222e+00] [-3.22143750e-02 -6.24427481e-04 9.99480787e-01 -4.12278301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27038572299999 meters 0.01862969275689127 Centerline is valid? [True, True] Translation: X:111.33, Y:-8.25, Z:-4.12 [[ 9.78986080e-01 2.01215438e-01 3.31451659e-02 1.11325642e+02] [-2.01120520e-01 9.79546834e-01 -6.20771658e-03 -8.24512827e+00] [-3.37163308e-02 -5.88904897e-04 9.99431269e-01 -4.12190108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33038572299999 meters 0.01831539715537901 Centerline is valid? [True, True] Translation: X:111.39, Y:-8.26, Z:-4.12 [[ 9.79195273e-01 1.99806758e-01 3.54101317e-02 1.11386541e+02] [-1.99697164e-01 9.79835158e-01 -6.64124581e-03 -8.25755379e+00] [-3.60230578e-02 -5.68226398e-04 9.99350797e-01 -4.12265643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390385723 meters 0.0196041563651565 Centerline is valid? [True, True] Translation: X:111.45, Y:-8.27, Z:-4.13 [[ 9.79246474e-01 1.99592801e-01 3.52002458e-02 1.11448351e+02] [-1.99484054e-01 9.79878775e-01 -6.61054838e-03 -8.26607881e+00] [-3.58113915e-02 -5.48531521e-04 9.99358416e-01 -4.12546717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450385723 meters 0.018668705150520475 Centerline is valid? [True, True] Translation: X:111.51, Y:-8.28, Z:-4.13 [[ 9.79057864e-01 2.00889904e-01 3.29991774e-02 1.11508309e+02] [-2.00794798e-01 9.79613670e-01 -6.20532555e-03 -8.27984069e+00] [-3.35730326e-02 -5.50690367e-04 9.99436115e-01 -4.13021676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510385723 meters 0.01908313432996468 Centerline is valid? [True, True] Translation: X:111.57, Y:-8.29, Z:-4.14 [[ 9.79006013e-01 2.01730863e-01 2.91870939e-02 1.11568869e+02] [-2.01656670e-01 9.79440862e-01 -5.49412282e-03 -8.28629897e+00] [-2.96953665e-02 -5.06992892e-04 9.99558867e-01 -4.13826712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570385723 meters 0.01856975477193902 Centerline is valid? [True, True] Translation: X:111.63, Y:-8.30, Z:-4.14 [[ 9.78968726e-01 2.01873545e-01 2.94500547e-02 1.11630811e+02] [-2.01797888e-01 9.79411462e-01 -5.54980939e-03 -8.29992258e+00] [-2.99640808e-02 -5.09869016e-04 9.99550846e-01 -4.13877761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63038572299999 meters 0.018752576329628252 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.31, Z:-4.14 [[ 9.78928678e-01 2.01607527e-01 3.24507108e-02 1.11691237e+02] [-2.01515165e-01 9.79466238e-01 -6.12594545e-03 -8.31146231e+00] [-3.30194123e-02 -5.42446664e-04 9.99454563e-01 -4.13729220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69038572299999 meters 0.019114824529991258 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.32, Z:-4.14 [[ 9.78753117e-01 2.01976924e-01 3.53221924e-02 1.11752888e+02] [-2.01867536e-01 9.79390098e-01 -6.67338348e-03 -8.32158249e+00] [-3.59420749e-02 -5.98809071e-04 9.99353695e-01 -4.13822211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750385723 meters 0.01879420583480121 Centerline is valid? [True, True] Translation: X:111.81, Y:-8.34, Z:-4.14 [[ 9.78811568e-01 2.01320844e-01 3.73875815e-02 1.11813340e+02] [-2.01197396e-01 9.79525171e-01 -7.07443602e-03 -8.33560972e+00] [-3.80463086e-02 -5.97744202e-04 9.99275798e-01 -4.13863061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810385723 meters 0.01943139027585081 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.34, Z:-4.15 [[ 9.78320801e-01 2.04201410e-01 3.44991907e-02 1.11874505e+02] [-2.04097814e-01 9.78928683e-01 -6.53582182e-03 -8.34319981e+00] [-3.51068714e-02 -6.47078963e-04 9.99383354e-01 -4.14501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870385723 meters 0.01974365818280486 Centerline is valid? [True, True] Translation: X:111.94, Y:-8.35, Z:-4.15 [[ 9.77685575e-01 2.07697557e-01 3.15062173e-02 1.11935913e+02] [-2.07612747e-01 9.78192842e-01 -5.97582514e-03 -8.35292889e+00] [-3.20603205e-02 -6.98614287e-04 9.99485692e-01 -4.15119511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930385723 meters 0.02042444684623932 Centerline is valid? [True, True] Translation: X:112.00, Y:-8.36, Z:-4.15 [[ 9.77361487e-01 2.09363741e-01 3.05179860e-02 1.11997078e+02] [-2.09284752e-01 9.77837564e-01 -5.79572035e-03 -8.36458152e+00] [-3.10550468e-02 -7.22435269e-04 9.99517415e-01 -4.15338160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99038572299999 meters 0.021222238004712977 Centerline is valid? [True, True] Translation: X:112.06, Y:-8.37, Z:-4.16 [[ 9.76972592e-01 2.11336919e-01 2.93472585e-02 1.12058154e+02] [-2.11264532e-01 9.77412987e-01 -5.58115814e-03 -8.37141694e+00] [-2.98638964e-02 -7.47396319e-04 9.99553695e-01 -4.15852084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05038572299999 meters 0.02104712909161217 Centerline is valid? [True, True] Translation: X:112.12, Y:-8.39, Z:-4.16 [[ 9.76570405e-01 2.12960057e-01 3.09557395e-02 1.12119082e+02] [-2.12880215e-01 9.77060547e-01 -5.89073563e-03 -8.38593579e+00] [-3.15001231e-02 -8.37146398e-04 9.99503397e-01 -4.15814666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110385723 meters 0.021412372222867983 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.40, Z:-4.16 [[ 9.76572248e-01 2.12570022e-01 3.34758101e-02 1.12180272e+02] [-2.12476106e-01 9.77145438e-01 -6.37950346e-03 -8.39722837e+00] [-3.40668263e-02 -8.82763732e-04 9.99419167e-01 -4.15797956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170385723 meters 0.021728404865621796 Centerline is valid? [True, True] Translation: X:112.24, Y:-8.41, Z:-4.16 [[ 9.76293514e-01 2.14082306e-01 3.19333856e-02 1.12241742e+02] [-2.13997407e-01 9.76815225e-01 -6.09315401e-03 -8.40539271e+00] [-3.24974537e-02 -8.84954988e-04 9.99471426e-01 -4.16377267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230385723 meters 0.02187953834272315 Centerline is valid? [True, True] Translation: X:112.30, Y:-8.42, Z:-4.17 [[ 9.76081873e-01 2.15018800e-01 3.21106328e-02 1.12302396e+02] [-2.14933198e-01 9.76609483e-01 -6.13502941e-03 -8.41713898e+00] [-3.26786952e-02 -9.13350020e-04 9.99465491e-01 -4.16578463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290385723 meters 0.0232146313192358 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.43, Z:-4.17 [[ 9.75567475e-01 2.17608204e-01 3.02451787e-02 1.12361949e+02] [-2.17533266e-01 9.76035756e-01 -5.78632711e-03 -8.42826963e+00] [-3.07795281e-02 -9.34379972e-04 9.99525761e-01 -4.16670461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35038572299999 meters 0.022087179855914997 Centerline is valid? [True, True] Translation: X:112.42, Y:-8.44, Z:-4.18 [[ 9.75042065e-01 2.20468088e-01 2.62067566e-02 1.12422950e+02] [-2.20412769e-01 9.75393787e-01 -5.01710359e-03 -8.43504439e+00] [-2.66680188e-02 -8.84416737e-04 9.99643954e-01 -4.17698368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41038572299999 meters 0.025282316612336146 Centerline is valid? [True, True] Translation: X:112.48, Y:-8.44, Z:-4.18 [[ 9.74779466e-01 2.21934891e-01 2.34498705e-02 1.12482953e+02] [-2.21890995e-01 9.75061138e-01 -4.49046073e-03 -8.44396534e+00] [-2.38616474e-02 -8.26106206e-04 9.99714929e-01 -4.18033964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47038572299999 meters 0.025161713202228597 Centerline is valid? [True, True] Translation: X:112.54, Y:-8.46, Z:-4.18 [[ 9.75139459e-01 2.20217884e-01 2.46397888e-02 1.12543855e+02] [-2.20168862e-01 9.75450360e-01 -4.71877296e-03 -8.45884753e+00] [-2.50740491e-02 -8.23452554e-04 9.99685257e-01 -4.17867500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530385723 meters 0.02524874738366644 Centerline is valid? [True, True] Translation: X:112.61, Y:-8.47, Z:-4.18 [[ 9.75162632e-01 2.19658619e-01 2.84241552e-02 1.12605555e+02] [-2.19593091e-01 9.75576354e-01 -5.44531854e-03 -8.46818518e+00] [-2.89260448e-02 -9.31676930e-04 9.99581120e-01 -4.17924967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590385723 meters 0.023890733810059364 Centerline is valid? [True, True] Translation: X:112.67, Y:-8.48, Z:-4.18 [[ 9.75036111e-01 2.20046980e-01 2.97305945e-02 1.12666384e+02] [-2.19975254e-01 9.75488784e-01 -5.70269464e-03 -8.48279045e+00] [-3.02567222e-02 -9.79661869e-04 9.99541680e-01 -4.17909746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650385723 meters 0.023878502768234857 Centerline is valid? [True, True] Translation: X:112.73, Y:-8.50, Z:-4.18 [[ 9.75429115e-01 2.18341139e-01 2.94140939e-02 1.12726331e+02] [-2.18269903e-01 9.75872083e-01 -5.65045224e-03 -8.49587897e+00] [-2.99381192e-02 -9.08595806e-04 9.99551341e-01 -4.18067518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710385723 meters 0.0234817401947722 Centerline is valid? [True, True] Translation: X:112.79, Y:-8.51, Z:-4.19 [[ 9.75896231e-01 2.16846637e-01 2.45780707e-02 1.12787825e+02] [-2.16796326e-01 9.76205420e-01 -4.72554082e-03 -8.50621669e+00] [-2.50179635e-02 -7.16797947e-04 9.99686745e-01 -4.18709021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77038572299999 meters 0.02384739719126052 Centerline is valid? [True, True] Translation: X:112.85, Y:-8.52, Z:-4.19 [[ 9.76086949e-01 2.16336190e-01 2.12819189e-02 1.12848703e+02] [-2.16298262e-01 9.76318742e-01 -4.09580010e-03 -8.51526242e+00] [-2.16640060e-02 -6.05385028e-04 9.99765125e-01 -4.19374841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83038572299999 meters 0.02220440552293015 Centerline is valid? [True, True] Translation: X:112.91, Y:-8.53, Z:-4.20 [[ 9.77259396e-01 2.11193615e-01 1.90086831e-02 1.12907656e+02] [-2.11162251e-01 9.77444152e-01 -3.66518498e-03 -8.53177372e+00] [-1.93539898e-02 -4.32079864e-04 9.99812601e-01 -4.19647596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890385723 meters 0.020538419725000194 Centerline is valid? [True, True] Translation: X:112.97, Y:-8.55, Z:-4.19 [[ 9.78707590e-01 2.04166841e-01 2.11507620e-02 1.12965863e+02] [-2.04126341e-01 9.78936053e-01 -4.07940266e-03 -8.54877663e+00] [-2.15381222e-02 -3.24885315e-04 9.99767975e-01 -4.19379793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950385723 meters 0.019208957262195733 Centerline is valid? [True, True] Translation: X:113.02, Y:-8.56, Z:-4.19 [[ 9.79953691e-01 1.97871579e-01 2.31862211e-02 1.13024563e+02] [-1.97821139e-01 9.80227931e-01 -4.47218663e-03 -8.56261036e+00] [-2.36127002e-02 -2.04188872e-04 9.99721160e-01 -4.19417495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010385723 meters 0.018482552503527407 Centerline is valid? [True, True] Translation: X:113.08, Y:-8.58, Z:-4.20 [[ 9.81147575e-01 1.91678608e-01 2.46728149e-02 1.13083667e+02] [-1.91619572e-01 9.81457746e-01 -4.75732055e-03 -8.57795397e+00] [-2.51272019e-02 -6.01607130e-05 9.99684260e-01 -4.19624154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070385723 meters 0.018326023582771904 Centerline is valid? [True, True] Translation: X:113.15, Y:-8.59, Z:-4.20 [[ 9.82168299e-01 1.86351496e-01 2.48707264e-02 1.13145321e+02] [-1.86289688e-01 9.82483136e-01 -4.79986161e-03 -8.59137122e+00] [-2.53295307e-02 8.11120374e-05 9.99679153e-01 -4.19677989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13038572299999 meters 0.018551758251085213 Centerline is valid? [True, True] Translation: X:113.21, Y:-8.60, Z:-4.20 [[ 9.82783019e-01 1.83562602e-01 2.10311483e-02 1.13205815e+02] [-1.83517660e-01 9.83008013e-01 -4.06388314e-03 -8.60425855e+00] [-2.14197642e-02 1.34328215e-04 9.99770562e-01 -4.19966611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19038572299999 meters 0.01875927444643456 Centerline is valid? [True, True] Translation: X:113.27, Y:-8.61, Z:-4.20 [[ 9.83156634e-01 1.81801642e-01 1.87402187e-02 1.13267355e+02] [-1.81765570e-01 9.83335211e-01 -3.62483338e-03 -8.61250598e+00] [-1.90869175e-02 1.57452451e-04 9.99817816e-01 -4.20473120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250385723 meters 0.01907247042272475 Centerline is valid? [True, True] Translation: X:113.33, Y:-8.62, Z:-4.21 [[ 9.83299408e-01 1.81046861e-01 1.85555697e-02 1.13327816e+02] [-1.81011242e-01 9.83474455e-01 -3.59545253e-03 -8.62185642e+00] [-1.88998742e-02 1.76639617e-04 9.99821366e-01 -4.20959760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310385723 meters 0.01894366357736863 Centerline is valid? [True, True] Translation: X:113.39, Y:-8.63, Z:-4.21 [[ 9.83816616e-01 1.77837717e-01 2.18772300e-02 1.13389584e+02] [-1.77787360e-01 9.84059788e-01 -4.24126905e-03 -8.63228254e+00] [-2.22827599e-02 2.83136001e-04 9.99751668e-01 -4.20701321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370385723 meters 0.01918056272667282 Centerline is valid? [True, True] Translation: X:113.45, Y:-8.64, Z:-4.20 [[ 9.84117131e-01 1.75651047e-01 2.56940024e-02 1.13449235e+02] [-1.75580625e-01 9.84452412e-01 -4.98932614e-03 -8.64436616e+00] [-2.61709030e-02 3.98712327e-04 9.99657404e-01 -4.20419732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430385723 meters 0.018634251545645374 Centerline is valid? [True, True] Translation: X:113.51, Y:-8.65, Z:-4.21 [[ 9.83707697e-01 1.77671800e-01 2.74207639e-02 1.13511754e+02] [-1.77592191e-01 9.84089727e-01 -5.33131100e-03 -8.64985596e+00] [-2.79317157e-02 3.74738140e-04 9.99609763e-01 -4.20668309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49038572299999 meters 0.018100741453812876 Centerline is valid? [True, True] Translation: X:113.57, Y:-8.66, Z:-4.21 [[ 9.82833691e-01 1.82620367e-01 2.62247552e-02 1.13572478e+02] [-1.82549144e-01 9.83183477e-01 -5.10503937e-03 -8.65709710e+00] [-2.67160301e-02 2.30098080e-04 9.99643037e-01 -4.20979034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55038572299999 meters 0.01768383292539155 Centerline is valid? [True, True] Translation: X:113.63, Y:-8.66, Z:-4.21 [[ 9.82021047e-01 1.87008698e-01 2.57373459e-02 1.13634169e+02] [-1.86941458e-01 9.82358251e-01 -5.01571169e-03 -8.66175594e+00] [-2.62212759e-02 1.14157461e-04 9.99656157e-01 -4.21368834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610385723 meters 0.017378833831949828 Centerline is valid? [True, True] Translation: X:113.70, Y:-8.67, Z:-4.22 [[ 9.81175062e-01 1.91499339e-01 2.49700129e-02 1.13697118e+02] [-1.91437367e-01 9.81492742e-01 -4.87147454e-03 -8.66834712e+00] [-2.54407706e-02 -4.24209863e-07 9.99676331e-01 -4.21561028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670385723 meters 0.017315259120218342 Centerline is valid? [True, True] Translation: X:113.76, Y:-8.68, Z:-4.22 [[ 9.80944591e-01 1.92910677e-01 2.30906914e-02 1.13758394e+02] [-1.92857936e-01 9.81216322e-01 -4.51074583e-03 -8.67648124e+00] [-2.35271343e-02 -2.84313577e-05 9.99723198e-01 -4.21919186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730385723 meters 0.01735071045952036 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.69, Z:-4.22 [[ 9.81322711e-01 1.90882015e-01 2.38703299e-02 1.13818321e+02] [-1.90824890e-01 9.81612987e-01 -4.66966187e-03 -8.68721576e+00] [-2.43227803e-02 2.73921769e-05 9.99704157e-01 -4.22232239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790385723 meters 0.017282888093528407 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.70, Z:-4.22 [[ 9.81679777e-01 1.88681772e-01 2.65330760e-02 1.13878876e+02] [-1.88610196e-01 9.82038278e-01 -5.19756642e-03 -8.70161395e+00] [-2.70371823e-02 9.79371620e-05 9.99634424e-01 -4.22154614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85038572299999 meters 0.01741486703955228 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.71, Z:-4.22 [[ 9.81786095e-01 1.87546527e-01 3.03704542e-02 1.13939031e+02] [-1.87451928e-01 9.82255708e-01 -5.95807372e-03 -8.71268653e+00] [-3.09489680e-02 1.56553717e-04 9.99520954e-01 -4.22157481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91038572299999 meters 0.01716390569767258 Centerline is valid? [True, True] Translation: X:114.00, Y:-8.72, Z:-4.23 [[ 9.81203579e-01 1.90728004e-01 2.93660408e-02 1.14001254e+02] [-1.90640806e-01 9.81642921e-01 -5.76700635e-03 -8.72040072e+00] [-2.99268957e-02 6.02415921e-05 9.99552088e-01 -4.22696706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97038572299999 meters 0.017083926725175197 Centerline is valid? [True, True] Translation: X:114.06, Y:-8.73, Z:-4.23 [[ 9.80074409e-01 1.96919744e-01 2.60147487e-02 1.14063367e+02] [-1.96853331e-01 9.80419605e-01 -5.11503018e-03 -8.72678610e+00] [-2.65126201e-02 -1.07979752e-04 9.99648473e-01 -4.23128873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030385723 meters 0.017032871744058996 Centerline is valid? [True, True] Translation: X:114.13, Y:-8.74, Z:-4.23 [[ 9.79926979e-01 1.97812627e-01 2.47644781e-02 1.14125128e+02] [-1.97752587e-01 9.80239843e-01 -4.87488029e-03 -8.73620275e+00] [-2.52394410e-02 -1.20212870e-04 9.99681427e-01 -4.23497556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090385723 meters 0.016826824773891514 Centerline is valid? [True, True] Translation: X:114.19, Y:-8.75, Z:-4.24 [[ 9.80245710e-01 1.96307334e-01 2.41201033e-02 1.14186903e+02] [-1.96249791e-01 9.80542414e-01 -4.75336898e-03 -8.74955261e+00] [-2.45839055e-02 -7.40956795e-05 9.99697767e-01 -4.23658575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150385723 meters 0.01680784968226396 Centerline is valid? [True, True] Translation: X:114.25, Y:-8.76, Z:-4.24 [[ 9.81234598e-01 1.91179591e-01 2.50804382e-02 1.14246313e+02] [-1.91115485e-01 9.81555072e-01 -4.95089265e-03 -8.76354811e+00] [-2.55643409e-02 6.47270502e-05 9.99673177e-01 -4.23880087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21038572299999 meters 0.017027407973505645 Centerline is valid? [True, True] Translation: X:114.31, Y:-8.78, Z:-4.24 [[ 9.82310999e-01 1.85383529e-01 2.64206100e-02 1.14306206e+02] [-1.85310118e-01 9.82666216e-01 -5.22181503e-03 -8.78047041e+00] [-2.69306794e-02 2.33439977e-04 9.99637276e-01 -4.23883154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27038572299999 meters 0.017096485439345947 Centerline is valid? [True, True] Translation: X:114.37, Y:-8.79, Z:-4.24 [[ 9.82626305e-01 1.83216860e-01 2.96163353e-02 1.14367386e+02] [-1.83123381e-01 9.83072464e-01 -5.86161563e-03 -8.79302516e+00] [-3.01889505e-02 3.36334264e-04 9.99544153e-01 -4.23976042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33038572299999 meters 0.01668218584095386 Centerline is valid? [True, True] Translation: X:114.43, Y:-8.80, Z:-4.24 [[ 9.82159150e-01 1.85760252e-01 2.92665811e-02 1.14429168e+02] [-1.85669815e-01 9.82595064e-01 -5.80179013e-03 -8.80306111e+00] [-2.98349401e-02 2.64360554e-04 9.99554804e-01 -4.24175661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390385723 meters 0.016154068412251664 Centerline is valid? [True, True] Translation: X:114.49, Y:-8.81, Z:-4.25 [[ 9.81035912e-01 1.91691162e-01 2.86886167e-02 1.14491808e+02] [-1.91606722e-01 9.81455292e-01 -5.68973289e-03 -8.80853272e+00] [-2.92472662e-02 8.49004977e-05 9.99572204e-01 -4.24638695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450385723 meters 0.016070664366084935 Centerline is valid? [True, True] Translation: X:114.55, Y:-8.82, Z:-4.25 [[ 9.80133065e-01 1.96548228e-01 2.66076855e-02 1.14553084e+02] [-1.96477363e-01 9.80494156e-01 -5.27778282e-03 -8.81661887e+00] [-2.71260190e-02 -5.48784222e-05 9.99632020e-01 -4.25102252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510385723 meters 0.016138047153011512 Centerline is valid? [True, True] Translation: X:114.61, Y:-8.82, Z:-4.25 [[ 9.78772683e-01 2.03327508e-01 2.57285698e-02 1.14614317e+02] [-2.03263423e-01 9.79110756e-01 -5.10965303e-03 -8.82435034e+00] [-2.62300525e-02 -2.28488375e-04 9.99655907e-01 -4.25211801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570385723 meters 0.01619806580361923 Centerline is valid? [True, True] Translation: X:114.68, Y:-8.83, Z:-4.26 [[ 9.78114251e-01 2.06192229e-01 2.78796770e-02 1.14677346e+02] [-2.06117947e-01 9.78511451e-01 -5.54366562e-03 -8.83135509e+00] [-2.84236439e-02 -3.24163446e-04 9.99595914e-01 -4.25549873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63038572299999 meters 0.016241829550112167 Centerline is valid? [True, True] Translation: X:114.74, Y:-8.84, Z:-4.26 [[ 9.77723234e-01 2.08009002e-01 2.80986139e-02 1.14738256e+02] [-2.07934058e-01 9.78126841e-01 -5.59558342e-03 -8.84305060e+00] [-2.86479402e-02 -3.71726905e-04 9.99589494e-01 -4.25797158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69038572299999 meters 0.01651506666365399 Centerline is valid? [True, True] Translation: X:114.80, Y:-8.85, Z:-4.26 [[ 9.77147872e-01 2.10541356e-01 2.92296525e-02 1.14799769e+02] [-2.10461158e-01 9.77584845e-01 -5.82855650e-03 -8.85383917e+00] [-2.98016175e-02 -4.56344938e-04 9.99555729e-01 -4.25931135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750385723 meters 0.016839102382269586 Centerline is valid? [True, True] Translation: X:114.86, Y:-8.87, Z:-4.26 [[ 9.76349232e-01 2.14156955e-01 2.96475244e-02 1.14860858e+02] [-2.14075880e-01 9.76799097e-01 -5.91953178e-03 -8.86663144e+00] [-3.02273840e-02 -5.67289569e-04 9.99542887e-01 -4.26222521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810385723 meters 0.017581191577984937 Centerline is valid? [True, True] Translation: X:114.92, Y:-8.88, Z:-4.27 [[ 9.75652347e-01 2.17402618e-01 2.89585977e-02 1.14921666e+02] [-2.17326481e-01 9.76081803e-01 -5.78923549e-03 -8.87977701e+00] [-2.95245552e-02 -6.45188938e-04 9.99563847e-01 -4.26603209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870385723 meters 0.018678027360552324 Centerline is valid? [True, True] Translation: X:114.98, Y:-8.89, Z:-4.27 [[ 9.74987909e-01 2.20631437e-01 2.68392574e-02 1.14981371e+02] [-2.20567086e-01 9.75357013e-01 -5.37189748e-03 -8.89064314e+00] [-2.73630674e-02 -6.82321701e-04 9.99625328e-01 -4.27117043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930385723 meters 0.019672440554447584 Centerline is valid? [True, True] Translation: X:115.04, Y:-8.91, Z:-4.27 [[ 9.74584511e-01 2.22673027e-01 2.45306775e-02 1.15041081e+02] [-2.22619794e-01 9.74892954e-01 -4.91472234e-03 -8.90925372e+00] [-2.50091607e-02 -6.71202102e-04 9.99686997e-01 -4.27185202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99038572299999 meters 0.019455408601232474 Centerline is valid? [True, True] Translation: X:115.10, Y:-8.92, Z:-4.27 [[ 9.74505350e-01 2.22964521e-01 2.50229041e-02 1.15101864e+02] [-2.22909074e-01 9.74826318e-01 -5.01933411e-03 -8.92466156e+00] [-2.55121189e-02 -6.86464424e-04 9.99674277e-01 -4.27350711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05038572299999 meters 0.020883223810847635 Centerline is valid? [True, True] Translation: X:115.16, Y:-8.94, Z:-4.28 [[ 9.74330703e-01 2.23641141e-01 2.57744391e-02 1.15162353e+02] [-2.23582342e-01 9.74671291e-01 -5.17799874e-03 -8.93898414e+00] [-2.62796194e-02 -7.17626290e-04 9.99654374e-01 -4.27571958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110385723 meters 0.020354893900361565 Centerline is valid? [True, True] Translation: X:115.22, Y:-8.96, Z:-4.28 [[ 9.73907920e-01 2.25476283e-01 2.57644914e-02 1.15222398e+02] [-2.25417989e-01 9.74248360e-01 -5.18288323e-03 -8.95655410e+00] [-2.62696307e-02 -7.60128817e-04 9.99654605e-01 -4.27812570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170385723 meters 0.02182007708605045 Centerline is valid? [True, True] Translation: X:115.28, Y:-8.97, Z:-4.28 [[ 9.72984625e-01 2.29560512e-01 2.45538366e-02 1.15281509e+02] [-2.29508666e-01 9.73294044e-01 -4.94730098e-03 -8.97291405e+00] [-2.50338079e-02 -8.21670493e-04 9.99686267e-01 -4.28094108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230385723 meters 0.024741465362380494 Centerline is valid? [True, True] Translation: X:115.34, Y:-8.98, Z:-4.28 [[ 9.72201796e-01 2.32860455e-01 2.44883041e-02 1.15341941e+02] [-2.32809961e-01 9.72509737e-01 -4.93286892e-03 -8.98104443e+00] [-2.49637843e-02 -9.05377100e-04 9.99687946e-01 -4.28488855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290385723 meters 0.02311001641969736 Centerline is valid? [True, True] Translation: X:115.40, Y:-9.00, Z:-4.29 [[ 9.71288495e-01 2.36866315e-01 2.22038047e-02 1.15400693e+02] [-2.36825693e-01 9.71541829e-01 -4.47950966e-03 -8.99955438e+00] [-2.26329700e-02 -9.07535237e-04 9.99743430e-01 -4.28665311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35038572299999 meters 0.02352210390303157 Centerline is valid? [True, True] Translation: X:115.46, Y:-9.01, Z:-4.29 [[ 9.71064028e-01 2.38050596e-01 1.91459277e-02 1.15461288e+02] [-2.38020624e-01 9.71252420e-01 -3.86251942e-03 -9.01400658e+00] [-1.95150037e-02 -8.06371983e-04 9.99809239e-01 -4.29224824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41038572299999 meters 0.02634987853466329 Centerline is valid? [True, True] Translation: X:115.52, Y:-9.03, Z:-4.29 [[ 9.71355700e-01 2.36752059e-01 2.04099859e-02 1.15520672e+02] [-2.36717728e-01 9.71569745e-01 -4.11678362e-03 -9.02656598e+00] [-2.08043818e-02 -8.32544251e-04 9.99783219e-01 -4.29471841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47038572299999 meters 0.024162602019034776 Centerline is valid? [True, True] Translation: X:115.58, Y:-9.05, Z:-4.29 [[ 9.72169764e-01 2.33206142e-01 2.23795821e-02 1.15579301e+02] [-2.33163724e-01 9.72426975e-01 -4.52289833e-03 -9.04634981e+00] [-2.28172769e-02 -8.21081701e-04 9.99739315e-01 -4.29353426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530385723 meters 0.021061247458090515 Centerline is valid? [True, True] Translation: X:115.64, Y:-9.07, Z:-4.29 [[ 9.73108450e-01 2.29107683e-01 2.38665925e-02 1.15637588e+02] [-2.29058193e-01 9.73400777e-01 -4.82403168e-03 -9.06905342e+00] [-2.43369824e-02 -7.72532557e-04 9.99703513e-01 -4.29313767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590385723 meters 0.019626667416944674 Centerline is valid? [True, True] Translation: X:115.70, Y:-9.09, Z:-4.30 [[ 9.74234587e-01 2.24233480e-01 2.42139617e-02 1.15696940e+02] [-2.24180975e-01 9.74535230e-01 -4.89662035e-03 -9.08599212e+00] [-2.46953450e-02 -6.57852637e-04 9.99694807e-01 -4.29570419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650385723 meters 0.019048819305343825 Centerline is valid? [True, True] Translation: X:115.76, Y:-9.11, Z:-4.30 [[ 9.75218896e-01 2.20123202e-01 2.22234292e-02 1.15756263e+02] [-2.20077942e-01 9.75471945e-01 -4.49259339e-03 -9.10516167e+00] [-2.26672558e-02 -5.09624593e-04 9.99742935e-01 -4.29880987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71038572299999 meters 0.0184972772642641 Centerline is valid? [True, True] Translation: X:115.82, Y:-9.12, Z:-4.30 [[ 9.75969571e-01 2.16671919e-01 2.31662692e-02 1.15816222e+02] [-2.16621562e-01 9.76244379e-01 -4.69172305e-03 -9.12026177e+00] [-2.36325048e-02 -4.39334498e-04 9.99720617e-01 -4.30033076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77038572299999 meters 0.017731009761116752 Centerline is valid? [True, True] Translation: X:115.88, Y:-9.14, Z:-4.30 [[ 9.77005725e-01 2.11652848e-01 2.57465682e-02 1.15875145e+02] [-2.11588857e-01 9.77344846e-01 -5.21605222e-03 -9.13633608e+00] [-2.62672680e-02 -3.51574062e-04 9.99654894e-01 -4.29985576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83038572299999 meters 0.016958210774069626 Centerline is valid? [True, True] Translation: X:115.93, Y:-9.15, Z:-4.30 [[ 9.77995667e-01 2.06930692e-01 2.65360796e-02 1.15934652e+02] [-2.06861000e-01 9.78355577e-01 -5.37511322e-03 -9.15383227e+00] [-2.70739973e-02 -2.32442522e-04 9.99633405e-01 -4.30064366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890385723 meters 0.016718931973791824 Centerline is valid? [True, True] Translation: X:116.00, Y:-9.17, Z:-4.30 [[ 9.78551551e-01 2.04154076e-01 2.75313449e-02 1.15995084e+02] [-2.04077759e-01 9.78938757e-01 -5.58380303e-03 -9.16838553e+00] [-2.80914567e-02 -1.54496062e-04 9.99605345e-01 -4.30131243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950385723 meters 0.016748111632932237 Centerline is valid? [True, True] Translation: X:116.05, Y:-9.19, Z:-4.30 [[ 9.79700169e-01 1.98596729e-01 2.73298120e-02 1.16053481e+02] [-1.98519170e-01 9.80081292e-01 -5.54979160e-03 -9.18564683e+00] [-2.78876079e-02 1.16401889e-05 9.99611065e-01 -4.30153656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010385723 meters 0.016988052523705697 Centerline is valid? [True, True] Translation: X:116.12, Y:-9.20, Z:-4.30 [[ 9.80159065e-01 1.96325308e-01 2.72869958e-02 1.16115350e+02] [-1.96246954e-01 9.80538815e-01 -5.54675210e-03 -9.19789363e+00] [-2.78449263e-02 8.17095626e-05 9.99612252e-01 -4.30334181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070385723 meters 0.017173603038948198 Centerline is valid? [True, True] Translation: X:116.18, Y:-9.21, Z:-4.31 [[ 9.80595671e-01 1.94105119e-01 2.74833315e-02 1.16177171e+02] [-1.94024535e-01 9.80980723e-01 -5.59470095e-03 -9.20968928e+00] [-2.80465785e-02 1.53698923e-04 9.99606606e-01 -4.30659632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13038572299999 meters 0.01763442106896467 Centerline is valid? [True, True] Translation: X:116.24, Y:-9.22, Z:-4.31 [[ 9.81230889e-01 1.91053017e-01 2.61665214e-02 1.16237486e+02] [-1.90978689e-01 9.81579690e-01 -5.33401648e-03 -9.22263533e+00] [-2.67036059e-02 2.36653787e-04 9.99643367e-01 -4.30847591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19038572299999 meters 0.018158123083014562 Centerline is valid? [True, True] Translation: X:116.30, Y:-9.24, Z:-4.31 [[ 9.81834745e-01 1.87624391e-01 2.82421817e-02 1.16298131e+02] [-1.87536157e-01 9.82240783e-01 -5.76490185e-03 -9.23564120e+00] [-2.88222588e-02 3.63750713e-04 9.99584486e-01 -4.30815462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250385723 meters 0.018642599006074605 Centerline is valid? [True, True] Translation: X:116.36, Y:-9.25, Z:-4.31 [[ 9.82360646e-01 1.84491566e-01 3.05028331e-02 1.16359260e+02] [-1.84386873e-01 9.82833970e-01 -6.23451112e-03 -9.24535288e+00] [-3.11294352e-02 5.00216348e-04 9.99515237e-01 -4.30802251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310385723 meters 0.018887884263886337 Centerline is valid? [True, True] Translation: X:116.42, Y:-9.26, Z:-4.31 [[ 9.82262011e-01 1.84993712e-01 3.06376807e-02 1.16419907e+02] [-1.84888102e-01 9.82739580e-01 -6.26954958e-03 -9.25693100e+00] [-3.12686888e-02 4.93797757e-04 9.99510893e-01 -4.30797472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370385723 meters 0.01817734816534348 Centerline is valid? [True, True] Translation: X:116.48, Y:-9.26, Z:-4.31 [[ 9.81874409e-01 1.87251231e-01 2.93192965e-02 1.16482373e+02] [-1.87155307e-01 9.82311971e-01 -6.00696098e-03 -9.26232859e+00] [-2.99255067e-02 4.10819351e-04 9.99552047e-01 -4.31172529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430385723 meters 0.017382572900069428 Centerline is valid? [True, True] Translation: X:116.55, Y:-9.26, Z:-4.32 [[ 9.80520883e-01 1.94712790e-01 2.58016847e-02 1.16545060e+02] [-1.94640945e-01 9.80860286e-01 -5.29158375e-03 -9.26433482e+00] [-2.63381869e-02 1.66444071e-04 9.99653076e-01 -4.31669143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49038572299999 meters 0.01705113026497848 Centerline is valid? [True, True] Translation: X:116.61, Y:-9.27, Z:-4.32 [[ 9.79040682e-01 2.02090128e-01 2.52769380e-02 1.16606945e+02] [-2.02023470e-01 9.79366928e-01 -5.19022095e-03 -9.27113631e+00] [-2.58042895e-02 -2.50972590e-05 9.99667014e-01 -4.31791900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55038572299999 meters 0.017274379100932144 Centerline is valid? [True, True] Translation: X:116.67, Y:-9.28, Z:-4.32 [[ 9.77993435e-01 2.07234760e-01 2.41370141e-02 1.16668946e+02] [-2.07175403e-01 9.78291231e-01 -4.96183982e-03 -9.27899395e+00] [-2.46412949e-02 -1.47948857e-04 9.99696346e-01 -4.32071228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610385723 meters 0.01889873454955794 Centerline is valid? [True, True] Translation: X:116.73, Y:-9.28, Z:-4.32 [[ 9.76388917e-01 2.14610772e-01 2.46353356e-02 1.16730283e+02] [-2.14551118e-01 9.76699598e-01 -5.07080751e-03 -9.28326350e+00] [-2.51495723e-02 -3.34458555e-04 9.99683644e-01 -4.32412370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670385723 meters 0.018529061695853718 Centerline is valid? [True, True] Translation: X:116.79, Y:-9.30, Z:-4.32 [[ 9.75822356e-01 2.17081029e-01 2.54274859e-02 1.16791098e+02] [-2.17018161e-01 9.76153504e-01 -5.23974891e-03 -9.29616122e+00] [-2.59585796e-02 -4.05162129e-04 9.99662937e-01 -4.32277968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730385723 meters 0.01840941643098821 Centerline is valid? [True, True] Translation: X:116.85, Y:-9.31, Z:-4.32 [[ 9.75552732e-01 2.18161972e-01 2.64994435e-02 1.16852665e+02] [-2.18093914e-01 9.75912473e-01 -5.46715427e-03 -9.30999847e+00] [-2.70538626e-02 -4.45870052e-04 9.99633878e-01 -4.32184536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790385723 meters 0.0199482194755663 Centerline is valid? [True, True] Translation: X:116.91, Y:-9.32, Z:-4.33 [[ 9.74740382e-01 2.21741967e-01 2.66774888e-02 1.16913661e+02] [-2.21674106e-01 9.75105229e-01 -5.51211815e-03 -9.31752822e+00] [-2.72356268e-02 -5.40824315e-04 9.99628895e-01 -4.32534413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85038572299999 meters 0.02158179439366259 Centerline is valid? [True, True] Translation: X:116.97, Y:-9.33, Z:-4.33 [[ 9.73875902e-01 2.25577254e-01 2.60888803e-02 1.16973320e+02] [-2.25513524e-01 9.74225082e-01 -5.39816337e-03 -9.32811411e+00] [-2.66341444e-02 -6.26254108e-04 9.99645052e-01 -4.32662585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91038572299999 meters 0.02356419022011863 Centerline is valid? [True, True] Translation: X:117.03, Y:-9.34, Z:-4.33 [[ 9.72907468e-01 2.29917804e-01 2.42664600e-02 1.17034491e+02] [-2.29863997e-01 9.73209805e-01 -5.02181882e-03 -9.33573506e+00] [-2.47709624e-02 -6.92220463e-04 9.99692913e-01 -4.33079790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97038572299999 meters 0.024976440357650204 Centerline is valid? [True, True] Translation: X:117.09, Y:-9.35, Z:-4.33 [[ 9.72315481e-01 2.32339682e-01 2.49174044e-02 1.17094809e+02] [-2.32283769e-01 9.72634398e-01 -5.15552074e-03 -9.34609073e+00] [-2.54333567e-02 -7.75115990e-04 9.99676219e-01 -4.33223415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030385723 meters 0.021212553657179327 Centerline is valid? [True, True] Translation: X:117.15, Y:-9.37, Z:-4.33 [[ 9.72726162e-01 2.30855210e-01 2.25762228e-02 1.17153321e+02] [-2.30808831e-01 9.72987889e-01 -4.67464487e-03 -9.36927159e+00] [-2.30455575e-02 -6.63642212e-04 9.99734196e-01 -4.33167823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090385723 meters 0.02292212622229034 Centerline is valid? [True, True] Translation: X:117.21, Y:-9.38, Z:-4.34 [[ 9.73673332e-01 2.26911797e-01 2.17089653e-02 1.17212604e+02] [-2.26867750e-01 9.73915163e-01 -4.50328099e-03 -9.38439328e+00] [-2.21645381e-02 -5.40339509e-04 9.99754190e-01 -4.33767381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150385723 meters 0.019417961424475737 Centerline is valid? [True, True] Translation: X:117.27, Y:-9.40, Z:-4.34 [[ 9.75335577e-01 2.19161292e-01 2.62457602e-02 1.17270244e+02] [-2.19094059e-01 9.75688544e-01 -5.44590051e-03 -9.40327302e+00] [-2.68012181e-02 -4.38709601e-04 9.99640687e-01 -4.33546499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21038572299999 meters 0.0196281330723761 Centerline is valid? [True, True] Translation: X:117.33, Y:-9.42, Z:-4.34 [[ 9.76485122e-01 2.13756564e-01 2.80167454e-02 1.17329667e+02] [-2.13677722e-01 9.76886910e-01 -5.81341831e-03 -9.41597972e+00] [-2.86118482e-02 -3.09837841e-04 9.99590549e-01 -4.33968000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27038572299999 meters 0.018547020095606836 Centerline is valid? [True, True] Translation: X:117.39, Y:-9.43, Z:-4.34 [[ 9.76814347e-01 2.12072600e-01 2.93077354e-02 1.17389596e+02] [-2.11985573e-01 9.77253876e-01 -6.08105027e-03 -9.43320793e+00] [-2.99307222e-02 -2.72759927e-04 9.99551938e-01 -4.33902363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33038572299999 meters 0.019513985753054033 Centerline is valid? [True, True] Translation: X:117.45, Y:-9.44, Z:-4.34 [[ 9.76626093e-01 2.13039889e-01 2.85566287e-02 1.17449936e+02] [-2.12957467e-01 9.77043460e-01 -5.93245602e-03 -9.44251203e+00] [-2.91649171e-02 -2.87555969e-04 9.99574572e-01 -4.34363027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390385723 meters 0.018924425060338024 Centerline is valid? [True, True] Translation: X:117.51, Y:-9.45, Z:-4.35 [[ 9.76167893e-01 2.15188489e-01 2.81097815e-02 1.17511831e+02] [-2.15109336e-01 9.76572475e-01 -5.84594582e-03 -9.45159883e+00] [-2.87092191e-02 -3.40051808e-04 9.99587748e-01 -4.34646942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450385723 meters 0.018934638677858818 Centerline is valid? [True, True] Translation: X:117.57, Y:-9.46, Z:-4.35 [[ 9.76038456e-01 2.16083235e-01 2.56313726e-02 1.17572438e+02] [-2.16017582e-01 9.76374891e-01 -5.33635694e-03 -9.46193916e+00] [-2.61789259e-02 -3.28337533e-04 9.99657219e-01 -4.35133085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510385723 meters 0.01915404098858062 Centerline is valid? [True, True] Translation: X:117.63, Y:-9.47, Z:-4.35 [[ 9.76145692e-01 2.15481560e-01 2.65948317e-02 1.17632904e+02] [-2.15410476e-01 9.76507858e-01 -5.54349484e-03 -9.47235821e+00] [-2.71645831e-02 -3.17546750e-04 9.99630924e-01 -4.35424267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570385723 meters 0.01895900127267128 Centerline is valid? [True, True] Translation: X:117.69, Y:-9.48, Z:-4.35 [[ 9.76240350e-01 2.14457257e-01 3.10300415e-02 1.17694594e+02] [-2.14359682e-01 9.76733319e-01 -6.47685757e-03 -9.48378685e+00] [-3.16970846e-02 -3.28620141e-04 9.99497467e-01 -4.35288059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63038572299999 meters 0.018988028098104303 Centerline is valid? [True, True] Translation: X:117.76, Y:-9.50, Z:-4.35 [[ 9.76235200e-01 2.14122930e-01 3.34096518e-02 1.17755658e+02] [-2.14009456e-01 9.76806663e-01 -6.97824444e-03 -9.49720743e+00] [-3.41289726e-02 -3.37573536e-04 9.99417380e-01 -4.35283722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69038572299999 meters 0.01915213312966216 Centerline is valid? [True, True] Translation: X:117.82, Y:-9.50, Z:-4.36 [[ 9.76024486e-01 2.15032849e-01 3.37205723e-02 1.17818621e+02] [-2.14917501e-01 9.76606748e-01 -7.05172137e-03 -9.50360308e+00] [-3.44480902e-02 -3.64488399e-04 9.99406422e-01 -4.35852795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750385723 meters 0.019532547336031568 Centerline is valid? [True, True] Translation: X:117.88, Y:-9.51, Z:-4.36 [[ 9.75690904e-01 2.16833153e-01 3.17906229e-02 1.17878884e+02] [-2.16731294e-01 9.76208599e-01 -6.65717690e-03 -9.51246310e+00] [-3.24777761e-02 -3.94675906e-04 9.99472380e-01 -4.36340437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810385723 meters 0.019840570748769503 Centerline is valid? [True, True] Translation: X:117.94, Y:-9.52, Z:-4.37 [[ 9.75538110e-01 2.17983508e-01 2.84356663e-02 1.17939769e+02] [-2.17902431e-01 9.75952377e-01 -5.95718052e-03 -9.52260169e+00] [-2.90504232e-02 -3.84744194e-04 9.99577873e-01 -4.36873269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870385723 meters 0.01996953388032006 Centerline is valid? [True, True] Translation: X:118.00, Y:-9.53, Z:-4.37 [[ 9.75525417e-01 2.18085649e-01 2.80857657e-02 1.18002337e+02] [-2.18006413e-01 9.75929561e-01 -5.89032532e-03 -9.53219362e+00] [-2.86943244e-02 -3.76714988e-04 9.99588162e-01 -4.37239435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930385723 meters 0.019585220312452637 Centerline is valid? [True, True] Translation: X:118.06, Y:-9.55, Z:-4.37 [[ 9.75491501e-01 2.18249054e-01 2.79943158e-02 1.18063191e+02] [-2.18170188e-01 9.75893033e-01 -5.87859139e-03 -9.54644880e+00] [-2.86024548e-02 -3.73009191e-04 9.99590796e-01 -4.37370326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99038572299999 meters 0.01961232955392144 Centerline is valid? [True, True] Translation: X:118.12, Y:-9.56, Z:-4.38 [[ 9.75599213e-01 2.17659142e-01 2.88213956e-02 1.18123118e+02] [-2.17575019e-01 9.76024780e-01 -6.06139603e-03 -9.55770847e+00] [-2.94497145e-02 -3.57322501e-04 9.99566199e-01 -4.37524285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05038572299999 meters 0.021672806749362013 Centerline is valid? [True, True] Translation: X:118.18, Y:-9.57, Z:-4.38 [[ 9.76163309e-01 2.15090245e-01 2.90065516e-02 1.18183105e+02] [-2.15003703e-01 9.76594138e-01 -6.10711087e-03 -9.57113196e+00] [-2.96412082e-02 -2.74978465e-04 9.99560565e-01 -4.37940679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110385723 meters 0.01927483711221523 Centerline is valid? [True, True] Translation: X:118.24, Y:-9.58, Z:-4.38 [[ 9.76467073e-01 2.13223964e-01 3.23666069e-02 1.18244557e+02] [-2.13114869e-01 9.77003319e-01 -6.82395301e-03 -9.58388969e+00] [-3.30773127e-02 -2.34439779e-04 9.99452768e-01 -4.37721189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170385723 meters 0.019047944929592237 Centerline is valid? [True, True] Translation: X:118.31, Y:-9.60, Z:-4.38 [[ 9.76625391e-01 2.12421872e-01 3.28602236e-02 1.18305416e+02] [-2.12308889e-01 9.77178031e-01 -6.93041230e-03 -9.59946215e+00] [-3.35824597e-02 -2.08100941e-04 9.99435928e-01 -4.37752731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230385723 meters 0.019060471306059614 Centerline is valid? [True, True] Translation: X:118.37, Y:-9.61, Z:-4.38 [[ 9.76200956e-01 2.14553806e-01 3.15967944e-02 1.18366795e+02] [-2.14450175e-01 9.76712136e-01 -6.67283951e-03 -9.60850547e+00] [-3.22926556e-02 -2.61905770e-04 9.99478422e-01 -4.38180554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290385723 meters 0.019575439264915877 Centerline is valid? [True, True] Translation: X:118.43, Y:-9.62, Z:-4.39 [[ 9.75259599e-01 2.19314169e-01 2.77490420e-02 1.18427322e+02] [-2.19236003e-01 9.75654223e-01 -5.86611549e-03 -9.62027045e+00] [-2.83599923e-02 -3.62603616e-04 9.99597709e-01 -4.38587015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35038572299999 meters 0.020294125817935497 Centerline is valid? [True, True] Translation: X:118.49, Y:-9.63, Z:-4.39 [[ 9.74075859e-01 2.24593223e-01 2.70943918e-02 1.18488789e+02] [-2.24520515e-01 9.74452481e-01 -5.73586493e-03 -9.63047155e+00] [-2.76904337e-02 -4.96079251e-04 9.99616423e-01 -4.38893420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41038572299999 meters 0.021075308776563884 Centerline is valid? [True, True] Translation: X:118.55, Y:-9.64, Z:-4.39 [[ 9.73140940e-01 2.28296618e-01 2.96203466e-02 1.18548829e+02] [-2.28211387e-01 9.73591405e-01 -6.27210676e-03 -9.64183786e+00] [-3.02700156e-02 -6.56056503e-04 9.99541543e-01 -4.38946569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47038572299999 meters 0.020865087925513087 Centerline is valid? [True, True] Translation: X:118.61, Y:-9.66, Z:-4.39 [[ 9.72708698e-01 2.29850096e-01 3.17288896e-02 1.18609403e+02] [-2.29752863e-01 9.73225758e-01 -6.72655334e-03 -9.65747023e+00] [-3.24254716e-02 -7.46826302e-04 9.99473877e-01 -4.38985282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530385723 meters 0.021859505397314665 Centerline is valid? [True, True] Translation: X:118.67, Y:-9.67, Z:-4.39 [[ 9.72048868e-01 2.32542884e-01 3.23234408e-02 1.18669338e+02] [-2.32443176e-01 9.72585778e-01 -6.86113028e-03 -9.66920653e+00] [-3.30328258e-02 -8.44009324e-04 9.99453911e-01 -4.39277084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590385723 meters 0.02357191770647956 Centerline is valid? [True, True] Translation: X:118.73, Y:-9.68, Z:-4.40 [[ 9.71079135e-01 2.36380214e-01 3.36111257e-02 1.18730059e+02] [-2.36274414e-01 9.71660117e-01 -7.14266769e-03 -9.67903223e+00] [-3.43469756e-02 -1.00535346e-03 9.99409463e-01 -4.39587563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650385723 meters 0.023464621757675386 Centerline is valid? [True, True] Translation: X:118.79, Y:-9.69, Z:-4.40 [[ 9.70219069e-01 2.40100801e-01 3.20400388e-02 1.18789788e+02] [-2.40006436e-01 9.70747365e-01 -6.81644749e-03 -9.68946109e+00] [-3.27394178e-02 -1.07636819e-03 9.99463342e-01 -4.39951682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71038572299999 meters 0.02468486494364114 Centerline is valid? [True, True] Translation: X:118.85, Y:-9.70, Z:-4.41 [[ 9.70004422e-01 2.41495842e-01 2.77701198e-02 1.18849437e+02] [-2.41425523e-01 9.70401366e-01 -5.90814270e-03 -9.70238584e+00] [-2.83749541e-02 -9.73491163e-04 9.99596876e-01 -4.40635051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77038572299999 meters 0.02565572370731658 Centerline is valid? [True, True] Translation: X:118.91, Y:-9.72, Z:-4.41 [[ 9.70457608e-01 2.39875430e-01 2.59192962e-02 1.18909450e+02] [-2.39813453e-01 9.70803296e-01 -5.51977199e-03 -9.71589622e+00] [-2.64865959e-02 -8.59091193e-04 9.99648799e-01 -4.41258736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83038572299999 meters 0.022477024878031812 Centerline is valid? [True, True] Translation: X:118.97, Y:-9.74, Z:-4.41 [[ 9.71177546e-01 2.36856737e-01 2.67031760e-02 1.18967666e+02] [-2.36789576e-01 9.71544265e-01 -5.69536888e-03 -9.73803716e+00] [-2.72923040e-02 -7.91819350e-04 9.99627182e-01 -4.41024997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890385723 meters 0.022814387182890018 Centerline is valid? [True, True] Translation: X:119.03, Y:-9.75, Z:-4.41 [[ 9.71946103e-01 2.33260730e-01 3.01696132e-02 1.19026042e+02] [-2.33173238e-01 9.72413916e-01 -6.43562907e-03 -9.75442049e+00] [-3.08385312e-02 -7.79661785e-04 9.99524075e-01 -4.40990353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950385723 meters 0.021747716475712327 Centerline is valid? [True, True] Translation: X:119.09, Y:-9.77, Z:-4.41 [[ 9.71893091e-01 2.33515128e-01 2.99082803e-02 1.19086824e+02] [-2.33429198e-01 9.72352857e-01 -6.38206132e-03 -9.77171705e+00] [-3.05717097e-02 -7.78784599e-04 9.99532273e-01 -4.41196153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010385723 meters 0.021745337990938873 Centerline is valid? [True, True] Translation: X:119.15, Y:-9.79, Z:-4.41 [[ 9.71794578e-01 2.34008552e-01 2.92454519e-02 1.19147382e+02] [-2.33926362e-01 9.72234235e-01 -6.24899653e-03 -9.78951045e+00] [-2.98957481e-02 -7.68541217e-04 9.99552727e-01 -4.41332457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070385723 meters 0.02217476035551918 Centerline is valid? [True, True] Translation: X:119.21, Y:-9.80, Z:-4.42 [[ 9.71625666e-01 2.34747915e-01 2.89306388e-02 1.19208084e+02] [-2.34667558e-01 9.72055974e-01 -6.19033980e-03 -9.80223522e+00] [-2.95753696e-02 -7.74389332e-04 9.99562253e-01 -4.41568156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13038572299999 meters 0.022978895688134188 Centerline is valid? [True, True] Translation: X:119.27, Y:-9.81, Z:-4.42 [[ 9.71357855e-01 2.36037842e-01 2.73871169e-02 1.19268818e+02] [-2.35966164e-01 9.71743564e-01 -5.86648370e-03 -9.81488028e+00] [-2.79979667e-02 -7.63977905e-04 9.99607688e-01 -4.41916481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19038572299999 meters 0.0233315974065231 Centerline is valid? [True, True] Translation: X:119.33, Y:-9.83, Z:-4.42 [[ 9.71275228e-01 2.36440858e-01 2.68356411e-02 1.19328713e+02] [-2.36372018e-01 9.71645590e-01 -5.75469908e-03 -9.83025014e+00] [-2.74353784e-02 -7.53797993e-04 9.99623295e-01 -4.42174116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250385723 meters 0.021773930550492794 Centerline is valid? [True, True] Translation: X:119.39, Y:-9.85, Z:-4.42 [[ 9.71627691e-01 2.34924085e-01 2.73917010e-02 1.19388363e+02] [-2.34851550e-01 9.72013456e-01 -5.88142913e-03 -9.84831787e+00] [-2.80067913e-02 -7.18424042e-04 9.99607475e-01 -4.42269085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310385723 meters 0.021493795299374945 Centerline is valid? [True, True] Translation: X:119.45, Y:-9.87, Z:-4.42 [[ 9.72772615e-01 2.29826874e-01 2.98838931e-02 1.19447087e+02] [-2.29737834e-01 9.73231335e-01 -6.42625876e-03 -9.86507441e+00] [-3.05608682e-02 -6.14172344e-04 9.99532719e-01 -4.42314627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370385723 meters 0.019793788157123716 Centerline is valid? [True, True] Translation: X:119.51, Y:-9.89, Z:-4.42 [[ 9.74029190e-01 2.24339646e-01 3.06408348e-02 1.19506062e+02] [-2.24243287e-01 9.74510913e-01 -6.59009721e-03 -9.88528810e+00] [-3.13382479e-02 -4.52054479e-04 9.99508734e-01 -4.42488030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430385723 meters 0.019457960035619153 Centerline is valid? [True, True] Translation: X:119.56, Y:-9.90, Z:-4.43 [[ 9.74876192e-01 2.20541525e-01 3.12705352e-02 1.19564993e+02] [-2.20439163e-01 9.75377529e-01 -6.72695356e-03 -9.90104760e+00] [-3.19841499e-02 -3.35303740e-04 9.99488320e-01 -4.42864345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49038572299999 meters 0.019365243655907232 Centerline is valid? [True, True] Translation: X:119.63, Y:-9.92, Z:-4.43 [[ 9.75073156e-01 2.19525263e-01 3.22645249e-02 1.19625611e+02] [-2.19415582e-01 9.75606767e-01 -6.94533536e-03 -9.91581359e+00] [-3.30021655e-02 -3.07129449e-04 9.99455233e-01 -4.43068241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55038572299999 meters 0.019124188227529385 Centerline is valid? [True, True] Translation: X:119.69, Y:-9.93, Z:-4.44 [[ 9.75174070e-01 2.19321205e-01 3.05571822e-02 1.19686796e+02] [-2.19222507e-01 9.75652670e-01 -6.58486504e-03 -9.92775940e+00] [-3.12573970e-02 -2.77432457e-04 9.99511330e-01 -4.43605582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610385723 meters 0.019125425062804742 Centerline is valid? [True, True] Translation: X:119.75, Y:-9.94, Z:-4.44 [[ 9.75172444e-01 2.19527696e-01 2.90911452e-02 1.19747955e+02] [-2.19438100e-01 9.75606233e-01 -6.27683410e-03 -9.94053783e+00] [-2.97594415e-02 -2.62709985e-04 9.99557055e-01 -4.44052128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670385723 meters 0.01906021682234992 Centerline is valid? [True, True] Translation: X:119.81, Y:-9.95, Z:-4.44 [[ 9.75321549e-01 2.18756171e-01 2.98933882e-02 1.19807782e+02] [-2.18660914e-01 9.75779525e-01 -6.45934118e-03 -9.95450751e+00] [-3.05823769e-02 -2.36580944e-04 9.99532222e-01 -4.44138060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730385723 meters 0.018615560509090162 Centerline is valid? [True, True] Translation: X:119.87, Y:-9.97, Z:-4.44 [[ 9.75858539e-01 2.16024807e-01 3.21464704e-02 1.19868290e+02] [-2.15913018e-01 9.76387862e-01 -6.95060578e-03 -9.96836619e+00] [-3.28889268e-02 -1.58033446e-04 9.99459000e-01 -4.44186345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790385723 meters 0.01850704915642089 Centerline is valid? [True, True] Translation: X:119.93, Y:-9.99, Z:-4.44 [[ 9.76620850e-01 2.12415212e-01 3.30377406e-02 1.19927314e+02] [-2.12294776e-01 9.77179501e-01 -7.15199198e-03 -9.98512762e+00] [-3.38029947e-02 -2.89552577e-05 9.99428515e-01 -4.44199489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85038572299999 meters 0.018541481210216478 Centerline is valid? [True, True] Translation: X:119.99, Y:-10.00, Z:-4.44 [[ 9.76780708e-01 2.11583927e-01 3.36406017e-02 1.19988570e+02] [-2.11458294e-01 9.77359832e-01 -7.29028357e-03 -9.99848892e+00] [-3.44214796e-02 7.42412051e-06 9.99407405e-01 -4.44436548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91038572299999 meters 0.018656385085611637 Centerline is valid? [True, True] Translation: X:120.05, Y:-10.01, Z:-4.45 [[ 9.76637901e-01 2.11957931e-01 3.53870945e-02 1.20049438e+02] [-2.11818770e-01 9.77278791e-01 -7.67938851e-03 -1.00090505e+01] [-3.62107642e-02 4.33103000e-06 9.99344175e-01 -4.44533620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97038572299999 meters 0.018581179859236793 Centerline is valid? [True, True] Translation: X:120.11, Y:-10.02, Z:-4.45 [[ 9.76370537e-01 2.13499943e-01 3.34417128e-02 1.20110973e+02] [-2.13376287e-01 9.76943075e-01 -7.26550128e-03 -1.00195022e+01] [-3.42218339e-02 -4.18471168e-05 9.99414261e-01 -4.44861463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030385723 meters 0.018574911038244577 Centerline is valid? [True, True] Translation: X:120.17, Y:-10.03, Z:-4.45 [[ 9.77202441e-01 2.09786350e-01 3.26355031e-02 1.20172885e+02] [-2.09666219e-01 9.77747247e-01 -7.09916489e-03 -1.00324112e+01] [-3.33985812e-02 9.47586981e-05 9.99442107e-01 -4.45157028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090385723 meters 0.01900171813473099 Centerline is valid? [True, True] Translation: X:120.23, Y:-10.05, Z:-4.45 [[ 9.78658263e-01 2.03048517e-01 3.16117738e-02 1.20231201e+02] [-2.02931993e-01 9.79168624e-01 -6.88557784e-03 -1.00498116e+01] [-3.23513635e-02 3.23587380e-04 9.99476505e-01 -4.45358075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150385723 meters 0.020070763590915145 Centerline is valid? [True, True] Translation: X:120.29, Y:-10.06, Z:-4.46 [[ 9.80187350e-01 1.95396392e-01 3.24500966e-02 1.20291716e+02] [-1.95269132e-01 9.80724166e-01 -7.07643892e-03 -1.00637370e+01] [-3.32073046e-02 5.99733732e-04 9.99448305e-01 -4.45555752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21038572299999 meters 0.021340203662126175 Centerline is valid? [True, True] Translation: X:120.35, Y:-10.08, Z:-4.46 [[ 9.80894641e-01 1.91846914e-01 3.22562376e-02 1.20351487e+02] [-1.91719191e-01 9.81424601e-01 -7.03595719e-03 -1.00774742e+01] [-3.30068918e-02 7.17392920e-04 9.99454867e-01 -4.45751459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27038572299999 meters 0.02293159525694783 Centerline is valid? [True, True] Translation: X:120.41, Y:-10.09, Z:-4.46 [[ 9.81226162e-01 1.90076206e-01 3.26535759e-02 1.20413156e+02] [-1.89944089e-01 9.81769019e-01 -7.13002265e-03 -1.00872704e+01] [-3.34135168e-02 7.93811036e-04 9.99441297e-01 -4.46028102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33038572299999 meters 0.020834649084078716 Centerline is valid? [True, True] Translation: X:120.48, Y:-10.10, Z:-4.46 [[ 9.80851430e-01 1.91868009e-01 3.34236485e-02 1.20475062e+02] [-1.91730327e-01 9.81420446e-01 -7.30685293e-03 -1.00951822e+01] [-3.42046033e-02 7.58610091e-04 9.99414563e-01 -4.45931844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390385723 meters 0.02106028018244301 Centerline is valid? [True, True] Translation: X:120.54, Y:-10.10, Z:-4.46 [[ 9.80238119e-01 1.95084071e-01 3.27938169e-02 1.20537583e+02] [-1.94953058e-01 9.80786314e-01 -7.17720380e-03 -1.00981937e+01] [-3.35638850e-02 6.42113849e-04 9.99436368e-01 -4.46311598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450385723 meters 0.019799755247602205 Centerline is valid? [True, True] Translation: X:120.60, Y:-10.11, Z:-4.46 [[ 9.79760612e-01 1.97578326e-01 3.21239563e-02 1.20599299e+02] [-1.97453671e-01 9.80286947e-01 -7.03912726e-03 -1.01091391e+01] [-3.28814740e-02 5.53666521e-04 9.99459105e-01 -4.46244512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510385723 meters 0.021793261740433993 Centerline is valid? [True, True] Translation: X:120.66, Y:-10.12, Z:-4.47 [[ 9.80282788e-01 1.95288379e-01 3.01347814e-02 1.20661269e+02] [-1.95177553e-01 9.80745684e-01 -6.60494481e-03 -1.01174407e+01] [-3.08444258e-02 5.93080801e-04 9.99524022e-01 -4.46813101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570385723 meters 0.02153755050632428 Centerline is valid? [True, True] Translation: X:120.72, Y:-10.13, Z:-4.47 [[ 9.81421355e-01 1.89262725e-01 3.14919891e-02 1.20720587e+02] [-1.89138290e-01 9.81926136e-01 -6.91158933e-03 -1.01298585e+01] [-3.22309134e-02 8.26840404e-04 9.99480107e-01 -4.46531687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63038572299999 meters 0.02442003043762695 Centerline is valid? [True, True] Translation: X:120.78, Y:-10.14, Z:-4.47 [[ 9.82898045e-01 1.80975446e-01 3.40487913e-02 1.20779358e+02] [-1.80824982e-01 9.83486896e-01 -7.47334494e-03 -1.01420051e+01] [-3.48390320e-02 1.18866406e-03 9.99392230e-01 -4.46590475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69038572299999 meters 0.02426805579048928 Centerline is valid? [True, True] Translation: X:120.84, Y:-10.15, Z:-4.47 [[ 9.83953301e-01 1.75057761e-01 3.45062604e-02 1.20840137e+02] [-1.74899524e-01 9.84557143e-01 -7.57560071e-03 -1.01495490e+01] [-3.52995528e-02 1.41890882e-03 9.99375769e-01 -4.46587041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750385723 meters 0.025451201133484355 Centerline is valid? [True, True] Translation: X:120.90, Y:-10.15, Z:-4.47 [[ 9.84635817e-01 1.71296228e-01 3.39103210e-02 1.20901239e+02] [-1.71141145e-01 9.85218386e-01 -7.44587645e-03 -1.01536817e+01] [-3.46845223e-02 1.52802546e-03 9.99397143e-01 -4.46942777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810385723 meters 0.024493520074289954 Centerline is valid? [True, True] Translation: X:120.96, Y:-10.15, Z:-4.47 [[ 9.85110380e-01 1.68704381e-01 3.31114860e-02 1.20963331e+02] [-1.68555043e-01 9.85665425e-01 -7.27097320e-03 -1.01547762e+01] [-3.38634920e-02 1.58160322e-03 9.99425216e-01 -4.47062897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870385723 meters 0.025850122157002567 Centerline is valid? [True, True] Translation: X:121.03, Y:-10.16, Z:-4.48 [[ 9.85990818e-01 1.63978996e-01 3.05449805e-02 1.21025688e+02] [-1.63849605e-01 9.86462516e-01 -6.70901161e-03 -1.01556673e+01] [-3.12316153e-02 1.61024085e-03 9.99510877e-01 -4.47587574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930385723 meters 0.027729586361268176 Centerline is valid? [True, True] Translation: X:121.09, Y:-10.16, Z:-4.48 [[ 9.86825132e-01 1.59307786e-01 2.82345040e-02 1.21085765e+02] [-1.59195312e-01 9.87227627e-01 -6.20208481e-03 -1.01591956e+01] [-2.88619227e-02 1.62557249e-03 9.99582086e-01 -4.47842968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99038572299999 meters 0.028146102647618305 Centerline is valid? [True, True] Translation: X:121.15, Y:-10.16, Z:-4.48 [[ 9.87709351e-01 1.53769200e-01 2.80227028e-02 1.21147993e+02] [-1.53656193e-01 9.88105200e-01 -6.15527875e-03 -1.01603371e+01] [-2.86358706e-02 1.77376455e-03 9.99588336e-01 -4.47831136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05038572299999 meters 0.031330663444924974 Centerline is valid? [True, True] Translation: X:121.21, Y:-10.16, Z:-4.48 [[ 9.88007439e-01 1.52224545e-01 2.58648148e-02 1.21209410e+02] [-1.52127721e-01 9.88344508e-01 -5.68235152e-03 -1.01585867e+01] [-2.64283411e-02 1.67945025e-03 9.99649300e-01 -4.48329585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110385723 meters 0.030284533631815932 Centerline is valid? [True, True] Translation: X:121.27, Y:-10.15, Z:-4.48 [[ 9.87357143e-01 1.56037061e-01 2.78981847e-02 1.21272530e+02] [-1.55925927e-01 9.87749736e-01 -6.12897858e-03 -1.01526500e+01] [-2.85127724e-02 1.70144045e-03 9.99591980e-01 -4.48386010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170385723 meters 0.029517426825623624 Centerline is valid? [True, True] Translation: X:121.34, Y:-10.15, Z:-4.48 [[ 9.86453275e-01 1.61732477e-01 2.74325154e-02 1.21335630e+02] [-1.61627208e-01 9.86833482e-01 -6.02698018e-03 -1.01473178e+01] [-2.80460832e-02 1.51149347e-03 9.99605488e-01 -4.48391535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230385723 meters 0.029849991944295908 Centerline is valid? [True, True] Translation: X:121.40, Y:-10.15, Z:-4.49 [[ 9.85799112e-01 1.66153799e-01 2.43521146e-02 1.21397035e+02] [-1.66072179e-01 9.86099083e-01 -5.35074791e-03 -1.01476833e+01] [-2.49026450e-02 1.23055381e-03 9.99689124e-01 -4.48883525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290385723 meters 0.026290946416134373 Centerline is valid? [True, True] Translation: X:121.46, Y:-10.13, Z:-4.49 [[ 9.83699830e-01 1.77979719e-01 2.56488527e-02 1.21462036e+02] [-1.77893180e-01 9.84033667e-01 -5.63554230e-03 -1.01316459e+01] [-2.62423468e-02 9.80926037e-04 9.99655129e-01 -4.49010029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35038572299999 meters 0.023760329307050555 Centerline is valid? [True, True] Translation: X:121.52, Y:-10.13, Z:-4.49 [[ 9.82197406e-01 1.86097948e-01 2.56087846e-02 1.21524569e+02] [-1.86014424e-01 9.82530901e-01 -5.62699903e-03 -1.01318904e+01] [-2.62085951e-02 7.63220552e-04 9.99656204e-01 -4.49131285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41038572299999 meters 0.019014785709477254 Centerline is valid? [True, True] Translation: X:121.59, Y:-10.12, Z:-4.50 [[ 9.78390341e-01 2.05365848e-01 2.40251947e-02 1.21590206e+02] [-2.05298104e-01 9.78685248e-01 -5.27961578e-03 -1.01170855e+01] [-2.45973564e-02 2.33198168e-04 9.99697412e-01 -4.49541679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47038572299999 meters 0.018206214309948402 Centerline is valid? [True, True] Translation: X:121.65, Y:-10.12, Z:-4.50 [[ 9.75575025e-01 2.18295923e-01 2.45002110e-02 1.21654197e+02] [-2.18229587e-01 9.75882616e-01 -5.38207313e-03 -1.01163386e+01] [-2.50842146e-02 -9.60547997e-05 9.99685337e-01 -4.49768716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530385723 meters 0.019015255093073048 Centerline is valid? [True, True] Translation: X:121.72, Y:-10.12, Z:-4.50 [[ 9.73769892e-01 2.26275163e-01 2.39112669e-02 1.21715549e+02] [-2.26214242e-01 9.74063379e-01 -5.25827151e-03 -1.01239769e+01] [-2.44809057e-02 -2.88722656e-04 9.99700256e-01 -4.49989730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590385723 meters 0.02188891192662495 Centerline is valid? [True, True] Translation: X:121.78, Y:-10.13, Z:-4.50 [[ 9.71296781e-01 2.36809692e-01 2.24439961e-02 1.21776132e+02] [-2.36758665e-01 9.71555920e-01 -4.94249070e-03 -1.01306533e+01] [-2.29760269e-02 -5.13185238e-04 9.99735885e-01 -4.50387504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650385723 meters 0.022745920393881625 Centerline is valid? [True, True] Translation: X:121.84, Y:-10.15, Z:-4.51 [[ 9.70911217e-01 2.38438014e-01 2.18797350e-02 1.21836321e+02] [-2.38389989e-01 9.71157568e-01 -4.81575149e-03 -1.01454575e+01] [-2.23969285e-02 -5.40242659e-04 9.99749011e-01 -4.50653327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71038572299999 meters 0.02242931790732118 Centerline is valid? [True, True] Translation: X:121.90, Y:-10.16, Z:-4.51 [[ 9.71149849e-01 2.37491920e-01 2.15768072e-02 1.21895947e+02] [-2.37444876e-01 9.71389382e-01 -4.75387941e-03 -1.01645047e+01] [-2.20884894e-02 -5.06573052e-04 9.99755891e-01 -4.50995318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77038572299999 meters 0.020955123817391435 Centerline is valid? [True, True] Translation: X:121.95, Y:-10.19, Z:-4.51 [[ 9.72209378e-01 2.32968714e-01 2.31193304e-02 1.21952621e+02] [-2.32913231e-01 9.72484138e-01 -5.10184497e-03 -1.01895077e+01] [-2.36717523e-02 -4.24736412e-04 9.99719695e-01 -4.51145081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83038572299999 meters 0.019737096592409752 Centerline is valid? [True, True] Translation: X:122.01, Y:-10.22, Z:-4.51 [[ 9.73263488e-01 2.28442602e-01 2.39198634e-02 1.22010182e+02] [-2.28381828e-01 9.73557329e-01 -5.27907031e-03 -1.02156168e+01] [-2.44933229e-02 -3.24935757e-04 9.99699941e-01 -4.51173218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890385723 meters 0.017353382290603826 Centerline is valid? [True, True] Translation: X:122.07, Y:-10.25, Z:-4.51 [[ 9.74977834e-01 2.20661690e-01 2.69562934e-02 1.22066575e+02] [-2.20581477e-01 9.75350397e-01 -5.95098136e-03 -1.02456153e+01] [-2.76049851e-02 -1.43984099e-04 9.99618899e-01 -4.50961708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950385723 meters 0.01724376302294462 Centerline is valid? [True, True] Translation: X:122.12, Y:-10.27, Z:-4.51 [[ 9.76640725e-01 2.12870354e-01 2.93105280e-02 1.22122757e+02] [-2.12772000e-01 9.77080450e-01 -6.47074320e-03 -1.02743468e+01] [-3.00161733e-02 8.31316595e-05 9.99549410e-01 -4.51088397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010385723 meters 0.017637750197628244 Centerline is valid? [True, True] Translation: X:122.18, Y:-10.30, Z:-4.51 [[ 9.77924574e-01 2.06743269e-01 3.03438264e-02 1.22180412e+02] [-2.06634675e-01 9.78395185e-01 -6.70621708e-03 -1.03006877e+01] [-3.10747189e-02 2.88087791e-04 9.99517023e-01 -4.51297748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070385723 meters 0.018651007677913604 Centerline is valid? [True, True] Translation: X:122.24, Y:-10.32, Z:-4.52 [[ 9.78923917e-01 2.02019657e-01 2.99336465e-02 1.22238633e+02] [-2.01911546e-01 9.79381369e-01 -6.62284453e-03 -1.03249176e+01] [-3.06544005e-02 4.39312052e-04 9.99529947e-01 -4.51529016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13038572299999 meters 0.0182257623789562 Centerline is valid? [True, True] Translation: X:122.30, Y:-10.34, Z:-4.52 [[ 9.79430448e-01 1.99721809e-01 2.87610185e-02 1.22298266e+02] [-1.99620814e-01 9.79852515e-01 -6.37020360e-03 -1.03424344e+01] [-2.94538249e-02 4.97873455e-04 9.99566018e-01 -4.51800908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19038572299999 meters 0.018620808737262455 Centerline is valid? [True, True] Translation: X:122.36, Y:-10.36, Z:-4.52 [[ 9.79657262e-01 1.98382770e-01 3.02642472e-02 1.22356483e+02] [-1.98270038e-01 9.80124454e-01 -6.71160582e-03 -1.03615843e+01] [-3.09941957e-02 5.74579941e-04 9.99519399e-01 -4.51913794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250385723 meters 0.018818132312975057 Centerline is valid? [True, True] Translation: X:122.42, Y:-10.38, Z:-4.52 [[ 9.79657018e-01 1.98334943e-01 3.05839331e-02 1.22417943e+02] [-1.98219570e-01 9.80134125e-01 -6.78961286e-03 -1.03756918e+01] [-3.13229740e-02 5.89157818e-04 9.99509142e-01 -4.52158998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310385723 meters 0.019771244052356102 Centerline is valid? [True, True] Translation: X:122.48, Y:-10.39, Z:-4.53 [[ 9.78721720e-01 2.02650025e-01 3.21987787e-02 1.22477655e+02] [-2.02524143e-01 9.79251108e-01 -7.15813937e-03 -1.03880327e+01] [-3.29812869e-02 4.84796403e-04 9.99455852e-01 -4.52515462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370385723 meters 0.017240854481085543 Centerline is valid? [True, True] Translation: X:122.54, Y:-10.40, Z:-4.53 [[ 9.76387589e-01 2.13406851e-01 3.35379150e-02 1.22538125e+02] [-2.13276317e-01 9.76963406e-01 -7.46425399e-03 -1.03973945e+01] [-3.43582386e-02 1.35161976e-04 9.99409572e-01 -4.52537920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430385723 meters 0.017606313147665285 Centerline is valid? [True, True] Translation: X:122.60, Y:-10.41, Z:-4.53 [[ 9.73749738e-01 2.25059545e-01 3.40536286e-02 1.22598511e+02] [-2.24932032e-01 9.74344972e-01 -7.58008218e-03 -1.04052445e+01] [-3.48859517e-02 -2.78648831e-04 9.99391261e-01 -4.52710205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49038572299999 meters 0.019214189313514117 Centerline is valid? [True, True] Translation: X:122.66, Y:-10.42, Z:-4.53 [[ 9.71722466e-01 2.33770019e-01 3.32720063e-02 1.22658721e+02] [-2.33653163e-01 9.72291752e-01 -7.41265090e-03 -1.04165312e+01] [-3.40829528e-02 -5.71070094e-04 9.99418844e-01 -4.53072655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55038572299999 meters 0.021243378705144308 Centerline is valid? [True, True] Translation: X:122.72, Y:-10.43, Z:-4.53 [[ 9.70208937e-01 2.39854111e-01 3.41265906e-02 1.22717194e+02] [-2.39734886e-01 9.70808611e-01 -7.60426055e-03 -1.04307596e+01] [-3.49543012e-02 -8.03612745e-04 9.99388589e-01 -4.53278989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610385723 meters 0.022467576683561617 Centerline is valid? [True, True] Translation: X:122.78, Y:-10.45, Z:-4.54 [[ 9.69631458e-01 2.42136058e-01 3.44233098e-02 1.22777072e+02] [-2.42016171e-01 9.70241893e-01 -7.67079933e-03 -1.04484787e+01] [-3.52563144e-02 -8.93149289e-04 9.99377904e-01 -4.53544351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670385723 meters 0.020940596571876188 Centerline is valid? [True, True] Translation: X:122.84, Y:-10.47, Z:-4.54 [[ 9.69851135e-01 2.41215577e-01 3.46961177e-02 1.22835424e+02] [-2.41092902e-01 9.70471178e-01 -7.73979626e-03 -1.04742523e+01] [-3.55385416e-02 -8.58537510e-04 9.99367938e-01 -4.53710433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730385723 meters 0.021210541171841773 Centerline is valid? [True, True] Translation: X:122.89, Y:-10.50, Z:-4.54 [[ 9.69863338e-01 2.40945891e-01 3.61964513e-02 1.22893644e+02] [-2.40811997e-01 9.70538151e-01 -8.07958989e-03 -1.04976173e+01] [-3.70767809e-02 -8.80441705e-04 9.99312032e-01 -4.53785611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790385723 meters 0.022377459798548924 Centerline is valid? [True, True] Translation: X:122.95, Y:-10.52, Z:-4.54 [[ 9.69677792e-01 2.41566360e-01 3.70225975e-02 1.22952057e+02] [-2.41426386e-01 9.70383870e-01 -8.27317044e-03 -1.05189795e+01] [-3.79246511e-02 -9.15922258e-04 9.99280182e-01 -4.54141217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85038572299999 meters 0.022195431502533128 Centerline is valid? [True, True] Translation: X:123.01, Y:-10.54, Z:-4.54 [[ 9.69587214e-01 2.41774181e-01 3.80247210e-02 1.23011498e+02] [-2.41626295e-01 9.70332089e-01 -8.50710163e-03 -1.05432932e+01] [-3.89534045e-02 -9.39395482e-04 9.99240587e-01 -4.54177396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91038572299999 meters 0.02233854973515821 Centerline is valid? [True, True] Translation: X:123.07, Y:-10.57, Z:-4.54 [[ 9.69650278e-01 2.41525431e-01 3.79974296e-02 1.23070028e+02] [-2.41377173e-01 9.70394055e-01 -8.51110159e-03 -1.05677526e+01] [-3.89281273e-02 -9.18920102e-04 9.99241591e-01 -4.54382718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97038572299999 meters 0.023011389986025827 Centerline is valid? [True, True] Translation: X:123.13, Y:-10.59, Z:-4.55 [[ 9.69449379e-01 2.42318389e-01 3.80749252e-02 1.23129323e+02] [-2.42169791e-01 9.70196324e-01 -8.53729391e-03 -1.05870749e+01] [-3.90088958e-02 -9.44122407e-04 9.99238417e-01 -4.54636331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030385723 meters 0.020761833388414253 Centerline is valid? [True, True] Translation: X:123.19, Y:-10.61, Z:-4.55 [[ 9.69121512e-01 2.43846244e-01 3.66401984e-02 1.23187550e+02] [-2.43709422e-01 9.69813430e-01 -8.22371080e-03 -1.06124820e+01] [-3.75394775e-02 -9.59786533e-04 9.99294684e-01 -4.54968011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090385723 meters 0.020776950239325902 Centerline is valid? [True, True] Translation: X:123.25, Y:-10.63, Z:-4.55 [[ 9.68756891e-01 2.45251080e-01 3.69051883e-02 1.23246378e+02] [-2.45112932e-01 9.69459067e-01 -8.29265020e-03 -1.06347166e+01] [-3.78118509e-02 -1.01237689e-03 9.99284363e-01 -4.55208766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150385723 meters 0.02083717879493829 Centerline is valid? [True, True] Translation: X:123.31, Y:-10.65, Z:-4.56 [[ 9.68592970e-01 2.45707444e-01 3.81511460e-02 1.23306238e+02] [-2.45559759e-01 9.69343458e-01 -8.58287317e-03 -1.06542134e+01] [-3.90904396e-02 -1.05507559e-03 9.99235120e-01 -4.55575011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21038572299999 meters 0.02084658482008982 Centerline is valid? [True, True] Translation: X:123.36, Y:-10.68, Z:-4.56 [[ 9.68397027e-01 2.46437717e-01 3.84141778e-02 1.23364134e+02] [-2.46288115e-01 9.69158028e-01 -8.65341926e-03 -1.06777726e+01] [-3.93619377e-02 -1.08100993e-03 9.99224434e-01 -4.55750999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27038572299999 meters 0.021697267245058514 Centerline is valid? [True, True] Translation: X:123.42, Y:-10.70, Z:-4.56 [[ 9.68300696e-01 2.47003949e-01 3.71861798e-02 1.23422998e+02] [-2.46863827e-01 9.69013894e-01 -8.38598526e-03 -1.06965920e+01] [-3.81052963e-02 -1.05976729e-03 9.99273167e-01 -4.56077750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33038572299999 meters 0.02195713962460691 Centerline is valid? [True, True] Translation: X:123.48, Y:-10.72, Z:-4.57 [[ 9.68078653e-01 2.48061964e-01 3.59024031e-02 1.23481745e+02] [-2.47931896e-01 9.68743589e-01 -8.10146601e-03 -1.07158599e+01] [-3.67898884e-02 -1.05849454e-03 9.99322462e-01 -4.56593914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390385723 meters 0.02237096134328572 Centerline is valid? [True, True] Translation: X:123.54, Y:-10.74, Z:-4.57 [[ 9.67981219e-01 2.48559493e-01 3.50790267e-02 1.23541216e+02] [-2.48435332e-01 9.68616069e-01 -7.92448771e-03 -1.07392605e+01] [-3.59478156e-02 -1.04411437e-03 9.99353123e-01 -4.56747070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450385723 meters 0.021857509064787357 Centerline is valid? [True, True] Translation: X:123.60, Y:-10.76, Z:-4.57 [[ 9.68263067e-01 2.47583799e-01 3.41891144e-02 1.23600269e+02] [-2.47464912e-01 9.68865995e-01 -7.73312443e-03 -1.07581912e+01] [-3.50392666e-02 -9.72907403e-04 9.99385463e-01 -4.57119213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510385723 meters 0.022146861565223986 Centerline is valid? [True, True] Translation: X:123.66, Y:-10.78, Z:-4.57 [[ 9.68684410e-01 2.45561200e-01 3.67452114e-02 1.23658004e+02] [-2.45422035e-01 9.69380617e-01 -8.32130518e-03 -1.07783423e+01] [-3.76634854e-02 -9.57365968e-04 9.99290021e-01 -4.57241540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570385723 meters 0.0214900458355816 Centerline is valid? [True, True] Translation: X:123.72, Y:-10.80, Z:-4.57 [[ 9.69134155e-01 2.43368344e-01 3.93806885e-02 1.23716431e+02] [-2.43206287e-01 9.69933499e-01 -8.92799386e-03 -1.08031639e+01] [-4.03694401e-02 -9.25207255e-04 9.99184394e-01 -4.57107381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63038572299999 meters 0.020540818512036936 Centerline is valid? [True, True] Translation: X:123.78, Y:-10.82, Z:-4.57 [[ 9.70097514e-01 2.39418323e-01 3.98707814e-02 1.23775373e+02] [-2.39248492e-01 9.70916210e-01 -9.04831194e-03 -1.08220599e+01] [-4.08775196e-02 -7.61279403e-04 9.99163875e-01 -4.57283531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69038572299999 meters 0.019912726103721023 Centerline is valid? [True, True] Translation: X:123.83, Y:-10.84, Z:-4.58 [[ 9.71103282e-01 2.35629939e-01 3.79070768e-02 1.23834661e+02] [-2.35473445e-01 9.71842686e-01 -8.60520350e-03 -1.08398789e+01] [-3.88673589e-02 -5.69568594e-04 9.99244216e-01 -4.57852858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750385723 meters 0.019788673044004893 Centerline is valid? [True, True] Translation: X:123.89, Y:-10.85, Z:-4.58 [[ 9.71368080e-01 2.34907447e-01 3.55323063e-02 1.23894429e+02] [-2.34769160e-01 9.72017614e-01 -8.07456068e-03 -1.08547120e+01] [-3.64348020e-02 -4.98519199e-04 9.99335908e-01 -4.58375695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810385723 meters 0.019178330337573688 Centerline is valid? [True, True] Translation: X:123.95, Y:-10.87, Z:-4.59 [[ 9.72794147e-01 2.29462115e-01 3.19168382e-02 1.23953189e+02] [-2.29347379e-01 9.73317559e-01 -7.26005393e-03 -1.08743358e+01] [-3.27311264e-02 -2.57505215e-04 9.99464160e-01 -4.59086910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870385723 meters 0.019025959907156616 Centerline is valid? [True, True] Translation: X:124.01, Y:-10.89, Z:-4.59 [[ 9.73603380e-01 2.25792553e-01 3.33793424e-02 1.24013199e+02] [-2.25664604e-01 9.74175398e-01 -7.60138990e-03 -1.08884136e+01] [-3.42336714e-02 -1.31797174e-04 9.99413847e-01 -4.59412246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930385723 meters 0.019164120950014466 Centerline is valid? [True, True] Translation: X:124.07, Y:-10.90, Z:-4.59 [[ 9.73583056e-01 2.25671628e-01 3.47613219e-02 1.24074694e+02] [-2.25532462e-01 9.74203419e-01 -7.92511099e-03 -1.09030419e+01] [-3.56530713e-02 -1.24052739e-04 9.99364219e-01 -4.59444772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99038572299999 meters 0.019120396565303784 Centerline is valid? [True, True] Translation: X:124.14, Y:-10.91, Z:-4.60 [[ 9.73673959e-01 2.25337365e-01 3.43815789e-02 1.24136527e+02] [-2.25200673e-01 9.74280792e-01 -7.84825982e-03 -1.09131255e+01] [-3.52658181e-02 -1.01108482e-04 9.99377962e-01 -4.59817979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05038572299999 meters 0.020998364991019935 Centerline is valid? [True, True] Translation: X:124.20, Y:-10.93, Z:-4.60 [[ 9.73748731e-01 2.25004315e-01 3.44451263e-02 1.24198067e+02] [-2.24866565e-01 9.74357764e-01 -7.87250557e-03 -1.09267302e+01] [-3.53332240e-02 -7.97149209e-05 9.99375584e-01 -4.60322843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110385723 meters 0.019242797088478474 Centerline is valid? [True, True] Translation: X:124.26, Y:-10.94, Z:-4.60 [[ 9.73285210e-01 2.26416932e-01 3.80955704e-02 1.24260122e+02] [-2.26249045e-01 9.74030469e-01 -8.71864572e-03 -1.09375321e+01] [-3.90802953e-02 -1.33357475e-04 9.99236065e-01 -4.59889467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170385723 meters 0.01940387681975847 Centerline is valid? [True, True] Translation: X:124.32, Y:-10.95, Z:-4.60 [[ 9.72597900e-01 2.29419995e-01 3.76801237e-02 1.24321891e+02] [-2.29257601e-01 9.73327493e-01 -8.63392819e-03 -1.09457895e+01] [-3.86558961e-02 -2.41114326e-04 9.99252552e-01 -4.60208488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230385723 meters 0.019961978659659922 Centerline is valid? [True, True] Translation: X:124.38, Y:-10.95, Z:-4.61 [[ 9.71426970e-01 2.34583320e-01 3.60597722e-02 1.24383025e+02] [-2.34437831e-01 9.72095927e-01 -8.27122078e-03 -1.09522245e+01] [-3.69938481e-02 -4.18887830e-04 9.99315406e-01 -4.60629856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290385723 meters 0.020292008169645638 Centerline is valid? [True, True] Translation: X:124.44, Y:-10.96, Z:-4.61 [[ 9.70959433e-01 2.36433567e-01 3.65643048e-02 1.24443582e+02] [-2.36284976e-01 9.71647534e-01 -8.39523154e-03 -1.09603943e+01] [-3.75125311e-02 -4.88166627e-04 9.99296038e-01 -4.60861803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35038572299999 meters 0.019681388754792473 Centerline is valid? [True, True] Translation: X:124.50, Y:-10.98, Z:-4.61 [[ 9.71129013e-01 2.35458381e-01 3.83117591e-02 1.24503952e+02] [-2.35294263e-01 9.71884321e-01 -8.80207235e-03 -1.09752899e+01] [-3.93071196e-02 -4.66589290e-04 9.99227068e-01 -4.60877382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41038572299999 meters 0.019642602445007703 Centerline is valid? [True, True] Translation: X:124.57, Y:-10.99, Z:-4.61 [[ 9.71111460e-01 2.35370547e-01 3.92840763e-02 1.24566245e+02] [-2.35197501e-01 9.71905597e-01 -9.03582321e-03 -1.09853071e+01] [-4.03071803e-02 -4.64725092e-04 9.99187227e-01 -4.61100107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47038572299999 meters 0.01958957960577921 Centerline is valid? [True, True] Translation: X:124.63, Y:-11.00, Z:-4.61 [[ 9.70959976e-01 2.36331080e-01 3.72067930e-02 1.24627845e+02] [-2.36176170e-01 9.71672477e-01 -8.56824767e-03 -1.09984155e+01] [-3.81777600e-02 -4.67932340e-04 9.99270854e-01 -4.61467362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530385723 meters 0.019811653285609188 Centerline is valid? [True, True] Translation: X:124.69, Y:-11.01, Z:-4.62 [[ 9.70950284e-01 2.36567330e-01 3.59366658e-02 1.24688778e+02] [-2.36422610e-01 9.71614993e-01 -8.28579584e-03 -1.10110961e+01] [-3.68767519e-02 -4.51144516e-04 9.99319719e-01 -4.61751017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590385723 meters 0.019928955543204983 Centerline is valid? [True, True] Translation: X:124.75, Y:-11.02, Z:-4.62 [[ 9.70893270e-01 2.36917434e-01 3.51623051e-02 1.24750729e+02] [-2.36778891e-01 9.71529685e-01 -8.11345620e-03 -1.10219444e+01] [-3.60834424e-02 -4.48391590e-04 9.99348680e-01 -4.62205404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650385723 meters 0.019556137048971058 Centerline is valid? [True, True] Translation: X:124.81, Y:-11.04, Z:-4.62 [[ 9.70486208e-01 2.38822909e-01 3.34684714e-02 1.24810927e+02] [-2.38698224e-01 9.71063017e-01 -7.73146999e-03 -1.10367716e+01] [-3.43464470e-02 -4.85579701e-04 9.99409869e-01 -4.62422962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71038572299999 meters 0.020111653676226394 Centerline is valid? [True, True] Translation: X:124.87, Y:-11.05, Z:-4.63 [[ 9.69816419e-01 2.41976693e-01 3.00564992e-02 1.24870718e+02] [-2.41877430e-01 9.70281918e-01 -6.95045018e-03 -1.10473198e+01] [-3.08451247e-02 -5.29328097e-04 9.99524036e-01 -4.62911391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77038572299999 meters 0.020806221348992005 Centerline is valid? [True, True] Translation: X:124.93, Y:-11.06, Z:-4.63 [[ 9.68825062e-01 2.45918715e-01 3.00330538e-02 1.24931530e+02] [-2.45821249e-01 9.69290239e-01 -6.95313456e-03 -1.10588147e+01] [-3.08206519e-02 -6.46391775e-04 9.99524722e-01 -4.63251003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83038572299999 meters 0.02112182564119302 Centerline is valid? [True, True] Translation: X:124.99, Y:-11.07, Z:-4.64 [[ 9.68775689e-01 2.46139893e-01 2.98130517e-02 1.24993036e+02] [-2.46043923e-01 9.69234096e-01 -6.90322334e-03 -1.10701142e+01] [-3.05949849e-02 -6.47645245e-04 9.99531654e-01 -4.63521284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890385723 meters 0.020846193901080036 Centerline is valid? [True, True] Translation: X:125.05, Y:-11.09, Z:-4.63 [[ 9.69126947e-01 2.44310550e-01 3.32462871e-02 1.25053425e+02] [-2.44189746e-01 9.69696827e-01 -7.70919974e-03 -1.10873554e+01] [-3.41222579e-02 -6.47209199e-04 9.99417457e-01 -4.63272991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950385723 meters 0.02034841756819944 Centerline is valid? [True, True] Translation: X:125.11, Y:-11.10, Z:-4.64 [[ 9.69696885e-01 2.42261848e-01 3.15776463e-02 1.25113143e+02] [-2.42151663e-01 9.70210752e-01 -7.32593412e-03 -1.11032106e+01] [-3.24117663e-02 -5.42644080e-04 9.99474453e-01 -4.63567175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010385723 meters 0.020111893040436375 Centerline is valid? [True, True] Translation: X:125.17, Y:-11.11, Z:-4.64 [[ 9.69873223e-01 2.41823166e-01 2.94531340e-02 1.25174727e+02] [-2.41726906e-01 9.70320215e-01 -6.83976223e-03 -1.11136574e+01] [-3.02329843e-02 -4.85912727e-04 9.99542761e-01 -4.64214121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070385723 meters 0.020553522293197103 Centerline is valid? [True, True] Translation: X:125.24, Y:-11.13, Z:-4.64 [[ 9.69355009e-01 2.44042618e-01 2.81791987e-02 1.25235082e+02] [-2.43955210e-01 9.69764367e-01 -6.55199112e-03 -1.11286501e+01] [-2.89261478e-02 -5.23256929e-04 9.99581414e-01 -4.64359170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13038572299999 meters 0.02105706125432513 Centerline is valid? [True, True] Translation: X:125.30, Y:-11.14, Z:-4.65 [[ 9.69046189e-01 2.45300807e-01 2.78746956e-02 1.25295070e+02] [-2.45215597e-01 9.69446860e-01 -6.48823624e-03 -1.11400072e+01] [-2.86146057e-02 -5.47909521e-04 9.99590368e-01 -4.64654654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19038572299999 meters 0.02125901597433205 Centerline is valid? [True, True] Translation: X:125.36, Y:-11.15, Z:-4.65 [[ 9.68816080e-01 2.45979485e-01 2.98244282e-02 1.25356908e+02] [-2.45882037e-01 9.69274849e-01 -6.94923011e-03 -1.11501842e+01] [-3.06174362e-02 -6.00765299e-04 9.99530996e-01 -4.64979861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250385723 meters 0.02060178718476166 Centerline is valid? [True, True] Translation: X:125.42, Y:-11.17, Z:-4.65 [[ 9.68583279e-01 2.46402662e-01 3.36475828e-02 1.25416716e+02] [-2.46278508e-01 9.69167304e-01 -7.85073141e-03 -1.11683302e+01] [-3.45445782e-02 -6.82589320e-04 9.99402925e-01 -4.64669359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310385723 meters 0.020635162109520332 Centerline is valid? [True, True] Translation: X:125.48, Y:-11.18, Z:-4.65 [[ 9.68258886e-01 2.47323566e-01 3.61356226e-02 1.25477264e+02] [-2.47180635e-01 9.68932649e-01 -8.44129876e-03 -1.11777745e+01] [-3.71007167e-02 -7.58663614e-04 9.99311243e-01 -4.64699643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370385723 meters 0.02129337927957574 Centerline is valid? [True, True] Translation: X:125.54, Y:-11.19, Z:-4.65 [[ 9.67371634e-01 2.50803835e-01 3.59104202e-02 1.25539071e+02] [-2.50664884e-01 9.68037530e-01 -8.39384372e-03 -1.11861970e+01] [-3.68678426e-02 -8.81514983e-04 9.99319761e-01 -4.65067351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430385723 meters 0.02148714646410446 Centerline is valid? [True, True] Translation: X:125.60, Y:-11.20, Z:-4.65 [[ 9.66598199e-01 2.53918081e-01 3.48357505e-02 1.25599565e+02] [-2.53789046e-01 9.67225249e-01 -8.15095645e-03 -1.11981701e+01] [-3.57636926e-02 -9.62232046e-04 9.99359811e-01 -4.65383202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49038572299999 meters 0.02246462178569431 Centerline is valid? [True, True] Translation: X:125.66, Y:-11.21, Z:-4.66 [[ 9.66447442e-01 2.54702838e-01 3.32536560e-02 1.25660621e+02] [-2.54585464e-01 9.67018915e-01 -7.78837379e-03 -1.12093232e+01] [-3.41406353e-02 -9.38843511e-04 9.99416598e-01 -4.66011794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55038572299999 meters 0.02166052845648033 Centerline is valid? [True, True] Translation: X:125.72, Y:-11.22, Z:-4.66 [[ 9.66365893e-01 2.55034353e-01 3.30823042e-02 1.25721846e+02] [-2.54918096e-01 9.66931538e-01 -7.75658027e-03 -1.12232830e+01] [-3.39665177e-02 -9.37583383e-04 9.99422532e-01 -4.66125900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610385723 meters 0.020984301301379064 Centerline is valid? [True, True] Translation: X:125.78, Y:-11.24, Z:-4.66 [[ 9.66645661e-01 2.53851429e-01 3.39943866e-02 1.25781522e+02] [-2.53727582e-01 9.67242794e-01 -7.98071153e-03 -1.12402528e+01] [-3.49067405e-02 -9.10793336e-04 9.99390159e-01 -4.66309232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670385723 meters 0.020968281485486604 Centerline is valid? [True, True] Translation: X:125.84, Y:-11.25, Z:-4.67 [[ 9.67065734e-01 2.52034182e-01 3.55336160e-02 1.25841480e+02] [-2.51897286e-01 9.67717938e-01 -8.35166986e-03 -1.12526429e+01] [-3.64914238e-02 -8.74207692e-04 9.99333584e-01 -4.66562860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730385723 meters 0.020911683580858147 Centerline is valid? [True, True] Translation: X:125.90, Y:-11.27, Z:-4.67 [[ 9.67094893e-01 2.52023875e-01 3.48056577e-02 1.25901864e+02] [-2.51892238e-01 9.67720645e-01 -8.18862097e-03 -1.12685750e+01] [-3.57458815e-02 -8.48101477e-04 9.99360552e-01 -4.66825358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790385723 meters 0.02216065079492256 Centerline is valid? [True, True] Translation: X:125.96, Y:-11.28, Z:-4.67 [[ 9.67151739e-01 2.52050481e-01 3.29858944e-02 1.25962460e+02] [-2.51931959e-01 9.67713760e-01 -7.76957161e-03 -1.12806056e+01] [-3.38792281e-02 -7.95846290e-04 9.99425617e-01 -4.67263846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85038572299999 meters 0.020586945326491832 Centerline is valid? [True, True] Translation: X:126.02, Y:-11.30, Z:-4.68 [[ 9.67071830e-01 2.52449424e-01 3.22701749e-02 1.26022978e+02] [-2.52335935e-01 9.67609773e-01 -7.60936941e-03 -1.12975671e+01] [-3.31459176e-02 -7.84117959e-04 9.99450216e-01 -4.67562453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91038572299999 meters 0.02139988667827206 Centerline is valid? [True, True] Translation: X:126.08, Y:-11.31, Z:-4.68 [[ 9.66539835e-01 2.54603700e-01 3.12682373e-02 1.26082873e+02] [-2.54497984e-01 9.67045128e-01 -7.38220396e-03 -1.13106956e+01] [-3.21173330e-02 -8.22509149e-04 9.99483767e-01 -4.68053212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97038572299999 meters 0.02240826186215516 Centerline is valid? [True, True] Translation: X:126.14, Y:-11.32, Z:-4.69 [[ 9.65940412e-01 2.57020269e-01 2.99950169e-02 1.26143557e+02] [-2.56923947e-01 9.66405630e-01 -7.08823535e-03 -1.13223970e+01] [-3.08091734e-02 -8.59625152e-04 9.99524915e-01 -4.68600226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030385723 meters 0.02295276207995882 Centerline is valid? [True, True] Translation: X:126.20, Y:-11.34, Z:-4.69 [[ 9.65701715e-01 2.57936386e-01 2.98164174e-02 1.26203775e+02] [-2.57841418e-01 9.66161505e-01 -7.05340158e-03 -1.13360838e+01] [-3.06268036e-02 -8.76425344e-04 9.99530505e-01 -4.68894666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090385723 meters 0.022287851854784536 Centerline is valid? [True, True] Translation: X:126.26, Y:-11.35, Z:-4.69 [[ 9.65281835e-01 2.59523689e-01 2.96383948e-02 1.26263302e+02] [-2.59430382e-01 9.65736309e-01 -7.01844075e-03 -1.13547138e+01] [-3.04443256e-02 -9.14326705e-04 9.99536046e-01 -4.69050185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150385723 meters 0.024829973704554423 Centerline is valid? [True, True] Translation: X:126.32, Y:-11.36, Z:-4.69 [[ 9.64799059e-01 2.61336847e-01 2.94249433e-02 1.26323339e+02] [-2.61245492e-01 9.65247189e-01 -6.97546226e-03 -1.13647946e+01] [-3.02252891e-02 -9.57214358e-04 9.99542653e-01 -4.69404650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21038572299999 meters 0.023173066580047332 Centerline is valid? [True, True] Translation: X:126.38, Y:-11.38, Z:-4.70 [[ 9.64367415e-01 2.62952253e-01 2.91822038e-02 1.26383470e+02] [-2.62862938e-01 9.64808337e-01 -6.92454762e-03 -1.13819173e+01] [-2.99760589e-02 -9.93111723e-04 9.99550124e-01 -4.69644141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27038572299999 meters 0.023253163465424845 Centerline is valid? [True, True] Translation: X:126.44, Y:-11.40, Z:-4.70 [[ 9.63975233e-01 2.64240046e-01 3.04786622e-02 1.26443481e+02] [-2.64143004e-01 9.64456350e-01 -7.24035159e-03 -1.13980177e+01] [-3.13085301e-02 -1.07120580e-03 9.99509194e-01 -4.69642523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33038572299999 meters 0.02411786619898296 Centerline is valid? [True, True] Translation: X:126.50, Y:-11.41, Z:-4.70 [[ 9.63661041e-01 2.65332321e-01 3.09217921e-02 1.26504090e+02] [-2.65232741e-01 9.64156375e-01 -7.35370666e-03 -1.14095080e+01] [-3.17646190e-02 -1.11499104e-03 9.99494755e-01 -4.69987197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390385723 meters 0.024537185450576822 Centerline is valid? [True, True] Translation: X:126.56, Y:-11.43, Z:-4.70 [[ 9.63649687e-01 2.65517910e-01 2.96567054e-02 1.26564651e+02] [-2.65426187e-01 9.64105336e-01 -7.05983683e-03 -1.14250163e+01] [-3.04667010e-02 -1.06845667e-03 9.99535211e-01 -4.70257631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450385723 meters 0.022107392457067762 Centerline is valid? [True, True] Translation: X:126.62, Y:-11.45, Z:-4.70 [[ 9.64884373e-01 2.61116665e-01 2.85698176e-02 1.26622796e+02] [-2.61029340e-01 9.65306843e-01 -6.81043841e-03 -1.14469813e+01] [-2.93569594e-02 -8.86275023e-04 9.99568599e-01 -4.70476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510385723 meters 0.021562791501496027 Centerline is valid? [True, True] Translation: X:126.68, Y:-11.46, Z:-4.71 [[ 9.66235777e-01 2.56089559e-01 2.84000063e-02 1.26680439e+02] [-2.56001043e-01 9.66652786e-01 -6.77177023e-03 -1.14640591e+01] [-2.91871248e-02 -7.27304561e-04 9.99573701e-01 -4.70667465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570385723 meters 0.01867638147109485 Centerline is valid? [True, True] Translation: X:126.74, Y:-11.49, Z:-4.71 [[ 9.69337778e-01 2.43801320e-01 3.07439132e-02 1.26736859e+02] [-2.43691373e-01 9.69825122e-01 -7.33123475e-03 -1.14914866e+01] [-3.16035841e-02 -3.85583625e-04 9.99500408e-01 -4.70632583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63038572299999 meters 0.018279050795545104 Centerline is valid? [True, True] Translation: X:126.79, Y:-11.51, Z:-4.71 [[ 9.70594075e-01 2.38487221e-01 3.27259263e-02 1.26794999e+02] [-2.38359597e-01 9.71145609e-01 -7.80436650e-03 -1.15116107e+01] [-3.36428813e-02 -2.25666719e-04 9.99433893e-01 -4.70551287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69038572299999 meters 0.018852161461912022 Centerline is valid? [True, True] Translation: X:126.85, Y:-11.53, Z:-4.71 [[ 9.72355020e-01 2.31150805e-01 3.30911002e-02 1.26853355e+02] [-2.31015796e-01 9.72917933e-01 -7.89924217e-03 -1.15329229e+01] [-3.40208410e-02 3.63009139e-05 9.99421123e-01 -4.70780223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750385723 meters 0.01807850645638353 Centerline is valid? [True, True] Translation: X:126.91, Y:-11.55, Z:-4.71 [[ 9.73197907e-01 2.27694641e-01 3.22642760e-02 1.26912022e+02] [-2.27564122e-01 9.73732573e-01 -7.71011167e-03 -1.15486578e+01] [-3.31723276e-02 1.61272895e-04 9.99449634e-01 -4.71081981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810385723 meters 0.0182146440136235 Centerline is valid? [True, True] Translation: X:126.97, Y:-11.57, Z:-4.71 [[ 9.73810040e-01 2.24918743e-01 3.32500387e-02 1.26971876e+02] [-2.24778228e-01 9.74377486e-01 -7.95380040e-03 -1.15666871e+01] [-3.41870479e-02 2.71605909e-04 9.99415415e-01 -4.71173160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870385723 meters 0.01851252072765766 Centerline is valid? [True, True] Translation: X:127.03, Y:-11.58, Z:-4.71 [[ 9.74467907e-01 2.21869961e-01 3.44386242e-02 1.27031328e+02] [-2.21716987e-01 9.75076181e-01 -8.24732017e-03 -1.15811759e+01] [-3.54101148e-02 4.01120833e-04 9.99372785e-01 -4.71318181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930385723 meters 0.01882071972440949 Centerline is valid? [True, True] Translation: X:127.09, Y:-11.59, Z:-4.72 [[ 9.74913922e-01 2.19930053e-01 3.42580918e-02 1.27091929e+02] [-2.19777200e-01 9.75515527e-01 -8.21208975e-03 -1.15948439e+01] [-3.52253858e-02 4.76933149e-04 9.99379280e-01 -4.71566566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99038572299999 meters 0.019513952090748514 Centerline is valid? [True, True] Translation: X:127.15, Y:-11.61, Z:-4.72 [[ 9.75928046e-01 2.15704056e-01 3.21902198e-02 1.27151493e+02] [-2.15566552e-01 9.76458602e-01 -7.72398473e-03 -1.16101171e+01] [-3.30985119e-02 5.98918614e-04 9.99451915e-01 -4.71885554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050385723 meters 0.02004124646761598 Centerline is valid? [True, True] Translation: X:127.21, Y:-11.62, Z:-4.72 [[ 9.76747044e-01 2.11830670e-01 3.30602440e-02 1.27212666e+02] [-2.11683129e-01 9.77306089e-01 -7.94105656e-03 -1.16204488e+01] [-3.39921371e-02 7.58107629e-04 9.99421813e-01 -4.72204947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110385723 meters 0.02084522654609301 Centerline is valid? [True, True] Translation: X:127.27, Y:-11.63, Z:-4.72 [[ 9.77364415e-01 2.09156961e-01 3.18145651e-02 1.27273213e+02] [-2.09018861e-01 9.77881737e-01 -7.64354842e-03 -1.16323610e+01] [-3.27095835e-02 8.20688074e-04 9.99464561e-01 -4.72462845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.170385723 meters 0.021640151123324926 Centerline is valid? [True, True] Translation: X:127.33, Y:-11.64, Z:-4.73 [[ 9.77740242e-01 2.07543870e-01 3.08149595e-02 1.27333444e+02] [-2.07413282e-01 9.78225338e-01 -7.41068264e-03 -1.16444313e+01] [-3.16820159e-02 8.54290763e-04 9.99497634e-01 -4.72721948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230385723 meters 0.022113581459692323 Centerline is valid? [True, True] Translation: X:127.39, Y:-11.65, Z:-4.73 [[ 9.77823238e-01 2.07100580e-01 3.11619262e-02 1.27394903e+02] [-2.06966694e-01 9.78319259e-01 -7.49771536e-03 -1.16540169e+01] [-3.20390937e-02 8.81959465e-04 9.99486227e-01 -4.72986786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290385723 meters 0.022657979007694836 Centerline is valid? [True, True] Translation: X:127.46, Y:-11.66, Z:-4.73 [[ 9.77946830e-01 2.06461868e-01 3.15197634e-02 1.27456446e+02] [-2.06324307e-01 9.78454214e-01 -7.59153545e-03 -1.16633259e+01] [-3.24080079e-02 9.20824705e-04 9.99474298e-01 -4.73223555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35038572300002 meters 0.023494523996165417 Centerline is valid? [True, True] Translation: X:127.52, Y:-11.68, Z:-4.73 [[ 9.78199059e-01 2.05349168e-01 3.09567394e-02 1.27516937e+02] [-2.05215691e-01 9.78688317e-01 -7.46317507e-03 -1.16758491e+01] [-3.18295559e-02 9.47662178e-04 9.99492862e-01 -4.73395011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41038572300002 meters 0.021520446710271268 Centerline is valid? [True, True] Translation: X:127.58, Y:-11.68, Z:-4.74 [[ 9.78293484e-01 2.04771896e-01 3.17856970e-02 1.27579234e+02] [-2.04630619e-01 9.78809211e-01 -7.67066240e-03 -1.16805889e+01] [-3.26828691e-02 9.99832200e-04 9.99465272e-01 -4.73649736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47038572300002 meters 0.020886526509506693 Centerline is valid? [True, True] Translation: X:127.64, Y:-11.69, Z:-4.74 [[ 9.78120159e-01 2.05467308e-01 3.26211709e-02 1.27640548e+02] [-2.05318607e-01 9.78663458e-01 -7.88069325e-03 -1.16917744e+01] [-3.35443728e-02 1.01053156e-03 9.99436718e-01 -4.73889476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530385723 meters 0.020821084456004054 Centerline is valid? [True, True] Translation: X:127.70, Y:-11.70, Z:-4.74 [[ 9.77218421e-01 2.09896971e-01 3.14232245e-02 1.27699855e+02] [-2.09761002e-01 9.77723153e-01 -7.59988096e-03 -1.17017748e+01] [-3.23184061e-02 8.35376611e-04 9.99477275e-01 -4.74187107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590385723 meters 0.02044444173522384 Centerline is valid? [True, True] Translation: X:127.76, Y:-11.71, Z:-4.75 [[ 9.75395077e-01 2.18271264e-01 3.10177306e-02 1.27760160e+02] [-2.18142988e-01 9.75887981e-01 -7.50237040e-03 -1.17098306e+01] [-3.19073824e-02 5.51474705e-04 9.99490678e-01 -4.74502881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650385723 meters 0.02005202972551558 Centerline is valid? [True, True] Translation: X:127.82, Y:-11.72, Z:-4.75 [[ 9.73846630e-01 2.25081137e-01 3.10036128e-02 1.27821068e+02] [-2.24956406e-01 9.74339968e-01 -7.49943831e-03 -1.17182891e+01] [-3.18960413e-02 3.28841397e-04 9.99491138e-01 -4.74853100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710385723 meters 0.02021413915136552 Centerline is valid? [True, True] Translation: X:127.88, Y:-11.73, Z:-4.75 [[ 9.70716122e-01 2.38243934e-01 3.08226856e-02 1.27883008e+02] [-2.38127262e-01 9.71205343e-01 -7.45583874e-03 -1.17254157e+01] [-3.17114653e-02 -1.02218871e-04 9.99497060e-01 -4.75212705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770385723 meters 0.01953670051590039 Centerline is valid? [True, True] Translation: X:127.94, Y:-11.74, Z:-4.75 [[ 9.69156436e-01 2.44471972e-01 3.11328945e-02 1.27943005e+02] [-2.44355888e-01 9.69656313e-01 -7.53893313e-03 -1.17399755e+01] [-3.20312655e-02 -3.01100519e-04 9.99486822e-01 -4.75209252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830385723 meters 0.020442733143581134 Centerline is valid? [True, True] Translation: X:128.00, Y:-11.75, Z:-4.76 [[ 9.67107989e-01 2.52466936e-01 3.10255362e-02 1.28003107e+02] [-2.52355498e-01 9.67605362e-01 -7.52098526e-03 -1.17539067e+01] [-3.19192753e-02 -5.55859731e-04 9.99490296e-01 -4.75633860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890385723 meters 0.022951966341117357 Centerline is valid? [True, True] Translation: X:128.06, Y:-11.77, Z:-4.76 [[ 9.65157541e-01 2.59933413e-01 3.00922223e-02 1.28061518e+02] [-2.59831943e-01 9.65626236e-01 -7.30301976e-03 -1.17666452e+01] [-3.09561382e-02 -7.70355984e-04 9.99520447e-01 -4.76084167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.950385723 meters 0.02297238340946092 Centerline is valid? [True, True] Translation: X:128.12, Y:-11.79, Z:-4.76 [[ 9.63943530e-01 2.64405421e-01 3.00440351e-02 1.28119506e+02] [-2.64306480e-01 9.64411188e-01 -7.29013119e-03 -1.17892995e+01] [-3.09023538e-02 -9.13558371e-04 9.99521991e-01 -4.76242928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010385723 meters 0.024173067887745793 Centerline is valid? [True, True] Translation: X:128.18, Y:-11.81, Z:-4.77 [[ 9.63138002e-01 2.67525397e-01 2.82019540e-02 1.28178146e+02] [-2.67439339e-01 9.63550347e-01 -6.85052904e-03 -1.18117124e+01] [-2.90066930e-02 -9.44307072e-04 9.99578771e-01 -4.76510228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07038572300002 meters 0.024966219002867395 Centerline is valid? [True, True] Translation: X:128.24, Y:-11.83, Z:-4.77 [[ 9.62766851e-01 2.69128353e-01 2.54935414e-02 1.28236649e+02] [-2.69058551e-01 9.63103903e-01 -6.19424481e-03 -1.18336927e+01] [-2.62199761e-02 -8.95641745e-04 9.99655796e-01 -4.76959396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13038572300002 meters 0.02478077100953146 Centerline is valid? [True, True] Translation: X:128.29, Y:-11.86, Z:-4.77 [[ 9.62650607e-01 2.69686259e-01 2.39401404e-02 1.28294143e+02] [-2.69624889e-01 9.62947864e-01 -5.81633680e-03 -1.18592225e+01] [-2.46216931e-02 -8.55757542e-04 9.99696474e-01 -4.77308378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19038572300002 meters 0.025056025516847397 Centerline is valid? [True, True] Translation: X:128.35, Y:-11.88, Z:-4.77 [[ 9.62679567e-01 2.69623950e-01 2.34729152e-02 1.28352564e+02] [-2.69564801e-01 9.62965333e-01 -5.70830968e-03 -1.18847169e+01] [-2.41427006e-02 -8.32198625e-04 9.99708176e-01 -4.77462977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25038572300002 meters 0.025415271326227944 Centerline is valid? [True, True] Translation: X:128.41, Y:-11.91, Z:-4.78 [[ 9.62799122e-01 2.69125756e-01 2.42729911e-02 1.28410591e+02] [-2.69062149e-01 9.63104679e-01 -5.91084397e-03 -1.19086656e+01] [-2.49681917e-02 -8.39987764e-04 9.99687893e-01 -4.77558267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310385723 meters 0.024084823991493597 Centerline is valid? [True, True] Translation: X:128.47, Y:-11.93, Z:-4.78 [[ 9.64335395e-01 2.63658988e-01 2.32633417e-02 1.28468402e+02] [-2.63598780e-01 9.64615727e-01 -5.67299731e-03 -1.19318638e+01] [-2.39359220e-02 -6.61516397e-04 9.99713276e-01 -4.77840264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370385723 meters 0.02358176623283299 Centerline is valid? [True, True] Translation: X:128.53, Y:-11.95, Z:-4.78 [[ 9.64689006e-01 2.62420638e-01 2.25949046e-02 1.28528512e+02] [-2.62363539e-01 9.64953383e-01 -5.50837692e-03 -1.19472359e+01] [-2.32485415e-02 -6.14208482e-04 9.99729527e-01 -4.78126496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430385723 meters 0.023847093184042347 Centerline is valid? [True, True] Translation: X:128.59, Y:-11.96, Z:-4.78 [[ 9.64696738e-01 2.62560707e-01 2.05445764e-02 1.28589445e+02] [-2.62513437e-01 9.64915315e-01 -5.01306758e-03 -1.19585193e+01] [-2.11400110e-02 -5.57137416e-04 9.99776370e-01 -4.78360025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490385723 meters 0.024632393414219526 Centerline is valid? [True, True] Translation: X:128.65, Y:-11.97, Z:-4.78 [[ 9.64180472e-01 2.64285747e-01 2.25623913e-02 1.28649894e+02] [-2.64229043e-01 9.64444206e-01 -5.51245573e-03 -1.19702469e+01] [-2.32170311e-02 -6.46636894e-04 9.99730239e-01 -4.78362722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550385723 meters 0.024740204165284746 Centerline is valid? [True, True] Translation: X:128.71, Y:-11.98, Z:-4.78 [[ 9.63759173e-01 2.65682137e-01 2.41092944e-02 1.28710220e+02] [-2.65617676e-01 9.64060414e-01 -5.89643602e-03 -1.19848654e+01] [-2.48093940e-02 -7.21110441e-04 9.99691940e-01 -4.78467732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610385723 meters 0.02520417654355791 Centerline is valid? [True, True] Translation: X:128.77, Y:-12.00, Z:-4.79 [[ 9.62882490e-01 2.68711173e-01 2.55267695e-02 1.28770994e+02] [-2.68639736e-01 9.63220434e-01 -6.25203788e-03 -1.19991896e+01] [-2.62678984e-02 -8.37526827e-04 9.99654588e-01 -4.78542439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.670385723 meters 0.025142974509521375 Centerline is valid? [True, True] Translation: X:128.83, Y:-12.01, Z:-4.79 [[ 9.62978058e-01 2.68297453e-01 2.62628349e-02 1.28831717e+02] [-2.68221670e-01 9.63335744e-01 -6.43277281e-03 -1.20127846e+01] [-2.70258242e-02 -8.49642378e-04 9.99634375e-01 -4.78744682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730385723 meters 0.024324311169697136 Centerline is valid? [True, True] Translation: X:128.89, Y:-12.03, Z:-4.79 [[ 9.63295026e-01 2.67153663e-01 2.62985430e-02 1.28892337e+02] [-2.67077025e-01 9.63653601e-01 -6.44978864e-03 -1.20282215e+01] [-2.70657703e-02 -8.10687313e-04 9.99633326e-01 -4.79055213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790385723 meters 0.024874347682394035 Centerline is valid? [True, True] Translation: X:128.95, Y:-12.04, Z:-4.79 [[ 9.63510908e-01 2.66308728e-01 2.69516607e-02 1.28952257e+02] [-2.66227864e-01 9.63887448e-01 -6.61143032e-03 -1.20395922e+01] [-2.77390491e-02 -8.05097835e-04 9.99614874e-01 -4.79476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85038572300002 meters 0.02522315838371153 Centerline is valid? [True, True] Translation: X:129.01, Y:-12.05, Z:-4.80 [[ 9.63105674e-01 2.67809471e-01 2.65621640e-02 1.29013224e+02] [-2.67731330e-01 9.63471535e-01 -6.52200355e-03 -1.20527145e+01] [-2.73385432e-02 -8.30144868e-04 9.99625887e-01 -4.79778005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91038572300002 meters 0.02624405309964727 Centerline is valid? [True, True] Translation: X:129.07, Y:-12.06, Z:-4.80 [[ 9.62393075e-01 2.70577546e-01 2.42355119e-02 1.29073713e+02] [-2.70513187e-01 9.62697832e-01 -5.95816018e-03 -1.20640876e+01] [-2.49436191e-02 -8.21933441e-04 9.99688522e-01 -4.80393608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97038572300002 meters 0.025883344068620428 Centerline is valid? [True, True] Translation: X:129.13, Y:-12.08, Z:-4.81 [[ 9.62322741e-01 2.70713312e-01 2.54802663e-02 1.29134740e+02] [-2.70642232e-01 9.62659622e-01 -6.26365625e-03 -1.20774128e+01] [-2.62244786e-02 -8.68377286e-04 9.99655702e-01 -4.80683308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030385723 meters 0.025771491698582307 Centerline is valid? [True, True] Translation: X:129.20, Y:-12.09, Z:-4.81 [[ 9.62603128e-01 2.69386218e-01 2.87451638e-02 1.29195506e+02] [-2.69294883e-01 9.63031776e-01 -7.07565620e-03 -1.20928616e+01] [-2.95885904e-02 -9.29876757e-04 9.99561729e-01 -4.80614991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090385723 meters 0.026918305385431388 Centerline is valid? [True, True] Translation: X:129.26, Y:-12.11, Z:-4.81 [[ 9.62389358e-01 2.69915447e-01 3.08605798e-02 1.29256714e+02] [-2.69810372e-01 9.62883495e-01 -7.59863327e-03 -1.21052165e+01] [-3.17661315e-02 -1.01366072e-03 9.99494815e-01 -4.80745017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150385723 meters 0.026736931371352284 Centerline is valid? [True, True] Translation: X:129.32, Y:-12.12, Z:-4.81 [[ 9.61917098e-01 2.71648501e-01 3.03741269e-02 1.29317207e+02] [-2.71547323e-01 9.62395967e-01 -7.48691574e-03 -1.21187887e+01] [-3.12657466e-02 -1.04622059e-03 9.99510559e-01 -4.81169876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210385723 meters 0.027796076595191142 Centerline is valid? [True, True] Translation: X:129.38, Y:-12.13, Z:-4.81 [[ 9.61621009e-01 2.72757932e-01 2.98017608e-02 1.29377060e+02] [-2.72660839e-01 9.62082116e-01 -7.35314457e-03 -1.21326894e+01] [-3.06773696e-02 -1.05483480e-03 9.99528782e-01 -4.81475018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270385723 meters 0.027859342240612997 Centerline is valid? [True, True] Translation: X:129.44, Y:-12.15, Z:-4.82 [[ 9.61536645e-01 2.73045617e-01 2.98893306e-02 1.29438463e+02] [-2.72947893e-01 9.62000502e-01 -7.38119535e-03 -1.21469207e+01] [-3.07689541e-02 -1.06094000e-03 9.99525961e-01 -4.81743241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330385723 meters 0.028889993769061064 Centerline is valid? [True, True] Translation: X:129.50, Y:-12.16, Z:-4.82 [[ 9.61566806e-01 2.72970376e-01 2.96049162e-02 1.29498051e+02] [-2.72874217e-01 9.62021877e-01 -7.31919982e-03 -1.21600913e+01] [-3.04785018e-02 -1.04051874e-03 9.99534881e-01 -4.81993450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390385723 meters 0.02611585784530494 Centerline is valid? [True, True] Translation: X:129.56, Y:-12.18, Z:-4.82 [[ 9.62076313e-01 2.71352550e-01 2.78740319e-02 1.29556431e+02] [-2.71266474e-01 9.62479577e-01 -6.89668648e-03 -1.21826397e+01] [-2.86996199e-02 -9.26151661e-04 9.99587652e-01 -4.82054804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.450385723 meters 0.022965399307405352 Centerline is valid? [True, True] Translation: X:129.61, Y:-12.21, Z:-4.82 [[ 9.63975243e-01 2.64677005e-01 2.64161781e-02 1.29613069e+02] [-2.64596972e-01 9.64336880e-01 -6.54399655e-03 -1.22073257e+01] [-2.72061402e-02 -6.81390072e-04 9.99629612e-01 -4.82256670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510385723 meters 0.02184659248509077 Centerline is valid? [True, True] Translation: X:129.67, Y:-12.23, Z:-4.82 [[ 9.65482977e-01 2.59069662e-01 2.69356929e-02 1.29671284e+02] [-2.58984255e-01 9.65858492e-01 -6.67308179e-03 -1.22278181e+01] [-2.77448608e-02 -5.33173491e-04 9.99614895e-01 -4.82362059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57038572300002 meters 0.020629437898360234 Centerline is valid? [True, True] Translation: X:129.73, Y:-12.25, Z:-4.82 [[ 9.68085288e-01 2.48951763e-01 2.88772245e-02 1.29727955e+02] [-2.48849053e-01 9.68515850e-01 -7.15517812e-03 -1.22545109e+01] [-2.97493438e-02 -2.59247284e-04 9.99557357e-01 -4.82141948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63038572300002 meters 0.02036107322321264 Centerline is valid? [True, True] Translation: X:129.79, Y:-12.27, Z:-4.82 [[ 9.68948165e-01 2.45579609e-01 2.88115990e-02 1.29787564e+02] [-2.45475873e-01 9.69376414e-01 -7.13894220e-03 -1.22721692e+01] [-2.96824632e-02 -1.55287468e-04 9.99559367e-01 -4.82331989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69038572300002 meters 0.019894222312549035 Centerline is valid? [True, True] Translation: X:129.85, Y:-12.29, Z:-4.83 [[ 9.69863664e-01 2.42529687e-01 2.33200580e-02 1.29846307e+02] [-2.42460738e-01 9.70143984e-01 -5.78285517e-03 -1.22896889e+01] [-2.40263280e-02 -4.56173672e-05 9.99711325e-01 -4.83069474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75038572300002 meters 0.019660962538453616 Centerline is valid? [True, True] Translation: X:129.91, Y:-12.30, Z:-4.83 [[ 9.70339783e-01 2.40758315e-01 2.18206089e-02 1.29906557e+02] [-2.40697403e-01 9.70585099e-01 -5.41540009e-03 -1.23049698e+01] [-2.24825605e-02 2.61426075e-06 9.99747235e-01 -4.83405495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810385723 meters 0.019301178511276447 Centerline is valid? [True, True] Translation: X:129.97, Y:-12.32, Z:-4.84 [[ 9.70780079e-01 2.38860829e-01 2.30552032e-02 1.29966457e+02] [-2.38792134e-01 9.71053810e-01 -5.72849008e-03 -1.23180420e+01] [-2.37561548e-02 5.57028686e-05 9.99717781e-01 -4.83648753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870385723 meters 0.018982377554790632 Centerline is valid? [True, True] Translation: X:130.03, Y:-12.33, Z:-4.84 [[ 9.70564494e-01 2.39713821e-01 2.32776233e-02 1.30027844e+02] [-2.39643922e-01 9.70843593e-01 -5.78860978e-03 -1.23321984e+01] [-2.39865412e-02 3.98781651e-05 9.99712281e-01 -4.83529807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930385723 meters 0.018669885441420724 Centerline is valid? [True, True] Translation: X:130.09, Y:-12.34, Z:-4.84 [[ 9.70089738e-01 2.41724548e-01 2.22517913e-02 1.30090261e+02] [-2.41661065e-01 9.70344909e-01 -5.53957980e-03 -1.23432303e+01] [-2.29309648e-02 -3.50205931e-06 9.99737051e-01 -4.83931461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990385723 meters 0.01864091927476402 Centerline is valid? [True, True] Translation: X:130.15, Y:-12.36, Z:-4.84 [[ 9.69658309e-01 2.43309543e-01 2.37324732e-02 1.30151038e+02] [-2.43237609e-01 9.69948692e-01 -5.91610004e-03 -1.23555004e+01] [-2.44587249e-02 -3.60344793e-05 9.99700840e-01 -4.83946783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050385723 meters 0.017971263421759448 Centerline is valid? [True, True] Translation: X:130.21, Y:-12.37, Z:-4.84 [[ 9.69515886e-01 2.43676024e-01 2.57087834e-02 1.30211750e+02] [-2.43591545e-01 9.69856687e-01 -6.41606476e-03 -1.23686601e+01] [-2.64972766e-02 -4.19655426e-05 9.99648885e-01 -4.83817758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110385723 meters 0.017634013913562854 Centerline is valid? [True, True] Translation: X:130.27, Y:-12.38, Z:-4.84 [[ 9.69428157e-01 2.44013770e-01 2.58133553e-02 1.30272861e+02] [-2.43928527e-01 9.69771766e-01 -6.44943595e-03 -1.23792969e+01] [-2.66068143e-02 -4.43489379e-05 9.99645975e-01 -4.84048855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.170385723 meters 0.017385058199628753 Centerline is valid? [True, True] Translation: X:130.33, Y:-12.39, Z:-4.84 [[ 9.69955798e-01 2.42027958e-01 2.46620576e-02 1.30333533e+02] [-2.41949379e-01 9.70269276e-01 -6.16688871e-03 -1.23930086e+01] [-2.54213963e-02 1.46399278e-05 9.99676824e-01 -4.84195320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230385723 meters 0.01711312699366145 Centerline is valid? [True, True] Translation: X:130.39, Y:-12.41, Z:-4.84 [[ 9.70902711e-01 2.38202356e-01 2.46487819e-02 1.30394988e+02] [-2.38122626e-01 9.71215540e-01 -6.16367746e-03 -1.24064502e+01] [-2.54074825e-02 1.14898490e-04 9.99677171e-01 -4.84233754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290385723 meters 0.01747194685206119 Centerline is valid? [True, True] Translation: X:130.45, Y:-12.42, Z:-4.84 [[ 9.71897887e-01 2.34120491e-01 2.45375728e-02 1.30454759e+02] [-2.34039976e-01 9.72207562e-01 -6.14381033e-03 -1.24207103e+01] [-2.52940058e-02 2.28383333e-04 9.99680029e-01 -4.84416627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35038572300002 meters 0.01862601056730751 Centerline is valid? [True, True] Translation: X:130.51, Y:-12.44, Z:-4.84 [[ 9.73586903e-01 2.26782264e-01 2.64262489e-02 1.30514058e+02] [-2.26685982e-01 9.73945376e-01 -6.62349009e-03 -1.24370851e+01] [-2.72398130e-02 4.58083026e-04 9.99628822e-01 -4.84265664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41038572300002 meters 0.02059886059074389 Centerline is valid? [True, True] Translation: X:130.57, Y:-12.45, Z:-4.84 [[ 9.75217309e-01 2.19564875e-01 2.72482280e-02 1.30574258e+02] [-2.19459466e-01 9.75597659e-01 -6.83745543e-03 -1.24497626e+01] [-2.80845725e-02 6.88123316e-04 9.99605314e-01 -4.84386372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47038572300002 meters 0.022425787612177596 Centerline is valid? [True, True] Translation: X:130.63, Y:-12.46, Z:-4.85 [[ 9.76227551e-01 2.15335359e-01 2.47073199e-02 1.30633576e+02] [-2.15247313e-01 9.76539883e-01 -6.20095424e-03 -1.24601655e+01] [-2.54629680e-02 7.35358156e-04 9.99675496e-01 -4.84743114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530385723 meters 0.02262284119372449 Centerline is valid? [True, True] Translation: X:130.70, Y:-12.47, Z:-4.85 [[ 9.76528542e-01 2.13999978e-01 2.44134565e-02 1.30695254e+02] [-2.13913630e-01 9.76833370e-01 -6.12589398e-03 -1.24679981e+01] [-2.51588202e-02 7.59739210e-04 9.99683178e-01 -4.84784320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590385723 meters 0.02271847518538279 Centerline is valid? [True, True] Translation: X:130.76, Y:-12.47, Z:-4.85 [[ 9.76268227e-01 2.15139495e-01 2.48061600e-02 1.30757668e+02] [-2.15050658e-01 9.76583045e-01 -6.22663556e-03 -1.24688131e+01] [-2.55648705e-02 7.44285426e-04 9.99672888e-01 -4.85098934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650385723 meters 0.022256491265233307 Centerline is valid? [True, True] Translation: X:130.82, Y:-12.47, Z:-4.85 [[ 9.75704267e-01 2.17663739e-01 2.49735903e-02 1.30819447e+02] [-2.17574382e-01 9.76023577e-01 -6.27415932e-03 -1.24724236e+01] [-2.57404699e-02 6.88110553e-04 9.99668422e-01 -4.85139622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710385723 meters 0.021669567860240737 Centerline is valid? [True, True] Translation: X:130.88, Y:-12.47, Z:-4.85 [[ 9.75150504e-01 2.20074525e-01 2.54695579e-02 1.30882518e+02] [-2.19982261e-01 9.75482850e-01 -6.40421926e-03 -1.24741081e+01] [-2.62545225e-02 6.42226705e-04 9.99655084e-01 -4.85353747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770385723 meters 0.020535939167242303 Centerline is valid? [True, True] Translation: X:130.95, Y:-12.47, Z:-4.86 [[ 9.74353872e-01 2.23642437e-01 2.48715315e-02 1.30945611e+02] [-2.23555426e-01 9.74671108e-01 -6.26123120e-03 -1.24733632e+01] [-2.56418402e-02 5.40489019e-04 9.99671048e-01 -4.85849164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830385723 meters 0.02081892992988901 Centerline is valid? [True, True] Translation: X:131.01, Y:-12.48, Z:-4.86 [[ 9.74318420e-01 2.23935757e-01 2.35879755e-02 1.31006956e+02] [-2.23857590e-01 9.74603777e-01 -5.93778604e-03 -1.24777199e+01] [-2.43186126e-02 5.04946965e-04 9.99704131e-01 -4.86323007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890385723 meters 0.02253583314283314 Centerline is valid? [True, True] Translation: X:131.07, Y:-12.49, Z:-4.87 [[ 9.75029358e-01 2.20865160e-01 2.31588253e-02 1.31068692e+02] [-2.20788865e-01 9.75304184e-01 -5.83318400e-03 -1.24861859e+01] [-2.38752463e-02 5.74314913e-04 9.99714781e-01 -4.86529960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.950385723 meters 0.02510759368889975 Centerline is valid? [True, True] Translation: X:131.13, Y:-12.50, Z:-4.87 [[ 9.75852451e-01 2.17149063e-01 2.36279045e-02 1.31129224e+02] [-2.17068557e-01 9.76138220e-01 -5.95130525e-03 -1.24964838e+01] [-2.43564210e-02 6.78720684e-04 9.99703108e-01 -4.86702870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010385723 meters 0.025262708025416046 Centerline is valid? [True, True] Translation: X:131.19, Y:-12.50, Z:-4.87 [[ 9.75692808e-01 2.17888601e-01 2.34115824e-02 1.31191645e+02] [-2.17809668e-01 9.75973424e-01 -5.90126562e-03 -1.25026460e+01] [-2.41349007e-02 6.58553455e-04 9.99708494e-01 -4.87040493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07038572300002 meters 0.017755907790407807 Centerline is valid? [True, True] Translation: X:131.26, Y:-12.50, Z:-4.87 [[ 9.74256703e-01 2.23955214e-01 2.58445093e-02 1.31255732e+02] [-2.23860935e-01 9.74599271e-01 -6.52251061e-03 -1.24989918e+01] [-2.66487902e-02 5.69023655e-04 9.99644696e-01 -4.86608794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13038572300002 meters 0.015860661843003134 Centerline is valid? [True, True] Translation: X:131.32, Y:-12.50, Z:-4.87 [[ 9.72897142e-01 2.29791996e-01 2.58222847e-02 1.31318304e+02] [-2.29699929e-01 9.73239678e-01 -6.51702573e-03 -1.25034841e+01] [-2.66288324e-02 4.09018744e-04 9.99645306e-01 -4.86855934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19038572300002 meters 0.01426392219852236 Centerline is valid? [True, True] Translation: X:131.38, Y:-12.50, Z:-4.87 [[ 9.69013772e-01 2.45595715e-01 2.63639042e-02 1.31382043e+02] [-2.45505524e-01 9.69372346e-01 -6.65533680e-03 -1.25016382e+01] [-2.71909618e-02 -2.33710844e-05 9.99630257e-01 -4.87129131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25038572300002 meters 0.015075704276821025 Centerline is valid? [True, True] Translation: X:131.44, Y:-12.51, Z:-4.88 [[ 9.66749166e-01 2.54555859e-01 2.44410582e-02 1.31443475e+02] [-2.54481234e-01 9.67058038e-01 -6.16865640e-03 -1.25092508e+01] [-2.52061895e-02 -2.56247235e-04 9.99682241e-01 -4.87571477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310385723 meters 0.016287858199493212 Centerline is valid? [True, True] Translation: X:131.50, Y:-12.52, Z:-4.88 [[ 9.64965669e-01 2.61391115e-01 2.27143763e-02 1.31504364e+02] [-2.61328386e-01 9.65232888e-01 -5.73998974e-03 -1.25186969e+01] [-2.34250453e-02 -3.97018247e-04 9.99725517e-01 -4.87992913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370385723 meters 0.017772591121007687 Centerline is valid? [True, True] Translation: X:131.56, Y:-12.53, Z:-4.88 [[ 9.63505003e-01 2.66630867e-01 2.37926525e-02 1.31564843e+02] [-2.66563665e-01 9.63798567e-01 -6.01120734e-03 -1.25307444e+01] [-2.45340978e-02 -5.50428312e-04 9.99698842e-01 -4.88294298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430385723 meters 0.019001771818646512 Centerline is valid? [True, True] Translation: X:131.62, Y:-12.55, Z:-4.88 [[ 9.63047916e-01 2.68179264e-01 2.48715593e-02 1.31623510e+02] [-2.68106187e-01 9.63368833e-01 -6.28994354e-03 -1.25498613e+01] [-2.56473175e-02 -6.10701920e-04 9.99670867e-01 -4.88344066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490385723 meters 0.0169885986129849 Centerline is valid? [True, True] Translation: X:131.68, Y:-12.57, Z:-4.88 [[ 9.62972215e-01 2.68460092e-01 2.47727971e-02 1.31682244e+02] [-2.68387562e-01 9.63290613e-01 -6.26984369e-03 -1.25727249e+01] [-2.55466057e-02 -6.11025341e-04 9.99673445e-01 -4.88323921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550385723 meters 0.0174924217965258 Centerline is valid? [True, True] Translation: X:131.74, Y:-12.59, Z:-4.89 [[ 9.63003411e-01 2.68554497e-01 2.24257167e-02 1.31739824e+02] [-2.68494935e-01 9.63264336e-01 -5.68232203e-03 -1.25926656e+01] [-2.31279062e-02 -5.49095856e-04 9.99732363e-01 -4.88831813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610385723 meters 0.01727043852994523 Centerline is valid? [True, True] Translation: X:131.80, Y:-12.62, Z:-4.89 [[ 9.63089953e-01 2.68177951e-01 2.32019438e-02 1.31797828e+02] [-2.68113950e-01 9.63369234e-01 -5.88466433e-03 -1.26182465e+01] [-2.39301760e-02 -5.53303700e-04 9.99713479e-01 -4.88830122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.670385723 meters 0.017972084119138195 Centerline is valid? [True, True] Translation: X:131.86, Y:-12.64, Z:-4.89 [[ 9.62639528e-01 2.69675419e-01 2.45011621e-02 1.31855726e+02] [-2.69604360e-01 9.62951083e-01 -6.22102887e-03 -1.26409604e+01] [-2.52710792e-02 -6.17011835e-04 9.99680445e-01 -4.88849404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730385723 meters 0.018491896798830856 Centerline is valid? [True, True] Translation: X:131.91, Y:-12.66, Z:-4.89 [[ 9.62288798e-01 2.70982125e-01 2.38528246e-02 1.31914427e+02] [-2.70915033e-01 9.62584175e-01 -6.06229390e-03 -1.26629297e+01] [-2.46031248e-02 -6.28411269e-04 9.99697100e-01 -4.89263189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790385723 meters 0.018980191692963628 Centerline is valid? [True, True] Translation: X:131.97, Y:-12.69, Z:-4.90 [[ 9.62398274e-01 2.70700920e-01 2.25958873e-02 1.31972090e+02] [-2.70640517e-01 9.62663322e-01 -5.74793829e-03 -1.26878908e+01] [-2.33082041e-02 -5.83556733e-04 9.99728157e-01 -4.89645785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85038572300002 meters 0.019196626530210356 Centerline is valid? [True, True] Translation: X:132.03, Y:-12.71, Z:-4.90 [[ 9.62122261e-01 2.71902934e-01 1.97370303e-02 1.32030867e+02] [-2.71857013e-01 9.62324536e-01 -5.02509128e-03 -1.27095748e+01] [-2.03597656e-02 -5.30897936e-04 9.99792578e-01 -4.90115421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91038572300002 meters 0.019046518018249397 Centerline is valid? [True, True] Translation: X:132.09, Y:-12.73, Z:-4.90 [[ 9.61396251e-01 2.74403656e-01 2.04910476e-02 1.32088539e+02] [-2.74354613e-01 9.61614409e-01 -5.22241406e-03 -1.27345190e+01] [-2.11375362e-02 -6.01004153e-04 9.99776397e-01 -4.90045655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97038572300002 meters 0.019861289566454415 Centerline is valid? [True, True] Translation: X:132.15, Y:-12.76, Z:-4.90 [[ 9.61057846e-01 2.75437499e-01 2.24053898e-02 1.32146543e+02] [-2.75378995e-01 9.61318744e-01 -5.71678931e-03 -1.27571551e+01] [-2.31133393e-02 -6.75808496e-04 9.99732623e-01 -4.89959398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030385723 meters 0.019269001222339554 Centerline is valid? [True, True] Translation: X:132.20, Y:-12.78, Z:-4.90 [[ 9.61421410e-01 2.74163327e-01 2.24352928e-02 1.32204659e+02] [-2.74104172e-01 9.61682931e-01 -5.73082245e-03 -1.27810079e+01] [-2.31468195e-02 -6.39871952e-04 9.99731872e-01 -4.90254027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090385723 meters 0.018139568235844415 Centerline is valid? [True, True] Translation: X:132.26, Y:-12.81, Z:-4.90 [[ 9.62588185e-01 2.70021022e-01 2.26414170e-02 1.32260933e+02] [-2.69959428e-01 9.62854277e-01 -5.79204291e-03 -1.28093245e+01] [-2.33643586e-02 -5.36911927e-04 9.99726872e-01 -4.90254239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150385723 meters 0.01709207123164659 Centerline is valid? [True, True] Translation: X:132.32, Y:-12.84, Z:-4.90 [[ 9.64031754e-01 2.64802018e-01 2.28619523e-02 1.32317295e+02] [-2.64737729e-01 9.64302712e-01 -5.84932129e-03 -1.28373283e+01] [-2.35947547e-02 -4.13489878e-04 9.99721520e-01 -4.90344845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210385723 meters 0.016498443941866277 Centerline is valid? [True, True] Translation: X:132.37, Y:-12.86, Z:-4.90 [[ 9.65524647e-01 2.59117119e-01 2.49093264e-02 1.32373385e+02] [-2.59038877e-01 9.65845862e-01 -6.37419552e-03 -1.28635389e+01] [-2.57102330e-02 -2.98041054e-04 9.99669393e-01 -4.90351741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270385723 meters 0.016020389100935128 Centerline is valid? [True, True] Translation: X:132.43, Y:-12.89, Z:-4.90 [[ 9.67376457e-01 2.52194937e-01 2.40936464e-02 1.32428790e+02] [-2.52119617e-01 9.67676445e-01 -6.16419413e-03 -1.28919061e+01] [-2.48694326e-02 -1.11384622e-04 9.99690702e-01 -4.90447912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330385723 meters 0.016162655497423965 Centerline is valid? [True, True] Translation: X:132.49, Y:-12.92, Z:-4.90 [[ 9.68735482e-01 2.46892220e-01 2.44089642e-02 1.32486230e+02] [-2.46813092e-01 9.69042946e-01 -6.25035546e-03 -1.29168838e+01] [-2.51964987e-02 3.04891862e-05 9.99682517e-01 -4.90377502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390385723 meters 0.016501618287097928 Centerline is valid? [True, True] Translation: X:132.55, Y:-12.94, Z:-4.91 [[ 9.69339891e-01 2.44492158e-01 2.45715406e-02 1.32545290e+02] [-2.44411049e-01 9.69651264e-01 -6.29797537e-03 -1.29401159e+01] [-2.53656310e-02 9.93227430e-05 9.99678236e-01 -4.90528793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.450385723 meters 0.016674424502251605 Centerline is valid? [True, True] Translation: X:132.61, Y:-12.96, Z:-4.91 [[ 9.69079272e-01 2.45517110e-01 2.46315509e-02 1.32605018e+02] [-2.45435753e-01 9.69392254e-01 -6.32050173e-03 -1.29621175e+01] [-2.54294260e-02 7.96039628e-05 9.99676617e-01 -4.90594061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510385723 meters 0.016760431487312943 Centerline is valid? [True, True] Translation: X:132.67, Y:-12.98, Z:-4.91 [[ 9.68066489e-01 2.49562092e-01 2.37914844e-02 1.32665710e+02] [-2.49487245e-01 9.68358798e-01 -6.11165441e-03 -1.29797714e+01] [-2.45639305e-02 -1.91840862e-05 9.99698261e-01 -4.90846946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57038572300002 meters 0.01786331011664627 Centerline is valid? [True, True] Translation: X:132.72, Y:-12.99, Z:-4.91 [[ 9.64352863e-01 2.63841370e-01 2.02802066e-02 1.32724772e+02] [-2.63789953e-01 9.64566032e-01 -5.21821182e-03 -1.29933068e+01] [-2.09383785e-02 -3.17517237e-04 9.99780718e-01 -4.91402606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63038572300002 meters 0.019145924468505868 Centerline is valid? [True, True] Translation: X:132.78, Y:-13.01, Z:-4.92 [[ 9.62689026e-01 2.69872299e-01 1.99695050e-02 1.32784264e+02] [-2.69823801e-01 9.62896020e-01 -5.13535192e-03 -1.30090107e+01] [-2.06144461e-02 -4.44500819e-04 9.99787401e-01 -4.91712908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69038572300002 meters 0.020406404384818416 Centerline is valid? [True, True] Translation: X:132.84, Y:-13.03, Z:-4.92 [[ 9.61446496e-01 2.74128631e-01 2.17745218e-02 1.32843764e+02] [-2.74071875e-01 9.61692862e-01 -5.60763657e-03 -1.30260171e+01] [-2.24776159e-02 -5.76341485e-04 9.99747180e-01 -4.91990935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75038572300002 meters 0.020867112563497648 Centerline is valid? [True, True] Translation: X:132.90, Y:-13.05, Z:-4.92 [[ 9.60965438e-01 2.75710706e-01 2.30007324e-02 1.32901561e+02] [-2.75647838e-01 9.61240442e-01 -5.92308722e-03 -1.30496183e+01] [-2.37422927e-02 -6.48220041e-04 9.99717902e-01 -4.91963529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810385723 meters 0.02114650597083835 Centerline is valid? [True, True] Translation: X:132.96, Y:-13.07, Z:-4.92 [[ 9.61283964e-01 2.74502877e-01 2.41104076e-02 1.32958859e+02] [-2.74433247e-01 9.61586064e-01 -6.21563977e-03 -1.30718654e+01] [-2.48904429e-02 -6.41702602e-04 9.99689979e-01 -4.92153618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870385723 meters 0.020349167256669416 Centerline is valid? [True, True] Translation: X:133.02, Y:-13.10, Z:-4.92 [[ 9.61371960e-01 2.74123831e-01 2.49013897e-02 1.33016370e+02] [-2.74049282e-01 9.61694186e-01 -6.42532166e-03 -1.30956072e+01] [-2.57088555e-02 -6.47083872e-04 9.99669263e-01 -4.92269453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930385723 meters 0.0192777544353069 Centerline is valid? [True, True] Translation: X:133.07, Y:-13.12, Z:-4.93 [[ 9.63144655e-01 2.67954725e-01 2.35082722e-02 1.33072706e+02] [-2.67886248e-01 9.63431401e-01 -6.07395252e-03 -1.31223650e+01] [-2.42761519e-02 -4.47447947e-04 9.99705191e-01 -4.92550202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990385723 meters 0.018924056678973164 Centerline is valid? [True, True] Translation: X:133.13, Y:-13.14, Z:-4.93 [[ 9.64800636e-01 2.61891311e-01 2.39305915e-02 1.33129999e+02] [-2.61818456e-01 9.65097328e-01 -6.18418328e-03 -1.31419755e+01] [-2.47149338e-02 -2.98966569e-04 9.99694495e-01 -4.93040999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050385723 meters 0.01839134834047834 Centerline is valid? [True, True] Translation: X:133.19, Y:-13.16, Z:-4.93 [[ 9.65198819e-01 2.60553128e-01 2.24345367e-02 1.33190070e+02] [-2.60488808e-01 9.65459479e-01 -5.79449981e-03 -1.31606360e+01] [-2.31694111e-02 -2.51101352e-04 9.99731522e-01 -4.93122643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110385723 meters 0.018815207344077663 Centerline is valid? [True, True] Translation: X:133.25, Y:-13.17, Z:-4.94 [[ 9.65124145e-01 2.60805109e-01 2.27173718e-02 1.33251852e+02] [-2.60739035e-01 9.65391439e-01 -5.87575476e-03 -1.31697510e+01] [-2.34635832e-02 -2.52472822e-04 9.99724660e-01 -4.93675439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.170385723 meters 0.01850192822320431 Centerline is valid? [True, True] Translation: X:133.31, Y:-13.19, Z:-4.94 [[ 9.64967689e-01 2.61243123e-01 2.42773400e-02 1.33311661e+02] [-2.61167696e-01 9.65272995e-01 -6.28336646e-03 -1.31860010e+01] [-2.50757469e-02 -2.77211322e-04 9.99685516e-01 -4.93578289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230385723 meters 0.018541662134719784 Centerline is valid? [True, True] Translation: X:133.37, Y:-13.20, Z:-4.94 [[ 9.64948238e-01 2.61235935e-01 2.51134125e-02 1.33371778e+02] [-2.61155049e-01 9.65274939e-01 -6.50634357e-03 -1.32018055e+01] [-2.59410385e-02 -2.80209716e-04 9.99663435e-01 -4.93811044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290385723 meters 0.01835901460660161 Centerline is valid? [True, True] Translation: X:133.43, Y:-13.22, Z:-4.94 [[ 9.65233909e-01 2.59894388e-01 2.78999535e-02 1.33431623e+02] [-2.59793769e-01 9.65637011e-01 -7.23604509e-03 -1.32199698e+01] [-2.88218352e-02 -2.63757970e-04 9.99584530e-01 -4.93725325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35038572300002 meters 0.018525343764404578 Centerline is valid? [True, True] Translation: X:133.49, Y:-13.23, Z:-4.94 [[ 9.65439632e-01 2.58925614e-01 2.97294914e-02 1.33491243e+02] [-2.58810634e-01 9.65897235e-01 -7.71932963e-03 -1.32336274e+01] [-3.07143657e-02 -2.41761748e-04 9.99528173e-01 -4.93904312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41038572300002 meters 0.018348089335724373 Centerline is valid? [True, True] Translation: X:133.55, Y:-13.25, Z:-4.94 [[ 9.65130074e-01 2.60102131e-01 2.95096852e-02 1.33552188e+02] [-2.59989289e-01 9.65581072e-01 -7.66571866e-03 -1.32489613e+01] [-3.04878632e-02 -2.73786447e-04 9.99535100e-01 -4.94068389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47038572300002 meters 0.018683577627421278 Centerline is valid? [True, True] Translation: X:133.61, Y:-13.26, Z:-4.95 [[ 9.64669966e-01 2.62132412e-01 2.64283034e-02 1.33612689e+02] [-2.62042482e-01 9.65031870e-01 -6.87217828e-03 -1.32608296e+01] [-2.73055757e-02 -2.95954238e-04 9.99627089e-01 -4.94849780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530385723 meters 0.018437766734605916 Centerline is valid? [True, True] Translation: X:133.67, Y:-13.28, Z:-4.95 [[ 9.64939431e-01 2.61005560e-01 2.77126738e-02 1.33672431e+02] [-2.60905996e-01 9.65337260e-01 -7.21359576e-03 -1.32787070e+01] [-2.86348652e-02 -2.69719790e-04 9.99589902e-01 -4.94863392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590385723 meters 0.01829885930146276 Centerline is valid? [True, True] Translation: X:133.73, Y:-13.30, Z:-4.95 [[ 9.66048294e-01 2.56647521e-01 2.97109929e-02 1.33731792e+02] [-2.56530759e-01 9.66505059e-01 -7.74209580e-03 -1.32974632e+01] [-3.07028147e-02 -1.42545117e-04 9.99528547e-01 -4.94864199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650385723 meters 0.01824986701645039 Centerline is valid? [True, True] Translation: X:133.79, Y:-13.31, Z:-4.95 [[ 9.66750766e-01 2.53947029e-01 3.00643046e-02 1.33791325e+02] [-2.53825926e-01 9.67218126e-01 -7.84189063e-03 -1.33144101e+01] [-3.10701652e-02 -4.99461853e-05 9.99517205e-01 -4.95200423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710385723 meters 0.018234693330421558 Centerline is valid? [True, True] Translation: X:133.85, Y:-13.33, Z:-4.96 [[ 9.67228738e-01 2.52212596e-01 2.92809681e-02 1.33852085e+02] [-2.52096715e-01 9.67671848e-01 -7.64460639e-03 -1.33305525e+01] [-3.02624345e-02 1.24471143e-05 9.99541988e-01 -4.95619179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770385723 meters 0.018224307142304122 Centerline is valid? [True, True] Translation: X:133.91, Y:-13.35, Z:-4.96 [[ 9.67282303e-01 2.51781970e-01 3.11574303e-02 1.33911800e+02] [-2.51650212e-01 9.67783983e-01 -8.14449860e-03 -1.33462435e+01] [-3.22042999e-02 3.72554398e-05 9.99481306e-01 -4.95685136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830385723 meters 0.018204450811307688 Centerline is valid? [True, True] Translation: X:133.97, Y:-13.36, Z:-4.96 [[ 9.66560126e-01 2.54365722e-01 3.25515331e-02 1.33973475e+02] [-2.54223083e-01 9.67108100e-01 -8.51741381e-03 -1.33599031e+01] [-3.36473895e-02 -4.27585370e-05 9.99433765e-01 -4.95792407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890385723 meters 0.01822971574856661 Centerline is valid? [True, True] Translation: X:134.03, Y:-13.37, Z:-4.96 [[ 9.65762921e-01 2.57612704e-01 3.06214735e-02 1.34034457e+02] [-2.57487847e-01 9.66248248e-01 -8.02078333e-03 -1.33723120e+01] [-3.16542008e-02 -1.38482146e-04 9.99498871e-01 -4.96319657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.950385723 meters 0.018621949944972665 Centerline is valid? [True, True] Translation: X:134.09, Y:-13.38, Z:-4.97 [[ 9.64392175e-01 2.62952473e-01 2.83501462e-02 1.34094480e+02] [-2.62847561e-01 9.64808746e-01 -7.43258471e-03 -1.33834686e+01] [-2.93068855e-02 -2.83840227e-04 9.99570421e-01 -4.96850825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010385723 meters 0.01858242958550345 Centerline is valid? [True, True] Translation: X:134.16, Y:-13.40, Z:-4.97 [[ 9.63933959e-01 2.64537622e-01 2.91747906e-02 1.34155665e+02] [-2.64427039e-01 9.64375308e-01 -7.65550739e-03 -1.33994496e+01] [-3.01606174e-02 -3.35199948e-04 9.99545009e-01 -4.97024919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07038572300002 meters 0.019152703110787216 Centerline is valid? [True, True] Translation: X:134.22, Y:-13.41, Z:-4.97 [[ 9.62776324e-01 2.68630135e-01 2.99933424e-02 1.34215998e+02] [-2.68514950e-01 9.63243288e-01 -7.87966715e-03 -1.34143341e+01] [-3.10076018e-02 -4.67303882e-04 9.99519039e-01 -4.97093722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13038572300002 meters 0.0199699474964342 Centerline is valid? [True, True] Translation: X:134.28, Y:-13.43, Z:-4.97 [[ 9.61529985e-01 2.72972813e-01 3.07559924e-02 1.34275020e+02] [-2.72853654e-01 9.62021551e-01 -8.08814139e-03 -1.34289322e+01] [-3.17957703e-02 -6.14894466e-04 9.99494198e-01 -4.97234003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19038572300002 meters 0.01954372431400902 Centerline is valid? [True, True] Translation: X:134.33, Y:-13.45, Z:-4.98 [[ 9.62038879e-01 2.71280480e-01 2.98009352e-02 1.34334964e+02] [-2.71167592e-01 9.62500190e-01 -7.84362229e-03 -1.34459614e+01] [-3.08112274e-02 -5.35178215e-04 9.99525078e-01 -4.97636093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25038572300002 meters 0.019324458144245358 Centerline is valid? [True, True] Translation: X:134.39, Y:-13.46, Z:-4.98 [[ 9.61784945e-01 2.72195922e-01 2.96496125e-02 1.34393869e+02] [-2.72084386e-01 9.62241691e-01 -7.81116791e-03 -1.34643070e+01] [-3.06562613e-02 -5.54532897e-04 9.99529833e-01 -4.97728307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310385723 meters 0.019679474062448785 Centerline is valid? [True, True] Translation: X:134.45, Y:-13.48, Z:-4.98 [[ 9.61547082e-01 2.73025532e-01 2.97366321e-02 1.34453062e+02] [-2.72913482e-01 9.62006616e-01 -7.84237021e-03 -1.34788573e+01] [-3.07480041e-02 -5.74719603e-04 9.99527003e-01 -4.98027147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370385723 meters 0.018887736012754903 Centerline is valid? [True, True] Translation: X:134.51, Y:-13.50, Z:-4.98 [[ 9.61847737e-01 2.71937800e-01 2.99793923e-02 1.34512644e+02] [-2.71823272e-01 9.62314678e-01 -7.91003273e-03 -1.34951520e+01] [-3.10006462e-02 -5.40849429e-04 9.99519218e-01 -4.98439461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430385723 meters 0.018746351251120837 Centerline is valid? [True, True] Translation: X:134.57, Y:-13.51, Z:-4.98 [[ 9.62245746e-01 2.70384387e-01 3.12315093e-02 1.34570924e+02] [-2.70258977e-01 9.62752320e-01 -8.24951484e-03 -1.35126233e+01] [-3.22987480e-02 -5.02535193e-04 9.99478133e-01 -4.98390370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490385723 meters 0.018676234618476256 Centerline is valid? [True, True] Translation: X:134.63, Y:-13.53, Z:-4.98 [[ 9.62299748e-01 2.70220023e-01 3.09892674e-02 1.34631815e+02] [-2.70096337e-01 9.62798473e-01 -8.18957570e-03 -1.35298252e+01] [-3.20494066e-02 -4.89260961e-04 9.99486166e-01 -4.98495612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550385723 meters 0.018487190999343477 Centerline is valid? [True, True] Translation: X:134.69, Y:-13.55, Z:-4.99 [[ 9.62110594e-01 2.70996676e-01 3.00667115e-02 1.34692863e+02] [-2.70880358e-01 9.62580158e-01 -7.95434417e-03 -1.35459403e+01] [-3.10972207e-02 -4.91522783e-04 9.99516244e-01 -4.98827751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610385723 meters 0.01856950970314237 Centerline is valid? [True, True] Translation: X:134.75, Y:-13.56, Z:-4.99 [[ 9.61679605e-01 2.72657724e-01 2.88114873e-02 1.34753436e+02] [-2.72551409e-01 9.62110961e-01 -7.63076233e-03 -1.35603414e+01] [-2.98004340e-02 -5.14262953e-04 9.99555736e-01 -4.99264634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.670385723 meters 0.018667565953646922 Centerline is valid? [True, True] Translation: X:134.81, Y:-13.57, Z:-4.99 [[ 9.61604753e-01 2.72867493e-01 2.93194479e-02 1.34813939e+02] [-2.72757259e-01 9.62051484e-01 -7.77301321e-03 -1.35747567e+01] [-3.03278210e-02 -5.22525793e-04 9.99539869e-01 -4.99493280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730385723 meters 0.01876452046834297 Centerline is valid? [True, True] Translation: X:134.87, Y:-13.59, Z:-5.00 [[ 9.61625884e-01 2.72743522e-01 2.97763548e-02 1.34873817e+02] [-2.72629503e-01 9.62086640e-01 -7.90261112e-03 -1.35920741e+01] [-3.08028191e-02 -5.18557414e-04 9.99525346e-01 -4.99520790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790385723 meters 0.01840054639849172 Centerline is valid? [True, True] Translation: X:134.93, Y:-13.61, Z:-5.00 [[ 9.61627772e-01 2.72641320e-01 3.06388496e-02 1.34932850e+02] [-2.72520289e-01 9.62115605e-01 -8.13965664e-03 -1.36103472e+01] [-3.16973221e-02 -5.22388286e-04 9.99497377e-01 -4.99549291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85038572300002 meters 0.018302291022608465 Centerline is valid? [True, True] Translation: X:134.99, Y:-13.63, Z:-5.00 [[ 9.61607224e-01 2.72836549e-01 2.95256474e-02 1.34993547e+02] [-2.72724024e-01 9.62060271e-01 -7.85121364e-03 -1.36256592e+01] [-3.05475504e-02 -5.02569626e-04 9.99533188e-01 -5.00106560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91038572300002 meters 0.018165533195485962 Centerline is valid? [True, True] Translation: X:135.05, Y:-13.64, Z:-5.00 [[ 9.62107696e-01 2.71150466e-01 2.87437827e-02 1.35052680e+02] [-2.71042818e-01 9.62536878e-01 -7.65182103e-03 -1.36446568e+01] [-2.97417457e-02 -4.28919934e-04 9.99557524e-01 -5.00323189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97038572300002 meters 0.017843938079750432 Centerline is valid? [True, True] Translation: X:135.11, Y:-13.66, Z:-5.00 [[ 9.62897546e-01 2.68159353e-01 3.03129807e-02 1.35110649e+02] [-2.68037883e-01 9.63374507e-01 -8.07786041e-03 -1.36645925e+01] [-3.13689066e-02 -3.46875201e-04 9.99507815e-01 -5.00265261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030385723 meters 0.017601520427807497 Centerline is valid? [True, True] Translation: X:135.17, Y:-13.68, Z:-5.00 [[ 9.62878514e-01 2.68145195e-01 3.10341957e-02 1.35171113e+02] [-2.68017636e-01 9.63378448e-01 -8.27725850e-03 -1.36814185e+01] [-3.21171824e-02 -3.47717402e-04 9.99484050e-01 -5.00448625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090385723 meters 0.01758713318574109 Centerline is valid? [True, True] Translation: X:135.23, Y:-13.70, Z:-5.01 [[ 9.62841317e-01 2.68271307e-01 3.10982925e-02 1.35232228e+02] [-2.68142987e-01 9.63343338e-01 -8.30367502e-03 -1.36970387e+01] [-3.21859707e-02 -3.43667649e-04 9.99481838e-01 -5.00785986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150385723 meters 0.01887111018957072 Centerline is valid? [True, True] Translation: X:135.29, Y:-13.71, Z:-5.01 [[ 9.62682058e-01 2.68970266e-01 2.99708256e-02 1.35293448e+02] [-2.68851159e-01 9.63148419e-01 -8.01109357e-03 -1.37127001e+01] [-3.10210992e-02 -3.45555150e-04 9.99518670e-01 -5.01299074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210385723 meters 0.017887230299970414 Centerline is valid? [True, True] Translation: X:135.35, Y:-13.73, Z:-5.01 [[ 9.62096803e-01 2.71148880e-01 2.91208891e-02 1.35354050e+02] [-2.71037170e-01 9.62537339e-01 -7.79258370e-03 -1.37262867e+01] [-3.01428934e-02 -3.95623490e-04 9.99545521e-01 -5.01480743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270385723 meters 0.018284270286753765 Centerline is valid? [True, True] Translation: X:135.42, Y:-13.74, Z:-5.02 [[ 9.61175803e-01 2.74412456e-01 2.89634285e-02 1.35415361e+02] [-2.74303201e-01 9.61611962e-01 -7.75807110e-03 -1.37368055e+01] [-2.99804906e-02 -4.87890933e-04 9.99550365e-01 -5.01891860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330385723 meters 0.018545207816830587 Centerline is valid? [True, True] Translation: X:135.47, Y:-13.75, Z:-5.02 [[ 9.60579121e-01 2.76535806e-01 2.85604842e-02 1.35474778e+02] [-2.76430284e-01 9.61003464e-01 -7.65770446e-03 -1.37510381e+01] [-2.95643538e-02 -5.39151771e-04 9.99562734e-01 -5.02080599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390385723 meters 0.020951257702446838 Centerline is valid? [True, True] Translation: X:135.53, Y:-13.76, Z:-5.02 [[ 9.59957310e-01 2.78720441e-01 2.82290298e-02 1.35534691e+02] [-2.78618060e-01 9.60372098e-01 -7.57700782e-03 -1.37617452e+01] [-2.92222395e-02 -5.91513445e-04 9.99572764e-01 -5.02406318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.450385723 meters 0.019444928797004497 Centerline is valid? [True, True] Translation: X:135.59, Y:-13.78, Z:-5.03 [[ 9.59561803e-01 2.80150671e-01 2.75090340e-02 1.35594739e+02] [-2.80054046e-01 9.59955842e-01 -7.38329838e-03 -1.37786446e+01] [-2.84758939e-02 -6.19285178e-04 9.99594288e-01 -5.02751628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510385723 meters 0.019468700451811247 Centerline is valid? [True, True] Translation: X:135.66, Y:-13.79, Z:-5.03 [[ 9.59507793e-01 2.80299919e-01 2.78702338e-02 1.35655374e+02] [-2.80200598e-01 9.59912269e-01 -7.48732850e-03 -1.37948319e+01] [-2.88516769e-02 -6.25106129e-04 9.99583508e-01 -5.02931759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57038572300002 meters 0.019515340658108265 Centerline is valid? [True, True] Translation: X:135.72, Y:-13.81, Z:-5.03 [[ 9.59730580e-01 2.79411487e-01 2.90935448e-02 1.35715236e+02] [-2.79302572e-01 9.60171256e-01 -7.82506255e-03 -1.38116729e+01] [-3.01211979e-02 -6.15950084e-04 9.99546064e-01 -5.03076712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63038572300002 meters 0.019120638141770775 Centerline is valid? [True, True] Translation: X:135.78, Y:-13.83, Z:-5.03 [[ 9.59701651e-01 2.79343569e-01 3.06579632e-02 1.35775289e+02] [-2.79222335e-01 9.60191003e-01 -8.25385206e-03 -1.38276785e+01] [-3.17431609e-02 -6.39152597e-04 9.99495855e-01 -5.03385159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69038572300002 meters 0.018609316023587525 Centerline is valid? [True, True] Translation: X:135.83, Y:-13.84, Z:-5.04 [[ 9.59716463e-01 2.79208718e-01 3.14134251e-02 1.35834690e+02] [-2.79081096e-01 9.60230222e-01 -8.46539681e-03 -1.38447339e+01] [-3.25277328e-02 -6.42512421e-04 9.99470627e-01 -5.03546136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75038572300002 meters 0.01926165165055317 Centerline is valid? [True, True] Translation: X:135.90, Y:-13.86, Z:-5.04 [[ 9.59060084e-01 2.81544209e-01 3.06041417e-02 1.35895486e+02] [-2.81424016e-01 9.59548006e-01 -8.25520508e-03 -1.38585574e+01] [-3.16903483e-02 -6.95502767e-04 9.99497493e-01 -5.03803136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810385723 meters 0.01949798415281919 Centerline is valid? [True, True] Translation: X:135.96, Y:-13.87, Z:-5.04 [[ 9.58666478e-01 2.83147512e-01 2.80369477e-02 1.35955397e+02] [-2.83047134e-01 9.59076131e-01 -7.56934784e-03 -1.38732572e+01] [-2.90328094e-02 -6.79297665e-04 9.99578228e-01 -5.04341572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870385723 meters 0.0191709148556514 Centerline is valid? [True, True] Translation: X:136.02, Y:-13.89, Z:-5.05 [[ 9.58688859e-01 2.83091160e-01 2.78400142e-02 1.36015686e+02] [-2.82991960e-01 9.59092775e-01 -7.52324792e-03 -1.38894641e+01] [-2.88309215e-02 -6.66046218e-04 9.99584081e-01 -5.04741171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930385723 meters 0.018810721414665856 Centerline is valid? [True, True] Translation: X:136.07, Y:-13.91, Z:-5.04 [[ 9.60112471e-01 2.77723890e-01 3.24574249e-02 1.36072738e+02] [-2.77585562e-01 9.60660767e-01 -8.78335635e-03 -1.39126834e+01] [-3.36199226e-02 -5.76702549e-04 9.99434524e-01 -5.04418732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990385723 meters 0.01840764973121538 Centerline is valid? [True, True] Translation: X:136.13, Y:-13.93, Z:-5.05 [[ 9.60798390e-01 2.75121692e-01 3.42711140e-02 1.36131884e+02] [-2.74965769e-01 9.61409274e-01 -9.27539173e-03 -1.39304569e+01] [-3.55004283e-02 -5.11601792e-04 9.99369530e-01 -5.04532293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050385723 meters 0.018295048683801326 Centerline is valid? [True, True] Translation: X:136.19, Y:-13.95, Z:-5.05 [[ 9.61563046e-01 2.72536220e-01 3.34741336e-02 1.36190602e+02] [-2.72385607e-01 9.62145441e-01 -9.06814149e-03 -1.39463407e+01] [-3.46783820e-02 -3.98282417e-04 9.99398445e-01 -5.05044852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110385723 meters 0.01834129570423946 Centerline is valid? [True, True] Translation: X:136.25, Y:-13.96, Z:-5.05 [[ 9.62000468e-01 2.71145581e-01 3.21741031e-02 1.36250204e+02] [-2.71005423e-01 9.62538294e-01 -8.72319471e-03 -1.39645596e+01] [-3.33340620e-02 -3.27639034e-04 9.99444212e-01 -5.05420271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.170385723 meters 0.01805617235178644 Centerline is valid? [True, True] Translation: X:136.31, Y:-13.99, Z:-5.05 [[ 9.63012371e-01 2.67482087e-01 3.25654117e-02 1.36309326e+02] [-2.67336113e-01 9.63562813e-01 -8.83784739e-03 -1.39858126e+01] [-3.37427856e-02 -1.94954205e-04 9.99430531e-01 -5.05493742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230385723 meters 0.01787446674939104 Centerline is valid? [True, True] Translation: X:136.37, Y:-14.00, Z:-5.05 [[ 9.64307917e-01 2.62343905e-01 3.58596791e-02 1.36368448e+02] [-2.62163194e-01 9.64974443e-01 -9.73572087e-03 -1.40047429e+01] [-3.71577809e-02 -1.28553101e-05 9.99309411e-01 -5.05458492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290385723 meters 0.019191431785656587 Centerline is valid? [True, True] Translation: X:136.43, Y:-14.02, Z:-5.06 [[ 9.65532503e-01 2.57420934e-01 3.84895938e-02 1.36427591e+02] [-2.57208391e-01 9.66299344e-01 -1.04604352e-02 -1.40228928e+01] [-3.98852042e-02 2.00043693e-04 9.99204249e-01 -5.05730877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35038572300002 meters 0.01903499955056249 Centerline is valid? [True, True] Translation: X:136.49, Y:-14.04, Z:-5.06 [[ 9.66495163e-01 2.53882128e-01 3.78280890e-02 1.36487138e+02] [-2.53673738e-01 9.67235102e-01 -1.02903718e-02 -1.40410556e+01] [-3.92011970e-02 3.49601805e-04 9.99231276e-01 -5.06036537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41038572300002 meters 0.01867889917315566 Centerline is valid? [True, True] Translation: X:136.55, Y:-14.06, Z:-5.06 [[ 9.67065629e-01 2.51687066e-01 3.79168759e-02 1.36546785e+02] [-2.51475626e-01 9.67808565e-01 -1.03242697e-02 -1.40559513e+01] [-3.92947624e-02 4.49076328e-04 9.99227562e-01 -5.06325273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47038572300002 meters 0.01893729814117691 Centerline is valid? [True, True] Translation: X:136.61, Y:-14.07, Z:-5.07 [[ 9.67358487e-01 2.50555454e-01 3.79410345e-02 1.36606565e+02] [-2.50342533e-01 9.68102118e-01 -1.03395068e-02 -1.40688169e+01] [-3.93214157e-02 5.03754980e-04 9.99226487e-01 -5.06720118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530385723 meters 0.018971981412405473 Centerline is valid? [True, True] Translation: X:136.67, Y:-14.08, Z:-5.07 [[ 9.67385323e-01 2.50829032e-01 3.53614700e-02 1.36667657e+02] [-2.50644104e-01 9.68031292e-01 -9.64112497e-03 -1.40819828e+01] [-3.66492835e-02 4.63538846e-04 9.99328082e-01 -5.07250939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590385723 meters 0.018775482402064395 Centerline is valid? [True, True] Translation: X:136.73, Y:-14.10, Z:-5.08 [[ 9.67549152e-01 2.50518517e-01 3.30016840e-02 1.36728814e+02] [-2.50356977e-01 9.68111703e-01 -9.00640025e-03 -1.40961867e+01] [-3.42055866e-02 4.51933059e-04 9.99414716e-01 -5.07668296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650385723 meters 0.018898780148530237 Centerline is valid? [True, True] Translation: X:136.79, Y:-14.11, Z:-5.08 [[ 9.67648158e-01 2.50011389e-01 3.39315068e-02 1.36790395e+02] [-2.49839945e-01 9.68242770e-01 -9.27036907e-03 -1.41109031e+01] [-3.51716340e-02 4.93009780e-04 9.99381165e-01 -5.07917436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710385723 meters 0.01865110459335055 Centerline is valid? [True, True] Translation: X:136.85, Y:-14.13, Z:-5.08 [[ 9.67502282e-01 2.50398504e-01 3.52125461e-02 1.36851127e+02] [-2.50213735e-01 9.68142723e-01 -9.63092512e-03 -1.41259668e+01] [-3.65023395e-02 5.07279336e-04 9.99333439e-01 -5.07995870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770385723 meters 0.018320875019962813 Centerline is valid? [True, True] Translation: X:136.91, Y:-14.14, Z:-5.08 [[ 9.66191567e-01 2.55263782e-01 3.62526816e-02 1.36910512e+02] [-2.55070934e-01 9.66871389e-01 -9.92649746e-03 -1.41402976e+01] [-3.75855559e-02 3.43892777e-04 9.99293354e-01 -5.08073764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830385723 meters 0.019740856976372182 Centerline is valid? [True, True] Translation: X:136.97, Y:-14.15, Z:-5.09 [[ 9.63856850e-01 2.64055361e-01 3.54222831e-02 1.36971060e+02] [-2.63876865e-01 9.64507525e-01 -9.70741244e-03 -1.41494779e+01] [-3.67283529e-02 9.43494732e-06 9.99325286e-01 -5.08632679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890385723 meters 0.01806215400673592 Centerline is valid? [True, True] Translation: X:137.03, Y:-14.16, Z:-5.08 [[ 9.61961689e-01 2.70802738e-01 3.59942511e-02 1.37032071e+02] [-2.70622834e-01 9.62634831e-01 -9.87238901e-03 -1.41620502e+01] [-3.73227898e-02 -2.44006236e-04 9.99303232e-01 -5.08385091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.950385723 meters 0.018428142461277018 Centerline is valid? [True, True] Translation: X:137.09, Y:-14.18, Z:-5.09 [[ 9.60473386e-01 2.76109134e-01 3.54206255e-02 1.37092319e+02] [-2.75938221e-01 9.61126192e-01 -9.72324976e-03 -1.41766481e+01] [-3.67283689e-02 -4.34981752e-04 9.99325191e-01 -5.08525731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010385723 meters 0.018606724014447 Centerline is valid? [True, True] Translation: X:137.15, Y:-14.19, Z:-5.09 [[ 9.59962970e-01 2.77879203e-01 3.54153227e-02 1.37152492e+02] [-2.77709214e-01 9.60615898e-01 -9.73078155e-03 -1.41914308e+01] [-3.67245038e-02 -4.93971460e-04 9.99325306e-01 -5.08812768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07038572300002 meters 0.019400800469328582 Centerline is valid? [True, True] Translation: X:137.21, Y:-14.20, Z:-5.09 [[ 9.58921024e-01 2.81685806e-01 3.35198005e-02 1.37213037e+02] [-2.81535574e-01 9.59506514e-01 -9.21797537e-03 -1.42049421e+01] [-3.47590397e-02 -5.97705905e-04 9.99395543e-01 -5.09265186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13038572300002 meters 0.019185646504713286 Centerline is valid? [True, True] Translation: X:137.27, Y:-14.22, Z:-5.10 [[ 9.59085152e-01 2.81450516e-01 3.06802494e-02 1.37272446e+02] [-2.81324328e-01 9.59575596e-01 -8.44388116e-03 -1.42240636e+01] [-3.18165533e-02 -5.32699477e-04 9.99493583e-01 -5.09708157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19038572300002 meters 0.01892554709008302 Centerline is valid? [True, True] Translation: X:137.33, Y:-14.25, Z:-5.10 [[ 9.59738716e-01 2.79233012e-01 3.05044595e-02 1.37331331e+02] [-2.79106863e-01 9.60223268e-01 -8.40443071e-03 -1.42454297e+01] [-3.16378863e-02 -4.47946466e-04 9.99499296e-01 -5.09739357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25038572300002 meters 0.018455454213508922 Centerline is valid? [True, True] Translation: X:137.39, Y:-14.27, Z:-5.10 [[ 9.60287000e-01 2.77231268e-01 3.14912964e-02 1.37389872e+02] [-2.77095480e-01 9.60803141e-01 -8.68448751e-03 -1.42666821e+01] [-3.26645480e-02 -3.86495429e-04 9.99466297e-01 -5.09767073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310385723 meters 0.018550074357766226 Centerline is valid? [True, True] Translation: X:137.45, Y:-14.28, Z:-5.10 [[ 9.60636480e-01 2.76036229e-01 3.13297571e-02 1.37448023e+02] [-2.75900932e-01 9.61147172e-01 -8.64805726e-03 -1.42842988e+01] [-3.24996846e-02 -3.36269881e-04 9.99471689e-01 -5.09999603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370385723 meters 0.01848343847841599 Centerline is valid? [True, True] Translation: X:137.51, Y:-14.30, Z:-5.11 [[ 9.61243722e-01 2.74227149e-01 2.84601266e-02 1.37507426e+02] [-2.74114525e-01 9.61664916e-01 -7.86230514e-03 -1.43027408e+01] [-2.95251628e-02 -2.43742615e-04 9.99564008e-01 -5.10521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430385723 meters 0.018073791958393745 Centerline is valid? [True, True] Translation: X:137.57, Y:-14.32, Z:-5.11 [[ 9.61396064e-01 2.73950551e-01 2.58592852e-02 1.37566017e+02] [-2.73857382e-01 9.61743755e-01 -7.14725491e-03 -1.43218061e+01] [-2.68280005e-02 -2.10413409e-04 9.99640042e-01 -5.10639751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490385723 meters 0.018241414396212376 Centerline is valid? [True, True] Translation: X:137.63, Y:-14.34, Z:-5.11 [[ 9.61394619e-01 2.74057243e-01 2.47591321e-02 1.37626399e+02] [-2.73971732e-01 9.61713360e-01 -6.84854153e-03 -1.43365364e+01] [-2.56880806e-02 -1.99151329e-04 9.99669987e-01 -5.10858203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550385723 meters 0.01823192376895219 Centerline is valid? [True, True] Translation: X:137.69, Y:-14.35, Z:-5.11 [[ 9.61351078e-01 2.74134869e-01 2.55769000e-02 1.37686603e+02] [-2.74043443e-01 9.61691236e-01 -7.08222958e-03 -1.43505532e+01] [-2.65385666e-02 -2.00672672e-04 9.99647770e-01 -5.10959401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610385723 meters 0.01836394698890485 Centerline is valid? [True, True] Translation: X:137.75, Y:-14.37, Z:-5.11 [[ 9.61586977e-01 2.73292921e-01 2.57189778e-02 1.37746047e+02] [-2.73199995e-01 9.61930845e-01 -7.12832560e-03 -1.43670358e+01] [-2.66879989e-02 -1.71919521e-04 9.99643797e-01 -5.10911025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670385723 meters 0.01826766047627197 Centerline is valid? [True, True] Translation: X:137.81, Y:-14.38, Z:-5.11 [[ 9.61897732e-01 2.72257138e-01 2.50759710e-02 1.37806866e+02] [-2.72168293e-01 9.62224523e-01 -6.95611373e-03 -1.43831811e+01] [-2.60225658e-02 -1.33814192e-04 9.99661347e-01 -5.11064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730385723 meters 0.018253737397019656 Centerline is valid? [True, True] Translation: X:137.87, Y:-14.40, Z:-5.11 [[ 9.61876622e-01 2.72416053e-01 2.41424617e-02 1.37868532e+02] [-2.72333582e-01 9.62179546e-01 -6.70389325e-03 -1.43966328e+01] [-2.50556310e-02 -1.26484876e-04 9.99686050e-01 -5.11404578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790385723 meters 0.018238025255682567 Centerline is valid? [True, True] Translation: X:137.93, Y:-14.41, Z:-5.12 [[ 9.61746397e-01 2.73011715e-01 2.25493048e-02 1.37928443e+02] [-2.72939783e-01 9.62010700e-01 -6.26795511e-03 -1.44113397e+01] [-2.34038977e-02 -1.26419115e-04 9.99726083e-01 -5.11694272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85038572300002 meters 0.018477651709518247 Centerline is valid? [True, True] Translation: X:137.99, Y:-14.42, Z:-5.12 [[ 9.60844743e-01 2.76230611e-01 2.17722040e-02 1.37989558e+02] [-2.76164258e-01 9.61091365e-01 -6.05726190e-03 -1.44227937e+01] [-2.25982784e-02 -1.92616314e-04 9.99744608e-01 -5.11934199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91038572300002 meters 0.018769441104104594 Centerline is valid? [True, True] Translation: X:138.05, Y:-14.43, Z:-5.12 [[ 9.59650433e-01 2.80314986e-01 2.22385944e-02 1.38050341e+02] [-2.80246719e-01 9.59908029e-01 -6.19285392e-03 -1.44345438e+01] [-2.30829551e-02 -2.89318165e-04 9.99733511e-01 -5.12059507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97038572300002 meters 0.02025879589869238 Centerline is valid? [True, True] Translation: X:138.11, Y:-14.44, Z:-5.12 [[ 9.57637301e-01 2.87012301e-01 2.35528892e-02 1.38112211e+02] [-2.86937583e-01 9.57926781e-01 -6.56554381e-03 -1.44408363e+01] [-2.44463351e-02 -4.70799428e-04 9.99701033e-01 -5.12235483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030385723 meters 0.021394004220736056 Centerline is valid? [True, True] Translation: X:138.17, Y:-14.45, Z:-5.12 [[ 9.55850761e-01 2.92856874e-01 2.41696946e-02 1.38173176e+02] [-2.92779863e-01 9.56156083e-01 -6.74510220e-03 -1.44482407e+01] [-2.50853501e-02 -6.29088799e-04 9.99685115e-01 -5.12455655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090385723 meters 0.022252422264200915 Centerline is valid? [True, True] Translation: X:138.23, Y:-14.46, Z:-5.13 [[ 9.54254417e-01 2.97972440e-01 2.47170427e-02 1.38234129e+02] [-2.97893569e-01 9.54574155e-01 -6.89954255e-03 -1.44585676e+01] [-2.56501237e-02 -7.79129108e-04 9.99670678e-01 -5.12600130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150385723 meters 0.02505471494974734 Centerline is valid? [True, True] Translation: X:138.30, Y:-14.47, Z:-5.13 [[ 9.53206632e-01 3.01267250e-01 2.52023836e-02 1.38295597e+02] [-3.01186425e-01 9.53539333e-01 -7.03406401e-03 -1.44657199e+01] [-2.61505972e-02 -8.85699357e-04 9.99657622e-01 -5.12861664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210385723 meters 0.026051239625324903 Centerline is valid? [True, True] Translation: X:138.36, Y:-14.47, Z:-5.13 [[ 9.52457808e-01 3.03828797e-01 2.26315417e-02 1.38356124e+02] [-3.03764174e-01 9.52726265e-01 -6.32373804e-03 -1.44748793e+01] [-2.34829979e-02 -8.51557898e-04 9.99723874e-01 -5.13360692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270385723 meters 0.026668112559988452 Centerline is valid? [True, True] Translation: X:138.42, Y:-14.49, Z:-5.14 [[ 9.52718645e-01 3.03204081e-01 1.98612318e-02 1.38417286e+02] [-3.03154245e-01 9.52925360e-01 -5.54634163e-03 -1.44861360e+01] [-2.06079448e-02 -7.36913630e-04 9.99787362e-01 -5.13996597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330385723 meters 0.021246164232202453 Centerline is valid? [True, True] Translation: X:138.47, Y:-14.51, Z:-5.14 [[ 9.54094978e-01 2.98722168e-01 2.16295741e-02 1.38474626e+02] [-2.98661696e-01 9.54339873e-01 -6.04967031e-03 -1.45080223e+01] [-2.24491357e-02 -6.87965236e-04 9.99747750e-01 -5.13789926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390385723 meters 0.020278628918947866 Centerline is valid? [True, True] Translation: X:138.53, Y:-14.52, Z:-5.14 [[ 9.56050680e-01 2.92232530e-01 2.38169043e-02 1.38533077e+02] [-2.92157173e-01 9.56347113e-01 -6.66217368e-03 -1.45222914e+01] [-2.47241315e-02 -5.88903744e-04 9.99694138e-01 -5.13791996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.450385723 meters 0.018758701036076516 Centerline is valid? [True, True] Translation: X:138.59, Y:-14.54, Z:-5.14 [[ 9.58068909e-01 2.85561805e-01 2.36309273e-02 1.38592395e+02] [-2.85485599e-01 9.58360206e-01 -6.60972417e-03 -1.45402839e+01] [-2.45344251e-02 -4.13718196e-04 9.99698900e-01 -5.13896486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510385723 meters 0.0176257134392417 Centerline is valid? [True, True] Translation: X:138.65, Y:-14.56, Z:-5.14 [[ 9.60118090e-01 2.78495078e-01 2.47738825e-02 1.38652003e+02] [-2.78408909e-01 9.60437626e-01 -6.93155748e-03 -1.45559373e+01] [-2.57241736e-02 -2.42155878e-04 9.99669049e-01 -5.14152623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57038572300002 meters 0.017328539588241446 Centerline is valid? [True, True] Translation: X:138.71, Y:-14.57, Z:-5.14 [[ 9.61299796e-01 2.74479607e-01 2.37412702e-02 1.38710918e+02] [-2.74399221e-01 9.61592912e-01 -6.64368530e-03 -1.45715006e+01] [-2.46529933e-02 -1.28012722e-04 9.99696061e-01 -5.14450719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63038572300002 meters 0.01739452091741041 Centerline is valid? [True, True] Translation: X:138.77, Y:-14.59, Z:-5.15 [[ 9.63559861e-01 2.66453964e-01 2.35516176e-02 1.38771701e+02] [-2.66372411e-01 9.63847643e-01 -6.59241406e-03 -1.45887076e+01] [-2.44567459e-02 7.86844298e-05 9.99700886e-01 -5.14564148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69038572300002 meters 0.01777873136904591 Centerline is valid? [True, True] Translation: X:138.83, Y:-14.60, Z:-5.15 [[ 9.64764305e-01 2.62117098e-01 2.29011569e-02 1.38831287e+02] [-2.62038572e-01 9.65036056e-01 -6.41843988e-03 -1.46041742e+01] [-2.37828249e-02 1.91295241e-04 9.99717130e-01 -5.14886215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750385723 meters 0.019201489399217432 Centerline is valid? [True, True] Translation: X:138.89, Y:-14.62, Z:-5.15 [[ 9.66762354e-01 2.54579627e-01 2.36593546e-02 1.38888987e+02] [-2.54493446e-01 9.67051735e-01 -6.63533005e-03 -1.46223359e+01] [-2.45690397e-02 3.93636620e-04 9.99698058e-01 -5.15172348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810385723 meters 0.02032968454895571 Centerline is valid? [True, True] Translation: X:138.95, Y:-14.64, Z:-5.15 [[ 9.67938303e-01 2.49845174e-01 2.59389897e-02 1.38948453e+02] [-2.49739873e-01 9.68285635e-01 -7.27492907e-03 -1.46387099e+01] [-2.69339570e-02 5.63682499e-04 9.99637056e-01 -5.15126007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870385723 meters 0.0205773385569065 Centerline is valid? [True, True] Translation: X:139.01, Y:-14.65, Z:-5.15 [[ 9.67898925e-01 2.49859725e-01 2.72357989e-02 1.39009786e+02] [-2.49743566e-01 9.68281863e-01 -7.64105125e-03 -1.46531450e+01] [-2.82811211e-02 5.93799742e-04 9.99599833e-01 -5.15332960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930385723 meters 0.020185256657326126 Centerline is valid? [True, True] Translation: X:139.07, Y:-14.67, Z:-5.16 [[ 9.67393840e-01 2.51793133e-01 2.73747601e-02 1.39071000e+02] [-2.51676338e-01 9.67780925e-01 -7.68781391e-03 -1.46661202e+01] [-2.84285094e-02 5.47564446e-04 9.99595678e-01 -5.15574693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990385723 meters 0.017805869627422952 Centerline is valid? [True, True] Translation: X:139.13, Y:-14.67, Z:-5.16 [[ 9.64802185e-01 2.61436005e-01 2.84246332e-02 1.39131996e+02] [-2.61313997e-01 9.65220770e-01 -7.99121259e-03 -1.46699091e+01] [-2.95252370e-02 2.82184867e-04 9.99563995e-01 -5.15803647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050385723 meters 0.017031766631400134 Centerline is valid? [True, True] Translation: X:139.19, Y:-14.68, Z:-5.16 [[ 9.63089965e-01 2.67781334e-01 2.74021309e-02 1.39193805e+02] [-2.67670566e-01 9.63479709e-01 -7.70178287e-03 -1.46797472e+01] [-2.84637908e-02 8.27658942e-05 9.99594821e-01 -5.16197564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110385723 meters 0.01718555842192336 Centerline is valid? [True, True] Translation: X:139.26, Y:-14.69, Z:-5.17 [[ 9.60540983e-01 2.76949614e-01 2.56891288e-02 1.39255031e+02] [-2.76855386e-01 9.60884427e-01 -7.22587629e-03 -1.46872081e+01] [-2.66854874e-02 -1.71423354e-04 9.99643864e-01 -5.16683726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170385723 meters 0.01901332749350901 Centerline is valid? [True, True] Translation: X:139.32, Y:-14.70, Z:-5.17 [[ 9.58301252e-01 2.84541228e-01 2.63628464e-02 1.39316031e+02] [-2.84444699e-01 9.58663726e-01 -7.42113922e-03 -1.46955894e+01] [-2.73847246e-02 -3.87084914e-04 9.99624893e-01 -5.16917400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230385723 meters 0.018323548710050215 Centerline is valid? [True, True] Translation: X:139.37, Y:-14.72, Z:-5.17 [[ 9.56482346e-01 2.90513291e-01 2.72680929e-02 1.39374692e+02] [-2.90412245e-01 9.56870787e-01 -7.68282881e-03 -1.47161374e+01] [-2.83240054e-02 -5.70497938e-04 9.99598632e-01 -5.16768037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290385723 meters 0.01965922842395203 Centerline is valid? [True, True] Translation: X:139.43, Y:-14.73, Z:-5.17 [[ 9.54841767e-01 2.95834935e-01 2.75479773e-02 1.39432919e+02] [-2.95733947e-01 9.55238794e-01 -7.76396189e-03 -1.47316396e+01] [-2.86117477e-02 -7.33516964e-04 9.99590331e-01 -5.16890392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35038572300002 meters 0.021052547957542397 Centerline is valid? [True, True] Translation: X:139.49, Y:-14.75, Z:-5.17 [[ 9.53155409e-01 3.01333544e-01 2.63222709e-02 1.39492245e+02] [-3.01243391e-01 9.53518412e-01 -7.42011937e-03 -1.47464246e+01] [-2.73347008e-02 -8.56883226e-04 9.99625970e-01 -5.17343538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41038572300002 meters 0.024958432660819173 Centerline is valid? [True, True] Translation: X:139.55, Y:-14.76, Z:-5.18 [[ 9.51846186e-01 3.05453098e-01 2.62153217e-02 1.39550486e+02] [-3.05365219e-01 9.52206628e-01 -7.39051951e-03 -1.47603235e+01] [-2.72198602e-02 -9.70609661e-04 9.99629000e-01 -5.17586175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47038572300002 meters 0.02607350942360097 Centerline is valid? [True, True] Translation: X:139.61, Y:-14.78, Z:-5.18 [[ 9.51540837e-01 3.06492181e-01 2.51511126e-02 1.39607705e+02] [-3.06411587e-01 9.51872695e-01 -7.09310197e-03 -1.47806799e+01] [-2.61146376e-02 -9.57216144e-04 9.99658496e-01 -5.17863276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530385723 meters 0.022537055047957878 Centerline is valid? [True, True] Translation: X:139.66, Y:-14.81, Z:-5.18 [[ 9.51920482e-01 3.05429865e-01 2.36641827e-02 1.39664738e+02] [-3.05358235e-01 9.52214174e-01 -6.67202933e-03 -1.48071754e+01] [-2.45712072e-02 -8.74811680e-04 9.99697700e-01 -5.18084847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590385723 meters 0.022179193353055956 Centerline is valid? [True, True] Translation: X:139.72, Y:-14.83, Z:-5.18 [[ 9.52101584e-01 3.04922546e-01 2.29088240e-02 1.39723251e+02] [-3.04855135e-01 9.52376792e-01 -6.46472542e-03 -1.48287330e+01] [-2.37890728e-02 -8.28797314e-04 9.99716656e-01 -5.18387834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650385723 meters 0.02210299774747138 Centerline is valid? [True, True] Translation: X:139.78, Y:-14.85, Z:-5.19 [[ 9.52495760e-01 3.03681788e-01 2.30043294e-02 1.39781879e+02] [-3.03613308e-01 9.52773183e-01 -6.49774105e-03 -1.48503535e+01] [-2.38911537e-02 -7.95349737e-04 9.99714249e-01 -5.18516661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710385723 meters 0.02189086284711638 Centerline is valid? [True, True] Translation: X:139.84, Y:-14.88, Z:-5.19 [[ 9.53804909e-01 2.99629731e-01 2.18682223e-02 1.39837988e+02] [-2.99566600e-01 9.54055344e-01 -6.18489678e-03 -1.48751890e+01] [-2.27166734e-02 -6.51804096e-04 9.99741731e-01 -5.18821514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770385723 meters 0.021235561344326075 Centerline is valid? [True, True] Translation: X:139.90, Y:-14.90, Z:-5.19 [[ 9.53945083e-01 2.99120054e-01 2.27149944e-02 1.39897194e+02] [-2.99051789e-01 9.54215255e-01 -6.42462050e-03 -1.48958633e+01] [-2.35967270e-02 -6.64224572e-04 9.99721338e-01 -5.19019832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830385723 meters 0.0199277028239694 Centerline is valid? [True, True] Translation: X:139.95, Y:-14.92, Z:-5.19 [[ 9.54038895e-01 2.98662095e-01 2.47131526e-02 1.39954138e+02] [-2.98581073e-01 9.54358660e-01 -6.99224296e-03 -1.49247985e+01] [-2.56735291e-02 -7.08007854e-04 9.99670130e-01 -5.18829662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890385723 meters 0.02179682488906443 Centerline is valid? [True, True] Translation: X:140.01, Y:-14.94, Z:-5.19 [[ 9.54151600e-01 2.98337671e-01 2.42767230e-02 1.40011976e+02] [-2.98259362e-01 9.54460142e-01 -6.86947454e-03 -1.49430581e+01] [-2.52205875e-02 -6.86239783e-04 9.99681675e-01 -5.19104804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.950385723 meters 0.02192244854760815 Centerline is valid? [True, True] Translation: X:140.07, Y:-14.96, Z:-5.19 [[ 9.53827026e-01 2.99333014e-01 2.47740103e-02 1.40070779e+02] [-2.99251641e-01 9.54148430e-01 -7.01632918e-03 -1.49627154e+01] [-2.57383020e-02 -7.21298841e-04 9.99668455e-01 -5.19434683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010385723 meters 0.02279414506088538 Centerline is valid? [True, True] Translation: X:140.13, Y:-14.98, Z:-5.20 [[ 9.53383649e-01 3.00778500e-01 2.43292296e-02 1.40129100e+02] [-3.00700344e-01 9.53693738e-01 -6.89625766e-03 -1.49839592e+01] [-2.52768800e-02 -7.41028422e-04 9.99680214e-01 -5.19760135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07038572300002 meters 0.021233037127082525 Centerline is valid? [True, True] Translation: X:140.19, Y:-15.01, Z:-5.20 [[ 9.53787604e-01 2.99667325e-01 2.21065571e-02 1.40186041e+02] [-2.99602396e-01 9.54043543e-01 -6.27074231e-03 -1.50100358e+01] [-2.29697547e-02 -6.42221209e-04 9.99735954e-01 -5.20082412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13038572300002 meters 0.020108361676509395 Centerline is valid? [True, True] Translation: X:140.24, Y:-15.03, Z:-5.20 [[ 9.54462126e-01 2.97585274e-01 2.10963085e-02 1.40243846e+02] [-2.97525530e-01 9.54695077e-01 -5.98904644e-03 -1.50337396e+01] [-2.19227939e-02 -5.60372360e-04 9.99759510e-01 -5.20455688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19038572300002 meters 0.01920859108352497 Centerline is valid? [True, True] Translation: X:140.30, Y:-15.06, Z:-5.20 [[ 9.55447939e-01 2.94300655e-01 2.25024601e-02 1.40299933e+02] [-2.94231554e-01 9.55712753e-01 -6.39743838e-03 -1.50611071e+01] [-2.33886584e-02 -5.08514480e-04 9.99726319e-01 -5.20282023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250385723 meters 0.018522152288224333 Centerline is valid? [True, True] Translation: X:140.36, Y:-15.08, Z:-5.20 [[ 9.56000291e-01 2.92313585e-01 2.48236215e-02 1.40358281e+02] [-2.92228851e-01 9.56322388e-01 -7.05614323e-03 -1.50834812e+01] [-2.58019915e-02 -5.08503414e-04 9.99666944e-01 -5.20403582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310385723 meters 0.018391104353348123 Centerline is valid? [True, True] Translation: X:140.42, Y:-15.10, Z:-5.21 [[ 9.56159806e-01 2.91743272e-01 2.53828580e-02 1.40416695e+02] [-2.91654289e-01 9.56496532e-01 -7.22215773e-03 -1.51048846e+01] [-2.63856316e-02 -4.97482486e-04 9.99651715e-01 -5.20508245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370385723 meters 0.01839779285966033 Centerline is valid? [True, True] Translation: X:140.48, Y:-15.13, Z:-5.21 [[ 9.56295774e-01 2.91325240e-01 2.50598776e-02 1.40475183e+02] [-2.91238191e-01 9.56623949e-01 -7.13695255e-03 -1.51263341e+01] [-2.60520535e-02 -4.73355857e-04 9.99660476e-01 -5.20586301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430385723 meters 0.01847399644257331 Centerline is valid? [True, True] Translation: X:140.53, Y:-15.14, Z:-5.21 [[ 9.56465751e-01 2.90833443e-01 2.42729555e-02 1.40534697e+02] [-2.90751440e-01 9.56773597e-01 -6.91982325e-03 -1.51428596e+01] [-2.52362390e-02 -4.38822831e-04 9.99681419e-01 -5.21065314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490385723 meters 0.018032365627697142 Centerline is valid? [True, True] Translation: X:140.59, Y:-15.17, Z:-5.21 [[ 9.57429571e-01 2.87857218e-01 2.16064250e-02 1.40592425e+02] [-2.87791434e-01 9.57673285e-01 -6.16197887e-03 -1.51662917e+01] [-2.24656661e-02 -3.18483241e-04 9.99747564e-01 -5.21400551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550385723 meters 0.017624148315379968 Centerline is valid? [True, True] Translation: X:140.65, Y:-15.19, Z:-5.22 [[ 9.58776632e-01 2.83379272e-01 2.10608189e-02 1.40649140e+02] [-2.83315538e-01 9.59007897e-01 -6.01320244e-03 -1.51890484e+01] [-2.19015085e-02 -2.01539244e-04 9.99760113e-01 -5.21522242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610385723 meters 0.017343264566726947 Centerline is valid? [True, True] Translation: X:140.71, Y:-15.21, Z:-5.21 [[ 9.59181830e-01 2.81862004e-01 2.28916536e-02 1.40708241e+02] [-2.81786213e-01 9.59454938e-01 -6.53846338e-03 -1.52095285e+01] [-2.38064544e-02 -1.78977101e-04 9.99716570e-01 -5.21372758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670385723 meters 0.017511192628917045 Centerline is valid? [True, True] Translation: X:140.77, Y:-15.23, Z:-5.22 [[ 9.58629527e-01 2.83670379e-01 2.36758500e-02 1.40767998e+02] [-2.83589700e-01 9.58921824e-01 -6.76881414e-03 -1.52256137e+01] [-2.46234014e-02 -2.25442109e-04 9.99696773e-01 -5.21559052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730385723 meters 0.017752517830734504 Centerline is valid? [True, True] Translation: X:140.83, Y:-15.24, Z:-5.22 [[ 9.58112092e-01 2.85429909e-01 2.34730849e-02 1.40828076e+02] [-2.85350971e-01 9.58399551e-01 -6.71749540e-03 -1.52422606e+01] [-2.44139681e-02 -2.61953998e-04 9.99701900e-01 -5.21772830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790385723 meters 0.01792677854304376 Centerline is valid? [True, True] Translation: X:140.89, Y:-15.26, Z:-5.22 [[ 9.57546388e-01 2.87460084e-01 2.17166919e-02 1.40887787e+02] [-2.87392933e-01 9.57792576e-01 -6.21962472e-03 -1.52591552e+01] [-2.25879801e-02 -2.85644595e-04 9.99744818e-01 -5.22044956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85038572300002 meters 0.018142123444909425 Centerline is valid? [True, True] Translation: X:140.95, Y:-15.28, Z:-5.22 [[ 9.56454432e-01 2.91239554e-01 1.93504984e-02 1.40947771e+02] [-2.91186875e-01 9.56650101e-01 -5.54876218e-03 -1.52753219e+01] [-2.01276753e-02 -3.27472977e-04 9.99797364e-01 -5.22289454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91038572300002 meters 0.018999226199119444 Centerline is valid? [True, True] Translation: X:141.01, Y:-15.29, Z:-5.23 [[ 9.55059238e-01 2.95821080e-01 1.87547628e-02 1.41008459e+02] [-2.95772451e-01 9.55243278e-01 -5.37929299e-03 -1.52889956e+01] [-1.95066694e-02 -4.09598700e-04 9.99809643e-01 -5.22598866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97038572300002 meters 0.01924346467673141 Centerline is valid? [True, True] Translation: X:141.07, Y:-15.30, Z:-5.23 [[ 9.54467986e-01 2.97862398e-01 1.63968162e-02 1.41068945e+02] [-2.97825513e-01 9.54608735e-01 -4.70388927e-03 -1.53043355e+01] [-1.70536558e-02 -3.93678501e-04 9.99854498e-01 -5.22917502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030385723 meters 0.019243653841190582 Centerline is valid? [True, True] Translation: X:141.13, Y:-15.32, Z:-5.23 [[ 9.54518085e-01 2.97714082e-01 1.61725451e-02 1.41128656e+02] [-2.97678228e-01 9.54655003e-01 -4.63658494e-03 -1.53226868e+01] [-1.68195778e-02 -3.88510409e-04 9.99858465e-01 -5.22997648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090385723 meters 0.019234782603360933 Centerline is valid? [True, True] Translation: X:141.19, Y:-15.34, Z:-5.23 [[ 9.54883493e-01 2.96475278e-01 1.73183172e-02 1.41186972e+02] [-2.96433834e-01 9.55040450e-01 -4.97208670e-03 -1.53425168e+01] [-1.80137943e-02 -3.85971655e-04 9.99837664e-01 -5.22924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150385723 meters 0.018523447856201594 Centerline is valid? [True, True] Translation: X:141.25, Y:-15.36, Z:-5.23 [[ 9.55405414e-01 2.94709171e-01 1.86279481e-02 1.41245637e+02] [-2.94660793e-01 9.55586921e-01 -5.35281221e-03 -1.53633025e+01] [-1.93781464e-02 -3.74820211e-04 9.99812156e-01 -5.22631774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210385723 meters 0.018670248703309446 Centerline is valid? [True, True] Translation: X:141.31, Y:-15.38, Z:-5.23 [[ 9.55260629e-01 2.95141487e-01 1.91998508e-02 1.41306327e+02] [-2.95090084e-01 9.55453479e-01 -5.52197425e-03 -1.53796396e+01] [-1.99743279e-02 -3.90760986e-04 9.99800417e-01 -5.22842815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270385723 meters 0.01885587275252914 Centerline is valid? [True, True] Translation: X:141.37, Y:-15.40, Z:-5.23 [[ 9.54855120e-01 2.96476847e-01 1.87930737e-02 1.41365626e+02] [-2.96427740e-01 9.55039955e-01 -5.41103378e-03 -1.53974940e+01] [-1.95523825e-02 -4.04035048e-04 9.99808752e-01 -5.22905375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330385723 meters 0.018927015796191198 Centerline is valid? [True, True] Translation: X:141.43, Y:-15.41, Z:-5.23 [[ 9.54090184e-01 2.99003470e-01 1.75739933e-02 1.41426000e+02] [-2.98960823e-01 9.54251932e-01 -5.06724285e-03 -1.54124334e+01] [-1.82851402e-02 -4.19328830e-04 9.99832725e-01 -5.23068085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390385723 meters 0.01981028209330264 Centerline is valid? [True, True] Translation: X:141.49, Y:-15.42, Z:-5.24 [[ 9.53306114e-01 3.01622913e-01 1.52010554e-02 1.41485642e+02] [-3.01591313e-01 9.53427215e-01 -4.38461741e-03 -1.54242770e+01] [-1.58156010e-02 -4.04623685e-04 9.99874844e-01 -5.23626715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.450385723 meters 0.02085322867997775 Centerline is valid? [True, True] Translation: X:141.55, Y:-15.44, Z:-5.24 [[ 9.52692788e-01 3.03643909e-01 1.32976907e-02 1.41545351e+02] [-3.03619981e-01 9.52785509e-01 -3.83154001e-03 -1.54389773e+01] [-1.38332708e-02 -3.87164069e-04 9.99904241e-01 -5.23943934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510385723 meters 0.020538690747857434 Centerline is valid? [True, True] Translation: X:141.60, Y:-15.46, Z:-5.24 [[ 9.52803699e-01 3.03249887e-01 1.43044294e-02 1.41604733e+02] [-3.03222098e-01 9.52910983e-01 -4.12537792e-03 -1.54566002e+01] [-1.48818683e-02 -4.06743749e-04 9.99889176e-01 -5.23939010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57038572300002 meters 0.020176597767387467 Centerline is valid? [True, True] Translation: X:141.66, Y:-15.48, Z:-5.24 [[ 9.53511208e-01 3.00924541e-01 1.61491813e-02 1.41663613e+02] [-3.00888632e-01 9.53647866e-01 -4.66667075e-03 -1.54751332e+01] [-1.68049481e-02 -4.09382217e-04 9.99858703e-01 -5.24001692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63038572300002 meters 0.01927846712839475 Centerline is valid? [True, True] Translation: X:141.72, Y:-15.49, Z:-5.24 [[ 9.53973434e-01 2.99284442e-01 1.90659276e-02 1.41722277e+02] [-2.99234029e-01 9.54163834e-01 -5.51120055e-03 -1.54929900e+01] [-1.98414352e-02 -4.47635411e-04 9.99803039e-01 -5.24096753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69038572300002 meters 0.018934660014481613 Centerline is valid? [True, True] Translation: X:141.78, Y:-15.51, Z:-5.24 [[ 9.54509864e-01 2.97440605e-01 2.09763063e-02 1.41782075e+02] [-2.97379148e-01 9.54740218e-01 -6.06289386e-03 -1.55117448e+01] [-2.18302740e-02 -4.50824094e-04 9.99761590e-01 -5.24165112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750385723 meters 0.018585092594720493 Centerline is valid? [True, True] Translation: X:141.84, Y:-15.53, Z:-5.24 [[ 9.55110674e-01 2.95527952e-01 2.06598549e-02 1.41840670e+02] [-2.95467856e-01 9.55334010e-01 -5.97292978e-03 -1.55295864e+01] [-2.15022297e-02 -3.99514043e-04 9.99768721e-01 -5.24434217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810385723 meters 0.01796794716923022 Centerline is valid? [True, True] Translation: X:141.90, Y:-15.55, Z:-5.25 [[ 9.55694422e-01 2.93636484e-01 2.06346230e-02 1.41899899e+02] [-2.93575993e-01 9.55917094e-01 -5.97033729e-03 -1.55480324e+01] [-2.14780977e-02 -3.52011904e-04 9.99769257e-01 -5.24739551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870385723 meters 0.01750758615305491 Centerline is valid? [True, True] Translation: X:141.96, Y:-15.57, Z:-5.25 [[ 9.56368209e-01 2.91490604e-01 1.98261626e-02 1.41958627e+02] [-2.91434198e-01 9.56573649e-01 -5.74131000e-03 -1.55674255e+01] [-2.06387226e-02 -2.87215434e-04 9.99786958e-01 -5.24988215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930385723 meters 0.01737596085181165 Centerline is valid? [True, True] Translation: X:142.02, Y:-15.59, Z:-5.25 [[ 9.56888773e-01 2.89827722e-01 1.90726967e-02 1.42018167e+02] [-2.89775097e-01 9.57078803e-01 -5.52793666e-03 -1.55850171e+01] [-1.98562230e-02 -2.37172005e-04 9.99802818e-01 -5.25386905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990385723 meters 0.017476778762899967 Centerline is valid? [True, True] Translation: X:142.08, Y:-15.60, Z:-5.26 [[ 9.56996668e-01 2.89473425e-01 1.90397890e-02 1.42077928e+02] [-2.89420825e-01 9.57186024e-01 -5.52276292e-03 -1.56046433e+01] [-1.98233131e-02 -2.25245733e-04 9.99803473e-01 -5.25562089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050385723 meters 0.017591151285884878 Centerline is valid? [True, True] Translation: X:142.14, Y:-15.62, Z:-5.26 [[ 9.57209319e-01 2.88703807e-01 2.00108022e-02 1.42137439e+02] [-2.88645389e-01 9.57418439e-01 -5.81143935e-03 -1.56233062e+01] [-2.08364957e-02 -2.13261895e-04 9.99782874e-01 -5.25740007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110385723 meters 0.017356283634273974 Centerline is valid? [True, True] Translation: X:142.20, Y:-15.64, Z:-5.26 [[ 9.56943446e-01 2.89413335e-01 2.23419605e-02 1.42197556e+02] [-2.89340552e-01 9.57204189e-01 -6.49506460e-03 -1.56388811e+01] [-2.32655765e-02 -2.49025684e-04 9.99729289e-01 -5.25787461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170385723 meters 0.020071992221234854 Centerline is valid? [True, True] Translation: X:142.26, Y:-15.65, Z:-5.26 [[ 9.56156380e-01 2.91940893e-01 2.31407028e-02 1.42257105e+02] [-2.91863390e-01 9.56436310e-01 -6.73393515e-03 -1.56525185e+01] [-2.40985194e-02 -3.15228912e-04 9.99709539e-01 -5.26120478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230385723 meters 0.01836759318089039 Centerline is valid? [True, True] Translation: X:142.32, Y:-15.67, Z:-5.26 [[ 9.54973103e-01 2.95879529e-01 2.19471576e-02 1.42316648e+02] [-2.95810711e-01 9.55225185e-01 -6.39289003e-03 -1.56686278e+01] [-2.28560029e-02 -3.87166259e-04 9.99738692e-01 -5.26109311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290385723 meters 0.019019228895988862 Centerline is valid? [True, True] Translation: X:142.38, Y:-15.68, Z:-5.27 [[ 9.53956279e-01 2.99082426e-01 2.27402922e-02 1.42377819e+02] [-2.99009412e-01 9.54227160e-01 -6.62558440e-03 -1.56792481e+01] [-2.36810003e-02 -4.79043582e-04 9.99719451e-01 -5.26548196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35038572300002 meters 0.019557823113040603 Centerline is valid? [True, True] Translation: X:142.44, Y:-15.69, Z:-5.27 [[ 9.52878825e-01 3.02359482e-01 2.45089434e-02 1.42438688e+02] [-3.02275568e-01 9.53193783e-01 -7.14798992e-03 -1.56937909e+01] [-2.55230350e-02 -5.97286562e-04 9.99674056e-01 -5.26622541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41038572300002 meters 0.020115452025078973 Centerline is valid? [True, True] Translation: X:142.50, Y:-15.71, Z:-5.27 [[ 9.51759628e-01 3.05640464e-01 2.71572637e-02 1.42499006e+02] [-3.05538536e-01 9.52146702e-01 -7.92853113e-03 -1.57087003e+01] [-2.82809790e-02 -7.51534731e-04 9.99599731e-01 -5.26633733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47038572300002 meters 0.021778924266344347 Centerline is valid? [True, True] Translation: X:142.56, Y:-15.72, Z:-5.27 [[ 9.50668309e-01 3.08849116e-01 2.90170710e-02 1.42559415e+02] [-3.08733979e-01 9.51110624e-01 -8.48005143e-03 -1.57194828e+01] [-3.02175009e-02 -8.96839632e-04 9.99542945e-01 -5.26936559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530385723 meters 0.023666747069438342 Centerline is valid? [True, True] Translation: X:142.62, Y:-15.73, Z:-5.27 [[ 9.49694911e-01 3.11747567e-01 2.98836185e-02 1.42620006e+02] [-3.11626626e-01 9.50164424e-01 -8.74147933e-03 -1.57320303e+01] [-3.11194861e-02 -1.01079275e-03 9.99515160e-01 -5.27230614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590385723 meters 0.02499358808885648 Centerline is valid? [True, True] Translation: X:142.68, Y:-15.75, Z:-5.28 [[ 9.49172666e-01 3.13244946e-01 3.08034684e-02 1.42680270e+02] [-3.13117101e-01 9.49671742e-01 -9.01457319e-03 -1.57450733e+01] [-3.20769530e-02 -1.08870626e-03 9.99484809e-01 -5.27515098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650385723 meters 0.023597718892983847 Centerline is valid? [True, True] Translation: X:142.74, Y:-15.76, Z:-5.28 [[ 9.49226595e-01 3.13143910e-01 3.01622942e-02 1.42740502e+02] [-3.13021170e-01 9.49705096e-01 -8.83049314e-03 -1.57605871e+01] [-3.14104997e-02 -1.05929768e-03 9.99506007e-01 -5.27894516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710385723 meters 0.023631898576479637 Centerline is valid? [True, True] Translation: X:142.80, Y:-15.78, Z:-5.28 [[ 9.49376645e-01 3.12669736e-01 3.03582244e-02 1.42800526e+02] [-3.12544898e-01 9.49861332e-01 -8.89593977e-03 -1.57777536e+01] [-3.16175946e-02 -1.04271069e-03 9.99499495e-01 -5.28150797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770385723 meters 0.023163406136676126 Centerline is valid? [True, True] Translation: X:142.86, Y:-15.79, Z:-5.28 [[ 9.50222304e-01 3.09987746e-01 3.13874250e-02 1.42858066e+02] [-3.09852538e-01 9.50740050e-01 -9.20664272e-03 -1.57946967e+01] [-3.26952285e-02 -9.77116048e-04 9.99464890e-01 -5.28292055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830385723 meters 0.02260602395734654 Centerline is valid? [True, True] Translation: X:142.92, Y:-15.81, Z:-5.28 [[ 9.50939720e-01 3.07379597e-01 3.50917793e-02 1.42917343e+02] [-3.07208779e-01 9.51586465e-01 -1.02939575e-02 -1.58122284e+01] [-3.65570147e-02 -9.91569668e-04 9.99331077e-01 -5.28088473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890385723 meters 0.0207614424401456 Centerline is valid? [True, True] Translation: X:142.98, Y:-15.83, Z:-5.28 [[ 9.50924384e-01 3.07380878e-01 3.54938210e-02 1.42978111e+02] [-3.07206023e-01 9.51586042e-01 -1.04146149e-02 -1.58300432e+01] [-3.69766781e-02 -1.00040432e-03 9.99315628e-01 -5.28484095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.950385723 meters 0.020613833988032116 Centerline is valid? [True, True] Translation: X:143.04, Y:-15.85, Z:-5.29 [[ 9.50782957e-01 3.07925809e-01 3.45465495e-02 1.43038430e+02] [-3.07760272e-01 9.51409860e-01 -1.01436841e-02 -1.58458841e+01] [-3.59914299e-02 -9.87613441e-04 9.99351611e-01 -5.28939375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010385723 meters 0.024228119607051814 Centerline is valid? [True, True] Translation: X:143.10, Y:-15.86, Z:-5.29 [[ 9.51080654e-01 3.06911244e-01 3.53705960e-02 1.43099767e+02] [-3.06736608e-01 9.51737655e-01 -1.03965975e-02 -1.58551148e+01] [-3.68543608e-02 -9.61453914e-04 9.99320185e-01 -5.29343328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07038572300002 meters 0.024281261037750797 Centerline is valid? [True, True] Translation: X:143.16, Y:-15.87, Z:-5.29 [[ 9.50907074e-01 3.07255825e-01 3.70080426e-02 1.43161085e+02] [-3.07064514e-01 9.51626417e-01 -1.08879446e-02 -1.58679779e+01] [-3.85632153e-02 -1.01043307e-03 9.99255652e-01 -5.29252640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13038572300002 meters 0.025076778168072286 Centerline is valid? [True, True] Translation: X:143.22, Y:-15.88, Z:-5.30 [[ 9.50519271e-01 3.08610889e-01 3.56711902e-02 1.43221483e+02] [-3.08433786e-01 9.51187827e-01 -1.05032472e-02 -1.58809612e+01] [-3.71714184e-02 -1.01866135e-03 9.99308385e-01 -5.29563229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19038572300002 meters 0.021967101360717216 Centerline is valid? [True, True] Translation: X:143.28, Y:-15.90, Z:-5.30 [[ 9.50337912e-01 3.09427878e-01 3.33502908e-02 1.43280023e+02] [-3.09273330e-01 9.50922414e-01 -9.82702458e-03 -1.59012115e+01] [-3.47542944e-02 -9.75361473e-04 9.99395411e-01 -5.30134817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250385723 meters 0.022171879262374405 Centerline is valid? [True, True] Translation: X:143.34, Y:-15.91, Z:-5.30 [[ 9.50038259e-01 3.10313625e-01 3.36565202e-02 1.43339709e+02] [-3.10156465e-01 9.50633703e-01 -9.92623648e-03 -1.59130220e+01] [-3.50752688e-02 -1.00848290e-03 9.99384165e-01 -5.30415793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310385723 meters 0.022544064077557203 Centerline is valid? [True, True] Translation: X:143.40, Y:-15.93, Z:-5.30 [[ 9.50008232e-01 3.10137818e-01 3.60401670e-02 1.43401121e+02] [-3.09957284e-01 9.50691008e-01 -1.06343522e-02 -1.59259627e+01] [-3.75611775e-02 -1.06819013e-03 9.99293759e-01 -5.30414019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370385723 meters 0.022407383351854594 Centerline is valid? [True, True] Translation: X:143.46, Y:-15.94, Z:-5.31 [[ 9.50392289e-01 3.09070132e-01 3.50735091e-02 1.43460805e+02] [-3.08898114e-01 9.51038734e-01 -1.03577394e-02 -1.59419956e+01] [-3.65575336e-02 -9.90225173e-04 9.99331059e-01 -5.30505103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430385723 meters 0.022180954091741263 Centerline is valid? [True, True] Translation: X:143.52, Y:-15.95, Z:-5.31 [[ 9.51165320e-01 3.06903529e-01 3.30871155e-02 1.43521770e+02] [-3.06748868e-01 9.51740251e-01 -9.77892969e-03 -1.59547254e+01] [-3.44915277e-02 -8.48056428e-04 9.99404630e-01 -5.31150015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490385723 meters 0.021026048852491833 Centerline is valid? [True, True] Translation: X:143.58, Y:-15.97, Z:-5.32 [[ 9.52059168e-01 3.04241957e-01 3.19401263e-02 1.43581501e+02] [-3.04096079e-01 9.52594518e-01 -9.44766801e-03 -1.59682949e+01] [-3.33003662e-02 -7.18128217e-04 9.99445131e-01 -5.31560164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550385723 meters 0.019167610640821606 Centerline is valid? [True, True] Translation: X:143.64, Y:-15.99, Z:-5.31 [[ 9.53905493e-01 2.98263286e-01 3.32163141e-02 1.43639992e+02] [-2.98101603e-01 9.54483494e-01 -9.83331984e-03 -1.59890296e+01] [-3.46373418e-02 -5.21778678e-04 9.99399811e-01 -5.31459892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610385723 meters 0.01781712538400103 Centerline is valid? [True, True] Translation: X:143.70, Y:-16.01, Z:-5.32 [[ 9.55289315e-01 2.93683464e-01 3.42395688e-02 1.43699359e+02] [-2.93508655e-01 9.55902657e-01 -1.01380162e-02 -1.60075837e+01] [-3.57070625e-02 -3.64871230e-04 9.99362233e-01 -5.31682712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670385723 meters 0.0181947356827945 Centerline is valid? [True, True] Translation: X:143.76, Y:-16.02, Z:-5.32 [[ 9.55425868e-01 2.93397349e-01 3.28543296e-02 1.43760660e+02] [-2.93235948e-01 9.55990526e-01 -9.73620077e-03 -1.60167854e+01] [-3.42650033e-02 -3.31852410e-04 9.99412727e-01 -5.32132777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730385723 meters 0.017831676451904997 Centerline is valid? [True, True] Translation: X:143.82, Y:-16.03, Z:-5.32 [[ 9.54849799e-01 2.95401097e-01 3.16236207e-02 1.43821489e+02] [-2.95252379e-01 9.55373250e-01 -9.38006777e-03 -1.60301535e+01] [-3.29832436e-02 -3.80393426e-04 9.99455832e-01 -5.32419238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790385723 meters 0.01910037804236148 Centerline is valid? [True, True] Translation: X:143.88, Y:-16.04, Z:-5.33 [[ 9.54443582e-01 2.96854514e-01 3.02464344e-02 1.43883035e+02] [-2.96718957e-01 9.54922632e-01 -8.97921735e-03 -1.60369913e+01] [-3.15485260e-02 -4.04534114e-04 9.99502139e-01 -5.32864955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85038572300002 meters 0.01961803497574925 Centerline is valid? [True, True] Translation: X:143.94, Y:-16.05, Z:-5.33 [[ 9.53968860e-01 2.98395075e-01 3.00631460e-02 1.43944209e+02] [-2.98261694e-01 9.54442340e-01 -8.93204412e-03 -1.60485822e+01] [-3.13588174e-02 -4.45792886e-04 9.99508092e-01 -5.33039595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91038572300002 meters 0.02019241981321599 Centerline is valid? [True, True] Translation: X:144.00, Y:-16.07, Z:-5.33 [[ 9.53883186e-01 2.98718487e-01 2.95657517e-02 1.44004096e+02] [-2.98589450e-01 9.54341170e-01 -8.79039387e-03 -1.60691774e+01] [-3.08416672e-02 -4.43012633e-04 9.99524184e-01 -5.33292689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97038572300002 meters 0.018798490770520416 Centerline is valid? [True, True] Translation: X:144.07, Y:-16.08, Z:-5.33 [[ 9.52826424e-01 3.02082536e-01 2.94609304e-02 1.44065257e+02] [-3.01955736e-01 9.53281621e-01 -8.76839399e-03 -1.60796418e+01] [-3.07333422e-02 -5.41139439e-04 9.99527473e-01 -5.33399635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030385723 meters 0.01906039875086949 Centerline is valid? [True, True] Translation: X:144.12, Y:-16.10, Z:-5.34 [[ 9.52153638e-01 3.04320588e-01 2.81501099e-02 1.44124929e+02] [-3.04205613e-01 9.52569495e-01 -8.38458559e-03 -1.60953592e+01] [-2.93665380e-02 -5.80007762e-04 9.99568542e-01 -5.33671361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090385723 meters 0.01891506207910452 Centerline is valid? [True, True] Translation: X:144.18, Y:-16.11, Z:-5.34 [[ 9.51861829e-01 3.05147003e-01 2.90579775e-02 1.44184919e+02] [-3.05024643e-01 9.52305059e-01 -8.66266271e-03 -1.61134139e+01] [-3.03154446e-02 -6.17741262e-04 9.99540190e-01 -5.33820745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150385723 meters 0.0198353564852229 Centerline is valid? [True, True] Translation: X:144.24, Y:-16.13, Z:-5.34 [[ 9.51776267e-01 3.05350530e-01 2.97151612e-02 1.44244489e+02] [-3.05222381e-01 9.52239811e-01 -8.86795232e-03 -1.61312489e+01] [-3.10037934e-02 -6.29425691e-04 9.99519069e-01 -5.33938934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210385723 meters 0.02032832313716347 Centerline is valid? [True, True] Translation: X:144.30, Y:-16.15, Z:-5.35 [[ 9.52158990e-01 3.04275838e-01 2.84512225e-02 1.44303002e+02] [-3.04157653e-01 9.52583801e-01 -8.49840885e-03 -1.61527151e+01] [-2.96880342e-02 -5.61820703e-04 9.99559055e-01 -5.34541171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270385723 meters 0.018514901992618404 Centerline is valid? [True, True] Translation: X:144.36, Y:-16.18, Z:-5.34 [[ 9.52098434e-01 3.04464158e-01 2.84631002e-02 1.44361075e+02] [-3.04345742e-01 9.52523628e-01 -8.50926835e-03 -1.61768694e+01] [-2.97025427e-02 -5.60962283e-04 9.99558625e-01 -5.34396051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330385723 meters 0.018525125609192526 Centerline is valid? [True, True] Translation: X:144.42, Y:-16.20, Z:-5.35 [[ 9.51933346e-01 3.05023515e-01 2.79921535e-02 1.44420555e+02] [-3.04908981e-01 9.52344655e-01 -8.37690703e-03 -1.61964695e+01] [-2.92133314e-02 -5.60801854e-04 9.99573042e-01 -5.34630749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390385723 meters 0.0188994200693257 Centerline is valid? [True, True] Translation: X:144.48, Y:-16.22, Z:-5.35 [[ 9.51441718e-01 3.06733879e-01 2.59419626e-02 1.44479164e+02] [-3.06635941e-01 9.51795153e-01 -7.77091651e-03 -1.62165706e+01] [-2.70750377e-02 -5.61163966e-04 9.99633246e-01 -5.35051960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.450385723 meters 0.019098836997964927 Centerline is valid? [True, True] Translation: X:144.54, Y:-16.24, Z:-5.35 [[ 9.50873586e-01 3.08648372e-01 2.39917744e-02 1.44536709e+02] [-3.08565073e-01 9.51176043e-01 -7.19243643e-03 -1.62394597e+01] [-2.50403349e-02 -5.63925812e-04 9.99686283e-01 -5.35352818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510385723 meters 0.019734101693732076 Centerline is valid? [True, True] Translation: X:144.60, Y:-16.26, Z:-5.36 [[ 9.50180626e-01 3.10814907e-01 2.34706449e-02 1.44595769e+02] [-3.10735699e-01 9.50470269e-01 -7.04230389e-03 -1.62591061e+01] [-2.44970032e-02 -6.01706522e-04 9.99699722e-01 -5.35693713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57038572300002 meters 0.020432275991685504 Centerline is valid? [True, True] Translation: X:144.65, Y:-16.28, Z:-5.36 [[ 9.49530177e-01 3.12633235e-01 2.55519537e-02 1.44653478e+02] [-3.12539809e-01 9.49873661e-01 -7.67437537e-03 -1.62816441e+01] [-2.66703926e-02 -6.98951714e-04 9.99644037e-01 -5.35723398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63038572300002 meters 0.020666789034490454 Centerline is valid? [True, True] Translation: X:144.71, Y:-16.30, Z:-5.36 [[ 9.49116515e-01 3.13707701e-01 2.76644008e-02 1.44712838e+02] [-3.13598420e-01 9.49519282e-01 -8.31651882e-03 -1.63029912e+01] [-2.88768380e-02 -7.82167025e-04 9.99582671e-01 -5.35723258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69038572300002 meters 0.021093287573610956 Centerline is valid? [True, True] Translation: X:144.77, Y:-16.32, Z:-5.36 [[ 9.48938443e-01 3.14250718e-01 2.76100904e-02 1.44770818e+02] [-3.14141852e-01 9.49339699e-01 -8.30860483e-03 -1.63239619e+01] [-2.88223399e-02 -7.89130402e-04 9.99584239e-01 -5.35995999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750385723 meters 0.02138352589936264 Centerline is valid? [True, True] Translation: X:144.83, Y:-16.35, Z:-5.36 [[ 9.48557085e-01 3.15408280e-01 2.75149829e-02 1.44828535e+02] [-3.15300428e-01 9.48955718e-01 -8.28770084e-03 -1.63469229e+01] [-2.87245098e-02 -8.14128524e-04 9.99587035e-01 -5.36096463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810385723 meters 0.021525597826778594 Centerline is valid? [True, True] Translation: X:144.89, Y:-16.37, Z:-5.36 [[ 9.48606479e-01 3.15245015e-01 2.76826291e-02 1.44887604e+02] [-3.15135567e-01 9.49009973e-01 -8.34539494e-03 -1.63671638e+01] [-2.89019353e-02 -8.07285308e-04 9.99581926e-01 -5.36362044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870385723 meters 0.02158186015846403 Centerline is valid? [True, True] Translation: X:144.94, Y:-16.39, Z:-5.37 [[ 9.49903900e-01 3.11418272e-01 2.64809500e-02 1.44943501e+02] [-3.11316410e-01 9.50272715e-01 -7.99121517e-03 -1.63930210e+01] [-2.76527347e-02 -6.53067846e-04 9.99617377e-01 -5.37116297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930385723 meters 0.020879227292743333 Centerline is valid? [True, True] Translation: X:145.00, Y:-16.41, Z:-5.37 [[ 9.49854628e-01 3.11530308e-01 2.69268247e-02 1.45001938e+02] [-3.11425053e-01 9.50235982e-01 -8.12500106e-03 -1.64137104e+01] [-2.81180218e-02 -6.68117945e-04 9.99604387e-01 -5.36954721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990385723 meters 0.019089386330607534 Centerline is valid? [True, True] Translation: X:145.06, Y:-16.44, Z:-5.37 [[ 9.50090708e-01 3.10811225e-01 2.69077933e-02 1.45058893e+02] [-3.10705624e-01 9.50471448e-01 -8.12660550e-03 -1.64408045e+01] [-2.81009295e-02 -6.39390327e-04 9.99604886e-01 -5.36884858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050385723 meters 0.0191271105087731 Centerline is valid? [True, True] Translation: X:145.12, Y:-16.46, Z:-5.37 [[ 9.50289135e-01 3.10177365e-01 2.72132588e-02 1.45116770e+02] [-3.10068881e-01 9.50678503e-01 -8.22632365e-03 -1.64638474e+01] [-2.84226795e-02 -6.20598707e-04 9.99595801e-01 -5.37065161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110385723 meters 0.020049316127524426 Centerline is valid? [True, True] Translation: X:145.18, Y:-16.49, Z:-5.37 [[ 9.50628898e-01 3.08936267e-01 2.93782507e-02 1.45175003e+02] [-3.08808976e-01 9.51082539e-01 -8.88932405e-03 -1.64864520e+01] [-3.06873759e-02 -6.21819208e-04 9.99528838e-01 -5.37349507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170385723 meters 0.01886866263442554 Centerline is valid? [True, True] Translation: X:145.23, Y:-16.51, Z:-5.37 [[ 9.50313126e-01 3.09836323e-01 3.01067374e-02 1.45233815e+02] [-3.09702838e-01 9.50789681e-01 -9.11776892e-03 -1.65082108e+01] [-3.14501913e-02 -6.59406542e-04 9.99505103e-01 -5.37143432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230385723 meters 0.019041074142156764 Centerline is valid? [True, True] Translation: X:145.29, Y:-16.53, Z:-5.37 [[ 9.50032081e-01 3.10852958e-01 2.84514180e-02 1.45292508e+02] [-3.10733958e-01 9.50457795e-01 -8.62481364e-03 -1.65275475e+01] [-2.97229209e-02 -6.46972076e-04 9.99557967e-01 -5.37473014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290385723 meters 0.01899095806635595 Centerline is valid? [True, True] Translation: X:145.35, Y:-16.55, Z:-5.38 [[ 9.49742495e-01 3.11727008e-01 2.85563613e-02 1.45351696e+02] [-3.11607296e-01 9.50171471e-01 -8.66425845e-03 -1.65468724e+01] [-2.98343232e-02 -6.69556078e-04 9.99554633e-01 -5.37691550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35038572300002 meters 0.019598509935712962 Centerline is valid? [True, True] Translation: X:145.41, Y:-16.57, Z:-5.38 [[ 9.49714904e-01 3.11727137e-01 2.94583239e-02 1.45409891e+02] [-3.11599486e-01 9.50171419e-01 -8.94619430e-03 -1.65652000e+01] [-3.07792290e-02 -6.82864533e-04 9.99525974e-01 -5.37719013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41038572300002 meters 0.01914423296675437 Centerline is valid? [True, True] Translation: X:145.47, Y:-16.59, Z:-5.38 [[ 9.49420932e-01 3.12775894e-01 2.77693018e-02 1.45468147e+02] [-3.12662733e-01 9.49826717e-01 -8.43943431e-03 -1.65853450e+01] [-2.90156764e-02 -6.69850205e-04 9.99578732e-01 -5.38010690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47038572300002 meters 0.01955334339800664 Centerline is valid? [True, True] Translation: X:145.53, Y:-16.60, Z:-5.39 [[ 9.48209105e-01 3.16710216e-01 2.43748417e-02 1.45526453e+02] [-3.16624135e-01 9.48522097e-01 -7.41544503e-03 -1.66034249e+01] [-2.54686231e-02 -6.86270676e-04 9.99675386e-01 -5.38541699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530385723 meters 0.021438421462183 Centerline is valid? [True, True] Translation: X:145.59, Y:-16.62, Z:-5.39 [[ 9.47416320e-01 3.19094225e-01 2.41079274e-02 1.45585648e+02] [-3.19010821e-01 9.47722704e-01 -7.33297791e-03 -1.66179556e+01] [-2.51875410e-02 -7.43306766e-04 9.99682467e-01 -5.38869670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590385723 meters 0.020563269447318237 Centerline is valid? [True, True] Translation: X:145.65, Y:-16.64, Z:-5.39 [[ 9.47221349e-01 3.19683028e-01 2.39682575e-02 1.45645356e+02] [-3.19600642e-01 9.47524248e-01 -7.29585510e-03 -1.66390763e+01] [-2.50428662e-02 -7.49480787e-04 9.99686097e-01 -5.39014289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650385723 meters 0.020832154567479663 Centerline is valid? [True, True] Translation: X:145.70, Y:-16.66, Z:-5.39 [[ 9.47099631e-01 3.20112000e-01 2.30346672e-02 1.45704566e+02] [-3.20035864e-01 9.47379429e-01 -7.01874988e-03 -1.66582526e+01] [-2.40693559e-02 -7.24464200e-04 9.99710029e-01 -5.39321985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710385723 meters 0.020019447429734893 Centerline is valid? [True, True] Translation: X:145.76, Y:-16.68, Z:-5.40 [[ 9.47852201e-01 3.18072210e-01 2.01562571e-02 1.45762118e+02] [-3.18013365e-01 9.48066310e-01 -6.14592710e-03 -1.66812119e+01] [-2.10643169e-02 -5.84528616e-04 9.99777952e-01 -5.39732358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770385723 meters 0.01940942896537155 Centerline is valid? [True, True] Translation: X:145.82, Y:-16.70, Z:-5.40 [[ 9.48799028e-01 3.15234732e-01 2.01858673e-02 1.45820144e+02] [-3.15174954e-01 9.49013591e-01 -6.16048442e-03 -1.67043534e+01] [-2.10986610e-02 -5.17018166e-04 9.99777265e-01 -5.39839993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830385723 meters 0.01889111920162417 Centerline is valid? [True, True] Translation: X:145.88, Y:-16.72, Z:-5.40 [[ 9.49359805e-01 3.13443110e-01 2.16651410e-02 1.45879487e+02] [-3.13373637e-01 9.49606845e-01 -6.61838708e-03 -1.67231086e+01] [-2.26478540e-02 -5.06053348e-04 9.99743376e-01 -5.39902368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890385723 meters 0.018868288454590564 Centerline is valid? [True, True] Translation: X:145.94, Y:-16.74, Z:-5.40 [[ 9.49531672e-01 3.12885547e-01 2.21864434e-02 1.45938451e+02] [-3.12812395e-01 9.49790706e-01 -6.78379796e-03 -1.67412721e+01] [-2.31950301e-02 -4.98763465e-04 9.99730835e-01 -5.40030860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.950385723 meters 0.018969973534333655 Centerline is valid? [True, True] Translation: X:146.00, Y:-16.76, Z:-5.40 [[ 9.49505124e-01 3.12944997e-01 2.24821847e-02 1.45998518e+02] [-3.12869766e-01 9.49771118e-01 -6.87983399e-03 -1.67599422e+01] [-2.35059394e-02 -5.01558246e-04 9.99723571e-01 -5.40142267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010385723 meters 0.018723207600611046 Centerline is valid? [True, True] Translation: X:146.06, Y:-16.78, Z:-5.41 [[ 9.49309405e-01 3.13665098e-01 2.06363869e-02 1.46058615e+02] [-3.13601761e-01 9.49533561e-01 -6.32072271e-03 -1.67765132e+01] [-2.15775320e-02 -4.71285742e-04 9.99767067e-01 -5.40569669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07038572300002 meters 0.019189109195647428 Centerline is valid? [True, True] Translation: X:146.12, Y:-16.79, Z:-5.41 [[ 9.49004609e-01 3.14619033e-01 2.01275075e-02 1.46117992e+02] [-3.14558881e-01 9.49217909e-01 -6.17026868e-03 -1.67921727e+01] [-2.10466745e-02 -4.75672820e-04 9.99778381e-01 -5.40821244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13038572300002 meters 0.01959177677629512 Centerline is valid? [True, True] Translation: X:146.18, Y:-16.81, Z:-5.41 [[ 9.48793650e-01 3.15253832e-01 2.01402852e-02 1.46179210e+02] [-3.15193661e-01 9.49007263e-01 -6.17830922e-03 -1.68074364e+01] [-2.10610126e-02 -4.86149659e-04 9.99778074e-01 -5.41067392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19038572300002 meters 0.020040283380743307 Centerline is valid? [True, True] Translation: X:146.24, Y:-16.82, Z:-5.42 [[ 9.48550164e-01 3.16108674e-01 1.81078131e-02 1.46238943e+02] [-3.16060097e-01 9.48722881e-01 -5.55976352e-03 -1.68232655e+01] [-1.89367861e-02 -4.49442568e-04 9.99820582e-01 -5.41500939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250385723 meters 0.020357507550220786 Centerline is valid? [True, True] Translation: X:146.30, Y:-16.84, Z:-5.42 [[ 9.48566037e-01 3.16095425e-01 1.74973324e-02 1.46298760e+02] [-3.16049994e-01 9.48727304e-01 -5.37624153e-03 -1.68403627e+01] [-1.82996024e-02 -4.30311694e-04 9.99832456e-01 -5.41746339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310385723 meters 0.019217583792892956 Centerline is valid? [True, True] Translation: X:146.36, Y:-16.86, Z:-5.42 [[ 9.48402342e-01 3.16425532e-01 2.01960548e-02 1.46357766e+02] [-3.16364933e-01 9.48617223e-01 -6.21242401e-03 -1.68590790e+01] [-2.11240950e-02 -4.97446022e-04 9.99776738e-01 -5.41605823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370385723 meters 0.0192412716126921 Centerline is valid? [True, True] Translation: X:146.42, Y:-16.88, Z:-5.42 [[ 9.48502840e-01 3.15954401e-01 2.26975453e-02 1.46416542e+02] [-3.15877551e-01 9.48774222e-01 -6.98916296e-03 -1.68761449e+01] [-2.37431026e-02 -5.40404089e-04 9.99717947e-01 -5.41666519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430385723 meters 0.018836294905777592 Centerline is valid? [True, True] Translation: X:146.48, Y:-16.90, Z:-5.42 [[ 9.48556664e-01 3.15713105e-01 2.37800296e-02 1.46475712e+02] [-3.15628528e-01 9.48854535e-01 -7.32830901e-03 -1.68955541e+01] [-2.48774321e-02 -5.54339394e-04 9.99690355e-01 -5.41738353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490385723 meters 0.018952310027195964 Centerline is valid? [True, True] Translation: X:146.53, Y:-16.91, Z:-5.42 [[ 9.48516302e-01 3.15788833e-01 2.43769738e-02 1.46534772e+02] [-3.15699814e-01 9.48829329e-01 -7.51880900e-03 -1.69138951e+01] [-2.55039436e-02 -5.64093196e-04 9.99674562e-01 -5.41873091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550385723 meters 0.019175118633404684 Centerline is valid? [True, True] Translation: X:146.59, Y:-16.93, Z:-5.42 [[ 9.48597902e-01 3.15509090e-01 2.48200529e-02 1.46594344e+02] [-3.15416540e-01 9.48922389e-01 -7.66201847e-03 -1.69317060e+01] [-2.59697404e-02 -5.60480565e-04 9.99662572e-01 -5.42055552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610385723 meters 0.018502506044760336 Centerline is valid? [True, True] Translation: X:146.65, Y:-16.95, Z:-5.42 [[ 9.48587932e-01 3.15615980e-01 2.38220050e-02 1.46653786e+02] [-3.15530629e-01 9.48886856e-01 -7.35909238e-03 -1.69515187e+01] [-2.49270346e-02 -5.35825991e-04 9.99689130e-01 -5.42355819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670385723 meters 0.01872245132152656 Centerline is valid? [True, True] Translation: X:146.71, Y:-16.97, Z:-5.43 [[ 9.48364785e-01 3.16368279e-01 2.27012568e-02 1.46712375e+02] [-3.16290825e-01 9.48636305e-01 -7.01966987e-03 -1.69706043e+01] [-2.37560372e-02 -5.22991537e-04 9.99717649e-01 -5.42675959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730385723 meters 0.01811970146223767 Centerline is valid? [True, True] Translation: X:146.77, Y:-16.99, Z:-5.43 [[ 9.48231184e-01 3.16557582e-01 2.54738757e-02 1.46770814e+02] [-3.16459916e-01 9.48573115e-01 -7.88460650e-03 -1.69915827e+01] [-2.66597656e-02 -5.85030783e-04 9.99644394e-01 -5.42599214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790385723 meters 0.018238266890328297 Centerline is valid? [True, True] Translation: X:146.83, Y:-17.01, Z:-5.43 [[ 9.47929613e-01 3.17422733e-01 2.59279168e-02 1.46830385e+02] [-3.17321691e-01 9.48283940e-01 -8.03196661e-03 -1.70121604e+01] [-2.71365559e-02 -6.13751406e-04 9.99631547e-01 -5.42586773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85038572300002 meters 0.018589678312902685 Centerline is valid? [True, True] Translation: X:146.89, Y:-17.03, Z:-5.43 [[ 9.47531572e-01 3.18600001e-01 2.60376611e-02 1.46889957e+02] [-3.18498316e-01 9.47889037e-01 -8.07437364e-03 -1.70297262e+01] [-2.72533090e-02 -6.42227289e-04 9.99628353e-01 -5.42898354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91038572300002 meters 0.01862090916154416 Centerline is valid? [True, True] Translation: X:146.95, Y:-17.05, Z:-5.43 [[ 9.47466060e-01 3.18916317e-01 2.45040369e-02 1.46949070e+02] [-3.18826212e-01 9.47782683e-01 -7.60476849e-03 -1.70494741e+01] [-2.56497866e-02 -6.07269214e-04 9.99670806e-01 -5.43300726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97038572300002 meters 0.020695407178150983 Centerline is valid? [True, True] Translation: X:147.01, Y:-17.06, Z:-5.44 [[ 9.47784310e-01 3.17941902e-01 2.48565530e-02 1.47008358e+02] [-3.17848667e-01 9.48110019e-01 -7.72123013e-03 -1.70642086e+01] [-2.60216495e-02 -5.82561444e-04 9.99661210e-01 -5.43703176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030385723 meters 0.01833224173516136 Centerline is valid? [True, True] Translation: X:147.07, Y:-17.09, Z:-5.44 [[ 9.47852334e-01 3.17667893e-01 2.57500149e-02 1.47065851e+02] [-3.17567557e-01 9.48201857e-01 -8.00525955e-03 -1.70881518e+01] [-2.69592259e-02 -5.89565379e-04 9.99636360e-01 -5.43636213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090385723 meters 0.018614401063603566 Centerline is valid? [True, True] Translation: X:147.13, Y:-17.11, Z:-5.44 [[ 9.48128699e-01 3.16812785e-01 2.61080261e-02 1.47125347e+02] [-3.16709079e-01 9.48487923e-01 -8.12519012e-03 -1.71070794e+01] [-2.73373116e-02 -5.64922968e-04 9.99626106e-01 -5.43900901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150385723 meters 0.018425073805826878 Centerline is valid? [True, True] Translation: X:147.18, Y:-17.13, Z:-5.44 [[ 9.48459867e-01 3.15738064e-01 2.70805616e-02 1.47183590e+02] [-3.15626008e-01 9.48846231e-01 -8.42931432e-03 -1.71274529e+01] [-2.83567441e-02 -5.52463192e-04 9.99597714e-01 -5.44072024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210385723 meters 0.018085364355010927 Centerline is valid? [True, True] Translation: X:147.24, Y:-17.15, Z:-5.44 [[ 9.48231727e-01 3.16334877e-01 2.80862380e-02 1.47243365e+02] [-3.16214381e-01 9.48647408e-01 -8.74994246e-03 -1.71483245e+01] [-2.94118489e-02 -5.84299316e-04 9.99567207e-01 -5.44160417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270385723 meters 0.017704119453640442 Centerline is valid? [True, True] Translation: X:147.30, Y:-17.17, Z:-5.44 [[ 9.48777375e-01 3.14464809e-01 3.05512051e-02 1.47302567e+02] [-3.14320917e-01 9.49268965e-01 -9.52857319e-03 -1.71680150e+01] [-3.19977118e-02 -5.62388124e-04 9.99487784e-01 -5.44385635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330385723 meters 0.017484599569068227 Centerline is valid? [True, True] Translation: X:147.36, Y:-17.19, Z:-5.44 [[ 9.49531034e-01 3.11975757e-01 3.25874700e-02 1.47360139e+02] [-3.11810252e-01 9.50089930e-01 -1.01730475e-02 -1.71895651e+01] [-3.41347713e-02 -5.01482883e-04 9.99417113e-01 -5.44454172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390385723 meters 0.01751468204918187 Centerline is valid? [True, True] Translation: X:147.42, Y:-17.21, Z:-5.45 [[ 9.49374634e-01 3.12494889e-01 3.21675056e-02 1.47419379e+02] [-3.12333667e-01 9.49919306e-01 -1.00495067e-02 -1.72091475e+01] [-3.36969541e-02 -5.06248168e-04 9.99431968e-01 -5.44801439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.450385723 meters 0.01780487642847051 Centerline is valid? [True, True] Translation: X:147.48, Y:-17.22, Z:-5.45 [[ 9.48811935e-01 3.14303711e-01 3.11302012e-02 1.47478691e+02] [-3.14153387e-01 9.49322328e-01 -9.73486493e-03 -1.72234548e+01] [-3.26122992e-02 -5.43102104e-04 9.99467930e-01 -5.45311987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510385723 meters 0.017614634584530962 Centerline is valid? [True, True] Translation: X:147.54, Y:-17.24, Z:-5.45 [[ 9.48966495e-01 3.13753004e-01 3.19631534e-02 1.47537524e+02] [-3.13593946e-01 9.49504487e-01 -1.00033077e-02 -1.72433128e+01] [-3.34877254e-02 -5.30647574e-04 9.99438988e-01 -5.45334636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57038572300002 meters 0.01729675015154977 Centerline is valid? [True, True] Translation: X:147.60, Y:-17.26, Z:-5.45 [[ 9.49282467e-01 3.12511673e-01 3.46302293e-02 1.47596739e+02] [-3.12323766e-01 9.49913778e-01 -1.08480236e-02 -1.72616960e+01] [-3.62858659e-02 -5.18005015e-04 9.99341317e-01 -5.45444946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63038572300002 meters 0.01721392885525239 Centerline is valid? [True, True] Translation: X:147.66, Y:-17.28, Z:-5.46 [[ 9.49529077e-01 3.11658577e-01 3.55452272e-02 1.47655474e+02] [-3.11459649e-01 9.50194029e-01 -1.11442918e-02 -1.72787635e+01] [-3.72480768e-02 -4.89074907e-04 9.99305930e-01 -5.45652840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69038572300002 meters 0.016760623160644274 Centerline is valid? [True, True] Translation: X:147.71, Y:-17.30, Z:-5.46 [[ 9.50131808e-01 3.09765612e-01 3.59835244e-02 1.47714211e+02] [-3.09560175e-01 9.50812860e-01 -1.12873398e-02 -1.72986044e+01] [-3.77100275e-02 -4.14605591e-04 9.99288638e-01 -5.45864687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750385723 meters 0.016525916260609154 Centerline is valid? [True, True] Translation: X:147.77, Y:-17.32, Z:-5.46 [[ 9.51135147e-01 3.06821690e-01 3.46753805e-02 1.47772721e+02] [-3.06628642e-01 9.51766974e-01 -1.08859016e-02 -1.73182280e+01] [-3.63429127e-02 -2.78501228e-04 9.99339339e-01 -5.46212181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810385723 meters 0.01649692916464369 Centerline is valid? [True, True] Translation: X:147.83, Y:-17.34, Z:-5.47 [[ 9.51586678e-01 3.05507102e-01 3.38851702e-02 1.47831809e+02] [-3.05321607e-01 9.52189773e-01 -1.06466985e-02 -1.73380247e+01] [-3.55177546e-02 -2.14618176e-04 9.99369022e-01 -5.46512501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870385723 meters 0.016624407536729603 Centerline is valid? [True, True] Translation: X:147.89, Y:-17.36, Z:-5.47 [[ 9.51648670e-01 3.05168801e-01 3.51683213e-02 1.47890411e+02] [-3.04968401e-01 9.52298253e-01 -1.10594614e-02 -1.73566891e+01] [-3.68657335e-02 -2.00505027e-04 9.99320208e-01 -5.46673104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930385723 meters 0.016823874313494948 Centerline is valid? [True, True] Translation: X:147.95, Y:-17.37, Z:-5.47 [[ 9.51472777e-01 3.05540582e-01 3.66675169e-02 1.47949358e+02] [-3.05322599e-01 9.52179031e-01 -1.15413820e-02 -1.73748658e+01] [-3.84404012e-02 -2.14110760e-04 9.99260872e-01 -5.46778927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990385723 meters 0.017176750935848775 Centerline is valid? [True, True] Translation: X:148.01, Y:-17.39, Z:-5.47 [[ 9.51072704e-01 3.06657781e-01 3.77056675e-02 1.48008976e+02] [-3.06427859e-01 9.51819803e-01 -1.18755607e-02 -1.73935135e+01] [-3.95307341e-02 -2.59545401e-04 9.99218321e-01 -5.46870434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050385723 meters 0.01726469615217937 Centerline is valid? [True, True] Translation: X:148.07, Y:-17.41, Z:-5.47 [[ 9.50446043e-01 3.08628414e-01 3.74275470e-02 1.48068514e+02] [-3.08402978e-01 9.51182629e-01 -1.17986942e-02 -1.74112332e+01] [-3.92418449e-02 -3.28744773e-04 9.99229688e-01 -5.47262340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110385723 meters 0.017521945596182188 Centerline is valid? [True, True] Translation: X:148.13, Y:-17.43, Z:-5.48 [[ 9.49928898e-01 3.10370735e-01 3.61260910e-02 1.48128556e+02] [-3.10161620e-01 9.50615518e-01 -1.13976110e-02 -1.74301514e+01] [-3.78795076e-02 -3.78006909e-04 9.99282242e-01 -5.47729604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170385723 meters 0.017885123457684744 Centerline is valid? [True, True] Translation: X:148.19, Y:-17.45, Z:-5.48 [[ 9.49194224e-01 3.12783864e-01 3.45916241e-02 1.48188504e+02] [-3.12593375e-01 9.49824224e-01 -1.09235988e-02 -1.74454159e+01] [-3.62726879e-02 -4.44495645e-04 9.99341831e-01 -5.48458566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230385723 meters 0.018599914961789213 Centerline is valid? [True, True] Translation: X:148.25, Y:-17.46, Z:-5.49 [[ 9.48338871e-01 3.15522517e-01 3.31500710e-02 1.48246609e+02] [-3.15348954e-01 9.48917948e-01 -1.04768759e-02 -1.74640447e+01] [-3.47623876e-02 -5.18211605e-04 9.99395471e-01 -5.48661739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290385723 meters 0.01912734598078349 Centerline is valid? [True, True] Translation: X:148.31, Y:-17.48, Z:-5.49 [[ 9.47902350e-01 3.16704471e-01 3.43425810e-02 1.48305356e+02] [-3.16518654e-01 9.48524090e-01 -1.08624532e-02 -1.74823342e+01] [-3.60149529e-02 -5.73522611e-04 9.99351087e-01 -5.48750334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35038572300002 meters 0.01922351006473254 Centerline is valid? [True, True] Translation: X:148.37, Y:-17.50, Z:-5.49 [[ 9.47348857e-01 3.18132892e-01 3.63538939e-02 1.48365577e+02] [-3.17925362e-01 9.48045902e-01 -1.15078768e-02 -1.74980996e+01] [-3.81261943e-02 -6.55850967e-04 9.99272717e-01 -5.49066611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41038572300002 meters 0.019356263589936633 Centerline is valid? [True, True] Translation: X:148.43, Y:-17.52, Z:-5.49 [[ 9.47196056e-01 3.18576109e-01 3.64540044e-02 1.48425694e+02] [-3.18367391e-01 9.47897051e-01 -1.15492638e-02 -1.75177018e+01] [-3.82339628e-02 -6.66349116e-04 9.99268593e-01 -5.49270638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47038572300002 meters 0.019439685256339205 Centerline is valid? [True, True] Translation: X:148.48, Y:-17.54, Z:-5.49 [[ 9.47376338e-01 3.17992040e-01 3.68664820e-02 1.48483267e+02] [-3.17777693e-01 9.48093167e-01 -1.16911899e-02 -1.75399114e+01] [-3.86705650e-02 -6.39388986e-04 9.99251809e-01 -5.49185209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530385723 meters 0.01960977956606508 Centerline is valid? [True, True] Translation: X:148.54, Y:-17.56, Z:-5.49 [[ 9.47450305e-01 3.17770530e-01 3.68756089e-02 1.48542851e+02] [-3.17555557e-01 9.48167445e-01 -1.17031981e-02 -1.75567828e+01] [-3.86831834e-02 -6.21855900e-04 9.99251332e-01 -5.49448058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590385723 meters 0.020053262789680008 Centerline is valid? [True, True] Translation: X:148.60, Y:-17.57, Z:-5.50 [[ 9.47252987e-01 3.18529835e-01 3.53627264e-02 1.48603143e+02] [-3.18332327e-01 9.47912635e-01 -1.12323740e-02 -1.75716611e+01] [-3.70986214e-02 -6.17199153e-04 9.99311419e-01 -5.49997590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650385723 meters 0.019861333121374926 Centerline is valid? [True, True] Translation: X:148.66, Y:-17.59, Z:-5.50 [[ 9.46875966e-01 3.19630355e-01 3.55294443e-02 1.48662440e+02] [-3.19431395e-01 9.47542088e-01 -1.12949439e-02 -1.75910138e+01] [-3.72758507e-02 -6.54309077e-04 9.99304800e-01 -5.50125984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710385723 meters 0.02036248015489482 Centerline is valid? [True, True] Translation: X:148.72, Y:-17.61, Z:-5.50 [[ 9.46532391e-01 3.20697715e-01 3.50629108e-02 1.48722766e+02] [-3.20504349e-01 9.47181353e-01 -1.11556023e-02 -1.76066383e+01] [-3.67885114e-02 -6.78676518e-04 9.99322843e-01 -5.50446375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770385723 meters 0.020174318506018862 Centerline is valid? [True, True] Translation: X:148.78, Y:-17.63, Z:-5.51 [[ 9.46252421e-01 3.21595821e-01 3.43872661e-02 1.48781178e+02] [-3.21410119e-01 9.46876787e-01 -1.09492295e-02 -1.76267667e+01] [-3.60817305e-02 -6.91680392e-04 9.99348603e-01 -5.50623885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830385723 meters 0.02059472891692589 Centerline is valid? [True, True] Translation: X:148.84, Y:-17.64, Z:-5.51 [[ 9.45861903e-01 3.22691951e-01 3.48592302e-02 1.48841614e+02] [-3.22501515e-01 9.46503758e-01 -1.11089240e-02 -1.76427998e+01] [-3.65791528e-02 -7.34646515e-04 9.99330489e-01 -5.50966553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890385723 meters 0.021097858143075923 Centerline is valid? [True, True] Translation: X:148.90, Y:-17.66, Z:-5.52 [[ 9.45587022e-01 3.23624312e-01 3.36524615e-02 1.48902003e+02] [-3.23447122e-01 9.46185375e-01 -1.07329595e-02 -1.76570244e+01] [-3.53149135e-02 -7.35844611e-04 9.99375963e-01 -5.51567368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.950385723 meters 0.020692959469216853 Centerline is valid? [True, True] Translation: X:148.96, Y:-17.68, Z:-5.52 [[ 9.45825504e-01 3.23212451e-01 3.07867986e-02 1.48960699e+02] [-3.23063710e-01 9.46326205e-01 -9.82614597e-03 -1.76785229e+01] [-3.23102870e-02 -6.52277889e-04 9.99477674e-01 -5.52000078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010385723 meters 0.021904660582992508 Centerline is valid? [True, True] Translation: X:149.02, Y:-17.70, Z:-5.52 [[ 9.46511065e-01 3.21185284e-01 3.09324555e-02 1.49019239e+02] [-3.21033742e-01 9.47016199e-01 -9.88209831e-03 -1.76980345e+01] [-3.24675209e-02 -5.76846530e-04 9.99472625e-01 -5.52392815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07038572300002 meters 0.019524794665996166 Centerline is valid? [True, True] Translation: X:149.08, Y:-17.72, Z:-5.52 [[ 9.47103689e-01 3.19310562e-01 3.21771298e-02 1.49077997e+02] [-3.19145204e-01 9.47649983e-01 -1.02883196e-02 -1.77181068e+01] [-3.37778256e-02 -5.25071176e-04 9.99429229e-01 -5.52311722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13038572300002 meters 0.02004236118549158 Centerline is valid? [True, True] Translation: X:149.14, Y:-17.74, Z:-5.53 [[ 9.47774059e-01 3.17541092e-01 2.98661608e-02 1.49136367e+02] [-3.17397524e-01 9.48244419e-01 -9.55691562e-03 -1.77367986e+01] [-3.13551337e-02 -4.21648778e-04 9.99508218e-01 -5.52676223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19038572300002 meters 0.019060487555559488 Centerline is valid? [True, True] Translation: X:149.19, Y:-17.76, Z:-5.53 [[ 9.48301400e-01 3.16114452e-01 2.82153776e-02 1.49194222e+02] [-3.15985501e-01 9.48720998e-01 -9.03500347e-03 -1.77605949e+01] [-2.96246164e-02 -3.47743774e-04 9.99561034e-01 -5.52817339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250385723 meters 0.018973116471449628 Centerline is valid? [True, True] Translation: X:149.25, Y:-17.78, Z:-5.53 [[ 9.48437964e-01 3.15801102e-01 2.71125694e-02 1.49253870e+02] [-3.15681717e-01 9.48825359e-01 -8.68857762e-03 -1.77800546e+01] [-2.84689558e-02 -3.18365587e-04 9.99594626e-01 -5.53081144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310385723 meters 0.019061997432600168 Centerline is valid? [True, True] Translation: X:149.31, Y:-17.80, Z:-5.53 [[ 9.48338177e-01 3.15807428e-01 3.03375986e-02 1.49313218e+02] [-3.15657600e-01 9.48823244e-01 -9.73296770e-03 -1.77990726e+01] [-3.18587622e-02 -3.46148709e-04 9.99492321e-01 -5.53100361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370385723 meters 0.0191594596554316 Centerline is valid? [True, True] Translation: X:149.37, Y:-17.82, Z:-5.53 [[ 9.48050529e-01 3.16643263e-01 3.06143490e-02 1.49371659e+02] [-3.16490846e-01 9.48544626e-01 -9.83040509e-03 -1.78182250e+01] [-3.21518077e-02 -3.69440440e-04 9.99482929e-01 -5.53210981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430385723 meters 0.019438893741514286 Centerline is valid? [True, True] Translation: X:149.43, Y:-17.83, Z:-5.54 [[ 9.47236328e-01 3.19103120e-01 3.02743650e-02 1.49431809e+02] [-3.18955154e-01 9.47719897e-01 -9.72660140e-03 -1.78344622e+01] [-3.17954070e-02 -4.42774568e-04 9.99494300e-01 -5.53561015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490385723 meters 0.019600929991967775 Centerline is valid? [True, True] Translation: X:149.49, Y:-17.85, Z:-5.54 [[ 9.46670844e-01 3.20687177e-01 3.12097497e-02 1.49491058e+02] [-3.20530506e-01 9.47185030e-01 -1.00356031e-02 -1.78526514e+01] [-3.27796970e-02 -5.03263997e-04 9.99462475e-01 -5.53687569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550385723 meters 0.019736658911754072 Centerline is valid? [True, True] Translation: X:149.55, Y:-17.87, Z:-5.54 [[ 9.46607640e-01 3.20873068e-01 3.12161910e-02 1.49549983e+02] [-3.20716156e-01 9.47122074e-01 -1.00461474e-02 -1.78712233e+01] [-3.27890816e-02 -5.01776878e-04 9.99462168e-01 -5.53829482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610385723 meters 0.0193410845283303 Centerline is valid? [True, True] Translation: X:149.61, Y:-17.89, Z:-5.54 [[ 9.46809898e-01 3.20366467e-01 3.02711878e-02 1.49609296e+02] [-3.20218498e-01 9.47293572e-01 -9.74694555e-03 -1.78916608e+01] [-3.17982962e-02 -4.64889770e-04 9.99494198e-01 -5.54087803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670385723 meters 0.019922826477032335 Centerline is valid? [True, True] Translation: X:149.67, Y:-17.91, Z:-5.55 [[ 9.46602846e-01 3.21148211e-01 2.84056078e-02 1.49668616e+02] [-3.21018024e-01 9.47028839e-01 -9.15460225e-03 -1.79064971e+01] [-2.98409139e-02 -4.52939550e-04 9.99554558e-01 -5.54732385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730385723 meters 0.019189255356245844 Centerline is valid? [True, True] Translation: X:149.73, Y:-17.93, Z:-5.55 [[ 9.46979984e-01 3.19947461e-01 2.93689073e-02 1.49727569e+02] [-3.19807487e-01 9.47435193e-01 -9.47244888e-03 -1.79273658e+01] [-3.08558223e-02 -4.22176925e-04 9.99523757e-01 -5.54829940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790385723 meters 0.01858803227928389 Centerline is valid? [True, True] Translation: X:149.79, Y:-17.95, Z:-5.55 [[ 9.48132026e-01 3.16388298e-01 3.07263069e-02 1.49786224e+02] [-3.16232939e-01 9.48629721e-01 -9.91870497e-03 -1.79478111e+01] [-3.22860501e-02 -3.12428491e-04 9.99478621e-01 -5.55051031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85038572300002 meters 0.01865525356345325 Centerline is valid? [True, True] Translation: X:149.84, Y:-17.97, Z:-5.55 [[ 9.49055846e-01 3.13480189e-01 3.19870589e-02 1.49844529e+02] [-3.13309858e-01 9.49594717e-01 -1.03347528e-02 -1.79674432e+01] [-3.36144824e-02 -2.13603332e-04 9.99434851e-01 -5.55171013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91038572300002 meters 0.018347672540013498 Centerline is valid? [True, True] Translation: X:149.90, Y:-17.99, Z:-5.55 [[ 9.49745276e-01 3.11440704e-01 3.14419767e-02 1.49902954e+02] [-3.11274740e-01 9.50265579e-01 -1.01668730e-02 -1.79869862e+01] [-3.30446063e-02 -1.31153486e-04 9.99453869e-01 -5.55452344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97038572300002 meters 0.01982751158469024 Centerline is valid? [True, True] Translation: X:149.96, Y:-18.01, Z:-5.56 [[ 9.49916738e-01 3.11016816e-01 3.04422508e-02 1.49962497e+02] [-3.10860781e-01 9.50404403e-01 -9.85118619e-03 -1.80052077e+01] [-3.19963337e-02 -1.05495189e-04 9.99487981e-01 -5.56156076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030385723 meters 0.018152822111754646 Centerline is valid? [True, True] Translation: X:150.02, Y:-18.02, Z:-5.56 [[ 9.49916069e-01 3.10888135e-01 3.17494905e-02 1.50022811e+02] [-3.10717995e-01 9.50446505e-01 -1.02844320e-02 -1.80245959e+01] [-3.33735001e-02 -9.57908083e-05 9.99442945e-01 -5.55961191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090385723 meters 0.018350751604536794 Centerline is valid? [True, True] Translation: X:150.08, Y:-18.04, Z:-5.56 [[ 9.49404880e-01 3.12419981e-01 3.20020125e-02 1.50082570e+02] [-3.12247651e-01 9.49944070e-01 -1.03763752e-02 -1.80407797e+01] [-3.36419089e-02 -1.41171940e-04 9.99433941e-01 -5.56280530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150385723 meters 0.018535075847700495 Centerline is valid? [True, True] Translation: X:150.14, Y:-18.06, Z:-5.57 [[ 9.48144148e-01 3.16295556e-01 3.13017018e-02 1.50142264e+02] [-3.16132615e-01 9.48660661e-01 -1.01548068e-02 -1.80569851e+01] [-3.29066134e-02 -2.67268206e-04 9.99458395e-01 -5.56631870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210385723 meters 0.01907678963216051 Centerline is valid? [True, True] Translation: X:150.20, Y:-18.07, Z:-5.57 [[ 9.46609433e-01 3.20991279e-01 2.99195642e-02 1.50201049e+02] [-3.20844504e-01 9.47082064e-01 -9.71434013e-03 -1.80740467e+01] [-3.14545011e-02 -4.03841730e-04 9.99505103e-01 -5.56844401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270385723 meters 0.019818214337968657 Centerline is valid? [True, True] Translation: X:150.26, Y:-18.09, Z:-5.57 [[ 9.45114815e-01 3.25462477e-01 2.88472345e-02 1.50259877e+02] [-3.25327866e-01 9.45554811e-01 -9.37435562e-03 -1.80885669e+01] [-3.03276424e-02 -5.24966878e-04 9.99539873e-01 -5.57231945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330385723 meters 0.020048334723585037 Centerline is valid? [True, True] Translation: X:150.32, Y:-18.11, Z:-5.57 [[ 9.44622127e-01 3.26882874e-01 2.89244509e-02 1.50318878e+02] [-3.26748211e-01 9.45064685e-01 -9.39933683e-03 -1.81071794e+01] [-3.04079593e-02 -5.72191014e-04 9.99537407e-01 -5.57484487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390385723 meters 0.020701764965317566 Centerline is valid? [True, True] Translation: X:150.38, Y:-18.13, Z:-5.58 [[ 9.44103488e-01 3.28355032e-01 2.91818075e-02 1.50376204e+02] [-3.28218419e-01 9.44554176e-01 -9.49093046e-03 -1.81272631e+01] [-3.06801929e-02 -6.17586155e-04 9.99529061e-01 -5.57563249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.450385723 meters 0.02073335098668968 Centerline is valid? [True, True] Translation: X:150.43, Y:-18.15, Z:-5.58 [[ 9.44159449e-01 3.28134062e-01 2.98491527e-02 1.50434842e+02] [-3.27990786e-01 9.44630963e-01 -9.71536787e-03 -1.81480851e+01] [-3.13843770e-02 -6.17390683e-04 9.99507198e-01 -5.57725380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510385723 meters 0.02118600478164774 Centerline is valid? [True, True] Translation: X:150.49, Y:-18.17, Z:-5.58 [[ 9.44148449e-01 3.28122180e-01 3.03239454e-02 1.50492972e+02] [-3.27974049e-01 9.44635089e-01 -9.87783190e-03 -1.81695463e+01] [-3.18861986e-02 -6.19327469e-04 9.99491314e-01 -5.57839872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57038572300002 meters 0.020688949297571473 Centerline is valid? [True, True] Translation: X:150.55, Y:-18.19, Z:-5.58 [[ 9.44159950e-01 3.28242041e-01 2.86208175e-02 1.50550111e+02] [-3.28109879e-01 9.44593471e-01 -9.33174184e-03 -1.81927299e+01] [-3.00981073e-02 -5.80116053e-04 9.99546781e-01 -5.58305732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63038572300002 meters 0.0212877757321728 Centerline is valid? [True, True] Translation: X:150.61, Y:-18.21, Z:-5.59 [[ 9.43925891e-01 3.29018919e-01 2.73946042e-02 1.50607024e+02] [-3.28898057e-01 9.44323155e-01 -8.93577815e-03 -1.82136199e+01] [-2.88093991e-02 -5.75319729e-04 9.99584758e-01 -5.58727505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69038572300002 meters 0.020239440573066224 Centerline is valid? [True, True] Translation: X:150.66, Y:-18.24, Z:-5.59 [[ 9.43523276e-01 3.30270339e-01 2.61788390e-02 1.50663957e+02] [-3.30160384e-01 9.43886202e-01 -8.54159464e-03 -1.82403830e+01] [-2.75308803e-02 -5.84022192e-04 9.99620783e-01 -5.58669294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750385723 meters 0.020162301252991455 Centerline is valid? [True, True] Translation: X:150.72, Y:-18.26, Z:-5.59 [[ 9.43056594e-01 3.31806732e-01 2.34212248e-02 1.50722778e+02] [-3.31719067e-01 9.43347222e-01 -7.64713623e-03 -1.82589847e+01] [-2.46317187e-02 -5.57584599e-04 9.99696438e-01 -5.59163089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810385723 meters 0.020516712849218754 Centerline is valid? [True, True] Translation: X:150.78, Y:-18.27, Z:-5.60 [[ 9.42736211e-01 3.32788527e-01 2.23658758e-02 1.50783099e+02] [-3.32708728e-01 9.43001321e-01 -7.30826308e-03 -1.82745749e+01] [-2.35231565e-02 -5.51557840e-04 9.99723140e-01 -5.59662134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870385723 meters 0.020113005291757684 Centerline is valid? [True, True] Translation: X:150.84, Y:-18.29, Z:-5.60 [[ 9.42760035e-01 3.32589239e-01 2.42469459e-02 1.50842453e+02] [-3.32495200e-01 9.43071607e-01 -7.93014121e-03 -1.82925693e+01] [-2.55040859e-02 -5.85772921e-04 9.99674546e-01 -5.59667629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930385723 meters 0.020225325714797994 Centerline is valid? [True, True] Translation: X:150.90, Y:-18.31, Z:-5.60 [[ 9.42625464e-01 3.32916533e-01 2.49763356e-02 1.50902470e+02] [-3.32816690e-01 9.42956104e-01 -8.17536290e-03 -1.83121441e+01] [-2.62733016e-02 -6.06236105e-04 9.99654613e-01 -5.59732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990385723 meters 0.020109083089397295 Centerline is valid? [True, True] Translation: X:150.96, Y:-18.33, Z:-5.60 [[ 9.42151222e-01 3.34308120e-01 2.42725214e-02 1.50961844e+02] [-3.34214095e-01 9.42463631e-01 -7.95249241e-03 -1.83290503e+01] [-2.55345515e-02 -6.19768332e-04 9.99673748e-01 -5.60091025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050385723 meters 0.02128476483653783 Centerline is valid? [True, True] Translation: X:151.02, Y:-18.35, Z:-5.60 [[ 9.42441953e-01 3.33644318e-01 2.20144162e-02 1.51020953e+02] [-3.33566687e-01 9.42698879e-01 -7.21731100e-03 -1.83493312e+01] [-2.31609803e-02 -5.41379197e-04 9.99731602e-01 -5.60490168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110385723 meters 0.019326547938036523 Centerline is valid? [True, True] Translation: X:151.08, Y:-18.37, Z:-5.60 [[ 9.42794398e-01 3.32562784e-01 2.32533474e-02 1.51079688e+02] [-3.32475591e-01 9.43080967e-01 -7.63360901e-03 -1.83716908e+01] [-2.44684436e-02 -5.34246604e-04 9.99700460e-01 -5.60266236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170385723 meters 0.01912684549594769 Centerline is valid? [True, True] Translation: X:151.14, Y:-18.39, Z:-5.60 [[ 9.43664745e-01 3.30093301e-01 2.31357142e-02 1.51137547e+02] [-3.30006232e-01 9.43948195e-01 -7.59555292e-03 -1.83923899e+01] [-2.43461568e-02 -4.67274361e-04 9.99703479e-01 -5.60408947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230385723 meters 0.019394363290429862 Centerline is valid? [True, True] Translation: X:151.19, Y:-18.41, Z:-5.61 [[ 9.44113700e-01 3.28813776e-01 2.30395651e-02 1.51194850e+02] [-3.28726884e-01 9.44394684e-01 -7.57076786e-03 -1.84124876e+01] [-2.42478156e-02 -4.26058800e-04 9.99705888e-01 -5.60591531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290385723 meters 0.01891540495065205 Centerline is valid? [True, True] Translation: X:151.25, Y:-18.43, Z:-5.61 [[ 9.44570951e-01 3.27582815e-01 2.17994951e-02 1.51252800e+02] [-3.27504660e-01 9.44822397e-01 -7.16493224e-03 -1.84334140e+01] [-2.29437599e-02 -3.71649385e-04 9.99736688e-01 -5.60893141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35038572300002 meters 0.018464864344008715 Centerline is valid? [True, True] Translation: X:151.31, Y:-18.45, Z:-5.61 [[ 9.45268670e-01 3.25637553e-01 2.06718380e-02 1.51311533e+02] [-3.25566703e-01 9.45494628e-01 -6.79921743e-03 -1.84544682e+01] [-2.17591923e-02 -3.02974909e-04 9.99763195e-01 -5.61253562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41038572300002 meters 0.018236635817281934 Centerline is valid? [True, True] Translation: X:151.37, Y:-18.48, Z:-5.61 [[ 9.45737820e-01 3.24251536e-01 2.09980384e-02 1.51370074e+02] [-3.24177915e-01 9.45970861e-01 -6.91447631e-03 -1.84769485e+01] [-2.21055620e-02 -2.67818557e-04 9.99755606e-01 -5.61355321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47038572300002 meters 0.019064025019953683 Centerline is valid? [True, True] Translation: X:151.43, Y:-18.50, Z:-5.62 [[ 9.46046043e-01 3.23420410e-01 1.99028630e-02 1.51428344e+02] [-3.23354104e-01 9.46255347e-01 -6.55291898e-03 -1.84958487e+01] [-2.09525383e-02 -2.36309369e-04 9.99780444e-01 -5.62065276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530385723 meters 0.019317706185591574 Centerline is valid? [True, True] Translation: X:151.49, Y:-18.52, Z:-5.62 [[ 9.46041171e-01 3.23570733e-01 1.75523150e-02 1.51485893e+02] [-3.23519110e-01 9.46203962e-01 -5.78334548e-03 -1.85181533e+01] [-1.84793913e-02 -2.07226404e-04 9.99829220e-01 -5.62266815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590385723 meters 0.018078816799733093 Centerline is valid? [True, True] Translation: X:151.54, Y:-18.54, Z:-5.62 [[ 9.45988122e-01 3.23578119e-01 2.00916482e-02 1.51543487e+02] [-3.23510355e-01 9.46201431e-01 -6.62594779e-03 -1.85403140e+01] [-2.11547580e-02 -2.31788316e-04 9.99776186e-01 -5.62161857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650385723 meters 0.018131378702930644 Centerline is valid? [True, True] Translation: X:151.60, Y:-18.56, Z:-5.62 [[ 9.45617617e-01 3.24374362e-01 2.42609659e-02 1.51602110e+02] [-3.24275596e-01 9.45928743e-01 -8.00941648e-03 -1.85569414e+01] [-2.55471944e-02 -2.93393868e-04 9.99673574e-01 -5.62199978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710385723 meters 0.018140512528708748 Centerline is valid? [True, True] Translation: X:151.66, Y:-18.58, Z:-5.62 [[ 9.44562304e-01 3.27301827e-01 2.59917002e-02 1.51661152e+02] [-3.27189393e-01 9.44919764e-01 -8.58728261e-03 -1.85767356e+01] [-2.73707045e-02 -3.92985151e-04 9.99625275e-01 -5.62072043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770385723 meters 0.018294956261229567 Centerline is valid? [True, True] Translation: X:151.72, Y:-18.60, Z:-5.62 [[ 9.43967523e-01 3.28810511e-01 2.84422852e-02 1.51721333e+02] [-3.28676309e-01 9.44395800e-01 -9.40517201e-03 -1.85950496e+01] [-2.99532941e-02 -4.70128404e-04 9.99551189e-01 -5.62247372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830385723 meters 0.01850750028371472 Centerline is valid? [True, True] Translation: X:151.78, Y:-18.61, Z:-5.63 [[ 9.43024724e-01 3.31491475e-01 2.85967033e-02 1.51781579e+02] [-3.31356770e-01 9.43458054e-01 -9.46525423e-03 -1.86109058e+01] [-3.01174411e-02 -5.49742481e-04 9.99546216e-01 -5.62790598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890385723 meters 0.01915273361223488 Centerline is valid? [True, True] Translation: X:151.84, Y:-18.63, Z:-5.63 [[ 9.41578217e-01 3.35852950e-01 2.51646126e-02 1.51841154e+02] [-3.35750043e-01 9.41914240e-01 -8.33510906e-03 -1.86271313e+01] [-2.65022779e-02 -6.00862630e-04 9.99648572e-01 -5.63385159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950385723 meters 0.01941730831462244 Centerline is valid? [True, True] Translation: X:151.90, Y:-18.65, Z:-5.64 [[ 9.40768048e-01 3.38278052e-01 2.28788034e-02 1.51900137e+02] [-3.38193540e-01 9.41046013e-01 -7.58499064e-03 -1.86463879e+01] [-2.40958426e-02 -6.01746668e-04 9.99709472e-01 -5.63790490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010385723 meters 0.020633449898519174 Centerline is valid? [True, True] Translation: X:151.96, Y:-18.66, Z:-5.64 [[ 9.39618424e-01 3.41450704e-01 2.29920460e-02 1.51958858e+02] [-3.41366304e-01 9.39899434e-01 -7.62244260e-03 -1.86623887e+01] [-2.42128994e-02 -6.86522249e-04 9.99706589e-01 -5.64106658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07038572300002 meters 0.02172987674268477 Centerline is valid? [True, True] Translation: X:152.02, Y:-18.68, Z:-5.64 [[ 9.38749318e-01 3.43696616e-01 2.49470216e-02 1.52018394e+02] [-3.43597861e-01 9.39080398e-01 -8.27743978e-03 -1.86788929e+01] [-2.62721870e-02 -8.01302330e-04 9.99654505e-01 -5.64267087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13038572300002 meters 0.020936237234104423 Centerline is valid? [True, True] Translation: X:152.08, Y:-18.70, Z:-5.64 [[ 9.38901113e-01 3.43177364e-01 2.63438110e-02 1.52076240e+02] [-3.43066829e-01 9.39270258e-01 -8.74832059e-03 -1.87012114e+01] [-2.77461838e-02 -8.23879762e-04 9.99614661e-01 -5.64419467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19038572300002 meters 0.02060882262987176 Centerline is valid? [True, True] Translation: X:152.13, Y:-18.72, Z:-5.65 [[ 9.39868133e-01 3.40432730e-01 2.74490117e-02 1.52132767e+02] [-3.40311278e-01 9.40268563e-01 -9.12485797e-03 -1.87229827e+01] [-2.89158431e-02 -7.65045025e-04 9.99581557e-01 -5.64614509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250385723 meters 0.019630300707257155 Centerline is valid? [True, True] Translation: X:152.19, Y:-18.74, Z:-5.65 [[ 9.40102700e-01 3.39623047e-01 2.93785443e-02 1.52190630e+02] [-3.39483540e-01 9.40561299e-01 -9.76567706e-03 -1.87448206e+01] [-3.09489708e-02 -7.92792839e-04 9.99520651e-01 -5.64666241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310385723 meters 0.019238073585692846 Centerline is valid? [True, True] Translation: X:152.25, Y:-18.77, Z:-5.65 [[ 9.40309889e-01 3.38961736e-01 3.03686400e-02 1.52248886e+02] [-3.38812045e-01 9.40799829e-01 -1.01034078e-02 -1.87660434e+01] [-3.19954800e-02 -7.88926802e-04 9.99487702e-01 -5.64769309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370385723 meters 0.02057152307236747 Centerline is valid? [True, True] Translation: X:152.31, Y:-18.78, Z:-5.65 [[ 9.40631482e-01 3.38227415e-01 2.85417279e-02 1.52307307e+02] [-3.38094619e-01 9.41064138e-01 -9.50356522e-03 -1.87830799e+01] [-3.00739628e-02 -7.10451974e-04 9.99547424e-01 -5.65239411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430385723 meters 0.02063283393341044 Centerline is valid? [True, True] Translation: X:152.37, Y:-18.80, Z:-5.66 [[ 9.40607526e-01 3.38305407e-01 2.84065680e-02 1.52367023e+02] [-3.38173796e-01 9.41036106e-01 -9.46207433e-03 -1.88031405e+01] [-2.99326770e-02 -7.06258576e-04 9.99551668e-01 -5.65646464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490385723 meters 0.01896634255063779 Centerline is valid? [True, True] Translation: X:152.42, Y:-18.83, Z:-5.66 [[ 9.40212775e-01 3.39246750e-01 3.01924043e-02 1.52424984e+02] [-3.39098260e-01 9.40697105e-01 -1.00660966e-02 -1.88270560e+01] [-3.18167978e-02 -7.73919185e-04 9.99493418e-01 -5.65625138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550385723 meters 0.01924396744273543 Centerline is valid? [True, True] Translation: X:152.49, Y:-18.85, Z:-5.66 [[ 9.39792195e-01 3.40226975e-01 3.21906072e-02 1.52485249e+02] [-3.40058383e-01 9.40342960e-01 -1.07430996e-02 -1.88462886e+01] [-3.39253031e-02 -8.50404670e-04 9.99424009e-01 -5.65607771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610385723 meters 0.019695984172916303 Centerline is valid? [True, True] Translation: X:152.55, Y:-18.86, Z:-5.66 [[ 9.39566408e-01 3.40814397e-01 3.25654943e-02 1.52545079e+02] [-3.40641850e-01 9.40130196e-01 -1.08785866e-02 -1.88626690e+01] [-3.43233835e-02 -8.72015679e-04 9.99410399e-01 -5.65954424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670385723 meters 0.01920802031002557 Centerline is valid? [True, True] Translation: X:152.60, Y:-18.88, Z:-5.66 [[ 9.38860970e-01 3.42854006e-01 3.14834774e-02 1.52604138e+02] [-3.42693590e-01 9.39388263e-01 -1.05259227e-02 -1.88814316e+01] [-3.31840639e-02 -9.06807880e-04 9.99448846e-01 -5.66368332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730385723 meters 0.019991757694707908 Centerline is valid? [True, True] Translation: X:152.66, Y:-18.90, Z:-5.67 [[ 9.38647687e-01 3.43524510e-01 3.05193563e-02 1.52662717e+02] [-3.43373859e-01 9.39143286e-01 -1.02118556e-02 -1.88996749e+01] [-3.21700712e-02 -8.94214537e-04 9.99482009e-01 -5.66521300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790385723 meters 0.019090693178890727 Centerline is valid? [True, True] Translation: X:152.72, Y:-18.92, Z:-5.67 [[ 9.39086099e-01 3.42356461e-01 3.01554757e-02 1.52722070e+02] [-3.42208543e-01 9.39569770e-01 -1.00975474e-02 -1.89189123e+01] [-3.17901340e-02 -8.36994993e-04 9.99494216e-01 -5.66900685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85038572300002 meters 0.018417042409458524 Centerline is valid? [True, True] Translation: X:152.78, Y:-18.94, Z:-5.67 [[ 9.40141770e-01 3.39524540e-01 2.92666951e-02 1.52780755e+02] [-3.39383574e-01 9.40596928e-01 -9.80861631e-03 -1.89405018e+01] [-3.08584295e-02 -7.11145710e-04 9.99523512e-01 -5.67215105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91038572300002 meters 0.017513977757620494 Centerline is valid? [True, True] Translation: X:152.84, Y:-18.96, Z:-5.67 [[ 9.41797990e-01 3.34619589e-01 3.23461963e-02 1.52838533e+02] [-3.34444368e-01 9.42353100e-01 -1.08443461e-02 -1.89616750e+01] [-3.41102690e-02 -6.04819831e-04 9.99417892e-01 -5.67257716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97038572300002 meters 0.01714640634840964 Centerline is valid? [True, True] Translation: X:152.90, Y:-18.98, Z:-5.67 [[ 9.42826376e-01 3.31450616e-01 3.49129548e-02 1.52897271e+02] [-3.31244240e-01 9.43472422e-01 -1.17065100e-02 -1.89809192e+01] [-3.68195399e-02 -5.27508831e-04 9.99321792e-01 -5.67328792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030385723 meters 0.017009045310789093 Centerline is valid? [True, True] Translation: X:152.96, Y:-19.00, Z:-5.68 [[ 9.43083187e-01 3.30800070e-01 3.41381821e-02 1.52956539e+02] [-3.30602008e-01 9.43700737e-01 -1.14556386e-02 -1.89997680e+01] [-3.60057537e-02 -4.82531399e-04 9.99351466e-01 -5.67649738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090385723 meters 0.017218428839273794 Centerline is valid? [True, True] Translation: X:153.02, Y:-19.02, Z:-5.68 [[ 9.43144058e-01 3.30864591e-01 3.17475608e-02 1.53016200e+02] [-3.30693082e-01 9.43678137e-01 -1.06611641e-02 -1.90161503e+01] [-3.34868807e-02 -4.43685092e-04 9.99439059e-01 -5.68136498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150385723 meters 0.01699441171246332 Centerline is valid? [True, True] Translation: X:153.08, Y:-19.03, Z:-5.69 [[ 9.43489275e-01 3.30040316e-01 3.00229644e-02 1.53076758e+02] [-3.29886251e-01 9.43966759e-01 -1.00905271e-02 -1.90343571e+01] [-3.16709611e-02 -3.83859055e-04 9.99498276e-01 -5.68621101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210385723 meters 0.01680230266329629 Centerline is valid? [True, True] Translation: X:153.14, Y:-19.05, Z:-5.69 [[ 9.43925329e-01 3.28832697e-01 2.95640006e-02 1.53135407e+02] [-3.28682437e-01 9.44388135e-01 -9.94519798e-03 -1.90535714e+01] [-3.11901977e-02 -3.29643496e-04 9.99513413e-01 -5.68857289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270385723 meters 0.016609413294526178 Centerline is valid? [True, True] Translation: X:153.19, Y:-19.07, Z:-5.69 [[ 9.44501884e-01 3.27097428e-01 3.03885342e-02 1.53193617e+02] [-3.26937512e-01 9.44990581e-01 -1.02305958e-02 -1.90732881e+01] [-3.20632802e-02 -2.72334713e-04 9.99485804e-01 -5.69018701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330385723 meters 0.016424113406910787 Centerline is valid? [True, True] Translation: X:153.25, Y:-19.09, Z:-5.69 [[ 9.44939320e-01 3.25702965e-01 3.17373446e-02 1.53252108e+02] [-3.25527488e-01 9.45472118e-01 -1.06924306e-02 -1.90921384e+01] [-3.34893308e-02 -2.27679965e-04 9.99439049e-01 -5.69151243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390385723 meters 0.016701578151439737 Centerline is valid? [True, True] Translation: X:153.31, Y:-19.11, Z:-5.69 [[ 9.44695712e-01 3.26349234e-01 3.23448648e-02 1.53312045e+02] [-3.26167097e-01 9.45249235e-01 -1.09045458e-02 -1.91100423e+01] [-3.41326488e-02 -2.48352963e-04 9.99417281e-01 -5.69385606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450385723 meters 0.017205922316720492 Centerline is valid? [True, True] Translation: X:153.37, Y:-19.13, Z:-5.70 [[ 9.43834428e-01 3.28925377e-01 3.13794257e-02 1.53371862e+02] [-3.28755096e-01 9.44355861e-01 -1.05875121e-02 -1.91265790e+01] [-3.31158460e-02 -3.23287629e-04 9.99451468e-01 -5.69661134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510385723 meters 0.017897162928125456 Centerline is valid? [True, True] Translation: X:153.43, Y:-19.14, Z:-5.70 [[ 9.43175238e-01 3.30994490e-01 2.93788713e-02 1.53431080e+02] [-3.30846030e-01 9.43632616e-01 -9.91918283e-03 -1.91419923e+01] [-3.10060561e-02 -3.64355307e-04 9.99519130e-01 -5.70095185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57038572300002 meters 0.016985554689104218 Centerline is valid? [True, True] Translation: X:153.49, Y:-19.16, Z:-5.70 [[ 9.42982475e-01 3.31706771e-01 2.74712607e-02 1.53489230e+02] [-3.31577118e-01 9.43382473e-01 -9.28033337e-03 -1.91625615e+01] [-2.89942553e-02 -3.57649711e-04 9.99579514e-01 -5.70322944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63038572300002 meters 0.018257740384034687 Centerline is valid? [True, True] Translation: X:153.55, Y:-19.18, Z:-5.71 [[ 9.42975194e-01 3.31785882e-01 2.67565311e-02 1.53549238e+02] [-3.31662705e-01 9.43354658e-01 -9.04651917e-03 -1.91781968e+01] [-2.82424056e-02 -3.43500332e-04 9.99601045e-01 -5.70808678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69038572300002 meters 0.016893944465748 Centerline is valid? [True, True] Translation: X:153.61, Y:-19.20, Z:-5.71 [[ 9.42834702e-01 3.32165924e-01 2.69911898e-02 1.53608279e+02] [-3.32040608e-01 9.43220904e-01 -9.13021502e-03 -1.92018057e+01] [-2.84914007e-02 -3.53887497e-04 9.99593975e-01 -5.70671284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750385723 meters 0.017042550250503736 Centerline is valid? [True, True] Translation: X:153.67, Y:-19.22, Z:-5.71 [[ 9.42492525e-01 3.33033110e-01 2.82274205e-02 1.53667884e+02] [-3.32896160e-01 9.42915053e-01 -9.55770891e-03 -1.92209705e+01] [-2.97990932e-02 -3.88730684e-04 9.99555833e-01 -5.70785639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810385723 meters 0.017402452254304784 Centerline is valid? [True, True] Translation: X:153.73, Y:-19.24, Z:-5.71 [[ 9.41487299e-01 3.35874047e-01 2.81121042e-02 1.53726551e+02] [-3.35739191e-01 9.41906792e-01 -9.52837996e-03 -1.92396203e+01] [-2.96793174e-02 -4.67486402e-04 9.99559363e-01 -5.70950457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870385723 meters 0.018055310156961563 Centerline is valid? [True, True] Translation: X:153.79, Y:-19.26, Z:-5.71 [[ 9.40208403e-01 3.39483955e-01 2.75463843e-02 1.53786610e+02] [-3.39355931e-01 9.40611675e-01 -9.33965470e-03 -1.92567652e+01] [-2.90811136e-02 -5.66807070e-04 9.99576894e-01 -5.71261432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930385723 meters 0.018472037522515482 Centerline is valid? [True, True] Translation: X:153.85, Y:-19.27, Z:-5.72 [[ 9.39557526e-01 3.41415805e-01 2.58244700e-02 1.53845717e+02] [-3.41303844e-01 9.39912182e-01 -8.76220225e-03 -1.92749148e+01] [-2.72642883e-02 -5.81397801e-04 9.99628091e-01 -5.71688235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990385723 meters 0.01838654774540745 Centerline is valid? [True, True] Translation: X:153.90, Y:-19.30, Z:-5.72 [[ 9.39738911e-01 3.41097867e-01 2.33028626e-02 1.53903345e+02] [-3.41006476e-01 9.40027650e-01 -7.91199820e-03 -1.92969661e+01] [-2.46041009e-02 -5.11214469e-04 9.99697143e-01 -5.71998609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050385723 meters 0.018608092787474016 Centerline is valid? [True, True] Translation: X:153.96, Y:-19.32, Z:-5.72 [[ 9.40585271e-01 3.38626780e-01 2.51247280e-02 1.53961692e+02] [-3.38519457e-01 9.40920655e-01 -8.53805364e-03 -1.93162334e+01] [-2.65315891e-02 -4.74441760e-04 9.99647863e-01 -5.72215538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110385723 meters 0.017424629909459102 Centerline is valid? [True, True] Translation: X:154.02, Y:-19.34, Z:-5.72 [[ 9.41734665e-01 3.35416712e-01 2.51286716e-02 1.54018931e+02] [-3.35308036e-01 9.42069788e-01 -8.54602670e-03 -1.93409170e+01] [-2.65394425e-02 -3.77755926e-04 9.99647696e-01 -5.72385650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170385723 meters 0.017293706669441238 Centerline is valid? [True, True] Translation: X:154.08, Y:-19.36, Z:-5.73 [[ 9.42210994e-01 3.34076108e-01 2.51315753e-02 1.54077255e+02] [-3.33966753e-01 9.42546043e-01 -8.55365652e-03 -1.93629615e+01] [-2.65452391e-02 -3.33761393e-04 9.99647557e-01 -5.72611722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230385723 meters 0.01690857333456172 Centerline is valid? [True, True] Translation: X:154.14, Y:-19.38, Z:-5.73 [[ 9.42949438e-01 3.31972344e-01 2.53124460e-02 1.54136043e+02] [-3.31860447e-01 9.43289081e-01 -8.62287856e-03 -1.93843376e+01] [-2.67395112e-02 -2.69261156e-04 9.99642399e-01 -5.72908796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290385723 meters 0.0167078166236184 Centerline is valid? [True, True] Translation: X:154.19, Y:-19.41, Z:-5.73 [[ 9.43307245e-01 3.30889313e-01 2.61477197e-02 1.54194821e+02] [-3.30769375e-01 9.43669542e-01 -8.91160732e-03 -1.94060197e+01] [-2.76235622e-02 -2.42481137e-04 9.99618367e-01 -5.73103867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35038572300002 meters 0.016692242329891728 Centerline is valid? [True, True] Translation: X:154.25, Y:-19.43, Z:-5.73 [[ 9.43741331e-01 3.29768136e-01 2.46023566e-02 1.54252231e+02] [-3.29661568e-01 9.44061935e-01 -8.38526507e-03 -1.94297028e+01] [-2.59913416e-02 -1.96930245e-04 9.99662149e-01 -5.73258141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41038572300002 meters 0.016298316215616906 Centerline is valid? [True, True] Translation: X:154.31, Y:-19.45, Z:-5.73 [[ 9.44361210e-01 3.28044834e-01 2.38430743e-02 1.54310521e+02] [-3.27944044e-01 9.44662145e-01 -8.13242584e-03 -1.94521862e+01] [-2.51914500e-02 -1.39246716e-04 9.99682635e-01 -5.73476464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47038572300002 meters 0.01615942129992311 Centerline is valid? [True, True] Translation: X:154.37, Y:-19.48, Z:-5.74 [[ 9.46585387e-01 3.21436510e-01 2.55866041e-02 1.54366632e+02] [-3.21317777e-01 9.46931131e-01 -8.73606856e-03 -1.94793089e+01] [-2.70368434e-02 4.80040885e-05 9.99634437e-01 -5.73614712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530385723 meters 0.01662809341181969 Centerline is valid? [True, True] Translation: X:154.42, Y:-19.50, Z:-5.74 [[ 9.48131162e-01 3.16736802e-01 2.69276527e-02 1.54421949e+02] [-3.16603170e-01 9.48513447e-01 -9.20185676e-03 -1.95048183e+01] [-2.84558074e-02 1.99186931e-04 9.99595032e-01 -5.73804096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590385723 meters 0.016706811334178104 Centerline is valid? [True, True] Translation: X:154.48, Y:-19.53, Z:-5.74 [[ 9.48622460e-01 3.15189709e-01 2.77646326e-02 1.54480537e+02] [-3.15046778e-01 9.49028651e-01 -9.49463487e-03 -1.95272318e+01] [-2.93420430e-02 2.59665864e-04 9.99569396e-01 -5.73965902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650385723 meters 0.017370891575982084 Centerline is valid? [True, True] Translation: X:154.54, Y:-19.55, Z:-5.74 [[ 9.48578804e-01 3.15331345e-01 2.76477120e-02 1.54537355e+02] [-3.15189431e-01 9.48981598e-01 -9.46301367e-03 -1.95513196e+01] [-2.92211548e-02 2.62147567e-04 9.99572937e-01 -5.74235961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710385723 meters 0.016595356423151648 Centerline is valid? [True, True] Translation: X:154.60, Y:-19.57, Z:-5.75 [[ 9.47826891e-01 3.17633777e-01 2.70734058e-02 1.54596775e+02] [-3.17498426e-01 9.48213450e-01 -9.27380277e-03 -1.95692668e+01] [-2.86170406e-02 1.94195892e-04 9.99590430e-01 -5.74504571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770385723 meters 0.016240805007725383 Centerline is valid? [True, True] Translation: X:154.66, Y:-19.59, Z:-5.75 [[ 9.46336970e-01 3.22088666e-01 2.65561617e-02 1.54656655e+02] [-3.21959996e-01 9.46709505e-01 -9.10352328e-03 -1.95870693e+01] [-2.80731124e-02 6.49789102e-05 9.99605870e-01 -5.74898372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830385723 meters 0.01627264903908776 Centerline is valid? [True, True] Translation: X:154.72, Y:-19.61, Z:-5.75 [[ 9.45094283e-01 3.25645159e-01 2.74230951e-02 1.54715432e+02] [-3.25509223e-01 9.45492057e-01 -9.40832192e-03 -1.96055711e+01] [-2.89920930e-02 -3.47191150e-05 9.99579640e-01 -5.75049257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890385723 meters 0.0162562816847014 Centerline is valid? [True, True] Translation: X:154.77, Y:-19.62, Z:-5.75 [[ 9.44122512e-01 3.28550323e-01 2.62176747e-02 1.54774478e+02] [-3.28427018e-01 9.44486460e-01 -9.00120520e-03 -1.96240465e+01] [-2.77195876e-02 -1.12352243e-04 9.99615732e-01 -5.75327056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950385723 meters 0.016330727006945715 Centerline is valid? [True, True] Translation: X:154.83, Y:-19.64, Z:-5.76 [[ 9.43214693e-01 3.31229521e-01 2.51604482e-02 1.54833204e+02] [-3.31116741e-01 9.43550196e-01 -8.64470975e-03 -1.96437901e+01] [-2.66035289e-02 -1.77228349e-04 9.99646048e-01 -5.75512601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010385723 meters 0.01610967324637443 Centerline is valid? [True, True] Translation: X:154.89, Y:-19.66, Z:-5.76 [[ 9.43583195e-01 3.30133805e-01 2.57376141e-02 1.54891217e+02] [-3.30015178e-01 9.43934135e-01 -8.85053194e-03 -1.96639873e+01] [-2.72164723e-02 -1.42590082e-04 9.99629553e-01 -5.75762228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07038572300002 meters 0.01611236855256731 Centerline is valid? [True, True] Translation: X:154.95, Y:-19.69, Z:-5.76 [[ 9.44257664e-01 3.28114559e-01 2.68011056e-02 1.54949188e+02] [-3.27984912e-01 9.44637936e-01 -9.22324393e-03 -1.96866344e+01] [-2.83436217e-02 -8.12394915e-05 9.99598236e-01 -5.75894838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13038572300002 meters 0.01615867692920196 Centerline is valid? [True, True] Translation: X:155.01, Y:-19.71, Z:-5.76 [[ 9.44657295e-01 3.26866495e-01 2.79443938e-02 1.55006206e+02] [-3.26724739e-01 9.45070523e-01 -9.62558619e-03 -1.97091823e+01] [-2.95557045e-02 -3.72445744e-05 9.99563134e-01 -5.75947622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19038572300002 meters 0.016211902034059436 Centerline is valid? [True, True] Translation: X:155.06, Y:-19.73, Z:-5.76 [[ 9.44718956e-01 3.26864789e-01 2.57973640e-02 1.55063674e+02] [-3.26743906e-01 9.45071113e-01 -8.88881521e-03 -1.97286167e+01] [-2.72857842e-02 -3.16992570e-05 9.99627673e-01 -5.76473516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250385723 meters 0.016226971324738902 Centerline is valid? [True, True] Translation: X:155.12, Y:-19.75, Z:-5.77 [[ 9.43980027e-01 3.29059973e-01 2.49247439e-02 1.55121562e+02] [-3.28947746e-01 9.44309021e-01 -8.59382600e-03 -1.97501455e+01] [-2.63645446e-02 -8.65382065e-05 9.99652391e-01 -5.76739399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310385723 meters 0.016367669631460854 Centerline is valid? [True, True] Translation: X:155.18, Y:-19.77, Z:-5.77 [[ 9.42752307e-01 3.32483427e-01 2.59395100e-02 1.55181513e+02] [-3.32362973e-01 9.43109080e-01 -8.95078215e-03 -1.97706628e+01] [-2.74397741e-02 -1.82962137e-04 9.99623442e-01 -5.76869945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370385723 meters 0.016691560320844182 Centerline is valid? [True, True] Translation: X:155.24, Y:-19.79, Z:-5.77 [[ 9.41126343e-01 3.37027235e-01 2.63410223e-02 1.55240489e+02] [-3.36904563e-01 9.41494846e-01 -9.09781002e-03 -1.97893764e+01] [-2.78661465e-02 -3.12221933e-04 9.99611615e-01 -5.77051114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430385723 meters 0.017409603553912776 Centerline is valid? [True, True] Translation: X:155.30, Y:-19.81, Z:-5.77 [[ 9.38999892e-01 3.42847427e-01 2.71080057e-02 1.55299699e+02] [-3.42719669e-01 9.39390974e-01 -9.37160621e-03 -1.98075647e+01] [-2.86780469e-02 -4.90509524e-04 9.99588580e-01 -5.77202888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490385723 meters 0.018240281064941688 Centerline is valid? [True, True] Translation: X:155.36, Y:-19.83, Z:-5.77 [[ 9.37656274e-01 3.46469997e-01 2.75545409e-02 1.55358363e+02] [-3.46339503e-01 9.38060856e-01 -9.52778921e-03 -1.98267561e+01] [-2.91489293e-02 -6.09434647e-04 9.99574894e-01 -5.77419794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550385723 meters 0.018312036743048134 Centerline is valid? [True, True] Translation: X:155.42, Y:-19.85, Z:-5.78 [[ 9.37423751e-01 3.47129316e-01 2.71652337e-02 1.55416979e+02] [-3.47002688e-01 9.37817069e-01 -9.39569615e-03 -1.98494976e+01] [-2.87375414e-02 -6.18660389e-04 9.99586800e-01 -5.77639501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610385723 meters 0.018025768900903714 Centerline is valid? [True, True] Translation: X:155.47, Y:-19.87, Z:-5.78 [[ 9.38005513e-01 3.45473465e-01 2.81734276e-02 1.55474530e+02] [-3.45336232e-01 9.38428339e-01 -9.75389043e-03 -1.98718243e+01] [-2.98084532e-02 -5.80102338e-04 9.99555461e-01 -5.77739087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670385723 meters 0.01795029735825274 Centerline is valid? [True, True] Translation: X:155.53, Y:-19.89, Z:-5.78 [[ 9.38580038e-01 3.44074374e-01 2.60832654e-02 1.55532477e+02] [-3.43956032e-01 9.38942269e-01 -9.03677372e-03 -1.98926924e+01] [-2.76000027e-02 -4.89761052e-04 9.99618927e-01 -5.78174689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730385723 meters 0.0179817840805493 Centerline is valid? [True, True] Translation: X:155.59, Y:-19.91, Z:-5.79 [[ 9.38696307e-01 3.43990243e-01 2.28025412e-02 1.55590331e+02] [-3.43899658e-01 9.38973128e-01 -7.90507538e-03 -1.99139406e+01] [-2.41302422e-02 -4.21321051e-04 9.99708735e-01 -5.78694937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790385723 meters 0.017876514640548975 Centerline is valid? [True, True] Translation: X:155.65, Y:-19.93, Z:-5.79 [[ 9.38678211e-01 3.44072428e-01 2.23020420e-02 1.55649414e+02] [-3.43985675e-01 9.38943021e-01 -7.73684113e-03 -1.99340682e+01] [-2.36023804e-02 -4.09178780e-04 9.99721341e-01 -5.78955444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85038572300002 meters 0.017823913055774698 Centerline is valid? [True, True] Translation: X:155.71, Y:-19.95, Z:-5.79 [[ 9.38837110e-01 3.43644097e-01 2.22174558e-02 1.55708551e+02] [-3.43557707e-01 9.39099879e-01 -7.71487366e-03 -1.99543397e+01] [-2.35155808e-02 -3.89968471e-04 9.99723394e-01 -5.79079316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91038572300002 meters 0.01795404970649675 Centerline is valid? [True, True] Translation: X:155.77, Y:-19.97, Z:-5.79 [[ 9.38618423e-01 3.44141885e-01 2.37027329e-02 1.55766847e+02] [-3.44043533e-01 9.38917560e-01 -8.23790311e-03 -1.99716432e+01] [-2.50899197e-02 -4.22524343e-04 9.99685109e-01 -5.79249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97038572300002 meters 0.018761724013611304 Centerline is valid? [True, True] Translation: X:155.83, Y:-19.99, Z:-5.79 [[ 9.37865998e-01 3.46111576e-01 2.47819740e-02 1.55826090e+02] [-3.46004583e-01 9.38193230e-01 -8.61930460e-03 -1.99900069e+01] [-2.62335213e-02 -4.90923865e-04 9.99655721e-01 -5.79456356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030385723 meters 0.018566490553132333 Centerline is valid? [True, True] Translation: X:155.89, Y:-20.01, Z:-5.80 [[ 9.37459362e-01 3.47190397e-01 2.50753324e-02 1.55885316e+02] [-3.47081063e-01 9.37794517e-01 -8.72805243e-03 -2.00097641e+01] [-2.65458052e-02 -5.20978571e-04 9.99647462e-01 -5.79588459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090385723 meters 0.019200963850134554 Centerline is valid? [True, True] Translation: X:155.94, Y:-20.03, Z:-5.80 [[ 9.37249836e-01 3.47720706e-01 2.55549621e-02 1.55944456e+02] [-3.47607160e-01 9.37598005e-01 -8.90184319e-03 -2.00267526e+01] [-2.70556366e-02 -5.39836719e-04 9.99633783e-01 -5.79841343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150385723 meters 0.018637654482213002 Centerline is valid? [True, True] Translation: X:156.00, Y:-20.05, Z:-5.80 [[ 9.36754773e-01 3.49107441e-01 2.47888942e-02 1.56003577e+02] [-3.49000907e-01 9.37082539e-01 -8.64182611e-03 -2.00450415e+01] [-2.62461657e-02 -5.56074701e-04 9.99655355e-01 -5.80144242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210385723 meters 0.019205478424386118 Centerline is valid? [True, True] Translation: X:156.06, Y:-20.07, Z:-5.81 [[ 9.36822850e-01 3.49086778e-01 2.23912787e-02 1.56061187e+02] [-3.48999696e-01 9.37090271e-01 -7.81259385e-03 -2.00651876e+01] [-2.37099226e-02 -4.95533009e-04 9.99718757e-01 -5.80609947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270385723 meters 0.017851309875282526 Centerline is valid? [True, True] Translation: X:156.12, Y:-20.09, Z:-5.81 [[ 9.37779209e-01 3.46354540e-01 2.46715772e-02 1.56118055e+02] [-3.46247742e-01 9.38103574e-01 -8.61309553e-03 -2.00894692e+01] [-2.61276795e-02 -4.65295980e-04 9.99658506e-01 -5.80564677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330385723 meters 0.020227950586959215 Centerline is valid? [True, True] Translation: X:156.18, Y:-20.11, Z:-5.81 [[ 9.38521332e-01 3.44048757e-01 2.84281843e-02 1.56177201e+02] [-3.43905850e-01 9.38951671e-01 -9.92601336e-03 -2.01055455e+01] [-3.01077237e-02 -4.60843607e-04 9.99546553e-01 -5.80802917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390385723 meters 0.01732040415427998 Centerline is valid? [True, True] Translation: X:156.23, Y:-20.13, Z:-5.81 [[ 9.38800103e-01 3.43216813e-01 2.92674854e-02 1.56234827e+02] [-3.43064808e-01 9.39256101e-01 -1.02232111e-02 -2.01280629e+01] [-3.09984421e-02 -4.43092659e-04 9.99519335e-01 -5.80771608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450385723 meters 0.017630950058338476 Centerline is valid? [True, True] Translation: X:156.29, Y:-20.15, Z:-5.81 [[ 9.38591378e-01 3.44045798e-01 2.60521316e-02 1.56293275e+02] [-3.43925515e-01 9.38952778e-01 -9.10612983e-03 -2.01472871e+01] [-2.75946470e-02 -4.13057814e-04 9.99619110e-01 -5.81354095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510385723 meters 0.017719195461931958 Centerline is valid? [True, True] Translation: X:156.35, Y:-20.17, Z:-5.82 [[ 9.38478296e-01 3.44499671e-01 2.40512866e-02 1.56352011e+02] [-3.44397160e-01 9.38786358e-01 -8.41248997e-03 -2.01680468e+01] [-2.54771197e-02 -3.88255538e-04 9.99675330e-01 -5.81711738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57038572300002 meters 0.017876001852946247 Centerline is valid? [True, True] Translation: X:156.41, Y:-20.19, Z:-5.82 [[ 9.38167078e-01 3.45408892e-01 2.31350476e-02 1.56410431e+02] [-3.45314173e-01 9.38452207e-01 -8.09801429e-03 -2.01875788e+01] [-2.45082626e-02 -3.91569432e-04 9.99699551e-01 -5.82123089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63038572300002 meters 0.018286554514033698 Centerline is valid? [True, True] Translation: X:156.47, Y:-20.21, Z:-5.82 [[ 9.37390066e-01 3.47567691e-01 2.22837263e-02 1.56469538e+02] [-3.47480289e-01 9.37654797e-01 -7.80577852e-03 -2.02071593e+01] [-2.36074792e-02 -4.26096400e-04 9.99721214e-01 -5.82417502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69038572300002 meters 0.018556749927992312 Centerline is valid? [True, True] Translation: X:156.53, Y:-20.23, Z:-5.82 [[ 9.36284030e-01 3.50571742e-01 2.17179437e-02 1.56527749e+02] [-3.50489403e-01 9.36535754e-01 -7.61306791e-03 -2.02295824e+01] [-2.30085573e-02 -4.83915235e-04 9.99735151e-01 -5.82345328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750385723 meters 0.020393211979975817 Centerline is valid? [True, True] Translation: X:156.59, Y:-20.25, Z:-5.83 [[ 9.35160030e-01 3.53472926e-01 2.30783105e-02 1.56586055e+02] [-3.53380623e-01 9.35444574e-01 -8.09838324e-03 -2.02463512e+01] [-2.44510396e-02 -5.82143434e-04 9.99700859e-01 -5.82525571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810385723 meters 0.02007648527219764 Centerline is valid? [True, True] Translation: X:156.64, Y:-20.27, Z:-5.83 [[ 9.34489204e-01 3.55151885e-01 2.44349499e-02 1.56644971e+02] [-3.55048923e-01 9.34808377e-01 -8.57675436e-03 -2.02658817e+01] [-2.58880463e-02 -6.60718272e-04 9.99664630e-01 -5.82572620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870385723 meters 0.020960606272325336 Centerline is valid? [True, True] Translation: X:156.70, Y:-20.28, Z:-5.83 [[ 9.33317630e-01 3.58205765e-01 2.46339509e-02 1.56704837e+02] [-3.58101958e-01 9.33642371e-01 -8.65508516e-03 -2.02834089e+01] [-2.60996017e-02 -7.43522464e-04 9.99659071e-01 -5.82757586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930385723 meters 0.02272662799544365 Centerline is valid? [True, True] Translation: X:156.76, Y:-20.30, Z:-5.83 [[ 9.32178854e-01 3.61189622e-01 2.41793666e-02 1.56764158e+02] [-3.61090609e-01 9.32492037e-01 -8.49551412e-03 -2.02977281e+01] [-2.56155584e-02 -8.11603595e-04 9.99671538e-01 -5.83156756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990385723 meters 0.023586442511681197 Centerline is valid? [True, True] Translation: X:156.82, Y:-20.32, Z:-5.83 [[ 9.31194019e-01 3.63787452e-01 2.31600432e-02 1.56823587e+02] [-3.63697236e-01 9.31481608e-01 -8.14464038e-03 -2.03160169e+01] [-2.45360723e-02 -8.39003298e-04 9.99698593e-01 -5.83370274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050385723 meters 0.024554899398734818 Centerline is valid? [True, True] Translation: X:156.88, Y:-20.34, Z:-5.84 [[ 9.30569957e-01 3.65469510e-01 2.17161785e-02 1.56882693e+02] [-3.65390616e-01 9.30822944e-01 -7.63836817e-03 -2.03350243e+01] [-2.30055079e-02 -8.26851896e-04 9.99734996e-01 -5.83548989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110385723 meters 0.02446537954566913 Centerline is valid? [True, True] Translation: X:156.94, Y:-20.35, Z:-5.84 [[ 9.30466961e-01 3.65710555e-01 2.20686165e-02 1.56942352e+02] [-3.65629171e-01 9.30728248e-01 -7.76130246e-03 -2.03545950e+01] [-2.33782750e-02 -8.47294447e-04 9.99726332e-01 -5.83831863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170385723 meters 0.024080596950784842 Centerline is valid? [True, True] Translation: X:157.00, Y:-20.38, Z:-5.84 [[ 9.31082359e-01 3.64138728e-01 2.21049258e-02 1.56999864e+02] [-3.64056464e-01 9.31344374e-01 -7.78126580e-03 -2.03772080e+01] [-2.34207585e-02 -8.02441800e-04 9.99725374e-01 -5.83931504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230385723 meters 0.022331356713702996 Centerline is valid? [True, True] Translation: X:157.06, Y:-20.40, Z:-5.84 [[ 9.32195243e-01 3.61292418e-01 2.19047454e-02 1.57056309e+02] [-3.61210656e-01 9.32452291e-01 -7.71923284e-03 -2.04019749e+01] [-2.32140304e-02 -7.16395343e-04 9.99730261e-01 -5.83963168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290385723 meters 0.02251951787576369 Centerline is valid? [True, True] Translation: X:157.11, Y:-20.42, Z:-5.84 [[ 9.33569247e-01 3.57697087e-01 2.23887322e-02 1.57112883e+02] [-3.57610610e-01 9.33837451e-01 -7.89091833e-03 -2.04231529e+01] [-2.37299951e-02 -6.39729502e-04 9.99718199e-01 -5.84184094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35038572300002 meters 0.022394697144084798 Centerline is valid? [True, True] Translation: X:157.17, Y:-20.45, Z:-5.84 [[ 9.34665414e-01 3.54775214e-01 2.31324522e-02 1.57170404e+02] [-3.54681999e-01 9.34951446e-01 -8.15312310e-03 -2.04455588e+01] [-2.45202456e-02 -5.84222211e-04 9.99699163e-01 -5.84464920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41038572300002 meters 0.022868436349104335 Centerline is valid? [True, True] Translation: X:157.23, Y:-20.47, Z:-5.85 [[ 9.34863801e-01 3.54275679e-01 2.27687849e-02 1.57228443e+02] [-3.54185247e-01 9.35140859e-01 -8.02397026e-03 -2.04659143e+01] [-2.41347186e-02 -5.63048369e-04 9.99708557e-01 -5.84824064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47038572300002 meters 0.022488412241190588 Centerline is valid? [True, True] Translation: X:157.29, Y:-20.49, Z:-5.85 [[ 9.34778709e-01 3.54447814e-01 2.35693331e-02 1.57286770e+02] [-3.54350812e-01 9.35075617e-01 -8.31220040e-03 -2.04882701e+01] [-2.49853499e-02 -5.81744377e-04 9.99687648e-01 -5.84959280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530385723 meters 0.022580235706173582 Centerline is valid? [True, True] Translation: X:157.35, Y:-20.51, Z:-5.85 [[ 9.34338377e-01 3.55531955e-01 2.46743952e-02 1.57345454e+02] [-3.55425858e-01 9.34663912e-01 -8.70815727e-03 -2.05106265e+01] [-2.61582949e-02 -6.33552531e-04 9.99657612e-01 -5.85199760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590385723 meters 0.02260419870996806 Centerline is valid? [True, True] Translation: X:157.40, Y:-20.53, Z:-5.85 [[ 9.33870266e-01 3.56753038e-01 2.47708775e-02 1.57403194e+02] [-3.56646287e-01 9.34198497e-01 -8.75175408e-03 -2.05291446e+01] [-2.62631314e-02 -6.61438586e-04 9.99654846e-01 -5.85392083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650385723 meters 0.022084156117746133 Centerline is valid? [True, True] Translation: X:157.46, Y:-20.55, Z:-5.85 [[ 9.33465490e-01 3.57709711e-01 2.61904862e-02 1.57462264e+02] [-3.57590679e-01 9.33832553e-01 -9.25581421e-03 -2.05515610e+01] [-2.77684232e-02 -7.25490570e-04 9.99614120e-01 -5.85375597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710385723 meters 0.02111912832871062 Centerline is valid? [True, True] Translation: X:157.52, Y:-20.57, Z:-5.85 [[ 9.32539399e-01 3.60082971e-01 2.66556345e-02 1.57521530e+02] [-3.59960393e-01 9.32919938e-01 -9.42891643e-03 -2.05714639e+01] [-2.82627651e-02 -8.02136614e-04 9.99600206e-01 -5.85375740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770385723 meters 0.023886134432475448 Centerline is valid? [True, True] Translation: X:157.58, Y:-20.59, Z:-5.86 [[ 9.31519227e-01 3.62661420e-01 2.73610148e-02 1.57581636e+02] [-3.62533154e-01 9.31920539e-01 -9.68614209e-03 -2.05867657e+01] [-2.90110817e-02 -8.96447396e-04 9.99578688e-01 -5.86105403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830385723 meters 0.02199783096152827 Centerline is valid? [True, True] Translation: X:157.64, Y:-20.61, Z:-5.86 [[ 9.30491519e-01 3.65203531e-01 2.84940889e-02 1.57640162e+02] [-3.65065362e-01 9.30927153e-01 -1.00954147e-02 -2.06067623e+01] [-3.02128021e-02 -1.00850713e-03 9.99542980e-01 -5.85924900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890385723 meters 0.024197652502940096 Centerline is valid? [True, True] Translation: X:157.70, Y:-20.62, Z:-5.86 [[ 9.29810108e-01 3.66839537e-01 2.96970871e-02 1.57699730e+02] [-3.66690032e-01 9.30283584e-01 -1.05296890e-02 -2.06209986e+01] [-3.14894188e-02 -1.09901452e-03 9.99503481e-01 -5.86061420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950385723 meters 0.02307584410032751 Centerline is valid? [True, True] Translation: X:157.76, Y:-20.64, Z:-5.86 [[ 9.29607042e-01 3.67326324e-01 3.00352939e-02 1.57759125e+02] [-3.67173407e-01 9.30091455e-01 -1.06571257e-02 -2.06427842e+01] [-3.18502130e-02 -1.12122211e-03 9.99492024e-01 -5.86285793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010385723 meters 0.02344328366855304 Centerline is valid? [True, True] Translation: X:157.82, Y:-20.66, Z:-5.87 [[ 9.29437975e-01 3.67886484e-01 2.83652080e-02 1.57818351e+02] [-3.67750109e-01 9.29870094e-01 -1.00729923e-02 -2.06601764e+01] [-3.00816763e-02 -1.06908675e-03 9.99546872e-01 -5.86960090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07038572300002 meters 0.024446796284841678 Centerline is valid? [True, True] Translation: X:157.88, Y:-20.68, Z:-5.87 [[ 9.29415097e-01 3.68067498e-01 2.67187889e-02 1.57878551e+02] [-3.67946384e-01 9.29798529e-01 -9.49495788e-03 -2.06757812e+01] [-2.83378760e-02 -1.00632457e-03 9.99597895e-01 -5.87315572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13038572300002 meters 0.02228794509453779 Centerline is valid? [True, True] Translation: X:157.94, Y:-20.70, Z:-5.87 [[ 9.30440057e-01 3.65492894e-01 2.63864464e-02 1.57936229e+02] [-3.65373476e-01 9.30813688e-01 -9.38628270e-03 -2.06972007e+01] [-2.79914851e-02 -9.07534222e-04 9.99607750e-01 -5.87446738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19038572300002 meters 0.021195256821286593 Centerline is valid? [True, True] Translation: X:157.99, Y:-20.72, Z:-5.88 [[ 9.32031461e-01 3.61427843e-01 2.62158284e-02 1.57994214e+02] [-3.61308331e-01 9.32399757e-01 -9.32646505e-03 -2.07183375e+01] [-2.78144762e-02 -7.79438381e-04 9.99612799e-01 -5.87564064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250385723 meters 0.020368796284641832 Centerline is valid? [True, True] Translation: X:158.05, Y:-20.74, Z:-5.88 [[ 9.33596607e-01 3.57275534e-01 2.74147552e-02 1.58051712e+02] [-3.57142995e-01 9.33998782e-01 -9.75477857e-03 -2.07399273e+01] [-2.90904917e-02 -6.83959611e-04 9.99576548e-01 -5.87884947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310385723 meters 0.019382492018827698 Centerline is valid? [True, True] Translation: X:158.11, Y:-20.76, Z:-5.88 [[ 9.34346602e-01 3.55187168e-01 2.89569204e-02 1.58110234e+02] [-3.55038288e-01 9.34794977e-01 -1.03036711e-02 -2.07583173e+01] [-3.07285155e-02 -6.53615409e-04 9.99527554e-01 -5.87898441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370385723 meters 0.02108371092875729 Centerline is valid? [True, True] Translation: X:158.17, Y:-20.78, Z:-5.88 [[ 9.34591152e-01 3.54408606e-01 3.05600791e-02 1.58169371e+02] [-3.54242104e-01 9.35090429e-01 -1.08821330e-02 -2.07778644e+01] [-3.24331591e-02 -6.55321516e-04 9.99473692e-01 -5.88388109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430385723 meters 0.01960572509647559 Centerline is valid? [True, True] Translation: X:158.23, Y:-20.79, Z:-5.88 [[ 9.33204250e-01 3.58060324e-01 3.03748585e-02 1.58228395e+02] [-3.57897496e-01 9.33698137e-01 -1.08245441e-02 -2.07946264e+01] [-3.22367886e-02 -7.69575277e-04 9.99479963e-01 -5.88227682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490385723 meters 0.021294088203604424 Centerline is valid? [True, True] Translation: X:158.29, Y:-20.81, Z:-5.89 [[ 9.31589750e-01 3.62378727e-01 2.86739491e-02 1.58287875e+02] [-3.62235455e-01 9.32030534e-01 -1.02253805e-02 -2.08087847e+01] [-3.04304565e-02 -8.60861353e-04 9.99536516e-01 -5.88780321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550385723 meters 0.021712185864928304 Centerline is valid? [True, True] Translation: X:158.35, Y:-20.83, Z:-5.89 [[ 9.30373735e-01 3.65432638e-01 2.93887681e-02 1.58347505e+02] [-3.65283443e-01 9.30837273e-01 -1.04869684e-02 -2.08259508e+01] [-3.11884413e-02 -9.78430460e-04 9.99513043e-01 -5.88776634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610385723 meters 0.021954917936171433 Centerline is valid? [True, True] Translation: X:158.41, Y:-20.85, Z:-5.89 [[ 9.30698381e-01 3.64621188e-01 2.91875361e-02 1.58405652e+02] [-3.64473591e-01 9.31155464e-01 -1.04164588e-02 -2.08474202e+01] [-3.09761953e-02 -9.43504685e-04 9.99519677e-01 -5.89126602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670385723 meters 0.02050065821834718 Centerline is valid? [True, True] Translation: X:158.46, Y:-20.87, Z:-5.89 [[ 9.31645612e-01 3.61951893e-01 3.20512256e-02 1.58463897e+02] [-3.61771982e-01 9.32196312e-01 -1.14485538e-02 -2.08676518e+01] [-3.40218600e-02 -9.29240489e-04 9.99420657e-01 -5.88960717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730385723 meters 0.021809090747918147 Centerline is valid? [True, True] Translation: X:158.52, Y:-20.89, Z:-5.89 [[ 9.33891937e-01 3.55957486e-01 3.37656476e-02 1.58520825e+02] [-3.55753835e-01 9.34501851e-01 -1.20623114e-02 -2.08884626e+01] [-3.58477303e-02 -7.47363235e-04 9.99356984e-01 -5.89410327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790385723 meters 0.019904408003835285 Centerline is valid? [True, True] Translation: X:158.58, Y:-20.91, Z:-5.90 [[ 9.35800854e-01 3.50997169e-01 3.28290910e-02 1.58577987e+02] [-3.50801569e-01 9.36376364e-01 -1.17287772e-02 -2.09115850e+01] [-3.48571525e-02 -5.40696920e-04 9.99392159e-01 -5.89687302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85038572300002 meters 0.017475700474040574 Centerline is valid? [True, True] Translation: X:158.64, Y:-20.93, Z:-5.90 [[ 9.36816027e-01 3.48526434e-01 3.00841435e-02 1.58636509e+02] [-3.48360860e-01 9.37298862e-01 -1.07496178e-02 -2.09330851e+01] [-3.19443594e-02 -4.09723825e-04 9.99489565e-01 -5.89911623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91038572300002 meters 0.016965709677427186 Centerline is valid? [True, True] Translation: X:158.69, Y:-20.96, Z:-5.90 [[ 9.37493994e-01 3.46875905e-01 2.79663676e-02 1.58693849e+02] [-3.46731896e-01 9.37910978e-01 -9.99949858e-03 -2.09554760e+01] [-2.96985484e-02 -3.22361807e-04 9.99558849e-01 -5.90243544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97038572300002 meters 0.01709497435125845 Centerline is valid? [True, True] Translation: X:158.75, Y:-20.98, Z:-5.91 [[ 9.37614794e-01 3.46621982e-01 2.70499407e-02 1.58752260e+02] [-3.46486956e-01 9.38004858e-01 -9.67866121e-03 -2.09765876e+01] [-2.87278125e-02 -2.97595667e-04 9.99587227e-01 -5.90542884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030385723 meters 0.01701726799960348 Centerline is valid? [True, True] Translation: X:158.81, Y:-21.00, Z:-5.91 [[ 9.37463688e-01 3.47032864e-01 2.70189866e-02 1.58810552e+02] [-3.46898079e-01 9.37852920e-01 -9.67586197e-03 -2.09988928e+01] [-2.86976776e-02 -3.02065304e-04 9.99588091e-01 -5.90784730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090385723 meters 0.017084733632477794 Centerline is valid? [True, True] Translation: X:158.87, Y:-21.02, Z:-5.91 [[ 9.36630815e-01 3.49234531e-01 2.75310442e-02 1.58869326e+02] [-3.49095395e-01 9.37035274e-01 -9.86413899e-03 -2.10194377e+01] [-2.92424575e-02 -3.71904214e-04 9.99572279e-01 -5.90954039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150385723 meters 0.0179221354737597 Centerline is valid? [True, True] Translation: X:158.93, Y:-21.04, Z:-5.91 [[ 9.34712344e-01 3.54348347e-01 2.73876224e-02 1.58927776e+02] [-3.54212595e-01 9.35113350e-01 -9.82140311e-03 -2.10405805e+01] [-2.90907293e-02 -5.20854071e-04 9.99576639e-01 -5.91047473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210385723 meters 0.018261227830660923 Centerline is valid? [True, True] Translation: X:158.99, Y:-21.06, Z:-5.91 [[ 9.33691101e-01 3.57082839e-01 2.66978341e-02 1.58986015e+02] [-3.56954939e-01 9.34072534e-01 -9.57461585e-03 -2.10622062e+01] [-2.83566445e-02 -5.90190129e-04 9.99597695e-01 -5.91300872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270385723 meters 0.020237727407168053 Centerline is valid? [True, True] Translation: X:159.04, Y:-21.08, Z:-5.92 [[ 9.32187968e-01 3.61015517e-01 2.63322910e-02 1.59043958e+02] [-3.60892458e-01 9.32559551e-01 -9.45080452e-03 -2.10810226e+01] [-2.79683165e-02 -6.93198959e-04 9.99608570e-01 -5.91660035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330385723 meters 0.020330931365982723 Centerline is valid? [True, True] Translation: X:159.10, Y:-21.11, Z:-5.92 [[ 9.31171868e-01 3.63640664e-01 2.61614202e-02 1.59100844e+02] [-3.63520053e-01 9.31538989e-01 -9.39587674e-03 -2.11059575e+01] [-2.77871058e-02 -7.61024744e-04 9.99613574e-01 -5.91787513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390385723 meters 0.0239786857518086 Centerline is valid? [True, True] Translation: X:159.16, Y:-21.13, Z:-5.92 [[ 9.31068353e-01 3.63877340e-01 2.65518856e-02 1.59157922e+02] [-3.63752996e-01 9.31446555e-01 -9.54324838e-03 -2.11283870e+01] [-2.82042342e-02 -7.72911395e-04 9.99601883e-01 -5.92407341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450385723 meters 0.02244198666014684 Centerline is valid? [True, True] Translation: X:159.21, Y:-21.15, Z:-5.92 [[ 9.30580025e-01 3.65084726e-01 2.70916870e-02 1.59214767e+02] [-3.64955553e-01 9.30973938e-01 -9.74534519e-03 -2.11536160e+01] [-2.87795312e-02 -8.18438033e-04 9.99585448e-01 -5.92294713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510385723 meters 0.02204198679269013 Centerline is valid? [True, True] Translation: X:159.27, Y:-21.18, Z:-5.93 [[ 9.30274331e-01 3.65881462e-01 2.68407308e-02 1.59270828e+02] [-3.65754813e-01 9.30661092e-01 -9.66171498e-03 -2.11799770e+01] [-2.85146662e-02 -8.29081037e-04 9.99593030e-01 -5.92516517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57038572300002 meters 0.021732520979166798 Centerline is valid? [True, True] Translation: X:159.33, Y:-21.21, Z:-5.93 [[ 9.30186224e-01 3.66145737e-01 2.62847438e-02 1.59327692e+02] [-3.66024211e-01 9.30557165e-01 -9.46783342e-03 -2.12062950e+01] [-2.79260635e-02 -8.14004389e-04 9.99609660e-01 -5.92742026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63038572300002 meters 0.022380790639285636 Centerline is valid? [True, True] Translation: X:159.38, Y:-21.23, Z:-5.93 [[ 9.29790136e-01 3.67068685e-01 2.74022355e-02 1.59383644e+02] [-3.66936735e-01 9.30193434e-01 -9.87962474e-03 -2.12296922e+01] [-2.91158804e-02 -8.68909191e-04 9.99575665e-01 -5.92891017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69038572300002 meters 0.023982263331055357 Centerline is valid? [True, True] Translation: X:159.44, Y:-21.25, Z:-5.93 [[ 9.29450567e-01 3.67970080e-01 2.68265550e-02 1.59440826e+02] [-3.67843825e-01 9.29837221e-01 -9.67791692e-03 -2.12507932e+01] [-2.85055132e-02 -8.72837230e-04 9.99593254e-01 -5.93255627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750385723 meters 0.02289109926449663 Centerline is valid? [True, True] Translation: X:159.50, Y:-21.28, Z:-5.94 [[ 9.29596774e-01 3.67763458e-01 2.44923714e-02 1.59497512e+02] [-3.67658113e-01 9.29919037e-01 -8.83720703e-03 -2.12775698e+01] [-2.60259242e-02 -7.89779902e-04 9.99660956e-01 -5.93872145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810385723 meters 0.021440336410079187 Centerline is valid? [True, True] Translation: X:159.56, Y:-21.30, Z:-5.94 [[ 9.29319687e-01 3.68504767e-01 2.38570137e-02 1.59555212e+02] [-3.68404875e-01 9.29625529e-01 -8.61531404e-03 -2.13005319e+01] [-2.53528733e-02 -7.82659214e-04 9.99678258e-01 -5.93818943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870385723 meters 0.021952945237123968 Centerline is valid? [True, True] Translation: X:159.61, Y:-21.32, Z:-5.94 [[ 9.29749052e-01 3.67407686e-01 2.40477245e-02 1.59612911e+02] [-3.67305656e-01 9.30059689e-01 -8.69078306e-03 -2.13214684e+01] [-2.55588797e-02 -7.52617907e-04 9.99673035e-01 -5.94321760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930385723 meters 0.02129305213424045 Centerline is valid? [True, True] Translation: X:159.67, Y:-21.35, Z:-5.94 [[ 9.30018199e-01 3.66647699e-01 2.52113960e-02 1.59670518e+02] [-3.66535085e-01 9.30359547e-01 -9.11839951e-03 -2.13457072e+01] [-2.67989031e-02 -7.60583673e-04 9.99640556e-01 -5.94363959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990385723 meters 0.02130001029521542 Centerline is valid? [True, True] Translation: X:159.73, Y:-21.37, Z:-5.94 [[ 9.30283804e-01 3.65948728e-01 2.55650483e-02 1.59727845e+02] [-3.65832478e-01 9.30634716e-01 -9.25328256e-03 -2.13685260e+01] [-2.71779484e-02 -7.44346057e-04 9.99630334e-01 -5.94458771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050385723 meters 0.020299083344797703 Centerline is valid? [True, True] Translation: X:159.79, Y:-21.39, Z:-5.95 [[ 9.30640892e-01 3.65025720e-01 2.57634258e-02 1.59786089e+02] [-3.64907118e-01 9.30997159e-01 -9.33191996e-03 -2.13908179e+01] [-2.73920670e-02 -7.16591134e-04 9.99624510e-01 -5.94787658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110385723 meters 0.019830090943608696 Centerline is valid? [True, True] Translation: X:159.84, Y:-21.41, Z:-5.95 [[ 9.31345477e-01 3.63197964e-01 2.61312408e-02 1.59844132e+02] [-3.63075004e-01 9.31711757e-01 -9.47333092e-03 -2.14144212e+01] [-2.77874788e-02 -6.64656461e-04 9.99613632e-01 -5.95093167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170385723 meters 0.02086624580996096 Centerline is valid? [True, True] Translation: X:159.90, Y:-21.44, Z:-5.95 [[ 9.32057383e-01 3.61309088e-01 2.69216966e-02 1.59901665e+02] [-3.61177671e-01 9.32445899e-01 -9.76393956e-03 -2.14355843e+01] [-2.86308257e-02 -6.22963717e-04 9.99589860e-01 -5.95249309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230385723 meters 0.021057283203580864 Centerline is valid? [True, True] Translation: X:159.96, Y:-21.46, Z:-5.96 [[ 9.32011826e-01 3.61376281e-01 2.75887453e-02 1.59960127e+02] [-3.61238192e-01 9.32419850e-01 -1.00095549e-02 -2.14560793e+01] [-2.93415095e-02 -6.37084889e-04 9.99569242e-01 -5.95533109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290385723 meters 0.02143778136646295 Centerline is valid? [True, True] Translation: X:160.02, Y:-21.48, Z:-5.96 [[ 9.31765835e-01 3.61931745e-01 2.85979282e-02 1.60018373e+02] [-3.61783402e-01 9.32204356e-01 -1.03831281e-02 -2.14759490e+01] [-3.04170969e-02 -6.71611721e-04 9.99537067e-01 -5.95807752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35038572300002 meters 0.0218401201056266 Centerline is valid? [True, True] Translation: X:160.08, Y:-21.50, Z:-5.96 [[ 9.31713945e-01 3.62060660e-01 2.86566600e-02 1.60076851e+02] [-3.61911534e-01 9.32154295e-01 -1.04121044e-02 -2.14969303e+01] [-3.04822421e-02 -6.70072877e-04 9.99535084e-01 -5.95947481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41038572300002 meters 0.021958115369027822 Centerline is valid? [True, True] Translation: X:160.14, Y:-21.52, Z:-5.96 [[ 9.31748922e-01 3.62117895e-01 2.67315771e-02 1.60136117e+02] [-3.61987983e-01 9.32132096e-01 -9.71884078e-03 -2.15168849e+01] [-2.84367272e-02 -6.20990263e-04 9.99595402e-01 -5.96489100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47038572300002 meters 0.018739948043557227 Centerline is valid? [True, True] Translation: X:160.19, Y:-21.55, Z:-5.96 [[ 9.32349475e-01 3.60598015e-01 2.63349049e-02 1.60191535e+02] [-3.60471128e-01 9.32721158e-01 -9.58162762e-03 -2.15468841e+01] [-2.80182389e-02 -5.59547393e-04 9.99607255e-01 -5.96483180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530385723 meters 0.018085510997559454 Centerline is valid? [True, True] Translation: X:160.25, Y:-21.57, Z:-5.96 [[ 9.34274468e-01 3.55346846e-01 2.93229862e-02 1.60247954e+02] [-3.55186621e-01 9.34734415e-01 -1.06788295e-02 -2.15733284e+01] [-3.12038927e-02 -4.38174602e-04 9.99512944e-01 -5.96293129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590385723 meters 0.017362609301310703 Centerline is valid? [True, True] Translation: X:160.30, Y:-21.60, Z:-5.96 [[ 9.37400996e-01 3.46779648e-01 3.19882523e-02 1.60303445e+02] [-3.46583859e-01 9.37946613e-01 -1.16524541e-02 -2.16020918e+01] [-3.40441068e-02 -1.63589862e-04 9.99420318e-01 -5.96152107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650385723 meters 0.01759753808074758 Centerline is valid? [True, True] Translation: X:160.36, Y:-21.63, Z:-5.96 [[ 9.40381404e-01 3.38628497e-01 3.18363979e-02 1.60359397e+02] [-3.38429831e-01 9.40920147e-01 -1.15985248e-02 -2.16297199e+01] [-3.38830992e-02 1.32650263e-04 9.99425794e-01 -5.96364473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710385723 meters 0.01900818789652494 Centerline is valid? [True, True] Translation: X:160.41, Y:-21.66, Z:-5.97 [[ 9.43466132e-01 3.29946789e-01 3.17297134e-02 1.60414606e+02] [-3.29744214e-01 9.43999424e-01 -1.15689900e-02 -2.16573488e+01] [-3.37699823e-02 4.52260820e-04 9.99429529e-01 -5.96602135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770385723 meters 0.0212423177801479 Centerline is valid? [True, True] Translation: X:160.47, Y:-21.68, Z:-5.97 [[ 9.46285788e-01 3.21623180e-01 3.31924153e-02 1.60470781e+02] [-3.21396059e-01 9.46867415e-01 -1.21107984e-02 -2.16801541e+01] [-3.53239300e-02 7.92364986e-04 9.99375601e-01 -5.96807323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830385723 meters 0.021416795375238502 Centerline is valid? [True, True] Translation: X:160.53, Y:-21.70, Z:-5.97 [[ 9.48041874e-01 3.16491648e-01 3.23981862e-02 1.60529294e+02] [-3.16272031e-01 9.48594804e-01 -1.18279392e-02 -2.16980551e+01] [-3.44761951e-02 9.66741508e-04 9.99405052e-01 -5.97074798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890385723 meters 0.02153274233844721 Centerline is valid? [True, True] Translation: X:160.59, Y:-21.72, Z:-5.97 [[ 9.48143520e-01 3.16256568e-01 3.17119651e-02 1.60588535e+02] [-3.16045968e-01 9.48673215e-01 -1.15791593e-02 -2.17173204e+01] [-3.37462771e-02 9.56266105e-04 9.99429975e-01 -5.97299602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950385723 meters 0.020735838476295846 Centerline is valid? [True, True] Translation: X:160.65, Y:-21.73, Z:-5.98 [[ 9.46567000e-01 3.21034104e-01 3.07898992e-02 1.60650652e+02] [-3.20837816e-01 9.47067320e-01 -1.12510906e-02 -2.17271905e+01] [-3.27720911e-02 7.71347103e-04 9.99462553e-01 -5.97752138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010385723 meters 0.019202458778678082 Centerline is valid? [True, True] Translation: X:160.71, Y:-21.74, Z:-5.98 [[ 9.43480352e-01 3.30036161e-01 3.03472893e-02 1.60710194e+02] [-3.29850028e-01 9.43968180e-01 -1.10920844e-02 -2.17387906e+01] [-3.23076644e-02 4.55109465e-04 9.99477868e-01 -5.97872021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07038572300002 meters 0.01810512690537942 Centerline is valid? [True, True] Translation: X:160.77, Y:-21.75, Z:-5.98 [[ 9.39972403e-01 3.40017303e-01 2.89847266e-02 1.60770999e+02] [-3.39852239e-01 9.40419173e-01 -1.05940566e-02 -2.17489388e+01] [-3.08599552e-02 1.07596636e-04 9.99523712e-01 -5.98293802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13038572300002 meters 0.01788855147047037 Centerline is valid? [True, True] Translation: X:160.83, Y:-21.76, Z:-5.98 [[ 9.37815201e-01 3.45965618e-01 2.84682167e-02 1.60832585e+02] [-3.45809132e-01 9.38247187e-01 -1.04048261e-02 -2.17639068e+01] [-3.03099363e-02 -8.67652870e-05 9.99540545e-01 -5.98461585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19038572300002 meters 0.0181666898609096 Centerline is valid? [True, True] Translation: X:160.89, Y:-21.78, Z:-5.98 [[ 9.35523244e-01 3.52033106e-01 2.94779918e-02 1.60892879e+02] [-3.51868019e-01 9.35987506e-01 -1.07835748e-02 -2.17796658e+01] [-3.13872074e-02 -2.84077663e-04 9.99507260e-01 -5.98478585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250385723 meters 0.018177186445810564 Centerline is valid? [True, True] Translation: X:160.95, Y:-21.80, Z:-5.99 [[ 9.34969159e-01 3.53447350e-01 3.01271158e-02 1.60952167e+02] [-3.53275381e-01 9.35454361e-01 -1.10292654e-02 -2.17996875e+01] [-3.20808065e-02 -3.31145338e-04 9.99485224e-01 -5.98581437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310385723 meters 0.018276400967098955 Centerline is valid? [True, True] Translation: X:161.01, Y:-21.82, Z:-5.99 [[ 9.34629446e-01 3.54512106e-01 2.80885085e-02 1.61010720e+02] [-3.54362861e-01 9.35051364e-01 -1.02911844e-02 -2.18206746e+01] [-2.99125476e-02 -3.35080233e-04 9.99552463e-01 -5.98907849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370385723 meters 0.018059022200253495 Centerline is valid? [True, True] Translation: X:161.07, Y:-21.84, Z:-5.99 [[ 9.34672202e-01 3.54447809e-01 2.74704452e-02 1.61069748e+02] [-3.54304831e-01 9.35075745e-01 -1.00716494e-02 -2.18434395e+01] [-2.92568210e-02 -3.19220680e-04 9.99571877e-01 -5.99146181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430385723 meters 0.01795838676370428 Centerline is valid? [True, True] Translation: X:161.13, Y:-21.87, Z:-5.99 [[ 9.35329336e-01 3.52710229e-01 2.74686649e-02 1.61127150e+02] [-3.52566257e-01 9.35732562e-01 -1.00799927e-02 -2.18675696e+01] [-2.92586408e-02 -2.56411514e-04 9.99571841e-01 -5.99307220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490385723 meters 0.017703891264130404 Centerline is valid? [True, True] Translation: X:161.18, Y:-21.89, Z:-5.99 [[ 9.36094340e-01 3.50726857e-01 2.67966023e-02 1.61184293e+02] [-3.50588795e-01 9.36477783e-01 -9.84166402e-03 -2.18935551e+01] [-2.85461586e-02 -1.81862503e-04 9.99592459e-01 -5.99494512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550385723 meters 0.017654472644530312 Centerline is valid? [True, True] Translation: X:161.24, Y:-21.92, Z:-6.00 [[ 9.36876290e-01 3.48792238e-01 2.46331585e-02 1.61240667e+02] [-3.48674893e-01 9.37200065e-01 -9.04749564e-03 -2.19184353e+01] [-2.62418940e-02 -1.12579742e-04 9.99655616e-01 -5.99966877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610385723 meters 0.01751948401341064 Centerline is valid? [True, True] Translation: X:161.30, Y:-21.94, Z:-6.00 [[ 9.37689554e-01 3.46630907e-01 2.41932910e-02 1.61298359e+02] [-3.46516821e-01 9.38001606e-01 -8.89273244e-03 -2.19443725e+01] [-2.57758417e-02 -4.47599771e-05 9.99667747e-01 -6.00107262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670385723 meters 0.01752497206417864 Centerline is valid? [True, True] Translation: X:161.36, Y:-21.97, Z:-6.00 [[ 9.37958180e-01 3.45835572e-01 2.51438008e-02 1.61356041e+02] [-3.45711822e-01 9.38295133e-01 -9.25090493e-03 -2.19685533e+01] [-2.67915980e-02 -1.55472439e-05 9.99641041e-01 -6.00191669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730385723 meters 0.017574209658366508 Centerline is valid? [True, True] Translation: X:161.42, Y:-21.99, Z:-6.00 [[ 9.37942025e-01 3.45873383e-01 2.52262020e-02 1.61415147e+02] [-3.45748655e-01 9.38281196e-01 -9.28785986e-03 -2.19912179e+01] [-2.68816945e-02 -1.04513292e-05 9.99638622e-01 -6.00461803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790385723 meters 0.017622925943426945 Centerline is valid? [True, True] Translation: X:161.47, Y:-22.01, Z:-6.01 [[ 9.37884744e-01 3.46103516e-01 2.41777359e-02 1.61472454e+02] [-3.45988790e-01 9.38196331e-01 -8.91070692e-03 -2.20128015e+01] [-2.57674901e-02 -8.00951171e-06 9.99667963e-01 -6.00758984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85038572300002 meters 0.017758697003386115 Centerline is valid? [True, True] Translation: X:161.53, Y:-22.04, Z:-6.01 [[ 9.37173851e-01 3.48211340e-01 2.13081112e-02 1.61530236e+02] [-3.48122754e-01 9.37416055e-01 -7.85422311e-03 -2.20363750e+01] [-2.27094951e-02 -5.70658498e-05 9.99742105e-01 -6.01130324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91038572300002 meters 0.01778995783646077 Centerline is valid? [True, True] Translation: X:161.59, Y:-22.06, Z:-6.01 [[ 9.36495243e-01 3.50032180e-01 2.13103724e-02 1.61589625e+02] [-3.49943929e-01 9.36737671e-01 -7.86023535e-03 -2.20580787e+01] [-2.27135639e-02 -9.63624134e-05 9.99742009e-01 -6.01322911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97038572300002 meters 0.018057669074824877 Centerline is valid? [True, True] Translation: X:161.65, Y:-22.08, Z:-6.02 [[ 9.34616690e-01 3.55048711e-01 2.07859781e-02 1.61648450e+02] [-3.54965840e-01 9.34847779e-01 -7.67344185e-03 -2.20773232e+01] [-2.21561711e-02 -2.06585370e-04 9.99754501e-01 -6.01643184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030385723 meters 0.018452140906363372 Centerline is valid? [True, True] Translation: X:161.71, Y:-22.10, Z:-6.02 [[ 9.32975034e-01 3.59427973e-01 1.92124388e-02 1.61706794e+02] [-3.59357957e-01 9.33172789e-01 -7.09964699e-03 -2.20979009e+01] [-2.04803368e-02 -2.80349343e-04 9.99790217e-01 -6.01956850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090385723 meters 0.020578678074942337 Centerline is valid? [True, True] Translation: X:161.77, Y:-22.12, Z:-6.02 [[ 9.31906917e-01 3.62206681e-01 1.88631362e-02 1.61765274e+02] [-3.62139786e-01 9.32097745e-01 -6.96910270e-03 -2.21192441e+01] [-2.01065423e-02 -3.36537088e-04 9.99797786e-01 -6.02463361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150385723 meters 0.019189826833139557 Centerline is valid? [True, True] Translation: X:161.82, Y:-22.14, Z:-6.02 [[ 9.31364384e-01 3.63593222e-01 1.89829929e-02 1.61822188e+02] [-3.63525656e-01 9.31557747e-01 -7.01863294e-03 -2.21438160e+01] [-2.02356814e-02 -3.63900182e-04 9.99795171e-01 -6.02271084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210385723 meters 0.01871129527141131 Centerline is valid? [True, True] Translation: X:161.88, Y:-22.17, Z:-6.02 [[ 9.31618866e-01 3.62881436e-01 2.00836205e-02 1.61878860e+02] [-3.62805515e-01 9.31835249e-01 -7.43144360e-03 -2.21705221e+01] [-2.14113584e-02 -3.63175212e-04 9.99770685e-01 -6.02331058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270385723 meters 0.018171169835464216 Centerline is valid? [True, True] Translation: X:161.93, Y:-22.20, Z:-6.02 [[ 9.32378086e-01 3.60914885e-01 2.02866906e-02 1.61934191e+02] [-3.60836836e-01 9.32598706e-01 -7.51214253e-03 -2.21987498e+01] [-2.16305855e-02 -3.16028165e-04 9.99765982e-01 -6.02432459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330385723 meters 0.018085359437148035 Centerline is valid? [True, True] Translation: X:161.99, Y:-22.22, Z:-6.03 [[ 9.33000334e-01 3.59283068e-01 2.06410553e-02 1.61990450e+02] [-3.59201730e-01 9.33228590e-01 -7.64962357e-03 -2.22232425e+01] [-2.20112031e-02 -2.77201419e-04 9.99757686e-01 -6.02660397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390385723 meters 0.01799229458491214 Centerline is valid? [True, True] Translation: X:162.05, Y:-22.25, Z:-6.03 [[ 9.34121528e-01 3.56376596e-01 2.03148651e-02 1.62045443e+02] [-3.56297010e-01 9.34342379e-01 -7.53383393e-03 -2.22502499e+01] [-2.16659215e-02 -2.00609228e-04 9.99765246e-01 -6.02996400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450385723 meters 0.018030759775355044 Centerline is valid? [True, True] Translation: X:162.10, Y:-22.27, Z:-6.03 [[ 9.34514111e-01 3.55421604e-01 1.89435817e-02 1.62102513e+02] [-3.55352126e-01 9.34706081e-01 -7.02921390e-03 -2.22747435e+01] [-2.02050155e-02 -1.62742461e-04 9.99795845e-01 -6.03287334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510385723 meters 0.01840287651683112 Centerline is valid? [True, True] Translation: X:162.16, Y:-22.30, Z:-6.04 [[ 9.34159733e-01 3.56392491e-01 1.81655150e-02 1.62161006e+02] [-3.56328699e-01 9.34336322e-01 -6.74505494e-03 -2.22966785e+01] [-1.93765874e-02 -1.71935611e-04 9.99812242e-01 -6.03599189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57038572300002 meters 0.018699072521900544 Centerline is valid? [True, True] Translation: X:162.22, Y:-22.31, Z:-6.04 [[ 9.33451512e-01 3.58275292e-01 1.75239975e-02 1.62220066e+02] [-3.58216176e-01 9.33615968e-01 -6.51121556e-03 -2.23145399e+01] [-1.86934915e-02 -1.99475342e-04 9.99825242e-01 -6.03941100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63038572300002 meters 0.018107541179968892 Centerline is valid? [True, True] Translation: X:162.28, Y:-22.34, Z:-6.04 [[ 9.33012794e-01 3.59348642e-01 1.88594741e-02 1.62278945e+02] [-3.59280282e-01 9.33203354e-01 -7.01279180e-03 -2.23353606e+01] [-2.01197617e-02 -2.32812698e-04 9.99797550e-01 -6.03748366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69038572300002 meters 0.01806500260246009 Centerline is valid? [True, True] Translation: X:162.34, Y:-22.35, Z:-6.04 [[ 9.33202617e-01 3.58723391e-01 2.12227376e-02 1.62337429e+02] [-3.58636495e-01 9.33443877e-01 -7.89895989e-03 -2.23547474e+01] [-2.26437762e-02 -2.39918191e-04 9.99743568e-01 -6.03830426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750385723 meters 0.017680163927453477 Centerline is valid? [True, True] Translation: X:162.40, Y:-22.38, Z:-6.04 [[ 9.34091503e-01 3.56233194e-01 2.38951036e-02 1.62395827e+02] [-3.56122019e-01 9.34397064e-01 -8.90131443e-03 -2.23757081e+01] [-2.54984583e-02 -1.94930368e-04 9.99674842e-01 -6.03989372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810385723 meters 0.017647519219566407 Centerline is valid? [True, True] Translation: X:162.45, Y:-22.40, Z:-6.04 [[ 9.34623982e-01 3.54808759e-01 2.42643245e-02 1.62454156e+02] [-3.54693463e-01 9.34938886e-01 -9.04577195e-03 -2.23979372e+01] [-2.58951797e-02 -1.52001906e-04 9.99664652e-01 -6.04178624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870385723 meters 0.01770396045956404 Centerline is valid? [True, True] Translation: X:162.51, Y:-22.42, Z:-6.05 [[ 9.34864606e-01 3.54170227e-01 2.43231943e-02 1.62513450e+02] [-3.54053987e-01 9.35180963e-01 -9.07416884e-03 -2.24180211e+01] [-2.59603887e-02 -1.28604631e-04 9.99662964e-01 -6.04608550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930385723 meters 0.017502311727116162 Centerline is valid? [True, True] Translation: X:162.57, Y:-22.44, Z:-6.05 [[ 9.34936271e-01 3.54035957e-01 2.35097863e-02 1.62573033e+02] [-3.53927141e-01 9.35231804e-01 -8.77786199e-03 -2.24386272e+01] [-2.50947786e-02 -1.14009896e-04 9.99685070e-01 -6.05019946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990385723 meters 0.017499273620086336 Centerline is valid? [True, True] Translation: X:162.63, Y:-22.46, Z:-6.05 [[ 9.34916749e-01 3.54160611e-01 2.23815677e-02 1.62630494e+02] [-3.54061853e-01 9.35184608e-01 -8.36381740e-03 -2.24589737e+01] [-2.38930323e-02 -1.04986383e-04 9.99714515e-01 -6.05432352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050385723 meters 0.01744491587995945 Centerline is valid? [True, True] Translation: X:162.69, Y:-22.48, Z:-6.06 [[ 9.34099323e-01 3.56244585e-01 2.34147502e-02 1.62689921e+02] [-3.56137010e-01 9.34392728e-01 -8.75559310e-03 -2.24788596e+01] [-2.49977049e-02 -1.60265533e-04 9.99687496e-01 -6.05657115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110385723 meters 0.01749170686218997 Centerline is valid? [True, True] Translation: X:162.75, Y:-22.50, Z:-6.06 [[ 9.32830875e-01 3.59354106e-01 2.62903896e-02 1.62749733e+02] [-3.59219448e-01 9.33201241e-01 -9.84028823e-03 -2.24988920e+01] [-2.80703722e-02 -2.64694567e-04 9.99605914e-01 -6.05540934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170385723 meters 0.017774601757228392 Centerline is valid? [True, True] Translation: X:162.81, Y:-22.52, Z:-6.06 [[ 9.31222913e-01 3.63400705e-01 2.76371880e-02 1.62808869e+02] [-3.63253388e-01 9.31632851e-01 -1.03540404e-02 -2.25180215e+01] [-2.95103778e-02 -3.97382498e-04 9.99564395e-01 -6.05589456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230385723 meters 0.018560512373210686 Centerline is valid? [True, True] Translation: X:162.87, Y:-22.53, Z:-6.06 [[ 9.29788904e-01 3.67094476e-01 2.70968650e-02 1.62868009e+02] [-3.66954211e-01 9.30183529e-01 -1.01591645e-02 -2.25339482e+01] [-2.89344307e-02 -4.97430321e-04 9.99581188e-01 -6.06058611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290385723 meters 0.019458336707440075 Centerline is valid? [True, True] Translation: X:162.93, Y:-22.55, Z:-6.07 [[ 9.27727903e-01 3.72397270e-01 2.53221498e-02 1.62927474e+02] [-3.72276543e-01 9.28073218e-01 -9.50141237e-03 -2.25509794e+01] [-2.70391091e-02 -6.12116997e-04 9.99634189e-01 -6.06601156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35038572300002 meters 0.020925979344320347 Centerline is valid? [True, True] Translation: X:162.99, Y:-22.57, Z:-6.07 [[ 9.26360043e-01 3.75787118e-01 2.53202098e-02 1.62985979e+02] [-3.75667648e-01 9.26705745e-01 -9.50162030e-03 -2.25671418e+01] [-2.70349704e-02 -7.10062283e-04 9.99634236e-01 -6.06901189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41038572300002 meters 0.021420043869630593 Centerline is valid? [True, True] Translation: X:163.04, Y:-22.59, Z:-6.07 [[ 9.25758213e-01 3.77256527e-01 2.54802530e-02 1.63044523e+02] [-3.77136057e-01 9.26108493e-01 -9.56314965e-03 -2.25865606e+01] [-2.72052393e-02 -7.56357796e-04 9.99629583e-01 -6.07195562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47038572300002 meters 0.020948042757921184 Centerline is valid? [True, True] Translation: X:163.10, Y:-22.61, Z:-6.07 [[ 9.26096457e-01 3.76393540e-01 2.59471691e-02 1.63102976e+02] [-3.76268077e-01 9.26459583e-01 -9.74551553e-03 -2.26082243e+01] [-2.77071525e-02 -7.37804013e-04 9.99615811e-01 -6.07471334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530385723 meters 0.020151873062715413 Centerline is valid? [True, True] Translation: X:163.16, Y:-22.63, Z:-6.08 [[ 9.26878545e-01 3.74394465e-01 2.69248547e-02 1.63160735e+02] [-3.74258308e-01 9.27269270e-01 -1.01202722e-02 -2.26316242e+01] [-2.87555642e-02 -6.96587399e-04 9.99586231e-01 -6.07643074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590385723 meters 0.01949204031614043 Centerline is valid? [True, True] Translation: X:163.22, Y:-22.65, Z:-6.08 [[ 9.28160784e-01 3.70928823e-01 3.04855114e-02 1.63217290e+02] [-3.70752065e-01 9.28661066e-01 -1.14687069e-02 -2.26541490e+01] [-3.25647814e-02 -6.57762330e-04 9.99469410e-01 -6.07623044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650385723 meters 0.01929985284599951 Centerline is valid? [True, True] Translation: X:163.28, Y:-22.68, Z:-6.08 [[ 9.28525681e-01 3.69992972e-01 3.07450871e-02 1.63275662e+02] [-3.69812644e-01 9.29034340e-01 -1.15673718e-02 -2.26767547e+01] [-3.28430880e-02 -6.29320104e-04 9.99460322e-01 -6.07802917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710385723 meters 0.018270406710451336 Centerline is valid? [True, True] Translation: X:163.33, Y:-22.70, Z:-6.08 [[ 9.28613187e-01 3.69826022e-01 3.01041954e-02 1.63333843e+02] [-3.69652985e-01 9.29100825e-01 -1.13281714e-02 -2.26998716e+01] [-3.21592854e-02 -6.08616321e-04 9.99482571e-01 -6.08186413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770385723 meters 0.018492776658009354 Centerline is valid? [True, True] Translation: X:163.39, Y:-22.72, Z:-6.09 [[ 9.28388067e-01 3.70685503e-01 2.62269690e-02 1.63392609e+02] [-3.70554314e-01 9.28758287e-01 -9.87644431e-03 -2.27184049e+01] [-2.80195695e-02 -5.49343461e-04 9.99607224e-01 -6.08933797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830385723 meters 0.01830898446927328 Centerline is valid? [True, True] Translation: X:163.45, Y:-22.74, Z:-6.09 [[ 9.28905157e-01 3.69509190e-01 2.44574936e-02 1.63450340e+02] [-3.69394539e-01 9.29226955e-01 -9.21629611e-03 -2.27412354e+01] [-2.61320684e-02 -4.73399575e-04 9.99658387e-01 -6.09253357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890385723 meters 0.017656310062275686 Centerline is valid? [True, True] Translation: X:163.51, Y:-22.77, Z:-6.09 [[ 9.30951460e-01 3.64170355e-01 2.66332611e-02 1.63506265e+02] [-3.64031927e-01 9.31332290e-01 -1.00459887e-02 -2.27662042e+01] [-2.84628673e-02 -3.43029492e-04 9.99594792e-01 -6.09295229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950385723 meters 0.017096327030716924 Centerline is valid? [True, True] Translation: X:163.56, Y:-22.79, Z:-6.09 [[ 9.33115513e-01 3.58285822e-01 3.04419025e-02 1.63562347e+02] [-3.58101786e-01 9.33611930e-01 -1.14837071e-02 -2.27926933e+01] [-3.25353728e-02 -1.85674385e-04 9.99470567e-01 -6.09232138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010385723 meters 0.01695782293810084 Centerline is valid? [True, True] Translation: X:163.62, Y:-22.82, Z:-6.09 [[ 9.34456464e-01 3.54547828e-01 3.29689810e-02 1.63619570e+02] [-3.54329286e-01 9.35037879e-01 -1.24467815e-02 -2.28185892e+01] [-3.52402254e-02 -5.09000730e-05 9.99378869e-01 -6.09218267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07038572300002 meters 0.01694617046143458 Centerline is valid? [True, True] Translation: X:163.68, Y:-22.84, Z:-6.10 [[ 9.34899062e-01 3.53342997e-01 3.33537286e-02 1.63678582e+02] [-3.53118438e-01 9.35493841e-01 -1.25953123e-02 -2.28397201e+01] [-3.56526731e-02 -2.47090192e-06 9.99364241e-01 -6.09605999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13038572300002 meters 0.016852282619152822 Centerline is valid? [True, True] Translation: X:163.74, Y:-22.86, Z:-6.10 [[ 9.34382898e-01 3.54857549e-01 3.16973215e-02 1.63737756e+02] [-3.54655293e-01 9.34920380e-01 -1.19793876e-02 -2.28597008e+01] [-3.38854480e-02 -4.82879669e-05 9.99425722e-01 -6.09968453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19038572300002 meters 0.016811419052382034 Centerline is valid? [True, True] Translation: X:163.80, Y:-22.88, Z:-6.11 [[ 9.34191836e-01 3.55576497e-01 2.91713711e-02 1.63797156e+02] [-3.55405291e-01 9.34647180e-01 -1.10330384e-02 -2.28800462e+01] [-3.11880289e-02 -6.06852049e-05 9.99513533e-01 -6.10521527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250385723 meters 0.01678680187845322 Centerline is valid? [True, True] Translation: X:163.86, Y:-22.90, Z:-6.11 [[ 9.34293957e-01 3.55374490e-01 2.83509101e-02 1.63856486e+02] [-3.55212402e-01 9.34724007e-01 -1.07321508e-02 -2.29021189e+01] [-3.03142089e-02 -4.36111954e-05 9.99540418e-01 -6.10930976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310385723 meters 0.016923161539526742 Centerline is valid? [True, True] Translation: X:163.91, Y:-22.92, Z:-6.11 [[ 9.34436620e-01 3.54900695e-01 2.95583987e-02 1.63913859e+02] [-3.54724153e-01 9.34904004e-01 -1.11928324e-02 -2.29241900e+01] [-3.16066092e-02 -2.60854687e-05 9.99500386e-01 -6.11046922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370385723 meters 0.016817069542050554 Centerline is valid? [True, True] Translation: X:163.97, Y:-22.95, Z:-6.11 [[ 9.33957514e-01 3.55894509e-01 3.25954092e-02 1.63973442e+02] [-3.55680052e-01 9.34526134e-01 -1.23533411e-02 -2.29450973e+01] [-3.48577480e-02 -5.60411100e-05 9.99392282e-01 -6.10905225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430385723 meters 0.016856503691442724 Centerline is valid? [True, True] Translation: X:164.03, Y:-22.97, Z:-6.11 [[ 9.32977358e-01 3.58397012e-01 3.32390036e-02 1.64033226e+02] [-3.58175185e-01 9.33569259e-01 -1.26085269e-02 -2.29653551e+01] [-3.55497703e-02 -1.41916108e-04 9.99367897e-01 -6.10982810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490385723 meters 0.017022617112281913 Centerline is valid? [True, True] Translation: X:164.09, Y:-22.98, Z:-6.11 [[ 9.31485874e-01 3.62307368e-01 3.26716703e-02 1.64093175e+02] [-3.62095088e-01 9.32058633e-01 -1.24037234e-02 -2.29826354e+01] [-3.49458728e-02 -2.76358231e-04 9.99389168e-01 -6.11201505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550385723 meters 0.01758162686568283 Centerline is valid? [True, True] Translation: X:164.15, Y:-23.00, Z:-6.12 [[ 9.30155163e-01 3.65892935e-01 3.05570392e-02 1.64152159e+02] [-3.65708924e-01 9.30656875e-01 -1.16088100e-02 -2.30013052e+01] [-3.26857001e-02 -3.76987395e-04 9.99465609e-01 -6.11536198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610385723 meters 0.01753454780748541 Centerline is valid? [True, True] Translation: X:164.21, Y:-23.02, Z:-6.12 [[ 9.29197070e-01 3.68335929e-01 3.03553672e-02 1.64211921e+02] [-3.68155363e-01 9.29692659e-01 -1.15407630e-02 -2.30195631e+01] [-3.24720397e-02 -4.51848054e-04 9.99472542e-01 -6.11659061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670385723 meters 0.017634685500048 Centerline is valid? [True, True] Translation: X:164.27, Y:-23.04, Z:-6.12 [[ 9.28813392e-01 3.69273652e-01 3.07026562e-02 1.64270942e+02] [-3.69089158e-01 9.29320578e-01 -1.16814544e-02 -2.30399544e+01] [-3.28462635e-02 -4.82126273e-04 9.99460300e-01 -6.11728626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730385723 meters 0.017661841384452155 Centerline is valid? [True, True] Translation: X:164.33, Y:-23.06, Z:-6.12 [[ 9.28800904e-01 3.69223587e-01 3.16673981e-02 1.64329963e+02] [-3.69026955e-01 9.29340468e-01 -1.20582073e-02 -2.30627739e+01] [-3.38819691e-02 -4.86449668e-04 9.99425723e-01 -6.11706982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790385723 meters 0.01749949783125702 Centerline is valid? [True, True] Translation: X:164.39, Y:-23.08, Z:-6.12 [[ 9.28288165e-01 3.70563855e-01 3.10404907e-02 1.64388448e+02] [-3.70375359e-01 9.28806849e-01 -1.18291837e-02 -2.30820347e+01] [-3.32140883e-02 -5.15741642e-04 9.99448127e-01 -6.12030838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85038572300002 meters 0.017669517110495327 Centerline is valid? [True, True] Translation: X:164.45, Y:-23.10, Z:-6.12 [[ 9.27514710e-01 3.72590084e-01 2.98846591e-02 1.64447692e+02] [-3.72416182e-01 9.27995860e-01 -1.13961045e-02 -2.31012710e+01] [-3.19789155e-02 -5.59476085e-04 9.99488387e-01 -6.12392818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91038572300002 meters 0.017515986231744878 Centerline is valid? [True, True] Translation: X:164.51, Y:-23.12, Z:-6.13 [[ 9.27906457e-01 3.71778579e-01 2.77541985e-02 1.64506425e+02] [-3.71628027e-01 9.28321308e-01 -1.05904984e-02 -2.31238888e+01] [-2.97021343e-02 -4.87246141e-04 9.99558676e-01 -6.12727639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97038572300002 meters 0.01702023256365413 Centerline is valid? [True, True] Translation: X:164.56, Y:-23.15, Z:-6.13 [[ 9.28897881e-01 3.69373743e-01 2.66789331e-02 1.64564271e+02] [-3.69233404e-01 9.29280845e-01 -1.01884477e-02 -2.31471388e+01] [-2.85555666e-02 -3.86725787e-04 9.99592132e-01 -6.12966880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030385723 meters 0.01666294672728161 Centerline is valid? [True, True] Translation: X:164.62, Y:-23.17, Z:-6.13 [[ 9.29475639e-01 3.67915186e-01 2.67105248e-02 1.64621792e+02] [-3.67773700e-01 9.29859292e-01 -1.02079520e-02 -2.31696863e+01] [-2.85926903e-02 -3.35385804e-04 9.99591089e-01 -6.13125563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090385723 meters 0.0164970145614635 Centerline is valid? [True, True] Translation: X:164.68, Y:-23.19, Z:-6.13 [[ 9.29384654e-01 3.68186124e-01 2.61370146e-02 1.64680870e+02] [-3.68050572e-01 9.29752047e-01 -9.99536619e-03 -2.31917910e+01] [-2.79810979e-02 -3.30203205e-04 9.99608398e-01 -6.13279300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150385723 meters 0.016585155569887343 Centerline is valid? [True, True] Translation: X:164.74, Y:-23.21, Z:-6.13 [[ 9.28897772e-01 3.69376106e-01 2.66499636e-02 1.64739617e+02] [-3.69235419e-01 9.29279914e-01 -1.02003322e-02 -2.32145001e+01] [-2.85330349e-02 -3.65044595e-04 9.99592783e-01 -6.13362520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210385723 meters 0.01680009022223237 Centerline is valid? [True, True] Translation: X:164.80, Y:-23.24, Z:-6.14 [[ 9.28295563e-01 3.70895859e-01 2.65256235e-02 1.64797674e+02] [-3.70756848e-01 9.28674378e-01 -1.01616697e-02 -2.32351388e+01] [-2.84025881e-02 -4.01523615e-04 9.99596484e-01 -6.13563099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270385723 meters 0.016837019199773418 Centerline is valid? [True, True] Translation: X:164.86, Y:-23.26, Z:-6.14 [[ 9.27934504e-01 3.71859941e-01 2.56464519e-02 1.64856182e+02] [-3.71730188e-01 9.28288757e-01 -9.83114259e-03 -2.32569357e+01] [-2.74631210e-02 -4.10903965e-04 9.99622733e-01 -6.13835029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330385723 meters 0.01685169795214784 Centerline is valid? [True, True] Translation: X:164.91, Y:-23.28, Z:-6.14 [[ 9.27835637e-01 3.72147797e-01 2.50409249e-02 1.64914345e+02] [-3.72024030e-01 9.28173397e-01 -9.60553426e-03 -2.32803511e+01] [-2.68169987e-02 -4.03468807e-04 9.99640278e-01 -6.14058100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390385723 meters 0.016447886615941744 Centerline is valid? [True, True] Translation: X:164.97, Y:-23.31, Z:-6.14 [[ 9.28520139e-01 3.70392509e-01 2.56854217e-02 1.64971257e+02] [-3.70261376e-01 9.28875268e-01 -9.86149684e-03 -2.33055373e+01] [-2.75111775e-02 -3.53721156e-04 9.99621433e-01 -6.14011430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450385723 meters 0.016317183928847786 Centerline is valid? [True, True] Translation: X:165.03, Y:-23.33, Z:-6.14 [[ 9.28776416e-01 3.69698150e-01 2.64130042e-02 1.65028416e+02] [-3.69558983e-01 9.29151853e-01 -1.01485191e-02 -2.33294359e+01] [-2.82935805e-02 -3.35457794e-04 9.99599600e-01 -6.14049943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510385723 meters 0.016439794783622688 Centerline is valid? [True, True] Translation: X:165.09, Y:-23.35, Z:-6.14 [[ 9.28546445e-01 3.70187573e-01 2.76163048e-02 1.65085998e+02] [-3.70035412e-01 9.28956959e-01 -1.06189419e-02 -2.33522565e+01] [-2.95853588e-02 -3.58829914e-04 9.99562193e-01 -6.14086360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57038572300002 meters 0.016576600948764345 Centerline is valid? [True, True] Translation: X:165.15, Y:-23.37, Z:-6.14 [[ 9.28232142e-01 3.70960831e-01 2.78056130e-02 1.65145216e+02] [-3.70806679e-01 9.28648436e-01 -1.06999077e-02 -2.33737795e+01] [-2.97908857e-02 -3.78508773e-04 9.99556081e-01 -6.14293766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63038572300002 meters 0.01656508918042712 Centerline is valid? [True, True] Translation: X:165.20, Y:-23.40, Z:-6.15 [[ 9.27209641e-01 3.73548043e-01 2.72789482e-02 1.65203525e+02] [-3.73400546e-01 9.27610728e-01 -1.05057395e-02 -2.33955133e+01] [-2.92286434e-02 -4.44951239e-04 9.99572653e-01 -6.14547545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69038572300002 meters 0.017112450125397943 Centerline is valid? [True, True] Translation: X:165.26, Y:-23.42, Z:-6.15 [[ 9.26427280e-01 3.75555517e-01 2.62782777e-02 1.65260655e+02] [-3.75419245e-01 9.26799774e-01 -1.01276771e-02 -2.34166706e+01] [-2.81582068e-02 -4.82814760e-04 9.99603362e-01 -6.14729216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750385723 meters 0.017118577065961135 Centerline is valid? [True, True] Translation: X:165.32, Y:-23.44, Z:-6.15 [[ 9.25579727e-01 3.77600880e-01 2.68280535e-02 1.65318596e+02] [-3.77459504e-01 9.25968289e-01 -1.03465171e-02 -2.34382114e+01] [-2.87487808e-02 -5.49977321e-04 9.99586517e-01 -6.14812630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810385723 meters 0.017511850962074704 Centerline is valid? [True, True] Translation: X:165.38, Y:-23.46, Z:-6.15 [[ 9.25395520e-01 3.78131826e-01 2.56798195e-02 1.65375064e+02] [-3.78002304e-01 9.25751606e-01 -9.91077416e-03 -2.34609503e+01] [-2.75207133e-02 -5.35644910e-04 9.99621090e-01 -6.15066081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870385723 meters 0.016873159008626654 Centerline is valid? [True, True] Translation: X:165.43, Y:-23.49, Z:-6.15 [[ 9.26170030e-01 3.76323850e-01 2.42782894e-02 1.65431135e+02] [-3.76207315e-01 9.26488077e-01 -9.37543101e-03 -2.34873974e+01] [-2.60217440e-02 -4.50426854e-04 9.99661276e-01 -6.15226910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930385723 meters 0.01659132573712467 Centerline is valid? [True, True] Translation: X:165.49, Y:-23.51, Z:-6.15 [[ 9.27295664e-01 3.73535549e-01 2.43709761e-02 1.65487601e+02] [-3.73416977e-01 9.27615793e-01 -9.41818275e-03 -2.35134637e+01] [-2.61249284e-02 -3.67096199e-04 9.99658618e-01 -6.15453550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990385723 meters 0.016458416249114923 Centerline is valid? [True, True] Translation: X:165.54, Y:-23.54, Z:-6.16 [[ 9.28216345e-01 3.71188425e-01 2.51708269e-02 1.65543323e+02] [-3.71060848e-01 9.28557516e-01 -9.73580642e-03 -2.35380765e+01] [-2.69863791e-02 -3.02973714e-04 9.99635755e-01 -6.15693360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050385723 meters 0.016614290135262937 Centerline is valid? [True, True] Translation: X:165.60, Y:-23.56, Z:-6.16 [[ 9.28013793e-01 3.71682216e-01 2.53521393e-02 1.65601391e+02] [-3.71552903e-01 9.28359968e-01 -9.80868198e-03 -2.35620408e+01] [-2.71816238e-02 -3.17068769e-04 9.99630461e-01 -6.15895579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110385723 meters 0.016562068424177467 Centerline is valid? [True, True] Translation: X:165.66, Y:-23.59, Z:-6.16 [[ 9.28031471e-01 3.71734542e-01 2.38960214e-02 1.65659200e+02] [-3.71619487e-01 9.28339024e-01 -9.25271749e-03 -2.35854320e+01] [-2.56231639e-02 -2.93414195e-04 9.99671630e-01 -6.16295393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170385723 meters 0.01629626142493494 Centerline is valid? [True, True] Translation: X:165.72, Y:-23.61, Z:-6.16 [[ 9.28658292e-01 3.70225794e-01 2.29485833e-02 1.65716431e+02] [-3.70119085e-01 9.28941767e-01 -8.89142435e-03 -2.36130081e+01] [-2.46097322e-02 -2.36613708e-04 9.99697107e-01 -6.16453035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230385723 meters 0.015968135449028798 Centerline is valid? [True, True] Translation: X:165.77, Y:-23.64, Z:-6.17 [[ 9.29684420e-01 3.67590196e-01 2.37555657e-02 1.65772964e+02] [-3.67474767e-01 9.29987861e-01 -9.21277138e-03 -2.36391548e+01] [-2.54789121e-02 -1.64600937e-04 9.99675346e-01 -6.16655266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290385723 meters 0.01586821394761876 Centerline is valid? [True, True] Translation: X:165.83, Y:-23.67, Z:-6.17 [[ 9.30609760e-01 3.65271502e-01 2.32852730e-02 1.65829758e+02] [-3.65159721e-01 9.30901027e-01 -9.03639666e-03 -2.36652349e+01] [-2.49770227e-02 -9.34848690e-05 9.99688021e-01 -6.16903038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35038572300002 meters 0.015832405260986157 Centerline is valid? [True, True] Translation: X:165.89, Y:-23.69, Z:-6.17 [[ 9.30953709e-01 3.64422273e-01 2.28385186e-02 1.65887413e+02] [-3.64314310e-01 9.31233807e-01 -8.87020087e-03 -2.36913145e+01] [-2.45004994e-02 -6.26527463e-05 9.99699816e-01 -6.17122224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41038572300002 meters 0.01586542945619743 Centerline is valid? [True, True] Translation: X:165.95, Y:-23.72, Z:-6.17 [[ 9.30382196e-01 3.65861079e-01 2.31222863e-02 1.65945244e+02] [-3.65750673e-01 9.30669470e-01 -8.98796938e-03 -2.37151633e+01] [-2.48075541e-02 -9.47450937e-05 9.99692241e-01 -6.17276020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47038572300002 meters 0.016279472821242546 Centerline is valid? [True, True] Translation: X:166.00, Y:-23.73, Z:-6.17 [[ 9.28591857e-01 3.70306418e-01 2.42964939e-02 1.66003987e+02] [-3.70185805e-01 9.28909635e-01 -9.45301017e-03 -2.37344583e+01] [-2.60697576e-02 -2.16228885e-04 9.99660103e-01 -6.17367138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530385723 meters 0.017111020459729852 Centerline is valid? [True, True] Translation: X:166.06, Y:-23.75, Z:-6.18 [[ 9.26261262e-01 3.76091000e-01 2.44055954e-02 1.66063961e+02] [-3.75971126e-01 9.26582656e-01 -9.50226869e-03 -2.37513823e+01] [-2.61875192e-02 -3.74215794e-04 9.99656978e-01 -6.17715093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590385723 meters 0.018559726873325175 Centerline is valid? [True, True] Translation: X:166.12, Y:-23.77, Z:-6.18 [[ 9.23668940e-01 3.82537229e-01 2.23820917e-02 1.66122828e+02] [-3.82438155e-01 9.23939940e-01 -8.72036105e-03 -2.37691534e+01] [-2.40155712e-02 -5.05039200e-04 9.99711457e-01 -6.18169769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650385723 meters 0.01965137435323564 Centerline is valid? [True, True] Translation: X:166.18, Y:-23.79, Z:-6.19 [[ 9.22240604e-01 3.86131006e-01 1.93678815e-02 1.66180613e+02] [-3.86057546e-01 9.22443809e-01 -7.54915679e-03 -2.37886990e+01] [-2.07807459e-02 -5.14977901e-04 9.99783924e-01 -6.18736429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710385723 meters 0.020073318731495947 Centerline is valid? [True, True] Translation: X:166.24, Y:-23.81, Z:-6.19 [[ 9.22176563e-01 3.86200715e-01 2.09617458e-02 1.66238826e+02] [-3.86114568e-01 9.22414603e-01 -8.17559244e-03 -2.38108982e+01] [-2.24928401e-02 -5.54295694e-04 9.99746850e-01 -6.18933064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770385723 meters 0.02010360832653817 Centerline is valid? [True, True] Translation: X:166.30, Y:-23.84, Z:-6.19 [[ 9.22464427e-01 3.85335961e-01 2.39912142e-02 1.66296335e+02] [-3.85222614e-01 9.22776156e-01 -9.36503826e-03 -2.38352941e+01] [-2.57472065e-02 -6.03043619e-04 9.99668304e-01 -6.18827310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830385723 meters 0.01970647730604382 Centerline is valid? [True, True] Translation: X:166.35, Y:-23.86, Z:-6.19 [[ 9.22914229e-01 3.84204732e-01 2.48203270e-02 1.66353730e+02] [-3.84082821e-01 9.23247736e-01 -9.69563837e-03 -2.38596470e+01] [-2.66404209e-02 -5.84818593e-04 9.99644910e-01 -6.19003756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890385723 meters 0.019435399923814455 Centerline is valid? [True, True] Translation: X:166.41, Y:-23.88, Z:-6.19 [[ 9.23846833e-01 3.81904493e-01 2.56122281e-02 1.66411047e+02] [-3.81773595e-01 9.24201644e-01 -1.00121772e-02 -2.38826978e+01] [-2.74945588e-02 -5.28354219e-04 9.99621814e-01 -6.19286383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950385723 meters 0.01811459866213123 Centerline is valid? [True, True] Translation: X:166.47, Y:-23.91, Z:-6.19 [[ 9.25200332e-01 3.78462834e-01 2.77529807e-02 1.66467246e+02] [-3.78307348e-01 9.25616377e-01 -1.08569545e-02 -2.39097527e+01] [-2.97975672e-02 -4.54298615e-04 9.99555851e-01 -6.19386246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010385723 meters 0.01790034171609669 Centerline is valid? [True, True] Translation: X:166.52, Y:-23.93, Z:-6.20 [[ 9.26805452e-01 3.74519890e-01 2.76858536e-02 1.66523250e+02] [-3.74363162e-01 9.27218825e-01 -1.08385079e-02 -2.39347008e+01] [-2.97300814e-02 -3.19375523e-04 9.99557912e-01 -6.19635761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07038572300002 meters 0.017507475330664345 Centerline is valid? [True, True] Translation: X:166.58, Y:-23.96, Z:-6.20 [[ 9.27880253e-01 3.71875413e-01 2.73297086e-02 1.66580733e+02] [-3.71721342e-01 9.28282622e-01 -1.07059659e-02 -2.39581987e+01] [-2.93509790e-02 -2.25181628e-04 9.99569142e-01 -6.20000048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13038572300002 meters 0.017343445186140047 Centerline is valid? [True, True] Translation: X:166.64, Y:-23.98, Z:-6.20 [[ 9.28527789e-01 3.70275287e-01 2.70621015e-02 1.66638315e+02] [-3.70123344e-01 9.28922055e-01 -1.06078381e-02 -2.39814900e+01] [-2.90664032e-02 -1.66643061e-04 9.99577469e-01 -6.20379483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19038572300002 meters 0.01706820564680638 Centerline is valid? [True, True] Translation: X:166.69, Y:-24.01, Z:-6.20 [[ 9.29916712e-01 3.66632541e-01 2.89048140e-02 1.66694859e+02] [-3.66457193e-01 9.30365830e-01 -1.13379149e-02 -2.40074833e+01] [-3.10488998e-02 -4.90604427e-05 9.99517865e-01 -6.20284448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250385723 meters 0.017064856712107182 Centerline is valid? [True, True] Translation: X:166.75, Y:-24.03, Z:-6.20 [[ 9.31475453e-01 3.62429259e-01 3.15992549e-02 1.66752709e+02] [-3.62216946e-01 9.32011277e-01 -1.24041527e-02 -2.40317148e+01] [-3.39464898e-02 1.08378163e-04 9.99423646e-01 -6.20316002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310385723 meters 0.017274429888345877 Centerline is valid? [True, True] Translation: X:166.81, Y:-24.05, Z:-6.21 [[ 9.32336585e-01 3.60210970e-01 3.15681739e-02 1.66810965e+02] [-3.59997466e-01 9.32870847e-01 -1.24018976e-02 -2.40531765e+01] [-3.39163287e-02 1.98280269e-04 9.99424656e-01 -6.20714469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370385723 meters 0.017361636697161936 Centerline is valid? [True, True] Translation: X:166.87, Y:-24.07, Z:-6.21 [[ 9.32583737e-01 3.59614353e-01 3.10658934e-02 1.66869298e+02] [-3.59406972e-01 9.33100995e-01 -1.22131811e-02 -2.40732429e+01] [-3.33796512e-02 2.24515352e-04 9.99442719e-01 -6.21152210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430385723 meters 0.017933627104440724 Centerline is valid? [True, True] Translation: X:166.93, Y:-24.09, Z:-6.21 [[ 9.32540310e-01 3.59660093e-01 3.18306148e-02 1.66927820e+02] [-3.59442189e-01 9.33083363e-01 -1.25199972e-02 -2.40947887e+01] [-3.42035604e-02 2.34136190e-04 9.99414860e-01 -6.21478274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490385723 meters 0.01730755883591299 Centerline is valid? [True, True] Translation: X:166.99, Y:-24.11, Z:-6.21 [[ 9.32404111e-01 3.59878174e-01 3.33207769e-02 1.66988110e+02] [-3.59639119e-01 9.32999271e-01 -1.31173647e-02 -2.41139196e+01] [-3.58089139e-02 2.47229937e-04 9.99358625e-01 -6.21490331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550385723 meters 0.017278438642849264 Centerline is valid? [True, True] Translation: X:167.05, Y:-24.13, Z:-6.22 [[ 9.31772123e-01 3.61354001e-01 3.49856666e-02 1.67048517e+02] [-3.61091052e-01 9.32428679e-01 -1.37844277e-02 -2.41325497e+01] [-3.76026970e-02 2.10934255e-04 9.99292746e-01 -6.21791999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610385723 meters 0.017329530426529658 Centerline is valid? [True, True] Translation: X:167.11, Y:-24.15, Z:-6.22 [[ 9.31254434e-01 3.62430461e-01 3.75411754e-02 1.67108167e+02] [-3.62128044e-01 9.32010796e-01 -1.48039000e-02 -2.41489932e+01] [-4.03541650e-02 1.91485077e-04 9.99185421e-01 -6.21883405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670385723 meters 0.01786606445745174 Centerline is valid? [True, True] Translation: X:167.17, Y:-24.17, Z:-6.22 [[ 9.31318286e-01 3.62249896e-01 3.76996424e-02 1.67168118e+02] [-3.61944317e-01 9.32080988e-01 -1.48775954e-02 -2.41693479e+01] [-4.05285274e-02 2.10605280e-04 9.99178360e-01 -6.22370613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730385723 meters 0.01740713232527976 Centerline is valid? [True, True] Translation: X:167.23, Y:-24.19, Z:-6.23 [[ 9.31557626e-01 3.61579031e-01 3.82229536e-02 1.67227806e+02] [-3.61263853e-01 9.32341429e-01 -1.50959835e-02 -2.41880849e+01] [-4.10952343e-02 2.54207112e-04 9.99155202e-01 -6.22630151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790385723 meters 0.01741517113692169 Centerline is valid? [True, True] Translation: X:167.29, Y:-24.21, Z:-6.23 [[ 9.31837486e-01 3.60978822e-01 3.70565724e-02 1.67287355e+02] [-3.60681815e-01 9.32573971e-01 -1.46429682e-02 -2.42083549e+01] [-3.98437963e-02 2.79234926e-04 9.99205882e-01 -6.23096044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85038572300002 meters 0.01737224129565698 Centerline is valid? [True, True] Translation: X:167.35, Y:-24.23, Z:-6.23 [[ 9.31838613e-01 3.61127430e-01 3.55496727e-02 1.67346532e+02] [-3.60853783e-01 9.32516437e-01 -1.40585299e-02 -2.42304831e+01] [-3.82275749e-02 2.72047089e-04 9.99269022e-01 -6.23469610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91038572300002 meters 0.01763451474660135 Centerline is valid? [True, True] Translation: X:167.40, Y:-24.25, Z:-6.24 [[ 9.31891032e-01 3.61111437e-01 3.43166838e-02 1.67404330e+02] [-3.60856051e-01 9.32522630e-01 -1.35814199e-02 -2.42510525e+01] [-3.69054903e-02 2.73020466e-04 9.99318723e-01 -6.23965089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970385723 meters 0.017706003082327677 Centerline is valid? [True, True] Translation: X:167.46, Y:-24.27, Z:-6.24 [[ 9.32115290e-01 3.60446381e-01 3.52064180e-02 1.67463366e+02] [-3.60176825e-01 9.32779882e-01 -1.39408471e-02 -2.42735669e+01] [-3.78647663e-02 3.13940883e-04 9.99282823e-01 -6.24152997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030385723 meters 0.019479141944272475 Centerline is valid? [True, True] Translation: X:167.52, Y:-24.30, Z:-6.24 [[ 9.32428427e-01 3.59351533e-01 3.79961049e-02 1.67520611e+02] [-3.59036123e-01 9.33202184e-01 -1.50580715e-02 -2.42970867e+01] [-4.08691892e-02 3.98599708e-04 9.99164426e-01 -6.24497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090385723 meters 0.017831711075418238 Centerline is valid? [True, True] Translation: X:167.58, Y:-24.32, Z:-6.24 [[ 9.31818546e-01 3.60920980e-01 3.80820692e-02 1.67578781e+02] [-3.60605024e-01 9.32596339e-01 -1.51025118e-02 -2.43181256e+01] [-4.09660117e-02 3.40215111e-04 9.99160483e-01 -6.24468797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150385723 meters 0.017744542956871997 Centerline is valid? [True, True] Translation: X:167.64, Y:-24.34, Z:-6.25 [[ 9.30333910e-01 3.64755210e-01 3.78477549e-02 1.67637180e+02] [-3.64445877e-01 9.31103434e-01 -1.50199312e-02 -2.43390106e+01] [-4.07187727e-02 1.80093100e-04 9.99170631e-01 -6.24721244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210385723 meters 0.017678405967535688 Centerline is valid? [True, True] Translation: X:167.70, Y:-24.36, Z:-6.25 [[ 9.28249258e-01 3.70035076e-01 3.77803986e-02 1.67696380e+02] [-3.69730782e-01 9.29017783e-01 -1.50035991e-02 -2.43581369e+01] [-4.06505201e-02 -4.14965927e-05 9.99173425e-01 -6.25102200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270385723 meters 0.018176314861733694 Centerline is valid? [True, True] Translation: X:167.76, Y:-24.38, Z:-6.25 [[ 9.25791786e-01 3.76281501e-01 3.63565786e-02 1.67755119e+02] [-3.76004140e-01 9.26505340e-01 -1.44478971e-02 -2.43783855e+01] [-3.91210406e-02 -2.94479613e-04 9.99234436e-01 -6.25463298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330385723 meters 0.018694502945553595 Centerline is valid? [True, True] Translation: X:167.81, Y:-24.40, Z:-6.26 [[ 9.24199570e-01 3.80012697e-01 3.80197966e-02 1.67813381e+02] [-3.79712073e-01 9.24981154e-01 -1.51197358e-02 -2.44008461e+01] [-4.09132870e-02 -4.62922432e-04 9.99162594e-01 -6.25573128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390385723 meters 0.019956921166727766 Centerline is valid? [True, True] Translation: X:167.87, Y:-24.42, Z:-6.26 [[ 9.23572360e-01 3.81332027e-01 3.99997584e-02 1.67870823e+02] [-3.80999987e-01 9.24437989e-01 -1.59189883e-02 -2.44243169e+01] [-4.30477163e-02 -5.37569826e-04 9.99072873e-01 -6.25875073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450385723 meters 0.018748850069898813 Centerline is valid? [True, True] Translation: X:167.93, Y:-24.45, Z:-6.26 [[ 9.23900403e-01 3.80627880e-01 3.91211289e-02 1.67927539e+02] [-3.80309179e-01 9.24728167e-01 -1.55802786e-02 -2.44493554e+01] [-4.21066982e-02 -4.83498706e-04 9.99113003e-01 -6.26006444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510385723 meters 0.018440773108932905 Centerline is valid? [True, True] Translation: X:167.98, Y:-24.48, Z:-6.27 [[ 9.25440413e-01 3.77104367e-01 3.67741532e-02 1.67983036e+02] [-3.76819594e-01 9.26170724e-01 -1.46555229e-02 -2.44751483e+01] [-3.95858058e-02 -2.94408324e-04 9.99216131e-01 -6.26578965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57038572300002 meters 0.018204746577318975 Centerline is valid? [True, True] Translation: X:168.04, Y:-24.50, Z:-6.27 [[ 9.26724868e-01 3.74187292e-01 3.41304770e-02 1.68038944e+02] [-3.73939716e-01 9.27353141e-01 -1.36103188e-02 -2.45022941e+01] [-3.67438133e-02 -1.49719990e-04 9.99324707e-01 -6.27041202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63038572300002 meters 0.01818462023122969 Centerline is valid? [True, True] Translation: X:168.10, Y:-24.53, Z:-6.27 [[ 9.27120169e-01 3.73256054e-01 3.35873495e-02 1.68095457e+02] [-3.73015350e-01 9.27728359e-01 -1.34030183e-02 -2.45274123e+01] [-3.61626943e-02 -1.02388348e-04 9.99345911e-01 -6.27279077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69038572300002 meters 0.018279904979064482 Centerline is valid? [True, True] Translation: X:168.15, Y:-24.55, Z:-6.28 [[ 9.26572023e-01 3.74708423e-01 3.25251125e-02 1.68153017e+02] [-3.74483276e-01 9.27142695e-01 -1.29884604e-02 -2.45525950e+01] [-3.50223060e-02 -1.45366640e-04 9.99386520e-01 -6.27638000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750385723 meters 0.018429396711961372 Centerline is valid? [True, True] Translation: X:168.21, Y:-24.58, Z:-6.28 [[ 9.25320705e-01 3.77772378e-01 3.27050961e-02 1.68210226e+02] [-3.77546277e-01 9.25898464e-01 -1.30706836e-02 -2.45772916e+01] [-3.52193415e-02 -2.53113146e-04 9.99379574e-01 -6.27760513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810385723 meters 0.0187007006417642 Centerline is valid? [True, True] Translation: X:168.27, Y:-24.60, Z:-6.28 [[ 9.24107370e-01 3.80529177e-01 3.49730528e-02 1.68267496e+02] [-3.80272195e-01 9.24768839e-01 -1.39875632e-02 -2.46025887e+01] [-3.76646653e-02 -3.73269304e-04 9.99290365e-01 -6.27812418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870385723 meters 0.01887284721797441 Centerline is valid? [True, True] Translation: X:168.32, Y:-24.63, Z:-6.28 [[ 9.23552791e-01 3.81669263e-01 3.71323977e-02 1.68323403e+02] [-3.81380032e-01 9.24298861e-01 -1.48622756e-02 -2.46290297e+01] [-3.99939067e-02 -4.35458894e-04 9.99199829e-01 -6.27824335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930385723 meters 0.01884768956067937 Centerline is valid? [True, True] Translation: X:168.38, Y:-24.66, Z:-6.28 [[ 9.23604199e-01 3.81536628e-01 3.72167365e-02 1.68380385e+02] [-3.81245548e-01 9.24353625e-01 -1.49066294e-02 -2.46552407e+01] [-4.00888504e-02 -4.20889636e-04 9.99196030e-01 -6.28053179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990385723 meters 0.018177356229336833 Centerline is valid? [True, True] Translation: X:168.44, Y:-24.68, Z:-6.29 [[ 9.24762409e-01 3.78984517e-01 3.44270693e-02 1.68436445e+02] [-3.78733303e-01 9.25402971e-01 -1.37995108e-02 -2.46811861e+01] [-3.70887131e-02 -2.77408801e-04 9.99311938e-01 -6.28647191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050385723 meters 0.018095666895355602 Centerline is valid? [True, True] Translation: X:168.49, Y:-24.70, Z:-6.29 [[ 9.24610459e-01 3.79466484e-01 3.31765895e-02 1.68494135e+02] [-3.79233176e-01 9.25205442e-01 -1.33074361e-02 -2.47022603e+01] [-3.57448871e-02 -2.77468814e-04 9.99360909e-01 -6.28951443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110385723 meters 0.018502324183177293 Centerline is valid? [True, True] Translation: X:168.55, Y:-24.72, Z:-6.29 [[ 9.24708956e-01 3.79346275e-01 3.17765710e-02 1.68552883e+02] [-3.79131868e-01 9.25254743e-01 -1.27548775e-02 -2.47227713e+01] [-3.42399383e-02 -2.52961265e-04 9.99413609e-01 -6.29302966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170385723 meters 0.017771175085996235 Centerline is valid? [True, True] Translation: X:168.61, Y:-24.75, Z:-6.29 [[ 9.24476998e-01 3.79867746e-01 3.22920495e-02 1.68611735e+02] [-3.79646310e-01 9.25040769e-01 -1.29713187e-02 -2.47460297e+01] [-3.47988479e-02 -2.67871682e-04 9.99394301e-01 -6.29457353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230385723 meters 0.01776960616767666 Centerline is valid? [True, True] Translation: X:168.67, Y:-24.77, Z:-6.30 [[ 9.24407086e-01 3.80022576e-01 3.24712491e-02 1.68668478e+02] [-3.79798393e-01 9.24977174e-01 -1.30540991e-02 -2.47697751e+01] [-3.49960165e-02 -2.65226462e-04 9.99387417e-01 -6.29630475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290385723 meters 0.0176971592694777 Centerline is valid? [True, True] Translation: X:168.73, Y:-24.79, Z:-6.30 [[ 9.24512039e-01 3.79901555e-01 3.08593394e-02 1.68726998e+02] [-3.79698722e-01 9.25026892e-01 -1.24148772e-02 -2.47931343e+01] [-3.32621500e-02 -2.39548337e-04 9.99446633e-01 -6.30031717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35038572300002 meters 0.017620076821140595 Centerline is valid? [True, True] Translation: X:168.78, Y:-24.82, Z:-6.30 [[ 9.24868610e-01 3.79125069e-01 2.97024651e-02 1.68784696e+02] [-3.78936469e-01 9.25345419e-01 -1.19586176e-02 -2.48175383e+01] [-3.20188517e-02 -1.95197219e-04 9.99487246e-01 -6.30293328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41038572300002 meters 0.017620278649483404 Centerline is valid? [True, True] Translation: X:168.84, Y:-24.84, Z:-6.31 [[ 9.24820488e-01 3.79218275e-01 3.00094228e-02 1.68843130e+02] [-3.79025486e-01 9.25307226e-01 -1.20920624e-02 -2.48418783e+01] [-3.23534668e-02 -1.91348999e-04 9.99476471e-01 -6.30504115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470385723 meters 0.017500434230374902 Centerline is valid? [True, True] Translation: X:168.90, Y:-24.87, Z:-6.31 [[ 9.24574645e-01 3.79913635e-01 2.87637953e-02 1.68901009e+02] [-3.79736588e-01 9.25021940e-01 -1.15988664e-02 -2.48650443e+01] [-3.10137092e-02 -1.98647703e-04 9.99518939e-01 -6.30911095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530385723 meters 0.017724202947948273 Centerline is valid? [True, True] Translation: X:168.96, Y:-24.89, Z:-6.31 [[ 9.22970496e-01 3.83857044e-01 2.79147428e-02 1.68958761e+02] [-3.83691832e-01 9.23392480e-01 -1.12652634e-02 -2.48868597e+01] [-3.01005143e-02 -3.13153039e-04 9.99546828e-01 -6.31182934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590385723 meters 0.01787749430174974 Centerline is valid? [True, True] Translation: X:169.02, Y:-24.91, Z:-6.31 [[ 9.21919531e-01 3.86298708e-01 2.89428213e-02 1.69016937e+02] [-3.86122036e-01 9.22373649e-01 -1.16886509e-02 -2.49092792e+01] [-3.12114064e-02 -3.99465578e-04 9.99512726e-01 -6.31278013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650385723 meters 0.017899882530088652 Centerline is valid? [True, True] Translation: X:169.08, Y:-24.93, Z:-6.31 [[ 9.21662347e-01 3.86879877e-01 2.93680100e-02 1.69075703e+02] [-3.86698005e-01 9.22130027e-01 -1.18687140e-02 -2.49330114e+01] [-3.16728904e-02 -4.17604113e-04 9.99498201e-01 -6.31445522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710385723 meters 0.017674755638721066 Centerline is valid? [True, True] Translation: X:169.13, Y:-24.95, Z:-6.32 [[ 9.21980194e-01 3.86050163e-01 3.02950959e-02 1.69133706e+02] [-3.85855836e-01 9.22477706e-01 -1.22538113e-02 -2.49543921e+01] [-3.26771364e-02 -3.91768176e-04 9.99465883e-01 -6.31566290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770385723 meters 0.017686284501303145 Centerline is valid? [True, True] Translation: X:169.19, Y:-24.97, Z:-6.32 [[ 9.21977244e-01 3.86050635e-01 3.03787630e-02 1.69191631e+02] [-3.85854953e-01 9.22477511e-01 -1.22961905e-02 -2.49749549e+01] [-3.27706778e-02 -3.84988374e-04 9.99462823e-01 -6.31754148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830385723 meters 0.017785906693531937 Centerline is valid? [True, True] Translation: X:169.25, Y:-25.00, Z:-6.32 [[ 9.21075410e-01 3.88054681e-01 3.21504736e-02 1.69249765e+02] [-3.87836368e-01 9.21636230e-01 -1.30234816e-02 -2.49957467e+01] [-3.46848643e-02 -4.73514271e-04 9.99398187e-01 -6.31890513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890385723 meters 0.017933836934342452 Centerline is valid? [True, True] Translation: X:169.31, Y:-25.02, Z:-6.32 [[ 9.20366636e-01 3.89764986e-01 3.17570588e-02 1.69308307e+02] [-3.89552699e-01 9.20914210e-01 -1.28729201e-02 -2.50164135e+01] [-3.42629403e-02 -5.23241825e-04 9.99412716e-01 -6.32253731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950385723 meters 0.017808183564277855 Centerline is valid? [True, True] Translation: X:169.37, Y:-25.04, Z:-6.33 [[ 9.20417404e-01 3.89892064e-01 2.85653846e-02 1.69365785e+02] [-3.89720158e-01 9.20860445e-01 -1.15861808e-02 -2.50403504e+01] [-3.08220927e-02 -4.68383706e-04 9.99524777e-01 -6.32777030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010385723 meters 0.017575054147857753 Centerline is valid? [True, True] Translation: X:169.42, Y:-25.07, Z:-6.33 [[ 9.20499347e-01 3.89841934e-01 2.65371163e-02 1.69423727e+02] [-3.89693352e-01 9.20881689e-01 -1.07706517e-02 -2.50653932e+01] [-2.86363961e-02 -4.26959959e-04 9.99589803e-01 -6.33166319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07038572300002 meters 0.017842109749812957 Centerline is valid? [True, True] Translation: X:169.48, Y:-25.09, Z:-6.34 [[ 9.20347447e-01 3.90377191e-01 2.37955061e-02 1.69480649e+02] [-3.90257722e-01 9.20654928e-01 -9.66513663e-03 -2.50877630e+01] [-2.56804989e-02 -3.91096181e-04 9.99670125e-01 -6.33745620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13038572300002 meters 0.017748424556236615 Centerline is valid? [True, True] Translation: X:169.54, Y:-25.11, Z:-6.34 [[ 9.19727795e-01 3.91785965e-01 2.45874143e-02 1.69538137e+02] [-3.91658752e-01 9.20056283e-01 -9.99285776e-03 -2.51130855e+01] [-2.65368665e-02 -4.39166995e-04 9.99647739e-01 -6.33890709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19038572300002 meters 0.017713466589720044 Centerline is valid? [True, True] Translation: X:169.59, Y:-25.14, Z:-6.34 [[ 9.19702410e-01 3.91685193e-01 2.70219661e-02 1.69594893e+02] [-3.91531196e-01 9.20099173e-01 -1.09924386e-02 -2.51383024e+01] [-2.91684641e-02 -4.70170414e-04 9.99574399e-01 -6.33851763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250385723 meters 0.017520436208010852 Centerline is valid? [True, True] Translation: X:169.65, Y:-25.16, Z:-6.34 [[ 9.20007275e-01 3.90794464e-01 2.94330040e-02 1.69652305e+02] [-3.90611007e-01 9.20477845e-01 -1.19824089e-02 -2.51621764e+01] [-3.17750871e-02 -4.72951982e-04 9.99494933e-01 -6.33832756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310385723 meters 0.017541169330027105 Centerline is valid? [True, True] Translation: X:169.71, Y:-25.18, Z:-6.34 [[ 9.20046676e-01 3.90755562e-01 2.87089701e-02 1.69711256e+02] [-3.90580767e-01 9.20494370e-01 -1.16952401e-02 -2.51838611e+01] [-3.09964255e-02 -4.53004784e-04 9.99519393e-01 -6.34251074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370385723 meters 0.017901168691244404 Centerline is valid? [True, True] Translation: X:169.77, Y:-25.21, Z:-6.35 [[ 9.19768225e-01 3.91442485e-01 2.82700167e-02 1.69768676e+02] [-3.91273026e-01 9.20202461e-01 -1.15260391e-02 -2.52051407e+01] [-3.05259203e-02 -4.60010447e-04 9.99533870e-01 -6.34628651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430385723 meters 0.017462008927195283 Centerline is valid? [True, True] Translation: X:169.83, Y:-25.23, Z:-6.35 [[ 9.18918206e-01 3.93514734e-01 2.71198335e-02 1.69826110e+02] [-3.93359600e-01 9.19318171e-01 -1.10600896e-02 -2.52290208e+01] [-2.92840639e-02 -5.04529205e-04 9.99571003e-01 -6.34888894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490385723 meters 0.017679520561028454 Centerline is valid? [True, True] Translation: X:169.88, Y:-25.25, Z:-6.35 [[ 9.18111004e-01 3.95481548e-01 2.58172463e-02 1.69884425e+02] [-3.95341541e-01 9.18473767e-01 -1.05358859e-02 -2.52501056e+01] [-2.78792119e-02 -5.33517155e-04 9.99611157e-01 -6.35296577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550385723 meters 0.018365695824494137 Centerline is valid? [True, True] Translation: X:169.94, Y:-25.27, Z:-6.36 [[ 9.17593950e-01 3.96756538e-01 2.46087765e-02 1.69940973e+02] [-3.96629609e-01 9.17923722e-01 -1.00496209e-02 -2.52731420e+01] [-2.65762325e-02 -5.39098046e-04 9.99646644e-01 -6.35565662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610385723 meters 0.01856926660314019 Centerline is valid? [True, True] Translation: X:170.00, Y:-25.30, Z:-6.36 [[ 9.17280689e-01 3.97456991e-01 2.49815664e-02 1.69999214e+02] [-3.97326277e-01 9.17620632e-01 -1.02081146e-02 -2.52980269e+01] [-2.69808873e-02 -5.62126362e-04 9.99635792e-01 -6.35728410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670385723 meters 0.01888656366971141 Centerline is valid? [True, True] Translation: X:170.06, Y:-25.32, Z:-6.36 [[ 9.16590296e-01 3.98897773e-01 2.72542718e-02 1.70058254e+02] [-3.98742537e-01 9.16995171e-01 -1.11465672e-02 -2.53209578e+01] [-2.94383765e-02 -6.50602117e-04 9.99566385e-01 -6.35929540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730385723 meters 0.01882018296069522 Centerline is valid? [True, True] Translation: X:170.12, Y:-25.34, Z:-6.36 [[ 9.16601794e-01 3.98819341e-01 2.80050774e-02 1.70115288e+02] [-3.98655106e-01 9.17029281e-01 -1.14631953e-02 -2.53442729e+01] [-3.02532200e-02 -6.57181698e-04 9.99542051e-01 -6.36158721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790385723 meters 0.019317303809199955 Centerline is valid? [True, True] Translation: X:170.17, Y:-25.37, Z:-6.37 [[ 9.16363814e-01 3.99547609e-01 2.52798061e-02 1.70172303e+02] [-3.99413866e-01 9.16712244e-01 -1.03549671e-02 -2.53666589e+01] [-2.73116101e-02 -6.08187979e-04 9.99626783e-01 -6.36768187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85038572300002 meters 0.020702466042062034 Centerline is valid? [True, True] Translation: X:170.23, Y:-25.39, Z:-6.37 [[ 9.15671008e-01 4.01249254e-01 2.33589707e-02 1.70229025e+02] [-4.01135565e-01 9.15968705e-01 -9.57028303e-03 -2.53886985e+01] [-2.52361550e-02 -6.06883196e-04 9.99681333e-01 -6.37291792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91038572300002 meters 0.019326722086998746 Centerline is valid? [True, True] Translation: X:170.29, Y:-25.42, Z:-6.37 [[ 9.15417368e-01 4.01826722e-01 2.33736704e-02 1.70285705e+02] [-4.01712949e-01 9.15715514e-01 -9.58139584e-03 -2.54158798e+01] [-2.52536935e-02 -6.18529909e-04 9.99680883e-01 -6.37382251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970385723 meters 0.020042953797519025 Centerline is valid? [True, True] Translation: X:170.34, Y:-25.44, Z:-6.38 [[ 9.15747420e-01 4.00976710e-01 2.49868158e-02 1.70343170e+02] [-4.00846121e-01 9.16088033e-01 -1.02520060e-02 -2.54375724e+01] [-2.70009386e-02 -6.27620141e-04 9.99635211e-01 -6.37577920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030385723 meters 0.018749912651670635 Centerline is valid? [True, True] Translation: X:170.40, Y:-25.47, Z:-6.38 [[ 9.16405516e-01 3.99336076e-01 2.70486414e-02 1.70398705e+02] [-3.99182079e-01 9.16804404e-01 -1.11064379e-02 -2.54651670e+01] [-2.92335149e-02 -6.19331912e-04 9.99572418e-01 -6.37538547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090385723 meters 0.019193603838176927 Centerline is valid? [True, True] Translation: X:170.46, Y:-25.49, Z:-6.38 [[ 9.16645528e-01 3.98611022e-01 2.94996431e-02 1.70455038e+02] [-3.98427159e-01 9.17119862e-01 -1.21225728e-02 -2.54881706e+01] [-3.18868998e-02 -6.41356854e-04 9.99491278e-01 -6.37575731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150385723 meters 0.019143511602705388 Centerline is valid? [True, True] Translation: X:170.51, Y:-25.51, Z:-6.38 [[ 9.15879291e-01 4.00351262e-01 2.97319850e-02 1.70512578e+02] [-4.00165158e-01 9.16361488e-01 -1.22258067e-02 -2.55116852e+01] [-3.21398632e-02 -7.00341267e-04 9.99483136e-01 -6.37692561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210385723 meters 0.02004651393916828 Centerline is valid? [True, True] Translation: X:170.57, Y:-25.53, Z:-6.38 [[ 9.15342813e-01 4.01619384e-01 2.91445451e-02 1.70570961e+02] [-4.01440931e-01 9.15806393e-01 -1.19929263e-02 -2.55309791e+01] [-3.15073524e-02 -7.22174359e-04 9.99503259e-01 -6.38153912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270385723 meters 0.01989197687088929 Centerline is valid? [True, True] Translation: X:170.63, Y:-25.56, Z:-6.38 [[ 9.15171308e-01 4.02056308e-01 2.84991508e-02 1.70629422e+02] [-4.01885779e-01 9.15614662e-01 -1.17307499e-02 -2.55550260e+01] [-3.08106623e-02 -7.17757657e-04 9.99524981e-01 -6.38404291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330385723 meters 0.01969368247517655 Centerline is valid? [True, True] Translation: X:170.69, Y:-25.58, Z:-6.39 [[ 9.14839043e-01 4.02981984e-01 2.59816543e-02 1.70686343e+02] [-4.02840415e-01 9.15207662e-01 -1.07021376e-02 -2.55791235e+01] [-2.80913777e-02 -6.75727077e-04 9.99605131e-01 -6.38781614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390385723 meters 0.019622544147476325 Centerline is valid? [True, True] Translation: X:170.74, Y:-25.60, Z:-6.39 [[ 9.14528316e-01 4.03767433e-01 2.46944990e-02 1.70744389e+02] [-4.03639657e-01 9.14861424e-01 -1.01785110e-02 -2.56012867e+01] [-2.67017957e-02 -6.59142585e-04 9.99643226e-01 -6.39130430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450385723 meters 0.019770459237628758 Centerline is valid? [True, True] Translation: X:170.80, Y:-25.62, Z:-6.39 [[ 9.14721882e-01 4.03280915e-01 2.54633569e-02 1.70802274e+02] [-4.03144657e-01 9.15075992e-01 -1.05030794e-02 -2.56236486e+01] [-2.75365981e-02 -6.58019762e-04 9.99620579e-01 -6.39357124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510385723 meters 0.01918702363395073 Centerline is valid? [True, True] Translation: X:170.86, Y:-25.65, Z:-6.40 [[ 9.15873558e-01 4.00660171e-01 2.54372256e-02 1.70859442e+02] [-4.00522954e-01 9.16226556e-01 -1.05005480e-02 -2.56494014e+01] [-2.75134130e-02 -5.71018522e-04 9.99621271e-01 -6.39524215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57038572300002 meters 0.019019013116688396 Centerline is valid? [True, True] Translation: X:170.91, Y:-25.68, Z:-6.40 [[ 9.17598859e-01 3.96630224e-01 2.63969656e-02 1.70914090e+02] [-3.96480638e-01 9.17978350e-01 -1.09019309e-02 -2.56754417e+01] [-2.85558783e-02 -4.62286406e-04 9.99592091e-01 -6.39698875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63038572300002 meters 0.01796387731891027 Centerline is valid? [True, True] Translation: X:170.97, Y:-25.70, Z:-6.40 [[ 9.18277312e-01 3.94992607e-01 2.73426055e-02 1.70971424e+02] [-3.94831412e-01 9.18684199e-01 -1.12915015e-02 -2.56984343e+01] [-2.95792792e-02 -4.26989897e-04 9.99562346e-01 -6.39748820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69038572300002 meters 0.017880999259348555 Centerline is valid? [True, True] Translation: X:171.03, Y:-25.72, Z:-6.40 [[ 9.18612640e-01 3.94192832e-01 2.76193519e-02 1.71029464e+02] [-3.94027760e-01 9.19027667e-01 -1.14136558e-02 -2.57210234e+01] [-2.98821298e-02 -3.98062880e-04 9.99553350e-01 -6.40158085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750385723 meters 0.0176231811839877 Centerline is valid? [True, True] Translation: X:171.09, Y:-25.75, Z:-6.40 [[ 9.18462347e-01 3.94628022e-01 2.63749940e-02 1.71086711e+02] [-3.94477485e-01 9.18840886e-01 -1.09059739e-02 -2.57465588e+01] [-2.85382258e-02 -3.87614913e-04 9.99592627e-01 -6.40390092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810385723 meters 0.017713052431582037 Centerline is valid? [True, True] Translation: X:171.15, Y:-25.77, Z:-6.41 [[ 9.18339010e-01 3.94866529e-01 2.70903604e-02 1.71145295e+02] [-3.94707550e-01 9.18738410e-01 -1.12108760e-02 -2.57705789e+01] [-2.93157543e-02 -3.97384980e-04 9.99570122e-01 -6.40527372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870385723 meters 0.01746516993310516 Centerline is valid? [True, True] Translation: X:171.20, Y:-25.79, Z:-6.41 [[ 9.18710026e-01 3.94027749e-01 2.67211584e-02 1.71201978e+02] [-3.93872469e-01 9.19098474e-01 -1.10667463e-02 -2.57948349e+01] [-2.89199811e-02 -3.57597868e-04 9.99581666e-01 -6.40756644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930385723 meters 0.017234087798666798 Centerline is valid? [True, True] Translation: X:171.26, Y:-25.82, Z:-6.41 [[ 9.18873900e-01 3.93642431e-01 2.67655069e-02 1.71259621e+02] [-3.93486262e-01 9.19263575e-01 -1.10923598e-02 -2.58207029e+01] [-2.89709791e-02 -3.39379375e-04 9.99580195e-01 -6.40996072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990385723 meters 0.017103664544452366 Centerline is valid? [True, True] Translation: X:171.32, Y:-25.85, Z:-6.41 [[ 9.19006677e-01 3.93278652e-01 2.75432520e-02 1.71316095e+02] [-3.93112816e-01 9.19419270e-01 -1.14245070e-02 -2.58453376e+01] [-2.98168114e-02 -3.28407123e-04 9.99555326e-01 -6.41108464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050385723 meters 0.016961381870246983 Centerline is valid? [True, True] Translation: X:171.37, Y:-25.87, Z:-6.41 [[ 9.18860419e-01 3.93505672e-01 2.91344427e-02 1.71373870e+02] [-3.93319948e-01 9.19322123e-01 -1.20935076e-02 -2.58687670e+01] [-3.15428015e-02 -3.46912001e-04 9.99502342e-01 -6.41269743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110385723 meters 0.017107217564477757 Centerline is valid? [True, True] Translation: X:171.43, Y:-25.89, Z:-6.42 [[ 9.18436609e-01 3.94509088e-01 2.89270652e-02 1.71432010e+02] [-3.94326248e-01 9.18891964e-01 -1.20153445e-02 -2.58930671e+01] [-3.13210104e-02 -3.71368792e-04 9.99509308e-01 -6.41503688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170385723 meters 0.016918450261966807 Centerline is valid? [True, True] Translation: X:171.49, Y:-25.92, Z:-6.42 [[ 9.18454280e-01 3.94588025e-01 2.72401566e-02 1.71489590e+02] [-3.94425687e-01 9.18858080e-01 -1.13227981e-02 -2.59179609e+01] [-2.94976786e-02 -3.44745117e-04 9.99564789e-01 -6.41871096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230385723 meters 0.017248594376247792 Centerline is valid? [True, True] Translation: X:171.55, Y:-25.94, Z:-6.42 [[ 9.18327008e-01 3.95049693e-01 2.47233836e-02 1.71545644e+02] [-3.94915921e-01 9.18659697e-01 -1.02847943e-02 -2.59406332e+01] [-2.67753809e-02 -3.18853449e-04 9.99641424e-01 -6.42304479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290385723 meters 0.017596432698782496 Centerline is valid? [True, True] Translation: X:171.60, Y:-25.96, Z:-6.43 [[ 9.17722151e-01 3.96531457e-01 2.34277021e-02 1.71603706e+02] [-3.96411709e-01 9.18021072e-01 -9.75028372e-03 -2.59626291e+01] [-2.53734184e-02 -3.38964088e-04 9.99677986e-01 -6.42633975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35038572300002 meters 0.018878259477763896 Centerline is valid? [True, True] Translation: X:171.66, Y:-25.99, Z:-6.43 [[ 9.16950148e-01 3.98375102e-01 2.23540689e-02 1.71660824e+02] [-3.98266493e-01 9.17222516e-01 -9.30897840e-03 -2.59866655e+01] [-2.42121205e-02 -3.67007516e-04 9.99706776e-01 -6.42993790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41038572300002 meters 0.0185158624153291 Centerline is valid? [True, True] Translation: X:171.72, Y:-26.01, Z:-6.43 [[ 9.15669360e-01 4.01213840e-01 2.40224522e-02 1.71717841e+02] [-4.01089192e-01 9.15984299e-01 -1.00112009e-02 -2.60086059e+01] [-2.60208214e-02 -4.68195978e-04 9.99661291e-01 -6.42828249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470385723 meters 0.018129165461178407 Centerline is valid? [True, True] Translation: X:171.77, Y:-26.03, Z:-6.43 [[ 9.14966958e-01 4.02747342e-01 2.51006674e-02 1.71774626e+02] [-4.02611632e-01 9.15311040e-01 -1.04677961e-02 -2.60343693e+01] [-2.71907950e-02 -5.28133059e-04 9.99630122e-01 -6.42804607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530385723 meters 0.018387602574507146 Centerline is valid? [True, True] Translation: X:171.83, Y:-26.06, Z:-6.43 [[ 9.14174290e-01 4.04423419e-01 2.69641466e-02 1.71832528e+02] [-4.04267282e-01 9.14571660e-01 -1.12535708e-02 -2.60570322e+01] [-2.92118519e-02 -6.12997188e-04 9.99573055e-01 -6.42882764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590385723 meters 0.018776765526551838 Centerline is valid? [True, True] Translation: X:171.89, Y:-26.08, Z:-6.43 [[ 9.13773221e-01 4.05189538e-01 2.89816876e-02 1.71889342e+02] [-4.05009258e-01 9.14232454e-01 -1.21045925e-02 -2.60813680e+01] [-3.14006537e-02 -6.76999274e-04 9.99506649e-01 -6.42994569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650385723 meters 0.01825839295288753 Centerline is valid? [True, True] Translation: X:171.95, Y:-26.11, Z:-6.43 [[ 9.14109227e-01 4.04429639e-01 2.89997854e-02 1.71945791e+02] [-4.04248473e-01 9.14568889e-01 -1.21210280e-02 -2.61062521e+01] [-3.14244045e-02 -6.43175418e-04 9.99505925e-01 -6.43302877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710385723 meters 0.01926518386241491 Centerline is valid? [True, True] Translation: X:172.00, Y:-26.13, Z:-6.44 [[ 9.13971248e-01 4.04810960e-01 2.80115091e-02 1.72004194e+02] [-4.04641884e-01 9.14400182e-01 -1.17154786e-02 -2.61295301e+01] [-3.03562831e-02 -6.27019265e-04 9.99538945e-01 -6.43844887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770385723 meters 0.018933328194923906 Centerline is valid? [True, True] Translation: X:172.06, Y:-26.15, Z:-6.44 [[ 9.12861528e-01 4.07388776e-01 2.67995377e-02 1.72062715e+02] [-4.07234875e-01 9.13254582e-01 -1.12171777e-02 -2.61507611e+01] [-2.90445529e-02 -6.73976412e-04 9.99577891e-01 -6.43989384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830385723 meters 0.022262410958674775 Centerline is valid? [True, True] Translation: X:172.12, Y:-26.17, Z:-6.45 [[ 9.12283199e-01 4.08721105e-01 2.61996644e-02 1.72122517e+02] [-4.08574356e-01 9.12659069e-01 -1.09735562e-02 -2.61656460e+01] [-2.83964854e-02 -6.93520104e-04 9.99596498e-01 -6.44527274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890385723 meters 0.019681610831445557 Centerline is valid? [True, True] Translation: X:172.18, Y:-26.19, Z:-6.45 [[ 9.11086866e-01 4.11445877e-01 2.51597442e-02 1.72178634e+02] [-4.11311373e-01 9.11433893e-01 -1.05457231e-02 -2.61922649e+01] [-2.72704379e-02 -7.40419149e-04 9.99627818e-01 -6.44564470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.950385723 meters 0.019227808269963932 Centerline is valid? [True, True] Translation: X:172.24, Y:-26.22, Z:-6.45 [[ 9.11099230e-01 4.11342291e-01 2.63763539e-02 1.72235807e+02] [-4.11194394e-01 9.11480621e-01 -1.10565440e-02 -2.62156949e+01] [-2.85895595e-02 -7.72200160e-04 9.99590937e-01 -6.44637695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.010385723 meters 0.02417169855852567 Centerline is valid? [True, True] Translation: X:172.30, Y:-26.23, Z:-6.45 [[ 9.11615529e-01 4.10094240e-01 2.79256455e-02 1.72296218e+02] [-4.09927604e-01 9.12042830e-01 -1.17147663e-02 -2.62305542e+01] [-3.02735429e-02 -7.68130085e-04 9.99541356e-01 -6.44865438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07038572300002 meters 0.019564111021728066 Centerline is valid? [True, True] Translation: X:172.35, Y:-26.26, Z:-6.45 [[ 9.11340563e-01 4.10695029e-01 2.80708259e-02 1.72351870e+02] [-4.10526698e-01 9.11772437e-01 -1.17836022e-02 -2.62611152e+01] [-3.04336722e-02 -7.84948864e-04 9.99536480e-01 -6.44788675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13038572300002 meters 0.021127172047944013 Centerline is valid? [True, True] Translation: X:172.41, Y:-26.28, Z:-6.45 [[ 9.11204620e-01 4.11068859e-01 2.69913669e-02 1.72411009e+02] [-4.10913139e-01 9.11603981e-01 -1.13391003e-02 -2.62804199e+01] [-2.92665885e-02 -7.58866705e-04 9.99571354e-01 -6.45251370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19038572300002 meters 0.019200904469417343 Centerline is valid? [True, True] Translation: X:172.47, Y:-26.31, Z:-6.46 [[ 9.11440729e-01 4.10664249e-01 2.51131827e-02 1.72467796e+02] [-4.10529114e-01 9.11786379e-01 -1.05567631e-02 -2.63070318e+01] [-2.72331431e-02 -6.87828754e-04 9.99628873e-01 -6.45546752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.250385723 meters 0.018632371100043742 Centerline is valid? [True, True] Translation: X:172.52, Y:-26.33, Z:-6.46 [[ 9.12472096e-01 4.08431144e-01 2.40556590e-02 1.72524974e+02] [-4.08306170e-01 9.12788943e-01 -1.01201103e-02 -2.63313657e+01] [-2.60911078e-02 -5.87755740e-04 9.99659396e-01 -6.45872899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.310385723 meters 0.0179063220458391 Centerline is valid? [True, True] Translation: X:172.58, Y:-26.36, Z:-6.46 [[ 9.13928077e-01 4.05138473e-01 2.44599420e-02 1.72581693e+02] [-4.05007891e-01 9.14255201e-01 -1.02973623e-02 -2.63568502e+01] [-2.65344868e-02 -4.95420938e-04 9.99647776e-01 -6.46057325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.370385723 meters 0.017338821023094978 Centerline is valid? [True, True] Translation: X:172.64, Y:-26.38, Z:-6.46 [[ 9.15588203e-01 4.01385778e-01 2.42425440e-02 1.72638054e+02] [-4.01256008e-01 9.15909011e-01 -1.02127646e-02 -2.63825370e+01] [-2.63032230e-02 -3.76779662e-04 9.99653939e-01 -6.46289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.430385723 meters 0.016738171410371327 Centerline is valid? [True, True] Translation: X:172.69, Y:-26.41, Z:-6.46 [[ 9.17226500e-01 3.97654838e-01 2.37944672e-02 1.72693852e+02] [-3.97528396e-01 9.17535047e-01 -1.00305349e-02 -2.64094205e+01] [-2.58209483e-02 -2.58703901e-04 9.99666550e-01 -6.46477671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.490385723 meters 0.016486041112651048 Centerline is valid? [True, True] Translation: X:172.75, Y:-26.44, Z:-6.47 [[ 9.18341006e-01 3.95023927e-01 2.46149129e-02 1.72750294e+02] [-3.94887471e-01 9.18670813e-01 -1.03837593e-02 -2.64350016e+01] [-2.67148355e-02 -1.84288759e-04 9.99643078e-01 -6.46645309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.550385723 meters 0.01655357794418978 Centerline is valid? [True, True] Translation: X:172.81, Y:-26.46, Z:-6.47 [[ 9.19342137e-01 3.92655238e-01 2.51376083e-02 1.72806039e+02] [-3.92511826e-01 9.19685735e-01 -1.06120202e-02 -2.64600934e+01] [-2.72855651e-02 -1.10731188e-04 9.99627674e-01 -6.46747107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.610385723 meters 0.016679311242720745 Centerline is valid? [True, True] Translation: X:172.87, Y:-26.48, Z:-6.47 [[ 9.19440340e-01 3.92389326e-01 2.56919897e-02 1.72865394e+02] [-3.92239228e-01 9.19799221e-01 -1.08527001e-02 -2.64818674e+01] [-2.78899558e-02 -9.89959617e-05 9.99610995e-01 -6.47073349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.670385723 meters 0.017924789713216847 Centerline is valid? [True, True] Translation: X:172.92, Y:-26.50, Z:-6.48 [[ 9.19049156e-01 3.93371207e-01 2.46524387e-02 1.72923834e+02] [-3.93233154e-01 9.19379726e-01 -1.04214774e-02 -2.65029838e+01] [-2.67644615e-02 -1.16306222e-04 9.99641761e-01 -6.47641784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.730385723 meters 0.017317777434220184 Centerline is valid? [True, True] Translation: X:172.98, Y:-26.52, Z:-6.48 [[ 9.17459160e-01 3.97229317e-01 2.18531324e-02 1.72983290e+02] [-3.97121810e-01 9.17719364e-01 -9.24323532e-03 -2.65222944e+01] [-2.37267268e-02 -1.98064591e-04 9.99718462e-01 -6.47926006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.790385723 meters 0.01751132071868626 Centerline is valid? [True, True] Translation: X:173.04, Y:-26.54, Z:-6.48 [[ 9.15516167e-01 4.01697469e-01 2.16631584e-02 1.73042979e+02] [-4.01592936e-01 9.15772379e-01 -9.16863390e-03 -2.65405055e+01] [-2.35215391e-02 -3.05738801e-04 9.99723284e-01 -6.48057929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85038572300002 meters 0.01783200622665586 Centerline is valid? [True, True] Translation: X:173.10, Y:-26.56, Z:-6.48 [[ 9.14425420e-01 4.04142128e-01 2.22551452e-02 1.73101656e+02] [-4.04032361e-01 9.14696125e-01 -9.42599840e-03 -2.65621239e+01] [-2.41661382e-02 -3.72426333e-04 9.99707887e-01 -6.48176969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91038572300002 meters 0.018613734420726544 Centerline is valid? [True, True] Translation: X:173.16, Y:-26.58, Z:-6.48 [[ 9.12954618e-01 4.07420063e-01 2.28639138e-02 1.73159800e+02] [-4.07305055e-01 9.13240755e-01 -9.69102039e-03 -2.65811229e+01] [-2.48285740e-02 -4.65125841e-04 9.99691615e-01 -6.48374294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.970385723 meters 0.01861238784919227 Centerline is valid? [True, True] Translation: X:173.22, Y:-26.60, Z:-6.49 [[ 9.12338466e-01 4.08782383e-01 2.31405985e-02 1.73217665e+02] [-4.08664861e-01 9.12631750e-01 -9.81432677e-03 -2.66025949e+01] [-2.51307688e-02 -5.02761645e-04 9.99684046e-01 -6.48513059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.030385723 meters 0.01861651823660518 Centerline is valid? [True, True] Translation: X:173.28, Y:-26.63, Z:-6.49 [[ 9.12519907e-01 4.08384558e-01 2.30102460e-02 1.73275601e+02] [-4.08268065e-01 9.12809848e-01 -9.76564708e-03 -2.66260715e+01] [-2.49921186e-02 -4.83001225e-04 9.99687532e-01 -6.48744811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.090385723 meters 0.01858092252158286 Centerline is valid? [True, True] Translation: X:173.33, Y:-26.65, Z:-6.49 [[ 9.13426870e-01 4.06345004e-01 2.31320339e-02 1.73332447e+02] [-4.06226445e-01 9.13719628e-01 -9.82427688e-03 -2.66487530e+01] [-2.51282392e-02 -4.23085424e-04 9.99684146e-01 -6.49107439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.150385723 meters 0.0179677952458449 Centerline is valid? [True, True] Translation: X:173.39, Y:-26.68, Z:-6.49 [[ 9.14302772e-01 4.04366764e-01 2.31939747e-02 1.73388566e+02] [-4.04246785e-01 9.14596844e-01 -9.85644623e-03 -2.66750437e+01] [-2.51987553e-02 -3.64313601e-04 9.99682395e-01 -6.49198569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.210385723 meters 0.01844750086065758 Centerline is valid? [True, True] Translation: X:173.44, Y:-26.70, Z:-6.49 [[ 9.14461484e-01 4.03962221e-01 2.39732893e-02 1.73444755e+02] [-4.03833710e-01 9.14775598e-01 -1.01950546e-02 -2.66984694e+01] [-2.60485969e-02 -3.58237581e-04 9.99660614e-01 -6.49386548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.270385723 meters 0.018579219792345898 Centerline is valid? [True, True] Translation: X:173.50, Y:-26.72, Z:-6.50 [[ 9.14341287e-01 4.04218053e-01 2.42441073e-02 1.73501385e+02] [-4.04086546e-01 9.14662579e-01 -1.03164779e-02 -2.67225084e+01] [-2.63452843e-02 -3.63935897e-04 9.99652837e-01 -6.49578583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.330385723 meters 0.018025032432720165 Centerline is valid? [True, True] Translation: X:173.56, Y:-26.75, Z:-6.50 [[ 9.14265200e-01 4.04453419e-01 2.31641230e-02 1.73557393e+02] [-4.04333301e-01 9.14558533e-01 -9.86264199e-03 -2.67509420e+01] [-2.51739256e-02 -3.48955967e-04 9.99683026e-01 -6.49747122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.390385723 meters 0.018002283094432338 Centerline is valid? [True, True] Translation: X:173.61, Y:-26.78, Z:-6.50 [[ 9.13812677e-01 4.05497496e-01 2.27634011e-02 1.73613305e+02] [-4.05381635e-01 9.14096082e-01 -9.69959811e-03 -2.67775031e+01] [-2.47410985e-02 -3.64249043e-04 9.99693826e-01 -6.49959289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.450385723 meters 0.018222902030727888 Centerline is valid? [True, True] Translation: X:173.67, Y:-26.80, Z:-6.50 [[ 9.12993756e-01 4.07261407e-01 2.40945576e-02 1.73670542e+02] [-4.07132021e-01 9.13311536e-01 -1.02740121e-02 -2.68038144e+01] [-2.61900461e-02 -4.29557068e-04 9.99656890e-01 -6.50033440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.510385723 meters 0.018289325719046647 Centerline is valid? [True, True] Translation: X:173.73, Y:-26.83, Z:-6.50 [[ 9.12399829e-01 4.08604078e-01 2.38591428e-02 1.73726150e+02] [-4.08477454e-01 9.12711619e-01 -1.01818468e-02 -2.68308926e+01] [-2.59368610e-02 -4.56006595e-04 9.99663479e-01 -6.50316587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57038572300002 meters 0.01860470535166737 Centerline is valid? [True, True] Translation: X:173.78, Y:-26.86, Z:-6.51 [[ 9.11538523e-01 4.10583778e-01 2.27702128e-02 1.73781457e+02] [-4.10468914e-01 9.11822750e-01 -9.72330688e-03 -2.68589594e+01] [-2.47546301e-02 -4.83295724e-04 9.99693440e-01 -6.50658808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63038572300002 meters 0.0204609829500935 Centerline is valid? [True, True] Translation: X:173.84, Y:-26.88, Z:-6.51 [[ 9.10352580e-01 4.13181560e-01 2.32202386e-02 1.73837757e+02] [-4.13062742e-01 9.10648499e-01 -9.92386268e-03 -2.68834461e+01] [-2.52458324e-02 -5.57201419e-04 9.99681118e-01 -6.51027049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69038572300002 meters 0.01981879036685681 Centerline is valid? [True, True] Translation: X:173.89, Y:-26.91, Z:-6.51 [[ 9.09585753e-01 4.14854084e-01 2.34488013e-02 1.73892196e+02] [-4.14733413e-01 9.09887751e-01 -1.00237964e-02 -2.69146249e+01] [-2.54941900e-02 -6.07498962e-04 9.99674786e-01 -6.51246080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.750385723 meters 0.020420825096555736 Centerline is valid? [True, True] Translation: X:173.95, Y:-26.95, Z:-6.51 [[ 9.08695056e-01 4.16838494e-01 2.27807955e-02 1.73946510e+02] [-4.16725067e-01 9.08980342e-01 -9.74454354e-03 -2.69452628e+01] [-2.47691961e-02 -6.38509987e-04 9.99692992e-01 -6.51465701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.810385723 meters 0.020772611458218734 Centerline is valid? [True, True] Translation: X:174.00, Y:-26.97, Z:-6.52 [[ 9.07747029e-01 4.18903721e-01 2.26936896e-02 1.74001339e+02] [-4.18791643e-01 9.08030397e-01 -9.71381159e-03 -2.69747922e+01] [-2.46757118e-02 -6.86243915e-04 9.99695273e-01 -6.51726708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.870385723 meters 0.022031200405999284 Centerline is valid? [True, True] Translation: X:174.06, Y:-27.00, Z:-6.52 [[ 9.05832032e-01 4.23014861e-01 2.29511833e-02 1.74057420e+02] [-4.22901362e-01 9.06122390e-01 -9.83118579e-03 -2.69997914e+01] [-2.49553188e-02 -8.00683674e-04 9.99688247e-01 -6.52038885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.930385723 meters 0.021670522788321718 Centerline is valid? [True, True] Translation: X:174.11, Y:-27.03, Z:-6.52 [[ 9.06308418e-01 4.22023965e-01 2.23791091e-02 1.74112655e+02] [-4.21915630e-01 9.06584365e-01 -9.59114942e-03 -2.70277217e+01] [-2.43362454e-02 -7.49556462e-04 9.99703549e-01 -6.52223548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.990385723 meters 0.021200776010142777 Centerline is valid? [True, True] Translation: X:174.17, Y:-27.05, Z:-6.53 [[ 9.06199329e-01 4.22297921e-01 2.16157937e-02 1.74169494e+02] [-4.22196803e-01 9.06456805e-01 -9.26935563e-03 -2.70539491e+01] [-2.35082129e-02 -7.26235131e-04 9.99723380e-01 -6.52582026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.050385723 meters 0.021178886005507592 Centerline is valid? [True, True] Translation: X:174.23, Y:-27.08, Z:-6.53 [[ 9.06648894e-01 4.21305419e-01 2.21252746e-02 1.74225515e+02] [-4.21198987e-01 9.06918541e-01 -9.49592483e-03 -2.70801928e+01] [-2.40665063e-02 -7.09673493e-04 9.99710108e-01 -6.52757326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.110385723 meters 0.02045994404351172 Centerline is valid? [True, True] Translation: X:174.28, Y:-27.11, Z:-6.53 [[ 9.06790727e-01 4.20965566e-01 2.27721280e-02 1.74281553e+02] [-4.20852543e-01 9.07076337e-01 -9.78036857e-03 -2.71069079e+01] [-2.47732569e-02 -7.14960479e-04 9.99692840e-01 -6.52849976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.170385723 meters 0.02025709614131663 Centerline is valid? [True, True] Translation: X:174.34, Y:-27.13, Z:-6.53 [[ 9.06978600e-01 4.20579244e-01 2.24258561e-02 1.74338177e+02] [-4.20469354e-01 9.07255547e-01 -9.63822078e-03 -2.71317731e+01] [-2.43996180e-02 -6.87725257e-04 9.99702048e-01 -6.53043960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.230385723 meters 0.021025266091382045 Centerline is valid? [True, True] Translation: X:174.39, Y:-27.15, Z:-6.53 [[ 9.06521022e-01 4.21681805e-01 2.01020490e-02 1.74394203e+02] [-4.21593627e-01 9.06743652e-01 -8.64655591e-03 -2.71549366e+01] [-2.18735006e-02 -6.36611058e-04 9.99760544e-01 -6.53436469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.290385723 meters 0.021243814288606444 Centerline is valid? [True, True] Translation: X:174.45, Y:-27.18, Z:-6.54 [[ 9.05958434e-01 4.22911491e-01 1.96262060e-02 1.74451116e+02] [-4.22827716e-01 9.06170761e-01 -8.44237307e-03 -2.71789579e+01] [-2.13550706e-02 -6.50064790e-04 9.99771743e-01 -6.53655810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35038572300002 meters 0.02182310237875601 Centerline is valid? [True, True] Translation: X:174.51, Y:-27.20, Z:-6.54 [[ 9.05715489e-01 4.23353192e-01 2.12491888e-02 1.74508806e+02] [-4.23254949e-01 9.05964443e-01 -9.14746279e-03 -2.72031182e+01] [-2.31236171e-02 -7.08825575e-04 9.99732362e-01 -6.53699510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41038572300002 meters 0.020676047586802533 Centerline is valid? [True, True] Translation: X:174.56, Y:-27.23, Z:-6.54 [[ 9.06093838e-01 4.22447556e-01 2.30655427e-02 1.74564115e+02] [-4.22331320e-01 9.06387069e-01 -9.93669614e-03 -2.72317667e+01] [-2.51040426e-02 -7.37721950e-04 9.99684572e-01 -6.53549198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.470385723 meters 0.020468313017871848 Centerline is valid? [True, True] Translation: X:174.62, Y:-27.26, Z:-6.54 [[ 9.06383582e-01 4.21844195e-01 2.27217408e-02 1.74619967e+02] [-4.21731047e-01 9.06668065e-01 -9.79514701e-03 -2.72578419e+01] [-2.47331026e-02 -7.04303087e-04 9.99693842e-01 -6.53718669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.530385723 meters 0.021498246236352922 Centerline is valid? [True, True] Translation: X:174.68, Y:-27.28, Z:-6.54 [[ 9.06062714e-01 4.22611223e-01 2.12158797e-02 1.74676374e+02] [-4.22512652e-01 9.06310820e-01 -9.15181134e-03 -2.72806015e+01] [-2.30958395e-02 -6.71862571e-04 9.99733030e-01 -6.54095187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.590385723 meters 0.021040458981149753 Centerline is valid? [True, True] Translation: X:174.73, Y:-27.31, Z:-6.54 [[ 9.05997624e-01 4.22734808e-01 2.15310692e-02 1.74733206e+02] [-4.22633202e-01 9.06253176e-01 -9.29287441e-03 -2.73070280e+01] [-2.34410213e-02 -6.80422571e-04 9.99724990e-01 -6.54065970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.650385723 meters 0.019931825444763355 Centerline is valid? [True, True] Translation: X:174.79, Y:-27.33, Z:-6.54 [[ 9.07716022e-01 4.18980732e-01 2.25115645e-02 1.74788418e+02] [-4.18868241e-01 9.07994926e-01 -9.72678969e-03 -2.73341242e+01] [-2.45157238e-02 -6.00216580e-04 9.99699264e-01 -6.54083918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.710385723 meters 0.0184872053313383 Centerline is valid? [True, True] Translation: X:174.84, Y:-27.37, Z:-6.54 [[ 9.10460127e-01 4.12822706e-01 2.52936977e-02 1.74841705e+02] [-4.12678257e-01 9.10811274e-01 -1.09306368e-02 -2.73655798e+01] [-2.75502001e-02 -4.86250175e-04 9.99620303e-01 -6.53906448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.770385723 meters 0.01741644685586762 Centerline is valid? [True, True] Translation: X:174.90, Y:-27.40, Z:-6.54 [[ 9.13795865e-01 4.05348050e-01 2.58858163e-02 1.74895361e+02] [-4.05193646e-01 9.14162398e-01 -1.11901655e-02 -2.73966857e+01] [-2.81997517e-02 -2.63241306e-04 9.99602273e-01 -6.53952560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.830385723 meters 0.017020140233577143 Centerline is valid? [True, True] Translation: X:174.95, Y:-27.43, Z:-6.54 [[ 9.15879864e-01 4.00621097e-01 2.58226924e-02 1.74949394e+02] [-4.00465559e-01 9.16243812e-01 -1.11630121e-02 -2.74250083e+01] [-2.81320203e-02 -1.17120927e-04 9.99604210e-01 -6.54167866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.890385723 meters 0.0171266830256212 Centerline is valid? [True, True] Translation: X:175.01, Y:-27.45, Z:-6.54 [[ 9.16554515e-01 3.99109729e-01 2.52833209e-02 1.75007283e+02] [-3.98959881e-01 9.16903169e-01 -1.09358535e-02 -2.74497269e+01] [-2.75469626e-02 -6.37248007e-05 9.99620508e-01 -6.54277384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.950385723 meters 0.017154652073937463 Centerline is valid? [True, True] Translation: X:175.06, Y:-27.47, Z:-6.55 [[ 9.16959417e-01 3.98273274e-01 2.37450270e-02 1.75064884e+02] [-3.98140598e-01 9.17266809e-01 -1.02793811e-02 -2.74699750e+01] [-2.58745279e-02 -2.80839397e-05 9.99665198e-01 -6.54765730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.010385723 meters 0.01737666155021163 Centerline is valid? [True, True] Translation: X:175.12, Y:-27.49, Z:-6.55 [[ 9.17944872e-01 3.96143567e-01 2.11538779e-02 1.75121743e+02] [-3.96037675e-01 9.18188583e-01 -9.15894343e-03 -2.74944498e+01] [-2.30515057e-02 2.96725287e-05 9.99734278e-01 -6.55118339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07038572300002 meters 0.017680210640660412 Centerline is valid? [True, True] Translation: X:175.18, Y:-27.52, Z:-6.55 [[ 9.19305426e-01 3.93029981e-01 2.01238093e-02 1.75177371e+02] [-3.92933283e-01 9.19525651e-01 -8.71853968e-03 -2.75198013e+01] [-2.19310063e-02 1.07686394e-04 9.99759481e-01 -6.55442114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13038572300002 meters 0.018676830023501685 Centerline is valid? [True, True] Translation: X:175.23, Y:-27.55, Z:-6.55 [[ 9.22986656e-01 3.84217226e-01 2.17429271e-02 1.75234206e+02] [-3.84101690e-01 9.23242655e-01 -9.42825810e-03 -2.75454458e+01] [-2.36964969e-02 3.50661392e-04 9.99719137e-01 -6.55482212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19038572300002 meters 0.019029764686118243 Centerline is valid? [True, True] Translation: X:175.29, Y:-27.57, Z:-6.55 [[ 9.24349960e-01 3.80766167e-01 2.43778128e-02 1.75291246e+02] [-3.80619711e-01 9.24671230e-01 -1.05713169e-02 -2.75699493e+01] [-2.65666620e-02 4.92920257e-04 9.99646922e-01 -6.55428221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.250385723 meters 0.01981311571702175 Centerline is valid? [True, True] Translation: X:175.35, Y:-27.59, Z:-6.55 [[ 9.24997021e-01 3.78974233e-01 2.75506964e-02 1.75347757e+02] [-3.78786094e-01 9.25407014e-01 -1.19563151e-02 -2.75948279e+01] [-3.00267430e-02 6.23735186e-04 9.99548901e-01 -6.55298759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.310385723 meters 0.018780164534148224 Centerline is valid? [True, True] Translation: X:175.41, Y:-27.62, Z:-6.56 [[ 9.23693161e-01 3.82131967e-01 2.76785808e-02 1.75407239e+02] [-3.81943225e-01 9.24107611e-01 -1.20206466e-02 -2.76151307e+01] [-3.01714605e-02 5.31742640e-04 9.99544596e-01 -6.55501594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.370385723 meters 0.01773864856509581 Centerline is valid? [True, True] Translation: X:175.47, Y:-27.63, Z:-6.56 [[ 9.19772260e-01 3.91560316e-01 2.64482283e-02 1.75465761e+02] [-3.91391782e-01 9.20152418e-01 -1.14891536e-02 -2.76319525e+01] [-2.88350978e-02 2.15785619e-04 9.99584159e-01 -6.56120832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.430385723 meters 0.01735758941670113 Centerline is valid? [True, True] Translation: X:175.53, Y:-27.65, Z:-6.56 [[ 9.14693422e-01 4.03276814e-01 2.65283953e-02 1.75525904e+02] [-4.03112147e-01 9.15078023e-01 -1.15242766e-02 -2.76487007e+01] [-2.89230251e-02 -1.52738338e-04 9.99581630e-01 -6.56291973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.490385723 meters 0.01819012077717155 Centerline is valid? [True, True] Translation: X:175.59, Y:-27.67, Z:-6.56 [[ 9.10800013e-01 4.12038270e-01 2.58418327e-02 1.75585225e+02] [-4.11885285e-01 9.11166448e-01 -1.12346254e-02 -2.76687220e+01] [-2.81753065e-02 -4.11373686e-04 9.99602913e-01 -6.56486695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.550385723 meters 0.019773345018903515 Centerline is valid? [True, True] Translation: X:175.64, Y:-27.69, Z:-6.57 [[ 9.08240980e-01 4.17659054e-01 2.56756059e-02 1.75642587e+02] [-4.17510248e-01 9.08603642e-01 -1.11631227e-02 -2.76897041e+01] [-2.79913283e-02 -5.81023107e-04 9.99607997e-01 -6.56777908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.610385723 meters 0.019821155887519842 Centerline is valid? [True, True] Translation: X:175.70, Y:-27.71, Z:-6.57 [[ 9.06680916e-01 4.21034357e-01 2.56863271e-02 1.75698946e+02] [-4.20886590e-01 9.07044436e-01 -1.11745143e-02 -2.77147172e+01] [-2.80034945e-02 -6.79311760e-04 9.99607594e-01 -6.56958786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.670385723 meters 0.021746370348038654 Centerline is valid? [True, True] Translation: X:175.76, Y:-27.74, Z:-6.57 [[ 9.06751248e-01 4.20780482e-01 2.73122844e-02 1.75756620e+02] [-4.20613040e-01 9.07162217e-01 -1.18904764e-02 -2.77360608e+01] [-2.97799528e-02 -7.06198635e-04 9.99556229e-01 -6.57109197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.730385723 meters 0.019732783330082267 Centerline is valid? [True, True] Translation: X:175.81, Y:-27.77, Z:-6.57 [[ 9.08425116e-01 4.17175462e-01 2.69896771e-02 1.75809799e+02] [-4.17010239e-01 9.08825781e-01 -1.17541636e-02 -2.77678078e+01] [-2.94324630e-02 -5.77194282e-04 9.99566605e-01 -6.57269030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.790385723 meters 0.019012064057936325 Centerline is valid? [True, True] Translation: X:175.86, Y:-27.80, Z:-6.58 [[ 9.10708704e-01 4.12210236e-01 2.63130674e-02 1.75863906e+02] [-4.12050937e-01 9.11088668e-01 -1.14658019e-02 -2.77980685e+01] [-2.86998585e-02 -4.00318494e-04 9.99587994e-01 -6.57589237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85038572300002 meters 0.018461992719690443 Centerline is valid? [True, True] Translation: X:175.92, Y:-27.83, Z:-6.58 [[ 9.12384087e-01 4.08521487e-01 2.57967485e-02 1.75918215e+02] [-4.08366905e-01 9.12748661e-01 -1.12407014e-02 -2.78286353e+01] [-2.81380157e-02 -2.78701239e-04 9.99604009e-01 -6.57855560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91038572300002 meters 0.018226605897665973 Centerline is valid? [True, True] Translation: X:175.97, Y:-27.86, Z:-6.58 [[ 9.13645887e-01 4.05601258e-01 2.71810969e-02 1.75972574e+02] [-4.05428102e-01 9.14050099e-01 -1.18520751e-02 -2.78581930e+01] [-2.96521009e-02 -1.91380886e-04 9.99560261e-01 -6.57966525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.970385723 meters 0.018283014608195362 Centerline is valid? [True, True] Translation: X:176.03, Y:-27.88, Z:-6.58 [[ 9.13985636e-01 4.04812125e-01 2.75209224e-02 1.76027605e+02] [-4.04634006e-01 9.14399867e-01 -1.20084870e-02 -2.78838979e+01] [-3.00263090e-02 -1.60316443e-04 9.99549096e-01 -6.58187488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.030385723 meters 0.018171510030655293 Centerline is valid? [True, True] Translation: X:176.08, Y:-27.91, Z:-6.58 [[ 9.14515700e-01 4.03465959e-01 2.96015935e-02 1.76082686e+02] [-4.03258907e-01 9.14994648e-01 -1.29247144e-02 -2.79134582e+01] [-3.22999820e-02 -1.17251966e-04 9.99478213e-01 -6.58122549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.090385723 meters 0.018259902342710667 Centerline is valid? [True, True] Translation: X:176.14, Y:-27.94, Z:-6.58 [[ 9.14667519e-01 4.03092501e-01 2.99960938e-02 1.76138634e+02] [-4.02879398e-01 9.15159235e-01 -1.31058889e-02 -2.79408911e+01] [-3.27340878e-02 -9.72773465e-05 9.99464091e-01 -6.58365016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.150385723 meters 0.018178772771705206 Centerline is valid? [True, True] Translation: X:176.19, Y:-27.97, Z:-6.59 [[ 9.16100801e-01 3.99905702e-01 2.88920740e-02 1.76194287e+02] [-3.99706146e-01 9.16556288e-01 -1.26319987e-02 -2.79697545e+01] [-3.15328204e-02 2.38446080e-05 9.99502717e-01 -6.58760950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.210385723 meters 0.018266600920649877 Centerline is valid? [True, True] Translation: X:176.25, Y:-28.00, Z:-6.59 [[ 9.18373269e-01 3.94673657e-01 2.86922212e-02 1.76249186e+02] [-3.94473992e-01 9.18821343e-01 -1.25542859e-02 -2.79993809e+01] [-3.13178712e-02 2.11185511e-04 9.99509453e-01 -6.58995203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.270385723 meters 0.018810128565413316 Centerline is valid? [True, True] Translation: X:176.30, Y:-28.03, Z:-6.59 [[ 9.20703433e-01 3.89182173e-01 2.90245369e-02 1.76303288e+02] [-3.88974844e-01 9.21160717e-01 -1.27083961e-02 -2.80277607e+01] [-3.16821444e-02 4.10849242e-04 9.99497910e-01 -6.59148041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.330385723 meters 0.018999017053135957 Centerline is valid? [True, True] Translation: X:176.36, Y:-28.05, Z:-6.59 [[ 9.22352322e-01 3.85254967e-01 2.90655309e-02 1.76360107e+02] [-3.85044855e-01 9.22810004e-01 -1.27340364e-02 -2.80524803e+01] [-3.17278135e-02 5.53734935e-04 9.99496393e-01 -6.59326958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.390385723 meters 0.019459346757398605 Centerline is valid? [True, True] Translation: X:176.42, Y:-28.08, Z:-6.60 [[ 9.22972685e-01 3.83820886e-01 2.83363565e-02 1.76416248e+02] [-3.83620259e-01 9.23407371e-01 -1.24227394e-02 -2.80765894e+01] [-3.09341073e-02 5.95448774e-04 9.99521249e-01 -6.59599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.450385723 meters 0.0195753083024905 Centerline is valid? [True, True] Translation: X:176.47, Y:-28.10, Z:-6.60 [[ 9.23068000e-01 3.83610992e-01 2.80726670e-02 1.76473556e+02] [-3.83413764e-01 9.23494582e-01 -1.23143626e-02 -2.80990581e+01] [-3.06488807e-02 6.03547117e-04 9.99530030e-01 -6.59870896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.510385723 meters 0.019439626815165024 Centerline is valid? [True, True] Translation: X:176.53, Y:-28.12, Z:-6.60 [[ 9.22559013e-01 3.84828658e-01 2.81384225e-02 1.76532168e+02] [-3.84630804e-01 9.22987853e-01 -1.23518423e-02 -2.81207720e+01] [-3.07247651e-02 5.72399333e-04 9.99527719e-01 -6.60097620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57038572300002 meters 0.018903502722919803 Centerline is valid? [True, True] Translation: X:176.59, Y:-28.14, Z:-6.60 [[ 9.21639936e-01 3.87090802e-01 2.72128398e-02 1.76590745e+02] [-3.86906521e-01 9.22041470e-01 -1.19528622e-02 -2.81407076e+01] [-2.97182098e-02 4.87409996e-04 9.99558198e-01 -6.60325795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63038572300002 meters 0.017710591941942754 Centerline is valid? [True, True] Translation: X:176.65, Y:-28.16, Z:-6.61 [[ 9.19860002e-01 3.91333261e-01 2.67554745e-02 1.76651099e+02] [-3.91156702e-01 9.20248964e-01 -1.17592103e-02 -2.81568284e+01] [-2.92234678e-02 3.51244015e-04 9.99572842e-01 -6.60631559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69038572300002 meters 0.017114796713866624 Centerline is valid? [True, True] Translation: X:176.71, Y:-28.18, Z:-6.61 [[ 9.17585550e-01 3.96769553e-01 2.47119538e-02 1.76709413e+02] [-3.96620704e-01 9.17918238e-01 -1.08685360e-02 -2.81750448e+01] [-2.69958573e-02 1.71539046e-04 9.99635531e-01 -6.61015910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.750385723 meters 0.016666178483927496 Centerline is valid? [True, True] Translation: X:176.77, Y:-28.19, Z:-6.61 [[ 9.15082655e-01 4.02491486e-01 2.49867559e-02 1.76769341e+02] [-4.02341347e-01 9.15423729e-01 -1.09925904e-02 -2.81925759e+01] [-2.72978933e-02 5.92380401e-06 9.99627343e-01 -6.61187447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.810385723 meters 0.016632336496150976 Centerline is valid? [True, True] Translation: X:176.83, Y:-28.21, Z:-6.61 [[ 9.13127988e-01 4.06834982e-01 2.61261538e-02 1.76829501e+02] [-4.06672393e-01 9.13501660e-01 -1.15014092e-02 -2.82125841e+01] [-2.85454604e-02 -1.22526862e-04 9.99592488e-01 -6.61289694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.870385723 meters 0.017501880729456687 Centerline is valid? [True, True] Translation: X:176.89, Y:-28.23, Z:-6.62 [[ 9.10199847e-01 4.13277752e-01 2.71613336e-02 1.76889945e+02] [-4.13104580e-01 9.10604959e-01 -1.19671966e-02 -2.82256125e+01] [-2.96790212e-02 -3.27930773e-04 9.99559427e-01 -6.61642164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.930385723 meters 0.017083481537728307 Centerline is valid? [True, True] Translation: X:176.95, Y:-28.25, Z:-6.62 [[ 9.09714136e-01 4.14407693e-01 2.62002686e-02 1.76947017e+02] [-4.14246880e-01 9.10091283e-01 -1.15489940e-02 -2.82500931e+01] [-2.86306280e-02 -3.47096407e-04 9.99589999e-01 -6.61735652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.990385723 meters 0.016624527626181017 Centerline is valid? [True, True] Translation: X:177.00, Y:-28.27, Z:-6.62 [[ 9.11266465e-01 4.11087636e-01 2.45027506e-02 1.77004572e+02] [-4.10945615e-01 9.11595802e-01 -1.08071664e-02 -2.82725125e+01] [-2.67792971e-02 -2.21089607e-04 9.99641346e-01 -6.62032649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.050385723 meters 0.016322434837163162 Centerline is valid? [True, True] Translation: X:177.06, Y:-28.30, Z:-6.62 [[ 9.12867128e-01 4.07503156e-01 2.47948691e-02 1.77061647e+02] [-4.07356209e-01 9.13203792e-01 -1.09431824e-02 -2.82978888e+01] [-2.71021499e-02 -1.10672426e-04 9.99632663e-01 -6.62192216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.110385723 meters 0.016209743866462376 Centerline is valid? [True, True] Translation: X:177.12, Y:-28.32, Z:-6.62 [[ 9.15259215e-01 4.02069047e-01 2.53189942e-02 1.77117655e+02] [-4.01913529e-01 9.15609348e-01 -1.11820034e-02 -2.83238636e+01] [-2.76782452e-02 5.83853021e-05 9.99616882e-01 -6.62226652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.170385723 meters 0.016289757917150233 Centerline is valid? [True, True] Translation: X:177.17, Y:-28.35, Z:-6.62 [[ 9.16709224e-01 3.98739474e-01 2.55152993e-02 1.77174971e+02] [-3.98580036e-01 9.17064231e-01 -1.12761163e-02 -2.83474734e+01] [-2.78954010e-02 1.67030896e-04 9.99610834e-01 -6.62448087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.230385723 meters 0.016369856073106922 Centerline is valid? [True, True] Translation: X:177.23, Y:-28.37, Z:-6.63 [[ 9.17418972e-01 3.97212050e-01 2.37700740e-02 1.77232013e+02] [-3.97073002e-01 9.17726836e-01 -1.05112245e-02 -2.83696518e+01] [-2.59896199e-02 2.04742148e-04 9.99662192e-01 -6.62899573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.290385723 meters 0.016116361041178993 Centerline is valid? [True, True] Translation: X:177.29, Y:-28.39, Z:-6.63 [[ 9.17350209e-01 3.97421308e-01 2.29106704e-02 1.77291158e+02] [-3.97292074e-01 9.17636238e-01 -1.01362059e-02 -2.83920739e+01] [-2.50520056e-02 1.96222876e-04 9.99686130e-01 -6.63032714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35038572300002 meters 0.016157562430909746 Centerline is valid? [True, True] Translation: X:177.35, Y:-28.41, Z:-6.63 [[ 9.17386973e-01 3.97328023e-01 2.30561089e-02 1.77350632e+02] [-3.97196920e-01 9.17676631e-01 -1.02082209e-02 -2.84128138e+01] [-2.52140645e-02 2.07073409e-04 9.99682053e-01 -6.63290323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41038572300002 meters 0.015885810677823593 Centerline is valid? [True, True] Translation: X:177.41, Y:-28.43, Z:-6.63 [[ 9.16994618e-01 3.98222433e-01 2.32328268e-02 1.77409986e+02] [-3.98089404e-01 9.17288863e-01 -1.02941039e-02 -2.84347458e+01] [-2.54105563e-02 1.90895666e-04 9.99677081e-01 -6.63452451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.470385723 meters 0.015666685983096815 Centerline is valid? [True, True] Translation: X:177.47, Y:-28.45, Z:-6.64 [[ 9.15374661e-01 4.01961476e-01 2.27200937e-02 1.77469131e+02] [-4.01835212e-01 9.15656575e-01 -1.00746633e-02 -2.84546083e+01] [-2.48534297e-02 9.23578070e-05 9.99691102e-01 -6.63740762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.530385723 meters 0.015608620778354992 Centerline is valid? [True, True] Translation: X:177.53, Y:-28.47, Z:-6.64 [[ 9.12610045e-01 4.08312053e-01 2.05954477e-02 1.77528650e+02] [-4.08209795e-01 9.12842409e-01 -9.13784653e-03 -2.84715164e+01] [-2.25314909e-02 -6.79729456e-05 9.99746131e-01 -6.64310187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.590385723 meters 0.016379392027953982 Centerline is valid? [True, True] Translation: X:177.59, Y:-28.49, Z:-6.65 [[ 9.09098200e-01 4.16117688e-01 1.96604249e-02 1.77588129e+02] [-4.16026224e-01 9.09310733e-01 -8.72760595e-03 -2.84907119e+01] [-2.15091466e-02 -2.45001456e-04 9.99768622e-01 -6.64603212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.650385723 meters 0.016959956591293828 Centerline is valid? [True, True] Translation: X:177.65, Y:-28.51, Z:-6.65 [[ 9.06973852e-01 4.20815455e-01 1.76857418e-02 1.77645921e+02] [-4.20742202e-01 9.07146214e-01 -7.85780876e-03 -2.85130123e+01] [-1.93502411e-02 -3.14310880e-04 9.99812717e-01 -6.64778407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.710385723 meters 0.017362714344577045 Centerline is valid? [True, True] Translation: X:177.70, Y:-28.54, Z:-6.65 [[ 9.06532465e-01 4.21806726e-01 1.66725827e-02 1.77702344e+02] [-4.21741832e-01 9.06685714e-01 -7.40558840e-03 -2.85393098e+01] [-1.82405195e-02 -3.18119230e-04 9.99833577e-01 -6.64966875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.770385723 meters 0.017719653291170298 Centerline is valid? [True, True] Translation: X:177.76, Y:-28.57, Z:-6.65 [[ 9.07056271e-01 4.20620490e-01 1.80921013e-02 1.77757136e+02] [-4.20543713e-01 9.07236631e-01 -8.04240921e-03 -2.85663394e+01] [-1.97966192e-02 -3.13601763e-04 9.99803979e-01 -6.65143018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.830385723 meters 0.017415866553907033 Centerline is valid? [True, True] Translation: X:177.81, Y:-28.59, Z:-6.65 [[ 9.07643070e-01 4.19290553e-01 1.94804700e-02 1.77813495e+02] [-4.19201063e-01 9.07852049e-01 -8.66753790e-03 -2.85935059e+01] [-2.13196014e-02 -2.99203030e-04 9.99772667e-01 -6.65316895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.890385723 meters 0.016670925507435368 Centerline is valid? [True, True] Translation: X:177.87, Y:-28.62, Z:-6.65 [[ 9.07532402e-01 4.19512574e-01 1.98529662e-02 1.77869442e+02] [-4.19419705e-01 9.07749472e-01 -8.83219134e-03 -2.86222286e+01] [-2.17267349e-02 -3.11225399e-04 9.99763898e-01 -6.65310247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.950385723 meters 0.01702251447760678 Centerline is valid? [True, True] Translation: X:177.92, Y:-28.65, Z:-6.66 [[ 9.07483696e-01 4.19674293e-01 1.86233681e-02 1.77923190e+02] [-4.19592445e-01 9.07674724e-01 -8.29308538e-03 -2.86512530e+01] [-2.03843552e-02 -2.88384776e-04 9.99792176e-01 -6.65513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.010385723 meters 0.017105303675770296 Centerline is valid? [True, True] Translation: X:177.98, Y:-28.68, Z:-6.66 [[ 9.07123738e-01 4.20458588e-01 1.84688799e-02 1.77979498e+02] [-4.20378235e-01 9.07311680e-01 -8.22528271e-03 -2.86779770e+01] [-2.02154212e-02 -3.02565946e-04 9.99795602e-01 -6.65741052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07038572300002 meters 0.01775687454839202 Centerline is valid? [True, True] Translation: X:178.03, Y:-28.71, Z:-6.66 [[ 9.06318195e-01 4.22249392e-01 1.71108584e-02 1.78034011e+02] [-4.22180657e-01 9.06479649e-01 -7.62495885e-03 -2.87054467e+01] [-1.87302792e-02 -3.13234512e-04 9.99824524e-01 -6.66238956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13038572300002 meters 0.0180359176620797 Centerline is valid? [True, True] Translation: X:178.09, Y:-28.73, Z:-6.66 [[ 9.05922817e-01 4.23107307e-01 1.68539971e-02 1.78089457e+02] [-4.23040696e-01 9.06079524e-01 -7.51443647e-03 -2.87331994e+01] [-1.84504746e-02 -3.22427203e-04 9.99829724e-01 -6.66449108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19038572300002 meters 0.017848766351768883 Centerline is valid? [True, True] Translation: X:178.14, Y:-28.76, Z:-6.66 [[ 9.04993449e-01 4.25032869e-01 1.82734155e-02 1.78144375e+02] [-4.24954858e-01 9.05177833e-01 -8.15222930e-03 -2.87638798e+01] [-2.00056561e-02 -3.87662579e-04 9.99799792e-01 -6.66248564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.250385723 meters 0.017841182160952745 Centerline is valid? [True, True] Translation: X:178.20, Y:-28.79, Z:-6.66 [[ 9.04102390e-01 4.26914562e-01 1.85155442e-02 1.78199334e+02] [-4.26834729e-01 9.04291863e-01 -8.26689330e-03 -2.87921433e+01] [-2.02727131e-02 -4.28959304e-04 9.99794395e-01 -6.66308735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.310385723 meters 0.018910955576739993 Centerline is valid? [True, True] Translation: X:178.26, Y:-28.82, Z:-6.67 [[ 9.03308390e-01 4.28614375e-01 1.79908195e-02 1.78255080e+02] [-4.28539235e-01 9.03487419e-01 -8.03793029e-03 -2.88170860e+01] [-1.96996515e-02 -4.49042127e-04 9.99805842e-01 -6.66782887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.370385723 meters 0.018126371861242694 Centerline is valid? [True, True] Translation: X:178.31, Y:-28.85, Z:-6.67 [[ 9.03539543e-01 4.28191864e-01 1.63713540e-02 1.78308837e+02] [-4.28129512e-01 9.03687761e-01 -7.31787865e-03 -2.88477638e+01] [-1.79280483e-02 -3.97067068e-04 9.99839201e-01 -6.66946141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.430385723 meters 0.017713435267495563 Centerline is valid? [True, True] Translation: X:178.36, Y:-28.88, Z:-6.67 [[ 9.04900796e-01 4.25274855e-01 1.72002007e-02 1.78362892e+02] [-4.25205344e-01 9.05064183e-01 -7.69672856e-03 -2.88779279e+01] [-1.88405108e-02 -3.48841460e-04 9.99822441e-01 -6.67068517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.490385723 meters 0.01674917513921358 Centerline is valid? [True, True] Translation: X:178.42, Y:-28.91, Z:-6.67 [[ 9.07569727e-01 4.19523453e-01 1.78118960e-02 1.78415742e+02] [-4.19447770e-01 9.07744467e-01 -7.97192797e-03 -2.89103799e+01] [-1.95130608e-02 -2.36079555e-04 9.99809574e-01 -6.67217510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.550385723 meters 0.0161842584541325 Centerline is valid? [True, True] Translation: X:178.47, Y:-28.94, Z:-6.67 [[ 9.10036173e-01 4.14140793e-01 1.79323268e-02 1.78468668e+02] [-4.14063090e-01 9.10212826e-01 -8.02301430e-03 -2.89434470e+01] [-1.96448914e-02 -1.23881443e-04 9.99807013e-01 -6.67490857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.610385723 meters 0.016155397478983174 Centerline is valid? [True, True] Translation: X:178.52, Y:-28.97, Z:-6.68 [[ 9.11656231e-01 4.10551773e-01 1.81702776e-02 1.78522726e+02] [-4.10471176e-01 9.11837288e-01 -8.13468748e-03 -2.89741562e+01] [-1.99080470e-02 -4.23366789e-05 9.99801814e-01 -6.67822785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.670385723 meters 0.016133399777351155 Centerline is valid? [True, True] Translation: X:178.58, Y:-29.00, Z:-6.68 [[ 9.12311490e-01 4.09062019e-01 1.88681990e-02 1.78577443e+02] [-4.08974681e-01 9.12506583e-01 -8.45256324e-03 -2.90042786e+01] [-2.06749784e-02 -5.24509846e-06 9.99786250e-01 -6.67873153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.730385723 meters 0.016192333427233276 Centerline is valid? [True, True] Translation: X:178.63, Y:-29.03, Z:-6.68 [[ 9.12079029e-01 4.09593135e-01 1.85824494e-02 1.78633817e+02] [-4.09508444e-01 9.12268307e-01 -8.32893870e-03 -2.90334706e+01] [-2.03636558e-02 -1.30196134e-05 9.99792639e-01 -6.68015009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.790385723 meters 0.01633749895571777 Centerline is valid? [True, True] Translation: X:178.69, Y:-29.06, Z:-6.68 [[ 9.10414028e-01 4.13328578e-01 1.74867073e-02 1.78690002e+02] [-4.13254156e-01 9.10581945e-01 -7.84369455e-03 -2.90593396e+01] [-1.91651031e-02 -8.54449180e-05 9.99816329e-01 -6.68370382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85038572300002 meters 0.016834860829107692 Centerline is valid? [True, True] Translation: X:178.75, Y:-29.08, Z:-6.68 [[ 9.07461357e-01 4.19758170e-01 1.78034909e-02 1.78746876e+02] [-4.19682157e-01 9.07635957e-01 -7.99105536e-03 -2.90842338e+01] [-1.95133992e-02 -2.20233512e-04 9.99809571e-01 -6.68499804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91038572300002 meters 0.01784843497930565 Centerline is valid? [True, True] Translation: X:178.80, Y:-29.11, Z:-6.69 [[ 9.04407722e-01 4.26227390e-01 1.94135247e-02 1.78803963e+02] [-4.26138346e-01 9.04615975e-01 -8.72050006e-03 -2.91075557e+01] [-2.12787006e-02 -3.85959731e-04 9.99773508e-01 -6.68603398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.970385723 meters 0.01948698887047954 Centerline is valid? [True, True] Translation: X:178.86, Y:-29.13, Z:-6.69 [[ 9.01539712e-01 4.32149652e-01 2.17445468e-02 1.78861703e+02] [-4.32039442e-01 9.01801719e-01 -9.77650961e-03 -2.91308489e+01] [-2.38341849e-02 -5.80590193e-04 9.99715757e-01 -6.68744397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.030385723 meters 0.02057538658919083 Centerline is valid? [True, True] Translation: X:178.92, Y:-29.16, Z:-6.69 [[ 8.99109070e-01 4.37137336e-01 2.26678116e-02 1.78917568e+02] [-4.37019136e-01 8.99394462e-01 -1.01920049e-02 -2.91560875e+01] [-2.48426101e-02 -7.42543426e-04 9.99691099e-01 -6.68779715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.090385723 meters 0.023970784107262947 Centerline is valid? [True, True] Translation: X:178.97, Y:-29.18, Z:-6.69 [[ 8.97330788e-01 4.40799269e-01 2.22139697e-02 1.78974529e+02] [-4.40686751e-01 8.97605330e-01 -9.99297178e-03 -2.91767211e+01] [-2.43442723e-02 -8.22400896e-04 9.99703296e-01 -6.69219476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.150385723 meters 0.024438611921017966 Centerline is valid? [True, True] Translation: X:179.03, Y:-29.20, Z:-6.70 [[ 8.96641725e-01 4.42280107e-01 2.05407858e-02 1.79030854e+02] [-4.42184150e-01 8.96876625e-01 -9.24650300e-03 -2.92026339e+01] [-2.25120949e-02 -7.92009488e-04 9.99746257e-01 -6.69763061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.210385723 meters 0.022255159021393744 Centerline is valid? [True, True] Translation: X:179.09, Y:-29.23, Z:-6.70 [[ 8.97031217e-01 4.41582200e-01 1.84433329e-02 1.79085356e+02] [-4.41504743e-01 8.97220527e-01 -8.29989966e-03 -2.92345406e+01] [-2.02128248e-02 -6.97549860e-04 9.99795457e-01 -6.70086393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.270385723 meters 0.019786908666772723 Centerline is valid? [True, True] Translation: X:179.14, Y:-29.27, Z:-6.70 [[ 8.99675074e-01 4.36189300e-01 1.79904401e-02 1.79137083e+02] [-4.36114329e-01 8.99854759e-01 -8.10579061e-03 -2.92691427e+01] [-1.97244423e-02 -5.53310957e-04 9.99805301e-01 -6.70158976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.330385723 meters 0.01863652304834035 Centerline is valid? [True, True] Translation: X:179.19, Y:-29.30, Z:-6.70 [[ 9.02310664e-01 4.30723118e-01 1.76935443e-02 1.79189450e+02] [-4.30649544e-01 9.02484024e-01 -7.97223666e-03 -2.93020097e+01] [-1.94019677e-02 -4.26282623e-04 9.99811673e-01 -6.70293476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.390385723 meters 0.01792148290049945 Centerline is valid? [True, True] Translation: X:179.24, Y:-29.33, Z:-6.70 [[ 9.03852759e-01 4.27424291e-01 1.89384832e-02 1.79243085e+02] [-4.27339255e-01 9.04051067e-01 -8.53402579e-03 -2.93322478e+01] [-2.07690059e-02 -3.79654545e-04 9.99784229e-01 -6.70407497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.450385723 meters 0.01765992166312666 Centerline is valid? [True, True] Translation: X:179.30, Y:-29.36, Z:-6.70 [[ 9.04480785e-01 4.26019298e-01 2.05442926e-02 1.79298085e+02] [-4.25918777e-01 9.04713998e-01 -9.26159291e-03 -2.93607986e+01] [-2.25323264e-02 -3.73267148e-04 9.99746045e-01 -6.70473419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.510385723 meters 0.017284536635071866 Centerline is valid? [True, True] Translation: X:179.35, Y:-29.39, Z:-6.70 [[ 9.05083577e-01 4.24689829e-01 2.15004018e-02 1.79352581e+02] [-4.24579202e-01 9.05338846e-01 -9.69916963e-03 -2.93901634e+01] [-2.35842876e-02 -3.50064297e-04 9.99721791e-01 -6.70378214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57038572300002 meters 0.01725198707914496 Centerline is valid? [True, True] Translation: X:179.41, Y:-29.42, Z:-6.71 [[ 9.06004426e-01 4.22728466e-01 2.13687842e-02 1.79407618e+02] [-4.22618495e-01 9.06256343e-01 -9.64613538e-03 -2.94173070e+01] [-2.34432922e-02 -2.91402084e-04 9.99725126e-01 -6.70579874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63038572300002 meters 0.01653893759394529 Centerline is valid? [True, True] Translation: X:179.46, Y:-29.45, Z:-6.71 [[ 9.07684936e-01 4.19081263e-01 2.18849594e-02 1.79461947e+02] [-4.18964718e-01 9.07948708e-01 -9.88478102e-03 -2.94482772e+01] [-2.40129471e-02 -1.96759015e-04 9.99711628e-01 -6.70674630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69038572300002 meters 0.016317199900086107 Centerline is valid? [True, True] Translation: X:179.52, Y:-29.48, Z:-6.71 [[ 9.10039956e-01 4.13924663e-01 2.22182944e-02 1.79516344e+02] [-4.13802839e-01 9.10311139e-01 -1.00419244e-02 -2.94776912e+01] [-2.43821610e-02 -5.54408578e-05 9.99702709e-01 -6.70802457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.750385723 meters 0.016455457465377465 Centerline is valid? [True, True] Translation: X:179.57, Y:-29.51, Z:-6.71 [[ 9.11606670e-01 4.10460176e-01 2.22648516e-02 1.79572862e+02] [-4.10336660e-01 9.11878524e-01 -1.00689284e-02 -2.95051755e+01] [-2.44357341e-02 4.28174726e-05 9.99701402e-01 -6.70943801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.810385723 meters 0.016660180352897406 Centerline is valid? [True, True] Translation: X:179.63, Y:-29.53, Z:-6.71 [[ 9.11901251e-01 4.09807062e-01 2.22324126e-02 1.79629993e+02] [-4.09683527e-01 9.12172225e-01 -1.00618090e-02 -2.95316898e+01] [-2.44031897e-02 6.71230499e-05 9.99702196e-01 -6.71175863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.870385723 meters 0.016980417636066565 Centerline is valid? [True, True] Translation: X:179.69, Y:-29.56, Z:-6.71 [[ 9.12868040e-01 4.07687340e-01 2.15168211e-02 1.79686873e+02] [-4.07570868e-01 9.13121578e-01 -9.74531165e-03 -2.95561778e+01] [-2.36205138e-02 1.26554105e-04 9.99720989e-01 -6.71437491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.930385723 meters 0.01741855923630938 Centerline is valid? [True, True] Translation: X:179.74, Y:-29.58, Z:-6.72 [[ 9.13892558e-01 4.05377141e-01 2.16740748e-02 1.79743294e+02] [-4.05258151e-01 9.14149515e-01 -9.82319071e-03 -2.95801483e+01] [-2.37954419e-02 1.93745397e-04 9.99716830e-01 -6.71678623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.990385723 meters 0.01777887973775213 Centerline is valid? [True, True] Translation: X:179.80, Y:-29.60, Z:-6.72 [[ 9.14495095e-01 4.03938849e-01 2.30678859e-02 1.79801173e+02] [-4.03803446e-01 9.14785955e-01 -1.04610615e-02 -2.96038013e+01] [-2.53278072e-02 2.51697562e-04 9.99679168e-01 -6.71747377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.050385723 meters 0.017699628925445497 Centerline is valid? [True, True] Translation: X:179.86, Y:-29.63, Z:-6.72 [[ 9.14376387e-01 4.04192834e-01 2.33232796e-02 1.79860900e+02] [-4.04054310e-01 9.14673761e-01 -1.05842366e-02 -2.96255935e+01] [-2.56112644e-02 2.54104399e-04 9.99671945e-01 -6.71838308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.110385723 meters 0.017474004183354427 Centerline is valid? [True, True] Translation: X:179.92, Y:-29.65, Z:-6.72 [[ 9.12966578e-01 4.07442315e-01 2.19724054e-02 1.79918730e+02] [-4.07320135e-01 9.13230931e-01 -9.97864733e-03 -2.96463595e+01] [-2.41316034e-02 1.60368377e-04 9.99708778e-01 -6.72203710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.170385723 meters 0.01718142388917864 Centerline is valid? [True, True] Translation: X:179.98, Y:-29.67, Z:-6.72 [[ 9.10675562e-01 4.12585063e-01 2.10615119e-02 1.79978307e+02] [-4.12474059e-01 9.10919077e-01 -9.57003005e-03 -2.96655422e+01] [-2.31337844e-02 2.78651921e-05 9.99732378e-01 -6.72394001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.230385723 meters 0.01728928895658424 Centerline is valid? [True, True] Translation: X:180.04, Y:-29.69, Z:-6.73 [[ 9.08300397e-01 4.17823108e-01 2.03528705e-02 1.80037072e+02] [-4.17720603e-01 9.08528393e-01 -9.25507819e-03 -2.96851698e+01] [-2.23581462e-02 -9.54221323e-05 9.99750021e-01 -6.72581124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.290385723 meters 0.01787655343140118 Centerline is valid? [True, True] Translation: X:180.10, Y:-29.71, Z:-6.73 [[ 9.06136594e-01 4.22531658e-01 1.95824360e-02 1.80095011e+02] [-4.22437838e-01 9.06348144e-01 -8.90595723e-03 -2.97069173e+01] [-2.15115534e-02 -2.02348193e-04 9.99768579e-01 -6.72846052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35038572300002 meters 0.018494069534763072 Centerline is valid? [True, True] Translation: X:180.15, Y:-29.73, Z:-6.73 [[ 9.03775126e-01 4.27524937e-01 2.03211719e-02 1.80152872e+02] [-4.27425028e-01 9.04003496e-01 -9.24797574e-03 -2.97293549e+01] [-2.23241507e-02 -3.27687018e-04 9.99750731e-01 -6.72916340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41038572300002 meters 0.019277249524503978 Centerline is valid? [True, True] Translation: X:180.21, Y:-29.75, Z:-6.73 [[ 9.01088430e-01 4.33108350e-01 2.13728443e-02 1.80210820e+02] [-4.32999181e-01 9.01341736e-01 -9.73573542e-03 -2.97519485e+01] [-2.34808649e-02 -4.81665540e-04 9.99724170e-01 -6.72967651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.470385723 meters 0.020726634122217105 Centerline is valid? [True, True] Translation: X:180.27, Y:-29.77, Z:-6.73 [[ 8.99102986e-01 4.37152718e-01 2.26124150e-02 1.80267743e+02] [-4.37031786e-01 8.99387078e-01 -1.03005896e-02 -2.97743085e+01] [-2.48402446e-02 -6.21053228e-04 9.99691241e-01 -6.73113614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.530385723 meters 0.020659667476707826 Centerline is valid? [True, True] Translation: X:180.32, Y:-29.80, Z:-6.73 [[ 8.97800713e-01 4.39756940e-01 2.38267296e-02 1.80324055e+02] [-4.39623410e-01 8.98116534e-01 -1.08604043e-02 -2.97997515e+01] [-2.61751180e-02 -7.24309361e-04 9.99657110e-01 -6.73199864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.590385723 meters 0.0233581900537206 Centerline is valid? [True, True] Translation: X:180.38, Y:-29.82, Z:-6.74 [[ 8.96277267e-01 4.42907300e-01 2.28075551e-02 1.80381240e+02] [-4.42785804e-01 8.96567076e-01 -1.04024146e-02 -2.98210457e+01] [-2.50558083e-02 -7.75413857e-04 9.99685753e-01 -6.73591751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.650385723 meters 0.021830856574546975 Centerline is valid? [True, True] Translation: X:180.44, Y:-29.85, Z:-6.74 [[ 8.95693867e-01 4.44184865e-01 2.07918625e-02 1.80435751e+02] [-4.44084136e-01 8.95934855e-01 -9.48761570e-03 -2.98515253e+01] [-2.28424096e-02 -7.35337092e-04 9.99738808e-01 -6.73895451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.710385723 meters 0.021578729102401523 Centerline is valid? [True, True] Translation: X:180.49, Y:-29.88, Z:-6.74 [[ 8.96860326e-01 4.41781398e-01 2.16968067e-02 1.80489177e+02] [-4.41670817e-01 8.97122462e-01 -9.90845493e-03 -2.98817462e+01] [-2.38420637e-02 -6.96346204e-04 9.99715495e-01 -6.73981595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.770385723 meters 0.020969848689382484 Centerline is valid? [True, True] Translation: X:180.54, Y:-29.91, Z:-6.74 [[ 8.97848227e-01 4.39726306e-01 2.25684753e-02 1.80544173e+02] [-4.39605914e-01 8.98131580e-01 -1.03104823e-02 -2.99115097e+01] [-2.48032507e-02 -6.63986997e-04 9.99692132e-01 -6.74021770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.830385723 meters 0.02064057146066244 Centerline is valid? [True, True] Translation: X:180.60, Y:-29.94, Z:-6.74 [[ 8.99153777e-01 4.37064987e-01 2.22863791e-02 1.80597777e+02] [-4.36946605e-01 8.99429744e-01 -1.01882637e-02 -2.99404395e+01] [-2.44979656e-02 -5.77141881e-04 9.99699713e-01 -6.74363050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.890385723 meters 0.019932246893561777 Centerline is valid? [True, True] Translation: X:180.65, Y:-29.97, Z:-6.74 [[ 9.01025778e-01 4.33166535e-01 2.27881705e-02 1.80650736e+02] [-4.33041318e-01 9.01313779e-01 -1.04253762e-02 -2.99716711e+01] [-2.50552161e-02 -4.74686658e-04 9.99685956e-01 -6.74499718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.950385723 meters 0.019107989126447397 Centerline is valid? [True, True] Translation: X:180.71, Y:-30.00, Z:-6.74 [[ 9.01275581e-01 4.32592140e-01 2.37984802e-02 1.80705414e+02] [-4.32455337e-01 9.01589603e-01 -1.08889506e-02 -3.00010421e+01] [-2.61669368e-02 -4.77834525e-04 9.99657473e-01 -6.74455578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.010385723 meters 0.019307216460046836 Centerline is valid? [True, True] Translation: X:180.76, Y:-30.03, Z:-6.75 [[ 9.00982995e-01 4.33096073e-01 2.56404728e-02 1.80760761e+02] [-4.32937231e-01 9.01347612e-01 -1.17403531e-02 -3.00258060e+01] [-2.81956798e-02 -5.22856796e-04 9.99602286e-01 -6.74613457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07038572300002 meters 0.019450782571113663 Centerline is valid? [True, True] Translation: X:180.82, Y:-30.05, Z:-6.75 [[ 9.00232779e-01 4.34681629e-01 2.51560042e-02 1.80816940e+02] [-4.34529172e-01 9.00584018e-01 -1.15250107e-02 -3.00524432e+01] [-2.76648058e-02 -5.55825239e-04 9.99617101e-01 -6.74941932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13038572300002 meters 0.019919819253653496 Centerline is valid? [True, True] Translation: X:180.87, Y:-30.08, Z:-6.75 [[ 8.98937093e-01 4.37341671e-01 2.53843568e-02 1.80872701e+02] [-4.37187251e-01 8.99295201e-01 -1.16382537e-02 -3.00783844e+01] [-2.79179235e-02 -6.35659178e-04 9.99610017e-01 -6.75249172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19038572300002 meters 0.020270566847908993 Centerline is valid? [True, True] Translation: X:180.93, Y:-30.10, Z:-6.76 [[ 8.98555653e-01 4.38152483e-01 2.49026282e-02 1.80928628e+02] [-4.38004108e-01 8.98900431e-01 -1.14200037e-02 -3.01040927e+01] [-2.73886861e-02 -6.45944566e-04 9.99624651e-01 -6.75564445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.250385723 meters 0.02137739923562699 Centerline is valid? [True, True] Translation: X:180.98, Y:-30.13, Z:-6.76 [[ 8.99020554e-01 4.37254093e-01 2.38935615e-02 1.80984635e+02] [-4.37117008e-01 8.99337819e-01 -1.09639647e-02 -3.01310700e+01] [-2.62824219e-02 -5.87452515e-04 9.99654385e-01 -6.76108203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.310385723 meters 0.018903535672175033 Centerline is valid? [True, True] Translation: X:181.04, Y:-30.16, Z:-6.76 [[ 9.00701064e-01 4.33718371e-01 2.50193705e-02 1.81038165e+02] [-4.33566468e-01 9.01048348e-01 -1.14887956e-02 -3.01620709e+01] [-2.75265641e-02 -4.99589719e-04 9.99620947e-01 -6.76050840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.370385723 meters 0.018460736365159245 Centerline is valid? [True, True] Translation: X:181.09, Y:-30.19, Z:-6.76 [[ 9.01899780e-01 4.31121492e-01 2.66654392e-02 1.81093473e+02] [-4.30947592e-01 9.02293779e-01 -1.22518906e-02 -3.01904537e+01] [-2.93421133e-02 -4.41429352e-04 9.99569330e-01 -6.76142070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.430385723 meters 0.018188026992597018 Centerline is valid? [True, True] Translation: X:181.15, Y:-30.22, Z:-6.76 [[ 9.02568660e-01 4.29521825e-01 2.96785489e-02 1.81149014e+02] [-4.29305214e-01 9.03056378e-01 -1.36459621e-02 -3.02193445e+01] [-3.26626414e-02 -4.24738030e-04 9.99466343e-01 -6.75973765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.490385723 meters 0.018423225578364573 Centerline is valid? [True, True] Translation: X:181.20, Y:-30.24, Z:-6.76 [[ 9.02140794e-01 4.30462656e-01 2.90497861e-02 1.81204832e+02] [-4.30255350e-01 9.02608280e-01 -1.33651482e-02 -3.02433714e+01] [-3.19737747e-02 -4.41580464e-04 9.99488611e-01 -6.76202848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.550385723 meters 0.018865127313109183 Centerline is valid? [True, True] Translation: X:181.26, Y:-30.27, Z:-6.77 [[ 9.00824241e-01 4.33372668e-01 2.65295689e-02 1.81261799e+02] [-4.33200855e-01 9.01214674e-01 -1.22119042e-02 -3.02662844e+01] [-2.92011423e-02 -4.91852585e-04 9.99573435e-01 -6.76808478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.610385723 meters 0.01920128459575797 Centerline is valid? [True, True] Translation: X:181.32, Y:-30.29, Z:-6.77 [[ 8.99979232e-01 4.35248592e-01 2.44140534e-02 1.81318431e+02] [-4.35103629e-01 9.00310174e-01 -1.12437415e-02 -3.02924054e+01] [-2.68740434e-02 -5.03509397e-04 9.99638701e-01 -6.77218060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.670385723 meters 0.019046859428444477 Centerline is valid? [True, True] Translation: X:181.37, Y:-30.32, Z:-6.77 [[ 9.00262957e-01 4.34541575e-01 2.64618381e-02 1.81374186e+02] [-4.34370719e-01 9.00651628e-01 -1.21952412e-02 -3.03204696e+01] [-2.91322368e-02 -5.15323755e-04 9.99575433e-01 -6.77261918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.730385723 meters 0.019137650649236046 Centerline is valid? [True, True] Translation: X:181.43, Y:-30.35, Z:-6.77 [[ 9.00627392e-01 4.33664347e-01 2.83819399e-02 1.81429484e+02] [-4.33467076e-01 9.01074342e-01 -1.30890999e-02 -3.03467131e+01] [-3.12505138e-02 -5.14234619e-04 9.99511451e-01 -6.77347644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.790385723 meters 0.0183476644993675 Centerline is valid? [True, True] Translation: X:181.48, Y:-30.38, Z:-6.77 [[ 9.01260643e-01 4.32305503e-01 2.90035209e-02 1.81484280e+02] [-4.32098546e-01 9.01727082e-01 -1.33834367e-02 -3.03769455e+01] [-3.19389936e-02 -4.70414378e-04 9.99489709e-01 -6.77448007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85038572300002 meters 0.0182994594235881 Centerline is valid? [True, True] Translation: X:181.54, Y:-30.40, Z:-6.78 [[ 9.01712328e-01 4.31381116e-01 2.87264702e-02 1.81539640e+02] [-4.31177355e-01 9.02169691e-01 -1.32641365e-02 -3.04024332e+01] [-3.16380487e-02 -4.25767980e-04 9.99499301e-01 -6.77751215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91038572300002 meters 0.018175255833496294 Centerline is valid? [True, True] Translation: X:181.60, Y:-30.43, Z:-6.78 [[ 9.01953737e-01 4.30953828e-01 2.75364321e-02 1.81596432e+02] [-4.30766198e-01 9.02373896e-01 -1.27214165e-02 -3.04298049e+01] [-3.03305007e-02 -3.87635006e-04 9.99539849e-01 -6.78048546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.970385723 meters 0.01808167708543834 Centerline is valid? [True, True] Translation: X:181.65, Y:-30.46, Z:-6.78 [[ 9.02159541e-01 4.30523917e-01 2.75194500e-02 1.81652913e+02] [-4.30336039e-01 9.02579096e-01 -1.27227850e-02 -3.04561011e+01] [-3.03159436e-02 -3.64629204e-04 9.99540300e-01 -6.78275754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.030385723 meters 0.01830389072647967 Centerline is valid? [True, True] Translation: X:181.71, Y:-30.48, Z:-6.78 [[ 9.01737011e-01 4.31378416e-01 2.79825809e-02 1.81709604e+02] [-4.31184327e-01 9.02170997e-01 -1.29448212e-02 -3.04827202e+01] [-3.08291894e-02 -3.92825893e-04 9.99524590e-01 -6.78407156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.090385723 meters 0.019140313942268776 Centerline is valid? [True, True] Translation: X:181.77, Y:-30.51, Z:-6.79 [[ 9.00179826e-01 4.34604117e-01 2.82053604e-02 1.81766626e+02] [-4.34408202e-01 9.00621459e-01 -1.30576303e-02 -3.05070164e+01] [-3.10772527e-02 -4.98424519e-04 9.99516861e-01 -6.78565128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.150385723 meters 0.019777516374793244 Centerline is valid? [True, True] Translation: X:181.82, Y:-30.53, Z:-6.79 [[ 8.97985235e-01 4.39084609e-01 2.87614962e-02 1.81823600e+02] [-4.38882884e-01 8.98445476e-01 -1.33244239e-02 -3.05279303e+01] [-3.16911856e-02 -6.57792489e-04 9.99497492e-01 -6.78796264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.210385723 meters 0.020831260573072444 Centerline is valid? [True, True] Translation: X:181.88, Y:-30.55, Z:-6.79 [[ 8.96400183e-01 4.42427129e-01 2.69248548e-02 1.81881212e+02] [-4.42251744e-01 8.96804166e-01 -1.24772548e-02 -3.05503167e+01] [-2.96665980e-02 -7.22950466e-04 9.99559588e-01 -6.79208595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.270385723 meters 0.020155568595636667 Centerline is valid? [True, True] Translation: X:181.94, Y:-30.58, Z:-6.79 [[ 8.95471816e-01 4.44324090e-01 2.65768748e-02 1.81936953e+02] [-4.44153963e-01 8.95865785e-01 -1.23187747e-02 -3.05766113e+01] [-2.92828412e-02 -7.73108735e-04 9.99570867e-01 -6.79454453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.330385723 meters 0.02065472398005113 Centerline is valid? [True, True] Translation: X:181.99, Y:-30.60, Z:-6.80 [[ 8.94755992e-01 4.45768826e-01 2.64927953e-02 1.81994229e+02] [-4.45600190e-01 8.95147751e-01 -1.22871584e-02 -3.06004869e+01] [-2.91921983e-02 -8.11186063e-04 9.99573488e-01 -6.79738088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.390385723 meters 0.021130856026890507 Centerline is valid? [True, True] Translation: X:182.05, Y:-30.62, Z:-6.80 [[ 8.94633896e-01 4.45911656e-01 2.81600402e-02 1.82051862e+02] [-4.45720914e-01 8.95076565e-01 -1.30694335e-02 -3.06246719e+01] [-3.10332048e-02 -8.59160652e-04 9.99517985e-01 -6.79934885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.450385723 meters 0.020962934790749232 Centerline is valid? [True, True] Translation: X:182.11, Y:-30.65, Z:-6.80 [[ 8.95163460e-01 4.44779820e-01 2.92111544e-02 1.82107694e+02] [-4.44573679e-01 8.95639549e-01 -1.35662054e-02 -3.06518263e+01] [-3.21966395e-02 -8.42538951e-04 9.99481199e-01 -6.80102329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.510385723 meters 0.020389600613933186 Centerline is valid? [True, True] Translation: X:182.16, Y:-30.68, Z:-6.80 [[ 8.96595560e-01 4.41858867e-01 2.96166011e-02 1.82162651e+02] [-4.41645055e-01 8.97084274e-01 -1.37640872e-02 -3.06812994e+01] [-3.26503711e-02 -7.39205929e-04 9.99466561e-01 -6.80366296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57038572300002 meters 0.019810813375856006 Centerline is valid? [True, True] Translation: X:182.22, Y:-30.71, Z:-6.81 [[ 8.97105980e-01 4.40717451e-01 3.11285759e-02 1.82218043e+02] [-4.40480461e-01 8.97645584e-01 -1.44696106e-02 -3.07087123e+01] [-3.43194386e-02 -7.30755202e-04 9.99410647e-01 -6.80564858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63038572300002 meters 0.019950626398303785 Centerline is valid? [True, True] Translation: X:182.27, Y:-30.73, Z:-6.81 [[ 8.97601191e-01 4.39642233e-01 3.20438423e-02 1.82273326e+02] [-4.39390067e-01 8.98172709e-01 -1.49048400e-02 -3.07348719e+01] [-3.53337018e-02 -7.01143839e-04 9.99375324e-01 -6.80765437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69038572300002 meters 0.01936904431253284 Centerline is valid? [True, True] Translation: X:182.33, Y:-30.76, Z:-6.81 [[ 8.97891923e-01 4.39041054e-01 3.21410546e-02 1.82329247e+02] [-4.38786661e-01 8.98466751e-01 -1.49587349e-02 -3.07629338e+01] [-3.54451676e-02 -6.71738830e-04 9.99371397e-01 -6.81113951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.750385723 meters 0.018924297280395623 Centerline is valid? [True, True] Translation: X:182.38, Y:-30.79, Z:-6.82 [[ 8.97427273e-01 4.40118734e-01 3.03280497e-02 1.82384822e+02] [-4.39892770e-01 8.97939335e-01 -1.41174222e-02 -3.07897494e+01] [-3.34460908e-02 -6.71730081e-04 9.99440297e-01 -6.81540216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.810385723 meters 0.019045881521823065 Centerline is valid? [True, True] Translation: X:182.44, Y:-30.82, Z:-6.82 [[ 8.97553488e-01 4.39971681e-01 2.86819925e-02 1.82440516e+02] [-4.39769261e-01 8.98011432e-01 -1.33590802e-02 -3.08158720e+01] [-3.16343741e-02 -6.22969596e-04 9.99499314e-01 -6.81999865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.870385723 meters 0.018526708699116438 Centerline is valid? [True, True] Translation: X:182.50, Y:-30.85, Z:-6.82 [[ 8.98790525e-01 4.37418162e-01 2.89990379e-02 1.82495936e+02] [-4.37209600e-01 8.99258067e-01 -1.35164791e-02 -3.08450109e+01] [-3.19899722e-02 -5.30174435e-04 9.99488049e-01 -6.82177374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.930385723 meters 0.018359840360550488 Centerline is valid? [True, True] Translation: X:182.55, Y:-30.87, Z:-6.82 [[ 8.99768871e-01 4.35193787e-01 3.19741483e-02 1.82551037e+02] [-4.34938624e-01 9.00336673e-01 -1.49086555e-02 -3.08736489e+01] [-3.52756526e-02 -4.92447949e-04 9.99377499e-01 -6.82060425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.990385723 meters 0.01857382384116051 Centerline is valid? [True, True] Translation: X:182.61, Y:-30.90, Z:-6.82 [[ 8.99951161e-01 4.34819019e-01 3.19425832e-02 1.82606137e+02] [-4.34563797e-01 9.00517740e-01 -1.49032171e-02 -3.08993821e+01] [-3.52450651e-02 -4.68922730e-04 9.99378590e-01 -6.82334618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.050385723 meters 0.01855167742576939 Centerline is valid? [True, True] Translation: X:182.66, Y:-30.93, Z:-6.83 [[ 8.99865814e-01 4.35043447e-01 3.12844386e-02 1.82662708e+02] [-4.34798600e-01 9.00409343e-01 -1.46011355e-02 -3.09259594e+01] [-3.45209291e-02 -4.63367432e-04 9.99403868e-01 -6.82669409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.110385723 meters 0.01841870518195379 Centerline is valid? [True, True] Translation: X:182.72, Y:-30.95, Z:-6.83 [[ 8.99937959e-01 4.34868753e-01 3.16360099e-02 1.82719746e+02] [-4.34618107e-01 9.00493730e-01 -1.47696619e-02 -3.09527005e+01] [-3.49108930e-02 -4.57803306e-04 9.99390324e-01 -6.82867094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.170385723 meters 0.018281070192218488 Centerline is valid? [True, True] Translation: X:182.78, Y:-30.98, Z:-6.83 [[ 8.99681119e-01 4.35493520e-01 3.03195970e-02 1.82776948e+02] [-4.35263337e-01 9.00191751e-01 -1.41646983e-02 -3.09788293e+01] [-3.34620854e-02 -4.53297391e-04 9.99439885e-01 -6.83224872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.230385723 meters 0.01815006093531817 Centerline is valid? [True, True] Translation: X:182.83, Y:-31.01, Z:-6.84 [[ 8.99738393e-01 4.35528272e-01 2.80347664e-02 1.82833865e+02] [-4.35331236e-01 9.00174957e-01 -1.31057728e-02 -3.10058261e+01] [-3.09441293e-02 -4.12642562e-04 9.99521031e-01 -6.83623517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.290385723 meters 0.018255555724083872 Centerline is valid? [True, True] Translation: X:182.89, Y:-31.03, Z:-6.84 [[ 8.99427616e-01 4.36234182e-01 2.70129950e-02 1.82888908e+02] [-4.36051297e-01 8.99833078e-01 -1.26371850e-02 -3.10316898e+01] [-2.98199585e-02 -4.12818282e-04 9.99555201e-01 -6.83872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35038572300002 meters 0.018114400698998775 Centerline is valid? [True, True] Translation: X:182.95, Y:-31.06, Z:-6.84 [[ 8.98956292e-01 4.37090795e-01 2.87962069e-02 1.82945751e+02] [-4.36883145e-01 8.99417268e-01 -1.34794423e-02 -3.10588854e+01] [-3.17915459e-02 -4.63147955e-04 9.99494414e-01 -6.83886684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41038572300002 meters 0.018453547683476266 Centerline is valid? [True, True] Translation: X:183.00, Y:-31.08, Z:-6.84 [[ 8.98026644e-01 4.38881139e-01 3.05203790e-02 1.83002802e+02] [-4.38648526e-01 8.98544960e-01 -1.42977152e-02 -3.10835974e+01] [-3.36989302e-02 -5.47990079e-04 9.99431880e-01 -6.84003604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.470385723 meters 0.01874926943352721 Centerline is valid? [True, True] Translation: X:183.06, Y:-31.11, Z:-6.84 [[ 8.97214554e-01 4.40614105e-01 2.94152030e-02 1.83060159e+02] [-4.40398694e-01 8.97696425e-01 -1.37883975e-02 -3.11073775e+01] [-3.24812850e-02 -5.83266094e-04 9.99472174e-01 -6.84296932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.530385723 meters 0.019589293662290265 Centerline is valid? [True, True] Translation: X:183.12, Y:-31.13, Z:-6.85 [[ 8.95733920e-01 4.43820126e-01 2.61618153e-02 1.83117761e+02] [-4.43650908e-01 8.96115682e-01 -1.22701026e-02 -3.11295484e+01] [-2.88897314e-02 -6.15965963e-04 9.99582415e-01 -6.84867076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.590385723 meters 0.019898859637984052 Centerline is valid? [True, True] Translation: X:183.17, Y:-31.15, Z:-6.85 [[ 8.95180651e-01 4.44974683e-01 2.54780970e-02 1.83174736e+02] [-4.44814480e-01 8.95542927e-01 -1.19559204e-02 -3.11542829e+01] [-2.81368114e-02 -6.30317817e-04 9.99603883e-01 -6.85222955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.650385723 meters 0.0195588964822111 Centerline is valid? [True, True] Translation: X:183.23, Y:-31.18, Z:-6.85 [[ 8.94359232e-01 4.46716693e-01 2.37857145e-02 1.83231019e+02] [-4.46577525e-01 8.94675245e-01 -1.11678218e-02 -3.11805687e+01] [-2.62693424e-02 -6.34120923e-04 9.99654700e-01 -6.85495033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.710385723 meters 0.020044422829053072 Centerline is valid? [True, True] Translation: X:183.29, Y:-31.21, Z:-6.86 [[ 8.95485344e-01 4.44512506e-01 2.26854781e-02 1.83285894e+02] [-4.44385043e-01 8.95772484e-01 -1.06578663e-02 -3.12063124e+01] [-2.50585820e-02 -5.37124057e-04 9.99685840e-01 -6.85790509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.770385723 meters 0.018772623358425413 Centerline is valid? [True, True] Translation: X:183.34, Y:-31.24, Z:-6.86 [[ 8.96537986e-01 4.42312306e-01 2.40720288e-02 1.83340044e+02] [-4.42167801e-01 8.96860957e-01 -1.13163795e-02 -3.12363272e+01] [-2.65946367e-02 -4.98311894e-04 9.99646176e-01 -6.85716626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.830385723 meters 0.01827403182626198 Centerline is valid? [True, True] Translation: X:183.39, Y:-31.27, Z:-6.86 [[ 8.98195968e-01 4.38814858e-01 2.61824947e-02 1.83394502e+02] [-4.38642122e-01 8.98577400e-01 -1.23184957e-02 -3.12663583e+01] [-2.89325370e-02 -4.20321893e-04 9.99581278e-01 -6.85611474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.890385723 meters 0.01784439815360538 Centerline is valid? [True, True] Translation: X:183.45, Y:-31.30, Z:-6.85 [[ 8.99654372e-01 4.35678015e-01 2.84020718e-02 1.83449242e+02] [-4.35473145e-01 9.00102521e-01 -1.33638539e-02 -3.12957356e+01] [-3.13871138e-02 -3.45489888e-04 9.99507243e-01 -6.85489451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.950385723 meters 0.017853115450754086 Centerline is valid? [True, True] Translation: X:183.51, Y:-31.32, Z:-6.86 [[ 8.99918430e-01 4.35158254e-01 2.80020310e-02 1.83505676e+02] [-4.34958626e-01 9.00353927e-01 -1.31833235e-02 -3.13228624e+01] [-3.09485706e-02 -3.15809109e-04 9.99520928e-01 -6.85691467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.010385723 meters 0.01794703789275829 Centerline is valid? [True, True] Translation: X:183.56, Y:-31.35, Z:-6.86 [[ 8.99060026e-01 4.37094079e-01 2.52949888e-02 1.83562759e+02] [-4.36931746e-01 8.99415728e-01 -1.19162937e-02 -3.13470766e+01] [-2.79592522e-02 -3.38720307e-04 9.99609006e-01 -6.86153945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07038572300002 meters 0.018489227972692014 Centerline is valid? [True, True] Translation: X:183.62, Y:-31.37, Z:-6.87 [[ 8.97910243e-01 4.39633893e-01 2.18914363e-02 1.83619586e+02] [-4.39512935e-01 8.98176994e-01 -1.03182846e-02 -3.13705473e+01] [-2.41986521e-02 -3.56676019e-04 9.99707106e-01 -6.86642977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13038572300002 meters 0.018717869043783295 Centerline is valid? [True, True] Translation: X:183.68, Y:-31.40, Z:-6.87 [[ 8.97013690e-01 4.41437451e-01 2.23476151e-02 1.83676500e+02] [-4.41311811e-01 8.97291931e-01 -1.05392360e-02 -3.13954212e+01] [-2.47047482e-02 -4.08427541e-04 9.99694708e-01 -6.86654919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19038572300002 meters 0.01866945502269297 Centerline is valid? [True, True] Translation: X:183.73, Y:-31.42, Z:-6.87 [[ 8.96424962e-01 4.42566556e-01 2.36036174e-02 1.83734185e+02] [-4.42426603e-01 8.96735543e-01 -1.11385399e-02 -3.14201789e+01] [-2.60957479e-02 -4.58003112e-04 9.99659343e-01 -6.86685072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.250385723 meters 0.019573863758569336 Centerline is valid? [True, True] Translation: X:183.79, Y:-31.44, Z:-6.87 [[ 8.95757838e-01 4.43921841e-01 2.34796531e-02 1.83791602e+02] [-4.43783595e-01 8.96065378e-01 -1.10886781e-02 -3.14414886e+01] [-2.59618106e-02 -4.87114521e-04 9.99662817e-01 -6.86997310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.310385723 meters 0.01991755184903262 Centerline is valid? [True, True] Translation: X:183.85, Y:-31.47, Z:-6.87 [[ 8.95587021e-01 4.44254796e-01 2.36973672e-02 1.83848631e+02] [-4.44113901e-01 8.95900347e-01 -1.11987249e-02 -3.14665791e+01] [-2.62055668e-02 -4.94897557e-04 9.99656453e-01 -6.87088501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.370385723 meters 0.018860745459315018 Centerline is valid? [True, True] Translation: X:183.91, Y:-31.49, Z:-6.87 [[ 8.96342305e-01 4.42745042e-01 2.33944569e-02 1.83905349e+02] [-4.42607115e-01 8.96647441e-01 -1.10593349e-02 -3.14926431e+01] [-2.58730456e-02 -4.41603295e-04 9.99665139e-01 -6.87296408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.430385723 meters 0.01827033925141454 Centerline is valid? [True, True] Translation: X:183.96, Y:-31.52, Z:-6.87 [[ 8.97405558e-01 4.40584895e-01 2.34139833e-02 1.83961391e+02] [-4.40445826e-01 8.97710873e-01 -1.10753240e-02 -3.15198725e+01] [-2.58986079e-02 -3.73533873e-04 9.99664505e-01 -6.87456011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.490385723 meters 0.017456344945507175 Centerline is valid? [True, True] Translation: X:184.01, Y:-31.55, Z:-6.88 [[ 9.01065508e-01 4.33119851e-01 2.20940021e-02 1.84014675e+02] [-4.32993620e-01 9.01336327e-01 -1.04571116e-02 -3.15502878e+01] [-2.44433093e-02 -1.44019423e-04 9.99701207e-01 -6.87675221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.550385723 meters 0.0174844393007509 Centerline is valid? [True, True] Translation: X:184.07, Y:-31.58, Z:-6.88 [[ 9.02498460e-01 4.30097305e-01 2.26459301e-02 1.84069732e+02] [-4.29963581e-01 9.02782534e-01 -1.07244795e-02 -3.15779577e+01] [-2.50569199e-02 -5.80989695e-05 9.99686024e-01 -6.87905560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.610385723 meters 0.017455745332902926 Centerline is valid? [True, True] Translation: X:184.12, Y:-31.60, Z:-6.88 [[ 9.03992236e-01 4.26883809e-01 2.38379988e-02 1.84124229e+02] [-4.26734300e-01 9.04306481e-01 -1.12971313e-02 -3.16049191e+01] [-2.63794193e-02 4.00272597e-05 9.99652002e-01 -6.87972283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.670385723 meters 0.017688281599875764 Centerline is valid? [True, True] Translation: X:184.18, Y:-31.63, Z:-6.88 [[ 9.04456608e-01 4.25893688e-01 2.39334674e-02 1.84180297e+02] [-4.25742564e-01 9.04773210e-01 -1.13449597e-02 -3.16305340e+01] [-2.64861069e-02 7.15280035e-05 9.99649179e-01 -6.88283559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.730385723 meters 0.017536014948514363 Centerline is valid? [True, True] Translation: X:184.24, Y:-31.65, Z:-6.88 [[ 9.03901329e-01 4.27124271e-01 2.29617971e-02 1.84239056e+02] [-4.26985420e-01 9.04192931e-01 -1.08901615e-02 -3.16539474e+01] [-2.54133469e-02 3.92788578e-05 9.99677028e-01 -6.88485395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.790385723 meters 0.0175368209773179 Centerline is valid? [True, True] Translation: X:184.30, Y:-31.68, Z:-6.89 [[ 9.03325942e-01 4.28412850e-01 2.15562608e-02 1.84296376e+02] [-4.28290681e-01 9.03583106e-01 -1.02304685e-02 -3.16782688e+01] [-2.38607373e-02 9.10194949e-06 9.99715292e-01 -6.88667401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85038572300002 meters 0.017850276696465165 Centerline is valid? [True, True] Translation: X:184.35, Y:-31.70, Z:-6.89 [[ 9.03438859e-01 4.28214318e-01 2.07539320e-02 1.84351425e+02] [-4.28100885e-01 9.03677208e-01 -9.85572727e-03 -3.17038581e+01] [-2.29752189e-02 1.92703504e-05 9.99736035e-01 -6.89214040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91038572300002 meters 0.018378621049289025 Centerline is valid? [True, True] Translation: X:184.41, Y:-31.73, Z:-6.89 [[ 9.04789697e-01 4.25299428e-01 2.18174582e-02 1.84407705e+02] [-4.25173083e-01 9.05052698e-01 -1.03664872e-02 -3.17323912e+01] [-2.41548104e-02 1.03294829e-04 9.99708225e-01 -6.89201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.970385723 meters 0.017969192753995358 Centerline is valid? [True, True] Translation: X:184.46, Y:-31.76, Z:-6.89 [[ 9.06114854e-01 4.22421374e-01 2.27168431e-02 1.84463192e+02] [-4.22283292e-01 9.06399550e-01 -1.08016961e-02 -3.17611676e+01] [-2.51534037e-02 1.94634035e-04 9.99683584e-01 -6.89326096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.030385723 meters 0.01811279361371871 Centerline is valid? [True, True] Translation: X:184.52, Y:-31.79, Z:-6.90 [[ 9.06658129e-01 4.21216940e-01 2.33950089e-02 1.84518005e+02] [-4.21069875e-01 9.06959884e-01 -1.11323679e-02 -3.17890879e+01] [-2.59074765e-02 2.42318385e-04 9.99664316e-01 -6.89587768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.090385723 meters 0.017925823272581926 Centerline is valid? [True, True] Translation: X:184.57, Y:-31.82, Z:-6.90 [[ 9.06816803e-01 4.20833886e-01 2.41273053e-02 1.84574456e+02] [-4.20677133e-01 9.07137679e-01 -1.14883197e-02 -3.18170484e+01] [-2.67214620e-02 2.67995761e-04 9.99642882e-01 -6.89607468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.150385723 meters 0.017539278191938762 Centerline is valid? [True, True] Translation: X:184.63, Y:-31.84, Z:-6.90 [[ 9.06769938e-01 4.20868483e-01 2.52586667e-02 1.84631729e+02] [-4.20696404e-01 9.07121622e-01 -1.20374055e-02 -3.18423822e+01] [-2.79788473e-02 2.88927206e-04 9.99608474e-01 -6.89751825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.210385723 meters 0.01755375046555331 Centerline is valid? [True, True] Translation: X:184.69, Y:-31.87, Z:-6.90 [[ 9.07376655e-01 4.19465452e-01 2.67645431e-02 1.84688521e+02] [-4.19271577e-01 9.07771232e-01 -1.27567679e-02 -3.18688195e+01] [-2.96471057e-02 3.53581193e-04 9.99560365e-01 -6.90049926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.270385723 meters 0.017992930449304795 Centerline is valid? [True, True] Translation: X:184.74, Y:-31.90, Z:-6.90 [[ 9.09199805e-01 4.15308145e-01 2.95780201e-02 1.84743720e+02] [-4.15068786e-01 9.09680626e-01 -1.41089067e-02 -3.18969263e+01] [-3.27660957e-02 5.50902350e-04 9.99462895e-01 -6.90080596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.330385723 meters 0.020287825957445896 Centerline is valid? [True, True] Translation: X:184.80, Y:-31.92, Z:-6.90 [[ 9.12495560e-01 4.07915676e-01 3.09298437e-02 1.84799229e+02] [-4.07649340e-01 9.13019198e-01 -1.47634274e-02 -3.19234719e+01] [-3.42617745e-02 8.63031524e-04 9.99412520e-01 -6.90386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.390385723 meters 0.021121521180301056 Centerline is valid? [True, True] Translation: X:184.85, Y:-31.95, Z:-6.91 [[ 9.15232911e-01 4.01781115e-01 3.03422735e-02 1.84853018e+02] [-4.01521144e-01 9.15735098e-01 -1.44914227e-02 -3.19511269e+01] [-3.36078648e-02 1.07996261e-03 9.99434513e-01 -6.90561493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.450385723 meters 0.02185976705793668 Centerline is valid? [True, True] Translation: X:184.91, Y:-31.98, Z:-6.91 [[ 9.16697656e-01 3.98407882e-01 3.06033739e-02 1.84909117e+02] [-3.98141420e-01 9.17207543e-01 -1.46195914e-02 -3.19761631e+01] [-3.38942059e-02 1.21727442e-03 9.99424685e-01 -6.90827375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.510385723 meters 0.023175850668225636 Centerline is valid? [True, True] Translation: X:184.97, Y:-32.00, Z:-6.91 [[ 9.17598124e-01 3.96342110e-01 3.04403397e-02 1.84965319e+02] [-3.96077080e-01 9.18101987e-01 -1.45495174e-02 -3.20010658e+01] [-3.37139228e-02 1.29388900e-03 9.99430687e-01 -6.91187580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57038572300002 meters 0.022111569248087774 Centerline is valid? [True, True] Translation: X:185.02, Y:-32.02, Z:-6.92 [[ 9.17022889e-01 3.97743633e-01 2.94792167e-02 1.85024552e+02] [-3.97495555e-01 9.17495798e-01 -1.40976968e-02 -3.20203825e+01] [-3.26543265e-02 1.21005303e-03 9.99465973e-01 -6.91599684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63038572300002 meters 0.02067455998859034 Centerline is valid? [True, True] Translation: X:185.08, Y:-32.04, Z:-6.92 [[ 9.15234408e-01 4.01817997e-01 2.98039524e-02 1.85082733e+02] [-4.01566268e-01 9.15718909e-01 -1.42622929e-02 -3.20405479e+01] [-3.30228888e-02 1.08507930e-03 9.99454007e-01 -6.91727666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69038572300002 meters 0.018122465251406296 Centerline is valid? [True, True] Translation: X:185.14, Y:-32.05, Z:-6.92 [[ 9.10728777e-01 4.11746801e-01 3.22128308e-02 1.85143843e+02] [-4.11458747e-01 9.11297948e-01 -1.54191131e-02 -3.20542659e+01] [-3.57042571e-02 7.88379000e-04 9.99362089e-01 -6.91805497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.750385723 meters 0.016094460986651772 Centerline is valid? [True, True] Translation: X:185.20, Y:-32.07, Z:-6.92 [[ 9.04947440e-01 4.24217412e-01 3.33124466e-02 1.85204135e+02] [-4.23917441e-01 9.05560317e-01 -1.59535194e-02 -3.20674298e+01] [-3.69341904e-02 3.15369440e-04 9.99317650e-01 -6.92006480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.810385723 meters 0.015719930304002188 Centerline is valid? [True, True] Translation: X:185.27, Y:-32.08, Z:-6.92 [[ 8.99403970e-01 4.35877691e-01 3.29110384e-02 1.85265912e+02] [-4.35592553e-01 9.00005896e-01 -1.57643499e-02 -3.20814825e+01] [-3.64914571e-02 -1.57284372e-04 9.99333953e-01 -6.92400684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.870385723 meters 0.01648744361971489 Centerline is valid? [True, True] Translation: X:185.33, Y:-32.10, Z:-6.93 [[ 8.95493633e-01 4.43918830e-01 3.20503587e-02 1.85326776e+02] [-4.43653209e-01 8.96066882e-01 -1.53614052e-02 -3.20974303e+01] [-3.55384820e-02 -4.63203907e-04 9.99368201e-01 -6.92797148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.930385723 meters 0.01738159149857414 Centerline is valid? [True, True] Translation: X:185.39, Y:-32.12, Z:-6.93 [[ 8.93450073e-01 4.48060488e-01 3.14446654e-02 1.85385899e+02] [-4.47807289e-01 8.94003033e-01 -1.50734690e-02 -3.21173244e+01] [-3.48654521e-02 -6.13758397e-04 9.99391827e-01 -6.93149533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.990385723 meters 0.017698235675168615 Centerline is valid? [True, True] Translation: X:185.44, Y:-32.14, Z:-6.93 [[ 8.92914535e-01 4.49078557e-01 3.21260647e-02 1.85443686e+02] [-4.48814583e-01 8.93492034e-01 -1.54095729e-02 -3.21402862e+01] [-3.56244916e-02 -6.59214721e-04 9.99365029e-01 -6.93373654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.050385723 meters 0.017661688675928926 Centerline is valid? [True, True] Translation: X:185.50, Y:-32.16, Z:-6.94 [[ 8.93152709e-01 4.48555956e-01 3.27992792e-02 1.85501429e+02] [-4.48280099e-01 8.93754519e-01 -1.57420478e-02 -3.21628352e+01] [-3.63756933e-02 -6.43211516e-04 9.99337978e-01 -6.93684095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.110385723 meters 0.016893713334028 Centerline is valid? [True, True] Translation: X:185.56, Y:-32.19, Z:-6.94 [[ 8.94429384e-01 4.46110017e-01 3.13357442e-02 1.85558179e+02] [-4.45856439e-01 8.94977983e-01 -1.50480902e-02 -3.21881750e+01] [-3.47579050e-02 -5.11789245e-04 9.99395630e-01 -6.94110545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.170385723 meters 0.0159567973317634 Centerline is valid? [True, True] Translation: X:185.61, Y:-32.21, Z:-6.95 [[ 8.96421329e-01 4.42242083e-01 2.91674494e-02 1.85613406e+02] [-4.42020084e-01 8.96895664e-01 -1.40147748e-02 -3.22146074e+01] [-3.23580820e-02 -3.29455376e-04 9.99476286e-01 -6.94583778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.230385723 meters 0.015313687881213298 Centerline is valid? [True, True] Translation: X:185.67, Y:-32.24, Z:-6.95 [[ 8.99107112e-01 4.36838241e-01 2.79061345e-02 1.85668339e+02] [-4.36632310e-01 8.99540069e-01 -1.34123067e-02 -3.22426931e+01] [-3.09616946e-02 -1.25619662e-04 9.99520564e-01 -6.94905155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.290385723 meters 0.015223788421046625 Centerline is valid? [True, True] Translation: X:185.72, Y:-32.27, Z:-6.95 [[ 9.00782014e-01 4.33450583e-01 2.66899951e-02 1.85724621e+02] [-4.33260514e-01 9.01177337e-01 -1.28349246e-02 -3.22702254e+01] [-2.96157243e-02 -2.25173359e-06 9.99561358e-01 -6.95215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35038572300002 meters 0.015131037010821975 Centerline is valid? [True, True] Translation: X:185.78, Y:-32.30, Z:-6.95 [[ 9.01944971e-01 4.30999098e-01 2.71117606e-02 1.85781738e+02] [-4.30801594e-01 9.02352354e-01 -1.30467034e-02 -3.22962750e+01] [-3.00874784e-02 8.76188209e-05 9.99547265e-01 -6.95199055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41038572300002 meters 0.015005436181123676 Centerline is valid? [True, True] Translation: X:185.84, Y:-32.32, Z:-6.95 [[ 9.01923910e-01 4.30930494e-01 2.88473425e-02 1.85839502e+02] [-4.30706514e-01 9.02385116e-01 -1.38924717e-02 -3.23200344e+01] [-3.20181022e-02 1.05214040e-04 9.99487284e-01 -6.95273641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.470385723 meters 0.014661921389615095 Centerline is valid? [True, True] Translation: X:185.90, Y:-32.34, Z:-6.95 [[ 9.00791982e-01 4.33235086e-01 2.96844491e-02 1.85898188e+02] [-4.32998876e-01 9.01280955e-01 -1.43043296e-02 -3.23420351e+01] [-3.29511661e-02 3.18922729e-05 9.99456962e-01 -6.95447759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.530385723 meters 0.01456587720471169 Centerline is valid? [True, True] Translation: X:185.96, Y:-32.36, Z:-6.96 [[ 8.98012795e-01 4.38976337e-01 2.95431166e-02 1.85956859e+02] [-4.38745132e-01 8.98498607e-01 -1.42464775e-02 -3.23623362e+01] [-3.27983156e-02 -1.68379528e-04 9.99461976e-01 -6.95771542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.590385723 meters 0.01568557552815983 Centerline is valid? [True, True] Translation: X:186.01, Y:-32.38, Z:-6.96 [[ 8.95098415e-01 4.45074305e-01 2.66024512e-02 1.86014706e+02] [-4.44889298e-01 8.95493576e-01 -1.28362331e-02 -3.23828420e+01] [-2.95354017e-02 -3.45453914e-04 9.99563675e-01 -6.96333127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.650385723 meters 0.01622089157659122 Centerline is valid? [True, True] Translation: X:186.07, Y:-32.40, Z:-6.97 [[ 8.91394932e-01 4.52513702e-01 2.54248837e-02 1.86071695e+02] [-4.52347526e-01 8.91757275e-01 -1.22751146e-02 -3.24047969e+01] [-2.82274826e-02 -5.58908259e-04 9.99601369e-01 -6.96592296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.710385723 meters 0.01671918031965996 Centerline is valid? [True, True] Translation: X:186.13, Y:-32.43, Z:-6.97 [[ 8.89235589e-01 4.56758908e-01 2.51270323e-02 1.86128306e+02] [-4.56598227e-01 8.89590261e-01 -1.21336733e-02 -3.24290952e+01] [-2.78949266e-02 -6.83264302e-04 9.99610627e-01 -6.96817128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.770385723 meters 0.017997636028097667 Centerline is valid? [True, True] Translation: X:186.19, Y:-32.45, Z:-6.97 [[ 8.87211556e-01 4.60678459e-01 2.51199414e-02 1.86185164e+02] [-4.60519232e-01 8.87566740e-01 -1.21375376e-02 -3.24515657e+01] [-2.78871266e-02 -7.99652457e-04 9.99610759e-01 -6.97175751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.830385723 meters 0.017772623957106697 Centerline is valid? [True, True] Translation: X:186.24, Y:-32.48, Z:-6.97 [[ 8.86473904e-01 4.61999917e-01 2.68345594e-02 1.86239969e+02] [-4.61818568e-01 8.86879520e-01 -1.29741495e-02 -3.24809455e+01] [-2.97930772e-02 -8.91452841e-04 9.99555690e-01 -6.97158169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.890385723 meters 0.019861629019312595 Centerline is valid? [True, True] Translation: X:186.30, Y:-32.51, Z:-6.97 [[ 8.86641043e-01 4.61642293e-01 2.74600446e-02 1.86295095e+02] [-4.61451952e-01 8.87065723e-01 -1.32853039e-02 -3.25100619e+01] [-3.04919224e-02 -8.92195487e-04 9.99534615e-01 -6.97464957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.950385723 meters 0.01912568283393761 Centerline is valid? [True, True] Translation: X:186.35, Y:-32.54, Z:-6.98 [[ 8.85444043e-01 4.63990369e-01 2.64912200e-02 1.86350272e+02] [-4.63814039e-01 8.85839754e-01 -1.28245145e-02 -3.25360136e+01] [-2.94174270e-02 -9.31609766e-04 9.99566780e-01 -6.97711420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.010385723 meters 0.02157526575139774 Centerline is valid? [True, True] Translation: X:186.40, Y:-32.56, Z:-6.98 [[ 8.82895423e-01 4.68915065e-01 2.47857528e-02 1.86404815e+02] [-4.68762410e-01 8.83242677e-01 -1.20073479e-02 -3.25603485e+01] [-2.75222610e-02 -1.01739674e-03 9.99620673e-01 -6.98161711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07038572300002 meters 0.02295789315360954 Centerline is valid? [True, True] Translation: X:186.46, Y:-32.59, Z:-6.99 [[ 8.81106032e-01 4.72334938e-01 2.34918275e-02 1.86460245e+02] [-4.72199024e-01 8.81418499e-01 -1.13803173e-02 -3.25862792e+01] [-2.60814528e-02 -1.06555182e-03 9.99659253e-01 -6.98551537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13038572300002 meters 0.023651675485426 Centerline is valid? [True, True] Translation: X:186.51, Y:-32.62, Z:-6.99 [[ 8.79681942e-01 4.75052170e-01 2.20253606e-02 1.86513586e+02] [-4.74933550e-01 8.79956977e-01 -1.06696988e-02 -3.26153515e+01] [-2.44500333e-02 -1.07464129e-03 9.99700476e-01 -6.98832713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19038572300002 meters 0.023838071244503902 Centerline is valid? [True, True] Translation: X:186.57, Y:-32.65, Z:-6.99 [[ 8.80469377e-01 4.73543737e-01 2.30218434e-02 1.86566900e+02] [-4.73413513e-01 8.80769648e-01 -1.11567680e-02 -3.26467358e+01] [-2.55601585e-02 -1.07565917e-03 9.99672707e-01 -6.98931155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.250385723 meters 0.021278258587337017 Centerline is valid? [True, True] Translation: X:186.62, Y:-32.68, Z:-6.99 [[ 8.82106808e-01 4.70415948e-01 2.44216225e-02 1.86617892e+02] [-4.70268156e-01 8.82444190e-01 -1.18369613e-02 -3.26820932e+01] [-2.71190143e-02 -1.04324723e-03 9.99631668e-01 -6.99010163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.310385723 meters 0.022924820673334796 Centerline is valid? [True, True] Translation: X:186.67, Y:-32.71, Z:-6.99 [[ 8.83673767e-01 4.67394349e-01 2.57525766e-02 1.86670775e+02] [-4.67228690e-01 8.84048370e-01 -1.24832490e-02 -3.27118246e+01] [-2.86011234e-02 -1.00122296e-03 9.99590403e-01 -6.99125834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.370385723 meters 0.0225192357026442 Centerline is valid? [True, True] Translation: X:186.72, Y:-32.74, Z:-6.99 [[ 8.84463637e-01 4.65879608e-01 2.60819052e-02 1.86724762e+02] [-4.65709003e-01 8.84847593e-01 -1.26436640e-02 -3.27438604e+01] [-2.89689362e-02 -9.63717027e-04 9.99579848e-01 -6.99385126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.430385723 meters 0.022180590142512852 Centerline is valid? [True, True] Translation: X:186.78, Y:-32.77, Z:-7.00 [[ 8.84439046e-01 4.65963086e-01 2.54160878e-02 1.86780604e+02] [-4.65801090e-01 8.84803660e-01 -1.23218039e-02 -3.27734722e+01] [-2.82297533e-02 -9.40956950e-04 9.99601018e-01 -6.99703183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.490385723 meters 0.02146202995608408 Centerline is valid? [True, True] Translation: X:186.83, Y:-32.81, Z:-7.00 [[ 8.83523470e-01 4.67797167e-01 2.34965453e-02 1.86833706e+02] [-4.67659134e-01 8.83835376e-01 -1.14001478e-02 -3.28066297e+01] [-2.61000348e-02 -9.16075853e-04 9.99658916e-01 -7.00123007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.550385723 meters 0.023067592186430473 Centerline is valid? [True, True] Translation: X:186.89, Y:-32.84, Z:-7.01 [[ 8.81964441e-01 4.70775669e-01 2.25608983e-02 1.86887908e+02] [-4.70649328e-01 8.82252426e-01 -1.09483914e-02 -3.28351843e+01] [-2.50586436e-02 -9.62179702e-04 9.99685520e-01 -7.00513098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.610385723 meters 0.02507718620729493 Centerline is valid? [True, True] Translation: X:186.94, Y:-32.87, Z:-7.01 [[ 8.80479695e-01 4.73475697e-01 2.40056685e-02 1.86941786e+02] [-4.73333674e-01 8.80806188e-01 -1.16486924e-02 -3.28653112e+01] [-2.66597141e-02 -1.10625414e-03 9.99643955e-01 -7.00657016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.670385723 meters 0.022906326143847522 Centerline is valid? [True, True] Translation: X:186.99, Y:-32.90, Z:-7.01 [[ 8.79428460e-01 4.75323347e-01 2.59480033e-02 1.86994295e+02] [-4.75157997e-01 8.79810294e-01 -1.25985978e-02 -3.29000720e+01] [-2.88177281e-02 -1.24983579e-03 9.99583902e-01 -7.00665073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.730385723 meters 0.024048603596863918 Centerline is valid? [True, True] Translation: X:187.05, Y:-32.93, Z:-7.01 [[ 8.78524444e-01 4.76968166e-01 2.63850224e-02 1.87047137e+02] [-4.76797666e-01 8.78919582e-01 -1.28200256e-02 -3.29303659e+01] [-2.93050570e-02 -1.31761122e-03 9.99569646e-01 -7.00830993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.790385723 meters 0.024611992835090545 Centerline is valid? [True, True] Translation: X:187.10, Y:-32.96, Z:-7.01 [[ 8.77976873e-01 4.77929248e-01 2.72074291e-02 1.87101474e+02] [-4.77748303e-01 8.78397237e-01 -1.32232400e-02 -3.29614963e+01] [-3.02187037e-02 -1.38860416e-03 9.99542346e-01 -7.01002058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85038572300002 meters 0.024826968825806216 Centerline is valid? [True, True] Translation: X:187.16, Y:-32.99, Z:-7.01 [[ 8.77874716e-01 4.78082781e-01 2.77999631e-02 1.87157522e+02] [-4.77893683e-01 8.78313638e-01 -1.35196334e-02 -3.29908920e+01] [-3.08805906e-02 -1.41688245e-03 9.99522077e-01 -7.01270966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91038572300002 meters 0.024794190246092092 Centerline is valid? [True, True] Translation: X:187.21, Y:-33.02, Z:-7.02 [[ 8.78699804e-01 4.76521772e-01 2.85246518e-02 1.87211221e+02] [-4.76321507e-01 8.79161575e-01 -1.38833066e-02 -3.30217019e+01] [-3.16934757e-02 -1.38764637e-03 9.99496672e-01 -7.01503497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.970385723 meters 0.023682554831734735 Centerline is valid? [True, True] Translation: X:187.26, Y:-33.06, Z:-7.02 [[ 8.80476817e-01 4.73214392e-01 2.87873842e-02 1.87263036e+02] [-4.73008600e-01 8.80946368e-01 -1.40128467e-02 -3.30551120e+01] [-3.19912223e-02 -1.27869363e-03 9.99487332e-01 -7.01658509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.030385723 meters 0.02306618382062365 Centerline is valid? [True, True] Translation: X:187.32, Y:-33.09, Z:-7.02 [[ 8.82315507e-01 4.69832796e-01 2.78655654e-02 1.87315782e+02] [-4.69638185e-01 8.82754721e-01 -1.35675144e-02 -3.30878461e+01] [-3.09729227e-02 -1.11590522e-03 9.99519601e-01 -7.01961139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.090385723 meters 0.022958213394134785 Centerline is valid? [True, True] Translation: X:187.37, Y:-33.12, Z:-7.02 [[ 8.83842053e-01 4.66967089e-01 2.76579500e-02 1.87366917e+02] [-4.66773880e-01 8.84274124e-01 -1.34691731e-02 -3.31203936e+01] [-3.07468700e-02 -1.00538701e-03 9.99526698e-01 -7.02175008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.150385723 meters 0.0199391861554681 Centerline is valid? [True, True] Translation: X:187.42, Y:-33.16, Z:-7.02 [[ 8.84820553e-01 4.65009129e-01 2.93104013e-02 1.87417889e+02] [-4.64791048e-01 8.85305328e-01 -1.42743457e-02 -3.31567562e+01] [-3.25863555e-02 -9.92977647e-04 9.99468430e-01 -7.02213245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.210385723 meters 0.022264155826866232 Centerline is valid? [True, True] Translation: X:187.47, Y:-33.18, Z:-7.02 [[ 8.84294456e-01 4.65970388e-01 2.99150927e-02 1.87472935e+02] [-4.65743439e-01 8.84799703e-01 -1.45785950e-02 -3.31836714e+01] [-3.32620587e-02 -1.04098744e-03 9.99446123e-01 -7.02392313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.270385723 meters 0.025154594697159097 Centerline is valid? [True, True] Translation: X:187.53, Y:-33.21, Z:-7.03 [[ 8.82189531e-01 4.70034732e-01 2.84426099e-02 1.87527564e+02] [-4.69831525e-01 8.82647196e-01 -1.38660028e-02 -3.32088330e+01] [-3.16222928e-02 -1.13079232e-03 9.99499251e-01 -7.02691193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.330385723 meters 0.026554495155590024 Centerline is valid? [True, True] Translation: X:187.58, Y:-33.23, Z:-7.03 [[ 8.81196352e-01 4.71958050e-01 2.73603531e-02 1.87584263e+02] [-4.71770936e-01 8.81620251e-01 -1.33385322e-02 -3.32338019e+01] [-3.04166690e-02 -1.15395347e-03 9.99536640e-01 -7.03140295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.390385723 meters 0.02308576876056273 Centerline is valid? [True, True] Translation: X:187.64, Y:-33.27, Z:-7.03 [[ 8.80925993e-01 4.72535931e-01 2.60612574e-02 1.87637384e+02] [-4.72366403e-01 8.81310697e-01 -1.27057604e-02 -3.32672481e+01] [-2.89719932e-02 -1.11762786e-03 9.99579599e-01 -7.03363469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.450385723 meters 0.02587239205234086 Centerline is valid? [True, True] Translation: X:187.69, Y:-33.29, Z:-7.04 [[ 8.81458582e-01 4.71566114e-01 2.56157930e-02 1.87693550e+02] [-4.71401702e-01 8.81830072e-01 -1.24963637e-02 -3.32917889e+01] [-2.84816383e-02 -1.06030139e-03 9.99593754e-01 -7.03711524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.510385723 meters 0.023771492523725058 Centerline is valid? [True, True] Translation: X:187.75, Y:-33.32, Z:-7.04 [[ 8.82410331e-01 4.69783758e-01 2.55974209e-02 1.87747056e+02] [-4.69618634e-01 8.82780963e-01 -1.24944048e-02 -3.33235846e+01] [-2.84665843e-02 -9.95833958e-04 9.99594249e-01 -7.03857055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57038572300002 meters 0.02189024773775728 Centerline is valid? [True, True] Translation: X:187.80, Y:-33.36, Z:-7.04 [[ 8.83722589e-01 4.67244375e-01 2.67783506e-02 1.87799838e+02] [-4.67062211e-01 8.84127703e-01 -1.30803660e-02 -3.33565498e+01] [-2.97872090e-02 -9.47740766e-04 9.99555813e-01 -7.03739370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63038572300002 meters 0.020462053863884094 Centerline is valid? [True, True] Translation: X:187.85, Y:-33.39, Z:-7.04 [[ 8.84622047e-01 4.65422700e-01 2.87322770e-02 1.87852900e+02] [-4.65211980e-01 8.85088022e-01 -1.40358963e-02 -3.33888492e+01] [-3.19632190e-02 -9.50136171e-04 9.99488594e-01 -7.03633329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69038572300002 meters 0.020229666249663564 Centerline is valid? [True, True] Translation: X:187.91, Y:-33.42, Z:-7.04 [[ 8.85178722e-01 4.64304889e-01 2.96580481e-02 1.87908090e+02] [-4.64079432e-01 8.85674942e-01 -1.44974911e-02 -3.34171213e+01] [-3.29986460e-02 -9.30819487e-04 9.99454963e-01 -7.03801575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.750385723 meters 0.020345937834378942 Centerline is valid? [True, True] Translation: X:187.96, Y:-33.44, Z:-7.04 [[ 8.84719595e-01 4.65248166e-01 2.85549046e-02 1.87964245e+02] [-4.65039397e-01 8.85179808e-01 -1.39666091e-02 -3.34434359e+01] [-3.17741643e-02 -9.22622862e-04 9.99494648e-01 -7.04106761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.810385723 meters 0.021414751453051866 Centerline is valid? [True, True] Translation: X:188.02, Y:-33.47, Z:-7.04 [[ 8.84067541e-01 4.66564338e-01 2.72452081e-02 1.88020358e+02] [-4.66374665e-01 8.84486786e-01 -1.33340415e-02 -3.34680258e+01] [-3.03192148e-02 -9.18281534e-04 9.99539845e-01 -7.04447919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.870385723 meters 0.02155447209689232 Centerline is valid? [True, True] Translation: X:188.08, Y:-33.49, Z:-7.05 [[ 8.83440492e-01 4.67941995e-01 2.37315394e-02 1.88076912e+02] [-4.67798405e-01 8.83758786e-01 -1.16215504e-02 -3.34934005e+01] [-2.64111680e-02 -8.34628082e-04 9.99650816e-01 -7.05005139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.930385723 meters 0.021535924305317755 Centerline is valid? [True, True] Translation: X:188.13, Y:-33.52, Z:-7.05 [[ 8.83287623e-01 4.68321474e-01 2.18625824e-02 1.88132812e+02] [-4.68199743e-01 8.83557801e-01 -1.07057008e-02 -3.35203554e+01] [-2.43305648e-02 -7.79842469e-04 9.99703664e-01 -7.05306946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.990385723 meters 0.022605707461779288 Centerline is valid? [True, True] Translation: X:188.19, Y:-33.55, Z:-7.05 [[ 8.83817226e-01 4.67295837e-01 2.23989180e-02 1.88188504e+02] [-4.67167552e-01 8.84100683e-01 -1.09754561e-02 -3.35465711e+01] [-2.49316837e-02 -7.63750513e-04 9.99688866e-01 -7.05401446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.050385723 meters 0.02117256088972953 Centerline is valid? [True, True] Translation: X:188.24, Y:-33.58, Z:-7.05 [[ 8.84855455e-01 4.65228538e-01 2.43563326e-02 1.88243188e+02] [-4.65075795e-01 8.85190280e-01 -1.19445687e-02 -3.35756986e+01] [-2.71169431e-02 -7.58323930e-04 9.99631980e-01 -7.05232284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.110385723 meters 0.021098952596296405 Centerline is valid? [True, True] Translation: X:188.30, Y:-33.60, Z:-7.05 [[ 8.85297298e-01 4.64381100e-01 2.44721898e-02 1.88298712e+02] [-4.64226543e-01 8.85635170e-01 -1.20026160e-02 -3.36041288e+01] [-2.72472200e-02 -7.34756569e-04 9.99628456e-01 -7.05244023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.170385723 meters 0.02187843023011026 Centerline is valid? [True, True] Translation: X:188.36, Y:-33.63, Z:-7.06 [[ 8.85322524e-01 4.64347247e-01 2.42004670e-02 1.88355999e+02] [-4.64196069e-01 8.85652928e-01 -1.18701619e-02 -3.36283776e+01] [-2.69450914e-02 -7.24840009e-04 9.99636652e-01 -7.05545392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.230385723 meters 0.021761574090530336 Centerline is valid? [True, True] Translation: X:188.41, Y:-33.65, Z:-7.06 [[ 8.84465430e-01 4.66080202e-01 2.21392718e-02 1.88412622e+02] [-4.65954056e-01 8.84742193e-01 -1.08660166e-02 -3.36527864e+01] [-2.46519831e-02 -7.05267436e-04 9.99695845e-01 -7.05944250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.290385723 meters 0.02423216179252732 Centerline is valid? [True, True] Translation: X:188.47, Y:-33.67, Z:-7.06 [[ 8.83390165e-01 4.68193266e-01 2.04176664e-02 1.88469242e+02] [-4.68086395e-01 8.83625813e-01 -1.00274522e-02 -3.36745914e+01] [-2.27363626e-02 -6.99079179e-04 9.99741251e-01 -7.06298662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35038572300002 meters 0.023973184646162115 Centerline is valid? [True, True] Translation: X:188.52, Y:-33.70, Z:-7.06 [[ 8.82301127e-01 4.70269458e-01 1.97827849e-02 1.88524876e+02] [-4.70169624e-01 8.82522581e-01 -9.71687840e-03 -3.37014302e+01] [-2.20283055e-02 -7.28051766e-04 9.99757082e-01 -7.06419977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41038572300002 meters 0.024120131817083647 Centerline is valid? [True, True] Translation: X:188.58, Y:-33.73, Z:-7.07 [[ 8.80592897e-01 4.73486603e-01 1.91464517e-02 1.88581465e+02] [-4.73393697e-01 8.80800678e-01 -9.41131206e-03 -3.37256533e+01] [-2.13203378e-02 -7.76275012e-04 9.99772394e-01 -7.06589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.470385723 meters 0.024994996412269106 Centerline is valid? [True, True] Translation: X:188.64, Y:-33.75, Z:-7.07 [[ 8.80242574e-01 4.74141898e-01 1.90386941e-02 1.88637883e+02] [-4.74050202e-01 8.80448090e-01 -9.35770628e-03 -3.37520618e+01] [-2.11994625e-02 -7.88245340e-04 9.99774955e-01 -7.06816096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.530385723 meters 0.02316244355042821 Centerline is valid? [True, True] Translation: X:188.69, Y:-33.78, Z:-7.07 [[ 8.80566635e-01 4.73499265e-01 2.00211778e-02 1.88692400e+02] [-4.73397556e-01 8.80793843e-01 -9.84680218e-03 -3.37815047e+01] [-2.22969837e-02 -8.07211182e-04 9.99751065e-01 -7.06692359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.590385723 meters 0.022514018240289025 Centerline is valid? [True, True] Translation: X:188.75, Y:-33.81, Z:-7.07 [[ 8.81453396e-01 4.71803284e-01 2.10136055e-02 1.88748962e+02] [-4.71690539e-01 8.81703482e-01 -1.03443138e-02 -3.38067499e+01] [-2.34082504e-02 -7.93888375e-04 9.99725674e-01 -7.06706786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.650385723 meters 0.022116215067775287 Centerline is valid? [True, True] Translation: X:188.80, Y:-33.84, Z:-7.07 [[ 8.82410670e-01 4.70060536e-01 1.98620856e-02 1.88803876e+02] [-4.69959409e-01 8.82633894e-01 -9.77561174e-03 -3.38350943e+01] [-2.21260792e-02 -7.08269888e-04 9.99754937e-01 -7.07126573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.710385723 meters 0.020595260234429008 Centerline is valid? [True, True] Translation: X:188.86, Y:-33.86, Z:-7.07 [[ 8.83833525e-01 4.67489838e-01 1.70748561e-02 1.88859515e+02] [-4.67414551e-01 8.83998274e-01 -8.40768943e-03 -3.38619516e+01] [-1.90246527e-02 -5.50038406e-04 9.99818864e-01 -7.07372454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.770385723 meters 0.019390550777690245 Centerline is valid? [True, True] Translation: X:188.91, Y:-33.89, Z:-7.08 [[ 8.86627026e-01 4.62225523e-01 1.54946229e-02 1.88914246e+02] [-4.62162586e-01 8.86762321e-01 -7.63738143e-03 -3.38901612e+01] [-1.72702404e-02 -3.89526203e-04 9.99850782e-01 -7.07601863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.830385723 meters 0.018693593279242755 Centerline is valid? [True, True] Translation: X:188.97, Y:-33.92, Z:-7.08 [[ 8.88217075e-01 4.59120880e-01 1.66866942e-02 1.88968626e+02] [-4.59047361e-01 8.88373734e-01 -8.22370848e-03 -3.39186919e+01] [-1.85996971e-02 -3.55544655e-04 9.99826947e-01 -7.07531597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.890385723 meters 0.018638930446643436 Centerline is valid? [True, True] Translation: X:189.02, Y:-33.95, Z:-7.08 [[ 8.89251712e-01 4.57050831e-01 1.83284087e-02 1.89024351e+02] [-4.56961614e-01 8.89440511e-01 -9.03660389e-03 -3.39450344e+01] [-2.04322165e-02 -3.39563753e-04 9.99791183e-01 -7.07672258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.950385723 meters 0.018155454757089497 Centerline is valid? [True, True] Translation: X:189.08, Y:-33.97, Z:-7.08 [[ 8.90246849e-01 4.55062401e-01 1.94617366e-02 1.89079458e+02] [-4.54961194e-01 8.90459498e-01 -9.60182183e-03 -3.39730497e+01] [-2.16993163e-02 -3.06343294e-04 9.99764495e-01 -7.07672227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.010385723 meters 0.018237828667010566 Centerline is valid? [True, True] Translation: X:189.14, Y:-34.00, Z:-7.08 [[ 8.90510135e-01 4.54530383e-01 1.98451628e-02 1.89136665e+02] [-4.54424878e-01 8.90731185e-01 -9.79721607e-03 -3.39967851e+01] [-2.21298378e-02 -2.93615489e-04 9.99755062e-01 -7.08021115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07038572300002 meters 0.018518240618905262 Centerline is valid? [True, True] Translation: X:189.19, Y:-34.02, Z:-7.09 [[ 8.90049037e-01 4.55487163e-01 1.85514473e-02 1.89194261e+02] [-4.55395071e-01 8.90242303e-01 -9.16353626e-03 -3.40206152e+01] [-2.06891563e-02 -2.92241039e-04 9.99785914e-01 -7.08531279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13038572300002 meters 0.01913186147919946 Centerline is valid? [True, True] Translation: X:189.25, Y:-34.04, Z:-7.09 [[ 8.89525378e-01 4.56513198e-01 1.84472620e-02 1.89250925e+02] [-4.56422238e-01 8.89716587e-01 -9.11790729e-03 -3.40442955e+01] [-2.05752800e-02 -3.09130652e-04 9.99788259e-01 -7.08878950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19038572300002 meters 0.0193917099400112 Centerline is valid? [True, True] Translation: X:189.31, Y:-34.07, Z:-7.09 [[ 8.89913137e-01 4.55712520e-01 1.95117469e-02 1.89307323e+02] [-4.55610436e-01 8.90126961e-01 -9.65004669e-03 -3.40670663e+01] [-2.17655791e-02 -3.02052191e-04 9.99763056e-01 -7.09131877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.250385723 meters 0.019409481882835488 Centerline is valid? [True, True] Translation: X:189.36, Y:-34.09, Z:-7.09 [[ 8.89981716e-01 4.55553233e-01 2.00947014e-02 1.89363825e+02] [-4.55444796e-01 8.90208493e-01 -9.94370293e-03 -3.40931747e+01] [-2.24183599e-02 -3.02313386e-04 9.99748631e-01 -7.09360208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.310385723 meters 0.018902361742738953 Centerline is valid? [True, True] Translation: X:189.42, Y:-34.12, Z:-7.09 [[ 8.90043486e-01 4.55369867e-01 2.14680562e-02 1.89418795e+02] [-4.55245892e-01 8.90302301e-01 -1.06297411e-02 -3.41218897e+01] [-2.39535236e-02 -3.12312626e-04 9.99713024e-01 -7.09311574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.370385723 meters 0.018924008005284702 Centerline is valid? [True, True] Translation: X:189.48, Y:-34.15, Z:-7.10 [[ 8.89927631e-01 4.55525682e-01 2.29164787e-02 1.89475363e+02] [-4.55384267e-01 8.90222581e-01 -1.13545619e-02 -3.41481129e+01] [-2.55730614e-02 -3.31065508e-04 9.99672901e-01 -7.09577465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.430385723 meters 0.01926734906083377 Centerline is valid? [True, True] Translation: X:189.53, Y:-34.17, Z:-7.10 [[ 8.89014203e-01 4.57289728e-01 2.32347186e-02 1.89532313e+02] [-4.57144773e-01 8.89317693e-01 -1.15194176e-02 -3.41736340e+01] [-2.59307577e-02 -3.80704287e-04 9.99663669e-01 -7.09778902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.490385723 meters 0.01960415618338708 Centerline is valid? [True, True] Translation: X:189.59, Y:-34.20, Z:-7.10 [[ 8.87527949e-01 4.60194704e-01 2.26930430e-02 1.89589090e+02] [-4.60057210e-01 8.87817905e-01 -1.12574716e-02 -3.41991911e+01] [-2.53279187e-02 -4.48777326e-04 9.99679096e-01 -7.10094808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.550385723 meters 0.021760266584081076 Centerline is valid? [True, True] Translation: X:189.65, Y:-34.22, Z:-7.11 [[ 8.86243453e-01 4.62688216e-01 2.21846065e-02 1.89646423e+02] [-4.62557394e-01 8.86520932e-01 -1.10133561e-02 -3.42197235e+01] [-2.47628682e-02 -5.01139008e-04 9.99693228e-01 -7.10622456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.610385723 meters 0.021121662177533123 Centerline is valid? [True, True] Translation: X:189.70, Y:-34.25, Z:-7.11 [[ 8.85254757e-01 4.64630217e-01 2.10422783e-02 1.89701301e+02] [-4.64513039e-01 8.85504650e-01 -1.04475646e-02 -3.42485002e+01] [-2.34872895e-02 -5.25656338e-04 9.99723997e-01 -7.10734155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.670385723 meters 0.02126864986745177 Centerline is valid? [True, True] Translation: X:189.76, Y:-34.27, Z:-7.11 [[ 8.84344323e-01 4.66370170e-01 2.08322432e-02 1.89757529e+02] [-4.66255661e-01 8.84589481e-01 -1.03493410e-02 -3.42744766e+01] [-2.32546071e-02 -5.60770395e-04 9.99729418e-01 -7.10924288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.730385723 meters 0.021806853800222764 Centerline is valid? [True, True] Translation: X:189.81, Y:-34.30, Z:-7.11 [[ 8.83209870e-01 4.68479296e-01 2.16211633e-02 1.89814349e+02] [-4.68356410e-01 8.83474249e-01 -1.07482485e-02 -3.42985425e+01] [-2.41370729e-02 -6.33451287e-04 9.99708458e-01 -7.11199542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.790385723 meters 0.021464580256363944 Centerline is valid? [True, True] Translation: X:189.87, Y:-34.33, Z:-7.11 [[ 8.81985430e-01 4.70705585e-01 2.31938412e-02 1.89869760e+02] [-4.70564763e-01 8.82290035e-01 -1.15367794e-02 -3.43257468e+01] [-2.58941215e-02 -7.38933108e-04 9.99664418e-01 -7.11186587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85038572300002 meters 0.022744872496075548 Centerline is valid? [True, True] Translation: X:189.93, Y:-34.35, Z:-7.12 [[ 8.80358407e-01 4.73784465e-01 2.23014887e-02 1.89926273e+02] [-4.73655053e-01 8.80640481e-01 -1.11010938e-02 -3.43492396e+01] [-2.48991195e-02 -7.90271565e-04 9.99689657e-01 -7.11542240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91038572300002 meters 0.025207293501018337 Centerline is valid? [True, True] Translation: X:189.98, Y:-34.37, Z:-7.12 [[ 8.78868261e-01 4.76600457e-01 2.10376902e-02 1.89983430e+02] [-4.76486018e-01 8.79119637e-01 -1.04755931e-02 -3.43693689e+01] [-2.34873191e-02 -8.17498978e-04 9.99723801e-01 -7.12084092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.970385723 meters 0.02343552150821728 Centerline is valid? [True, True] Translation: X:190.04, Y:-34.40, Z:-7.12 [[ 8.78257357e-01 4.77689391e-01 2.18371361e-02 1.90037754e+02] [-4.77566449e-01 8.78528356e-01 -1.08726499e-02 -3.43986244e+01] [-2.43782928e-02 -8.79698848e-04 9.99702418e-01 -7.12238378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.030385723 meters 0.023005497509902037 Centerline is valid? [True, True] Translation: X:190.09, Y:-34.43, Z:-7.12 [[ 8.78908922e-01 4.76382377e-01 2.40611178e-02 1.90093742e+02] [-4.76232357e-01 8.79237729e-01 -1.19899338e-02 -3.44270197e+01] [-2.68672357e-02 -9.20623079e-04 9.99638587e-01 -7.12276526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.090385723 meters 0.022366979006457743 Centerline is valid? [True, True] Translation: X:190.15, Y:-34.45, Z:-7.13 [[ 8.79843617e-01 4.74625337e-01 2.46170548e-02 1.90149371e+02] [-4.74467581e-01 8.80187483e-01 -1.22682127e-02 -3.44548902e+01] [-2.74904281e-02 -8.85885838e-04 9.99621674e-01 -7.12558516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.150385723 meters 0.02215453290389819 Centerline is valid? [True, True] Translation: X:190.20, Y:-34.48, Z:-7.13 [[ 8.80872587e-01 4.72750880e-01 2.38765906e-02 1.90204649e+02] [-4.72601601e-01 8.81195762e-01 -1.19061111e-02 -3.44827675e+01] [-2.66685750e-02 -7.96348048e-04 9.99644013e-01 -7.13053489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.210385723 meters 0.022142003230676402 Centerline is valid? [True, True] Translation: X:190.26, Y:-34.51, Z:-7.13 [[ 8.80866173e-01 4.72754192e-01 2.40470403e-02 1.90259467e+02] [-4.72602570e-01 8.81193986e-01 -1.19987011e-02 -3.45086771e+01] [-2.68625435e-02 -7.95443144e-04 9.99638820e-01 -7.13242249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.270385723 meters 0.022063418001305 Centerline is valid? [True, True] Translation: X:190.31, Y:-34.54, Z:-7.13 [[ 8.81676465e-01 4.71180366e-01 2.52125810e-02 1.90314272e+02] [-4.71012810e-01 8.82036541e-01 -1.25885832e-02 -3.45351223e+01] [-2.81699110e-02 -7.76391138e-04 9.99602848e-01 -7.13466096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.330385723 meters 0.021096773559348095 Centerline is valid? [True, True] Translation: X:190.37, Y:-34.57, Z:-7.14 [[ 8.81923934e-01 4.70715731e-01 2.52364089e-02 1.90368062e+02] [-4.70547576e-01 8.82284605e-01 -1.26037309e-02 -3.45665197e+01] [-2.81984695e-02 -7.59399069e-04 9.99602056e-01 -7.13719519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.390385723 meters 0.022965717613087914 Centerline is valid? [True, True] Translation: X:190.42, Y:-34.60, Z:-7.14 [[ 8.82472835e-01 4.69698392e-01 2.50023327e-02 1.90420978e+02] [-4.69532722e-01 8.82826660e-01 -1.24944606e-02 -3.45964363e+01] [-2.79413539e-02 -7.13391298e-04 9.99609310e-01 -7.14097394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.450385723 meters 0.01916737572188293 Centerline is valid? [True, True] Translation: X:190.47, Y:-34.63, Z:-7.14 [[ 8.83205660e-01 4.68313872e-01 2.50974026e-02 1.90474772e+02] [-4.68146192e-01 8.83561924e-01 -1.25486703e-02 -3.46284592e+01] [-2.80518256e-02 -6.66196840e-04 9.99606248e-01 -7.14031349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.510385723 meters 0.01824955458824776 Centerline is valid? [True, True] Translation: X:190.53, Y:-34.66, Z:-7.14 [[ 8.84879512e-01 4.65144650e-01 2.50739749e-02 1.90526672e+02] [-4.64975790e-01 8.85234513e-01 -1.25447637e-02 -3.46626745e+01] [-2.80314777e-02 -5.58186876e-04 9.99606885e-01 -7.14266804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57038572300002 meters 0.01848495375674315 Centerline is valid? [True, True] Translation: X:190.58, Y:-34.69, Z:-7.15 [[ 8.85146018e-01 4.64598452e-01 2.57838317e-02 1.90580392e+02] [-4.64419416e-01 8.85521303e-01 -1.29084720e-02 -3.46916084e+01] [-2.88293883e-02 -5.48629475e-04 9.99584196e-01 -7.14500089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63038572300002 meters 0.01905435112305358 Centerline is valid? [True, True] Translation: X:190.64, Y:-34.72, Z:-7.15 [[ 8.84088679e-01 4.66517639e-01 2.73587161e-02 1.90635770e+02] [-4.66316722e-01 8.84511663e-01 -1.37052171e-02 -3.47190151e+01] [-3.05928290e-02 -6.41199519e-04 9.99531724e-01 -7.14759527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69038572300002 meters 0.018773326482138083 Centerline is valid? [True, True] Translation: X:190.69, Y:-34.75, Z:-7.15 [[ 8.83645415e-01 4.67348669e-01 2.74954784e-02 1.90690455e+02] [-4.67145885e-01 8.84072835e-01 -1.37820322e-02 -3.47492289e+01] [-3.07490199e-02 -6.65969987e-04 9.99526915e-01 -7.14857629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.750385723 meters 0.0192947171040097 Centerline is valid? [True, True] Translation: X:190.75, Y:-34.78, Z:-7.15 [[ 8.83592992e-01 4.67493480e-01 2.67071392e-02 1.90745934e+02] [-4.67301993e-01 8.83996284e-01 -1.33946488e-02 -3.47773799e+01] [-2.98709228e-02 -6.44881582e-04 9.99553556e-01 -7.15168217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.810385723 meters 0.01888991952451075 Centerline is valid? [True, True] Translation: X:190.80, Y:-34.81, Z:-7.16 [[ 8.84040203e-01 4.66753781e-01 2.47755394e-02 1.90801289e+02] [-4.66588510e-01 8.84387124e-01 -1.24329438e-02 -3.48073271e+01] [-2.77142916e-02 -5.68759875e-04 9.99615723e-01 -7.15737531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.870385723 meters 0.01821215243182271 Centerline is valid? [True, True] Translation: X:190.85, Y:-34.84, Z:-7.16 [[ 8.85412334e-01 4.64140054e-01 2.48798753e-02 1.90853370e+02] [-4.63972109e-01 8.85761694e-01 -1.24941413e-02 -3.48412332e+01] [-2.78366719e-02 -4.81101431e-04 9.99612369e-01 -7.15788479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.930385723 meters 0.017955152031013534 Centerline is valid? [True, True] Translation: X:190.91, Y:-34.87, Z:-7.16 [[ 8.86946355e-01 4.61171348e-01 2.54391691e-02 1.90907146e+02] [-4.60994322e-01 8.87311014e-01 -1.27827649e-02 -3.48714934e+01] [-2.84674999e-02 -3.89685820e-04 9.99594643e-01 -7.16003455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.990385723 meters 0.01721872260064547 Centerline is valid? [True, True] Translation: X:190.96, Y:-34.90, Z:-7.16 [[ 8.87136241e-01 4.60737367e-01 2.66527337e-02 1.90961551e+02] [-4.60542606e-01 8.87536439e-01 -1.34006761e-02 -3.49021084e+01] [-2.98294645e-02 -3.86494012e-04 9.99554928e-01 -7.16070128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.050385723 meters 0.017304610421154283 Centerline is valid? [True, True] Translation: X:191.02, Y:-34.93, Z:-7.16 [[ 8.86579839e-01 4.61746402e-01 2.76848288e-02 1.91016499e+02] [-4.61536488e-01 8.87011880e-01 -1.39281639e-02 -3.49329082e+01] [-3.09880516e-02 -4.29129397e-04 9.99519663e-01 -7.16119495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.110385723 meters 0.018934938716142467 Centerline is valid? [True, True] Translation: X:191.07, Y:-34.96, Z:-7.17 [[ 8.84460549e-01 4.65927330e-01 2.53231348e-02 1.91072653e+02] [-4.65753158e-01 8.84822838e-01 -1.27491515e-02 -3.49564480e+01] [-2.83466661e-02 -5.18208495e-04 9.99598018e-01 -7.16578139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.170385723 meters 0.01975834451935047 Centerline is valid? [True, True] Translation: X:191.13, Y:-34.98, Z:-7.17 [[ 8.81870218e-01 4.70889634e-01 2.38300410e-02 1.91128276e+02] [-4.70737101e-01 8.82191901e-01 -1.20013034e-02 -3.49828522e+01] [-2.66739585e-02 -6.34092367e-04 9.99643986e-01 -7.16873771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.230385723 meters 0.02029807800307278 Centerline is valid? [True, True] Translation: X:191.18, Y:-35.01, Z:-7.17 [[ 8.80240818e-01 4.73978986e-01 2.28040183e-02 1.91183754e+02] [-4.73840318e-01 8.80535881e-01 -1.14854656e-02 -3.50106853e+01] [-2.55236257e-02 -6.95487666e-04 9.99673977e-01 -7.17126433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.290385723 meters 0.020527207752272136 Centerline is valid? [True, True] Translation: X:191.24, Y:-35.04, Z:-7.17 [[ 8.80551455e-01 4.73438426e-01 2.20270849e-02 1.91236677e+02] [-4.73308881e-01 8.80826672e-01 -1.10940277e-02 -3.50408365e+01] [-2.46543829e-02 -6.56752643e-04 9.99695819e-01 -7.17328537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35038572300002 meters 0.019201976320456945 Centerline is valid? [True, True] Translation: X:191.29, Y:-35.07, Z:-7.17 [[ 8.81315936e-01 4.71991105e-01 2.25081649e-02 1.91289961e+02] [-4.71855212e-01 8.81603089e-01 -1.13424694e-02 -3.50731690e+01] [-2.51968124e-02 -6.24295877e-04 9.99682315e-01 -7.17361143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41038572300002 meters 0.019267234627722507 Centerline is valid? [True, True] Translation: X:191.34, Y:-35.10, Z:-7.18 [[ 8.82247469e-01 4.70230953e-01 2.28528923e-02 1.91342622e+02] [-4.70090085e-01 8.82543211e-01 -1.15236022e-02 -3.51039402e+01] [-2.55874193e-02 -5.76249216e-04 9.99672422e-01 -7.17543259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.470385723 meters 0.01859234976430561 Centerline is valid? [True, True] Translation: X:191.40, Y:-35.14, Z:-7.18 [[ 8.82658354e-01 4.69418692e-01 2.36711291e-02 1.91395535e+02] [-4.69267083e-01 8.82975521e-01 -1.19429556e-02 -3.51361312e+01] [-2.65072742e-02 -5.66532183e-04 9.99648460e-01 -7.17685596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.530385723 meters 0.018872004161149997 Centerline is valid? [True, True] Translation: X:191.45, Y:-35.17, Z:-7.18 [[ 8.83514364e-01 4.67827166e-01 2.32403089e-02 1.91448435e+02] [-4.67680289e-01 8.83819829e-01 -1.17327500e-02 -3.51659968e+01] [-2.60291450e-02 -5.02981188e-04 9.99661058e-01 -7.17893923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.590385723 meters 0.018052612019497396 Centerline is valid? [True, True] Translation: X:191.50, Y:-35.20, Z:-7.18 [[ 8.84124496e-01 4.66746787e-01 2.17097052e-02 1.91503160e+02] [-4.66618181e-01 8.84390890e-01 -1.09647888e-02 -3.51973832e+01] [-2.43176455e-02 -4.35904748e-04 9.99704187e-01 -7.18075099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.650385723 meters 0.01824040934516659 Centerline is valid? [True, True] Translation: X:191.56, Y:-35.22, Z:-7.18 [[ 8.83995055e-01 4.67019873e-01 2.10993067e-02 1.91559783e+02] [-4.66898305e-01 8.84246718e-01 -1.06636910e-02 -3.52240456e+01] [-2.36371483e-02 -4.24580469e-04 9.99720513e-01 -7.18442417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.710385723 meters 0.018561884249798166 Centerline is valid? [True, True] Translation: X:191.62, Y:-35.25, Z:-7.19 [[ 8.82789756e-01 4.69302520e-01 2.09138817e-02 1.91615283e+02] [-4.69183542e-01 8.83037326e-01 -1.05775582e-02 -3.52511921e+01] [-2.34318129e-02 -4.74689098e-04 9.99725325e-01 -7.18675143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.770385723 meters 0.019430706961252067 Centerline is valid? [True, True] Translation: X:191.67, Y:-35.28, Z:-7.19 [[ 8.81371330e-01 4.71927001e-01 2.16675892e-02 1.91670677e+02] [-4.71799906e-01 8.81637451e-01 -1.09660543e-02 -3.52772825e+01] [-2.42781352e-02 -5.57600700e-04 9.99705087e-01 -7.18751354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.830385723 meters 0.019783188821999333 Centerline is valid? [True, True] Translation: X:191.73, Y:-35.30, Z:-7.19 [[ 8.79740481e-01 4.74957804e-01 2.17202916e-02 1.91727554e+02] [-4.74830811e-01 8.80008341e-01 -1.10009179e-02 -3.53030806e+01] [-2.43390096e-02 -6.35510922e-04 9.99703560e-01 -7.18912481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.890385723 meters 0.022013807812839667 Centerline is valid? [True, True] Translation: X:191.78, Y:-35.32, Z:-7.19 [[ 8.78482648e-01 4.77272544e-01 2.18896426e-02 1.91784507e+02] [-4.77144244e-01 8.78755042e-01 -1.10881528e-02 -3.53246950e+01] [-2.45277047e-02 -7.03767140e-04 9.99698903e-01 -7.19317042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.950385723 meters 0.020734583203315393 Centerline is valid? [True, True] Translation: X:191.84, Y:-35.36, Z:-7.19 [[ 8.77924742e-01 4.78299428e-01 2.18587474e-02 1.91839040e+02] [-4.78171778e-01 8.78196518e-01 -1.10737403e-02 -3.53552129e+01] [-2.44928395e-02 -7.30325496e-04 9.99699739e-01 -7.19367538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.010385723 meters 0.02084127154076728 Centerline is valid? [True, True] Translation: X:191.89, Y:-35.39, Z:-7.19 [[ 8.77811249e-01 4.78536763e-01 2.12126706e-02 1.91894916e+02] [-4.78416480e-01 8.78067231e-01 -1.07521700e-02 -3.53851731e+01] [-2.37714595e-02 -7.10115453e-04 9.99717167e-01 -7.19495189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07038572300002 meters 0.020913554775303003 Centerline is valid? [True, True] Translation: X:191.95, Y:-35.41, Z:-7.20 [[ 8.77571973e-01 4.78990235e-01 2.08755038e-02 1.91950164e+02] [-4.78873695e-01 8.77819947e-01 -1.05889358e-02 -3.54129590e+01] [-2.33969305e-02 -7.04176347e-04 9.99726006e-01 -7.19679022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13038572300002 meters 0.021320169219294357 Centerline is valid? [True, True] Translation: X:192.01, Y:-35.44, Z:-7.20 [[ 8.77401716e-01 4.79298651e-01 2.09530864e-02 1.92006846e+02] [-4.79181191e-01 8.77651582e-01 -1.06342524e-02 -3.54408671e+01] [-2.34864923e-02 -7.09813553e-04 9.99723902e-01 -7.19914007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19038572300002 meters 0.022976941644175335 Centerline is valid? [True, True] Translation: X:192.06, Y:-35.47, Z:-7.20 [[ 8.77486751e-01 4.79175796e-01 2.01880538e-02 1.92063169e+02] [-4.79066570e-01 8.77718691e-01 -1.02528267e-02 -3.54660323e+01] [-2.26323385e-02 -6.74702087e-04 9.99743628e-01 -7.20341032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.250385723 meters 0.02054744898933836 Centerline is valid? [True, True] Translation: X:192.12, Y:-35.50, Z:-7.20 [[ 8.78273368e-01 4.77743136e-01 1.99345664e-02 1.92116045e+02] [-4.77636084e-01 8.78499350e-01 -1.01322410e-02 -3.55001713e+01] [-2.23531122e-02 -6.22590804e-04 9.99749944e-01 -7.20354034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.310385723 meters 0.020270442521711837 Centerline is valid? [True, True] Translation: X:192.17, Y:-35.53, Z:-7.21 [[ 8.78278405e-01 4.77803297e-01 1.81948543e-02 1.92171215e+02] [-4.77714118e-01 8.78466667e-01 -9.24857307e-03 -3.55295448e+01] [-2.04025717e-02 -5.69116761e-04 9.99791684e-01 -7.20617771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.370385723 meters 0.020049957266089127 Centerline is valid? [True, True] Translation: X:192.23, Y:-35.56, Z:-7.21 [[ 8.77644520e-01 4.79011314e-01 1.69781564e-02 1.92226040e+02] [-4.78933806e-01 8.77808553e-01 -8.63448620e-03 -3.55578651e+01] [-1.90395875e-02 -5.53403560e-04 9.99818577e-01 -7.20848150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.430385723 meters 0.02052285237283349 Centerline is valid? [True, True] Translation: X:192.28, Y:-35.58, Z:-7.21 [[ 8.77577676e-01 4.79159007e-01 1.62501907e-02 1.92282858e+02] [-4.79087957e-01 8.77727957e-01 -8.26819834e-03 -3.55848435e+01] [-1.82250284e-02 -5.29284362e-04 9.99833770e-01 -7.21180314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.490385723 meters 0.020310261625253588 Centerline is valid? [True, True] Translation: X:192.34, Y:-35.61, Z:-7.21 [[ 8.78637836e-01 4.77192254e-01 1.68257810e-02 1.92337489e+02] [-4.77115590e-01 8.78798784e-01 -8.56797072e-03 -3.56131428e+01] [-1.88750452e-02 -4.99699189e-04 9.99821726e-01 -7.21369223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.550385723 meters 0.019401667625074726 Centerline is valid? [True, True] Translation: X:192.39, Y:-35.64, Z:-7.21 [[ 8.79731958e-01 4.75149962e-01 1.74411877e-02 1.92392064e+02] [-4.75067022e-01 8.79904709e-01 -8.88973460e-03 -3.56441392e+01] [-1.95705403e-02 -4.65149484e-04 9.99808370e-01 -7.21418966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.610385723 meters 0.018545279216413458 Centerline is valid? [True, True] Translation: X:192.45, Y:-35.67, Z:-7.22 [[ 8.80012170e-01 4.74637638e-01 1.72537723e-02 1.92446362e+02] [-4.74556395e-01 8.80181180e-01 -8.79304585e-03 -3.56745561e+01] [-1.93599562e-02 -4.49900625e-04 9.99812477e-01 -7.21518738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.670385723 meters 0.01769329468772035 Centerline is valid? [True, True] Translation: X:192.50, Y:-35.71, Z:-7.22 [[ 8.80621575e-01 4.73470006e-01 1.82152458e-02 1.92500247e+02] [-4.73379082e-01 8.80809830e-01 -9.28913134e-03 -3.57053001e+01] [-2.04422927e-02 -4.42506874e-04 9.99790937e-01 -7.21523992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.730385723 meters 0.016993106632396657 Centerline is valid? [True, True] Translation: X:192.55, Y:-35.74, Z:-7.22 [[ 8.81309541e-01 4.72124111e-01 1.98070101e-02 1.92554328e+02] [-4.72016104e-01 8.81531979e-01 -1.01078102e-02 -3.57356381e+01] [-2.22326537e-02 -4.41118208e-04 9.99752727e-01 -7.21529602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.790385723 meters 0.01729055409390786 Centerline is valid? [True, True] Translation: X:192.61, Y:-35.76, Z:-7.22 [[ 8.81275254e-01 4.72207712e-01 1.93339775e-02 1.92609820e+02] [-4.72104703e-01 8.81487205e-01 -9.87197607e-03 -3.57629121e+01] [-2.17042770e-02 -4.27733497e-04 9.99764343e-01 -7.21745030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85038572300002 meters 0.017089209900584882 Centerline is valid? [True, True] Translation: X:192.67, Y:-35.79, Z:-7.22 [[ 8.81146658e-01 4.72452464e-01 1.92155202e-02 1.92666077e+02] [-4.72350641e-01 8.81356051e-01 -9.81749779e-03 -3.57907682e+01] [-2.15740160e-02 -4.25807925e-04 9.99767163e-01 -7.21966019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91038572300002 meters 0.016472885630889254 Centerline is valid? [True, True] Translation: X:192.72, Y:-35.82, Z:-7.22 [[ 8.81825372e-01 4.71138856e-01 2.03024979e-02 1.92720992e+02] [-4.71024651e-01 8.82058962e-01 -1.03810663e-02 -3.58195470e+01] [-2.27989239e-02 -4.08689291e-04 9.99739987e-01 -7.22137113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.970385723 meters 0.016002525350946362 Centerline is valid? [True, True] Translation: X:192.78, Y:-35.85, Z:-7.22 [[ 8.82842887e-01 4.69211101e-01 2.07214768e-02 1.92775566e+02] [-4.69091450e-01 8.83085960e-01 -1.06018615e-02 -3.58489788e+01] [-2.32733563e-02 -3.60489619e-04 9.99729074e-01 -7.22295813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.030385723 meters 0.01860266623214081 Centerline is valid? [True, True] Translation: X:192.83, Y:-35.88, Z:-7.23 [[ 8.84470358e-01 4.66250796e-01 1.79549751e-02 1.92830452e+02] [-4.66160278e-01 8.84652552e-01 -9.19011890e-03 -3.58782556e+01] [-2.01688148e-02 -2.41508440e-04 9.99796560e-01 -7.22986658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.090385723 meters 0.015463170027435108 Centerline is valid? [True, True] Translation: X:192.89, Y:-35.91, Z:-7.23 [[ 8.84763104e-01 4.65726482e-01 1.71199885e-02 1.92886415e+02] [-4.65643985e-01 8.84928697e-01 -8.76818302e-03 -3.59069795e+01] [-1.92335441e-02 -2.14054827e-04 9.99814995e-01 -7.23134779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.150385723 meters 0.015105726768545543 Centerline is valid? [True, True] Translation: X:192.94, Y:-35.93, Z:-7.23 [[ 8.84632209e-01 4.65878492e-01 1.95725766e-02 1.92941909e+02] [-4.65770506e-01 8.84848672e-01 -1.00331268e-02 -3.59346592e+01] [-2.19929864e-02 -2.40701823e-04 9.99758096e-01 -7.23176579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.210385723 meters 0.014916273312640012 Centerline is valid? [True, True] Translation: X:193.00, Y:-35.96, Z:-7.23 [[ 8.84898505e-01 4.65302752e-01 2.11656610e-02 1.92997739e+02] [-4.65176132e-01 8.85151564e-01 -1.08570180e-02 -3.59622395e+01] [-2.37866183e-02 -2.38401297e-04 9.99717030e-01 -7.23315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.270385723 meters 0.01729857739321003 Centerline is valid? [True, True] Translation: X:193.05, Y:-35.99, Z:-7.24 [[ 8.85410330e-01 4.64266728e-01 2.24711546e-02 1.93052856e+02] [-4.64123476e-01 8.85695409e-01 -1.15343087e-02 -3.59892002e+01] [-2.52575942e-02 -2.16794273e-04 9.99680953e-01 -7.23696796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.330385723 meters 0.01453120271786254 Centerline is valid? [True, True] Translation: X:193.11, Y:-36.02, Z:-7.24 [[ 8.85320040e-01 4.64382092e-01 2.36156592e-02 1.93108646e+02] [-4.64223739e-01 8.85634926e-01 -1.21284190e-02 -3.60161990e+01] [-2.65470732e-02 -2.25417229e-04 9.99647539e-01 -7.23646849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.390385723 meters 0.014918071106222055 Centerline is valid? [True, True] Translation: X:193.16, Y:-36.04, Z:-7.24 [[ 8.85721474e-01 4.63640662e-01 2.31258949e-02 1.93164930e+02] [-4.63488381e-01 8.86023306e-01 -1.18836712e-02 -3.60409226e+01] [-2.59998350e-02 -1.92960834e-04 9.99661929e-01 -7.24241587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.450385723 meters 0.015086929881406128 Centerline is valid? [True, True] Translation: X:193.22, Y:-36.07, Z:-7.24 [[ 8.85820279e-01 4.63386224e-01 2.44057570e-02 1.93220723e+02] [-4.63216283e-01 8.86156404e-01 -1.25500347e-02 -3.60687538e+01] [-2.74428311e-02 -1.88068803e-04 9.99623357e-01 -7.24236557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.510385723 meters 0.015037652903595322 Centerline is valid? [True, True] Translation: X:193.28, Y:-36.09, Z:-7.24 [[ 8.85310595e-01 4.64247377e-01 2.64485098e-02 1.93277164e+02] [-4.64047913e-01 8.85705551e-01 -1.36092702e-02 -3.60929036e+01] [-2.97436600e-02 -2.24944647e-04 9.99557534e-01 -7.24450389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57038572300002 meters 0.015030404151516302 Centerline is valid? [True, True] Translation: X:193.33, Y:-36.12, Z:-7.25 [[ 8.83969739e-01 4.66818458e-01 2.60389689e-02 1.93333385e+02] [-4.66626039e-01 8.84353118e-01 -1.34053323e-02 -3.61192414e+01] [-2.92854998e-02 -3.00552847e-04 9.99571043e-01 -7.24623554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63038572300002 meters 0.0158166938796675 Centerline is valid? [True, True] Translation: X:193.39, Y:-36.14, Z:-7.25 [[ 8.81613349e-01 4.71242422e-01 2.62389479e-02 1.93391045e+02] [-4.71048752e-01 8.82003619e-01 -1.35162754e-02 -3.61433117e+01] [-2.95122893e-02 -4.43694788e-04 9.99564319e-01 -7.24892247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69038572300002 meters 0.01909504050386982 Centerline is valid? [True, True] Translation: X:193.45, Y:-36.17, Z:-7.25 [[ 8.79434507e-01 4.75336182e-01 2.55041762e-02 1.93447852e+02] [-4.75154686e-01 8.79804071e-01 -1.31461168e-02 -3.61653862e+01] [-2.86875031e-02 -5.57280069e-04 9.99588274e-01 -7.25476488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.750385723 meters 0.017773929357998288 Centerline is valid? [True, True] Translation: X:193.50, Y:-36.19, Z:-7.25 [[ 8.76449494e-01 4.80796482e-01 2.59042030e-02 1.93503574e+02] [-4.80611477e-01 8.76831906e-01 -1.33572890e-02 -3.61920537e+01] [-2.91357692e-02 -7.42868104e-04 9.99575187e-01 -7.25381679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.810385723 meters 0.01908140377652153 Centerline is valid? [True, True] Translation: X:193.56, Y:-36.22, Z:-7.26 [[ 8.74643673e-01 4.84047203e-01 2.63960393e-02 1.93560831e+02] [-4.83856523e-01 8.75041460e-01 -1.36128344e-02 -3.62162570e+01] [-2.96868832e-02 -8.65516315e-04 9.99558873e-01 -7.25659208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.870385723 meters 0.018830212770911195 Centerline is valid? [True, True] Translation: X:193.62, Y:-36.25, Z:-7.26 [[ 8.74705649e-01 4.83865990e-01 2.76356946e-02 1.93615242e+02] [-4.83656835e-01 8.75141644e-01 -1.42537492e-02 -3.62454203e+01] [-3.10820517e-02 -8.98357644e-04 9.99516433e-01 -7.25848546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.930385723 meters 0.020530261741479126 Centerline is valid? [True, True] Translation: X:193.67, Y:-36.27, Z:-7.26 [[ 8.75944378e-01 4.81654830e-01 2.70198141e-02 1.93668755e+02] [-4.81453591e-01 8.76360653e-01 -1.39443854e-02 -3.62743392e+01] [-3.03954825e-02 -7.94280569e-04 9.99537635e-01 -7.26330972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.990385723 meters 0.017889026801812938 Centerline is valid? [True, True] Translation: X:193.72, Y:-36.30, Z:-7.26 [[ 8.77298595e-01 4.79040762e-01 2.94469589e-02 1.93722622e+02] [-4.78799954e-01 8.77792329e-01 -1.52062828e-02 -3.63035629e+01] [-3.31327440e-02 -7.58751984e-04 9.99450672e-01 -7.26354234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.050385723 meters 0.01788717362442859 Centerline is valid? [True, True] Translation: X:193.78, Y:-36.33, Z:-7.27 [[ 8.77596142e-01 4.78481181e-01 2.96778038e-02 1.93777508e+02] [-4.78236033e-01 8.78097498e-01 -1.53323491e-02 -3.63319784e+01] [-3.33962457e-02 -7.37384718e-04 9.99441918e-01 -7.26542485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.110385723 meters 0.01734380410921655 Centerline is valid? [True, True] Translation: X:193.83, Y:-36.36, Z:-7.27 [[ 8.78730385e-01 4.76326427e-01 3.07578652e-02 1.93831875e+02] [-4.76061449e-01 8.79268267e-01 -1.59000692e-02 -3.63620230e+01] [-3.46180380e-02 -6.70759942e-04 9.99400391e-01 -7.26696042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.170385723 meters 0.01694858566132756 Centerline is valid? [True, True] Translation: X:193.89, Y:-36.39, Z:-7.27 [[ 8.79346118e-01 4.75242837e-01 2.99107089e-02 1.93887426e+02] [-4.74991330e-01 8.79854467e-01 -1.54710795e-02 -3.63896533e+01] [-3.36695906e-02 -6.02893679e-04 9.99432837e-01 -7.27130117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.230385723 meters 0.017283491350649403 Centerline is valid? [True, True] Translation: X:193.94, Y:-36.41, Z:-7.28 [[ 8.80027003e-01 4.74024825e-01 2.92051197e-02 1.93943275e+02] [-4.73784080e-01 8.80511317e-01 -1.51150914e-02 -3.64142194e+01] [-3.28803669e-02 -5.35232218e-04 9.99459151e-01 -7.27573786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.290385723 meters 0.01653099758601546 Centerline is valid? [True, True] Translation: X:194.00, Y:-36.44, Z:-7.28 [[ 8.81210986e-01 4.71790034e-01 2.96877482e-02 1.93997680e+02] [-4.71539708e-01 8.81710814e-01 -1.53734614e-02 -3.64434313e+01] [-3.34290545e-02 -4.51689084e-04 9.99440991e-01 -7.27720491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35038572300002 meters 0.016188583560409732 Centerline is valid? [True, True] Translation: X:194.05, Y:-36.47, Z:-7.28 [[ 8.82771195e-01 4.68762962e-01 3.12458272e-02 1.94054143e+02] [-4.68483403e-01 8.83323930e-01 -1.61905903e-02 -3.64705404e+01] [-3.51897359e-02 -3.45564717e-04 9.99380590e-01 -7.27858250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41038572300002 meters 0.016163956054638863 Centerline is valid? [True, True] Translation: X:194.11, Y:-36.50, Z:-7.28 [[ 8.83604147e-01 4.67116155e-01 3.23451521e-02 1.94110175e+02] [-4.66815332e-01 8.84195915e-01 -1.67639427e-02 -3.64960888e+01] [-3.64301598e-02 -2.86523590e-04 9.99336160e-01 -7.28065491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.470385723 meters 0.016161006409571868 Centerline is valid? [True, True] Translation: X:194.17, Y:-36.52, Z:-7.28 [[ 8.83445106e-01 4.67402169e-01 3.25570015e-02 1.94167896e+02] [-4.67097246e-01 8.84044754e-01 -1.68829733e-02 -3.65215194e+01] [-3.66729847e-02 -2.92105634e-04 9.99327277e-01 -7.28342903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.530385723 meters 0.016096518107189373 Centerline is valid? [True, True] Translation: X:194.23, Y:-36.55, Z:-7.29 [[ 8.83088430e-01 4.68001680e-01 3.36043581e-02 1.94226086e+02] [-4.67676807e-01 8.83727519e-01 -1.74377983e-02 -3.65467551e+01] [-3.78580149e-02 -3.16860963e-04 9.99283078e-01 -7.28615533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.590385723 meters 0.016243245388799277 Centerline is valid? [True, True] Translation: X:194.28, Y:-36.57, Z:-7.29 [[ 8.82712258e-01 4.68736204e-01 3.32481718e-02 1.94283318e+02] [-4.68418280e-01 8.83338134e-01 -1.72643052e-02 -3.65714933e+01] [-3.74617829e-02 -3.34637627e-04 9.99298005e-01 -7.28880587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.650385723 meters 0.016609665088974154 Centerline is valid? [True, True] Translation: X:194.34, Y:-36.60, Z:-7.29 [[ 8.82146516e-01 4.69857030e-01 3.24329307e-02 1.94341830e+02] [-4.69555016e-01 8.82742452e-01 -1.68478620e-02 -3.65956462e+01] [-3.65460112e-02 -3.66762490e-04 9.99331904e-01 -7.29358679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.710385723 meters 0.016684872745210483 Centerline is valid? [True, True] Translation: X:194.40, Y:-36.62, Z:-7.30 [[ 8.81438992e-01 4.71245760e-01 3.15077262e-02 1.94398551e+02] [-4.70961254e-01 8.82001854e-01 -1.63776176e-02 -3.66199546e+01] [-3.55077558e-02 -4.03047530e-04 9.99369320e-01 -7.29795847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.770385723 meters 0.016838442967133358 Centerline is valid? [True, True] Translation: X:194.45, Y:-36.65, Z:-7.30 [[ 8.80438903e-01 4.73146070e-01 3.09860442e-02 1.94454847e+02] [-4.72871761e-01 8.80983872e-01 -1.61156914e-02 -3.66468284e+01] [-3.49232813e-02 -4.63543604e-04 9.99389889e-01 -7.30016840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.830385723 meters 0.017702046851046017 Centerline is valid? [True, True] Translation: X:194.51, Y:-36.67, Z:-7.30 [[ 8.77696460e-01 4.78236220e-01 3.06438000e-02 1.94513971e+02] [-4.77970692e-01 8.78231004e-01 -1.59474664e-02 -3.66677097e+01] [-3.45389913e-02 -6.49803492e-04 9.99403140e-01 -7.30394038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.890385723 meters 0.01923222132206634 Centerline is valid? [True, True] Translation: X:194.57, Y:-36.69, Z:-7.31 [[ 8.74600772e-01 4.83897092e-01 3.02835576e-02 1.94571305e+02] [-4.83641068e-01 8.75124485e-01 -1.57624193e-02 -3.66892331e+01] [-3.41292716e-02 -8.60548082e-04 9.99417056e-01 -7.30633575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.950385723 meters 0.021442518837502575 Centerline is valid? [True, True] Translation: X:194.63, Y:-36.71, Z:-7.31 [[ 8.72900112e-01 4.86975058e-01 3.00114694e-02 1.94627185e+02] [-4.86725184e-01 8.73415343e-01 -1.56280011e-02 -3.67141784e+01] [-3.38229245e-02 -9.65654043e-04 9.99427375e-01 -7.30952248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.010385723 meters 0.02594537700693991 Centerline is valid? [True, True] Translation: X:194.69, Y:-36.73, Z:-7.31 [[ 8.70848494e-01 4.90607717e-01 3.04461574e-02 1.94687289e+02] [-4.90352461e-01 8.71379840e-01 -1.58631214e-02 -3.67305161e+01] [-3.43127375e-02 -1.11497282e-03 9.99410523e-01 -7.31096959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07038572300002 meters 0.024635365041030578 Centerline is valid? [True, True] Translation: X:194.74, Y:-36.76, Z:-7.32 [[ 8.69869439e-01 4.92447620e-01 2.86792738e-02 1.94740810e+02] [-4.92221897e-01 8.70341373e-01 -1.49498852e-02 -3.67621113e+01] [-3.23227939e-02 -1.11211833e-03 9.99476863e-01 -7.31771780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13038572300002 meters 0.02255128458495476 Centerline is valid? [True, True] Translation: X:194.79, Y:-36.79, Z:-7.32 [[ 8.69214027e-01 4.93680576e-01 2.73215047e-02 1.94794538e+02] [-4.93476093e-01 8.69642620e-01 -1.42498644e-02 -3.67934998e+01] [-3.07948262e-02 -1.09632742e-03 9.99525126e-01 -7.31928382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19038572300002 meters 0.024771482493225118 Centerline is valid? [True, True] Translation: X:194.85, Y:-36.82, Z:-7.32 [[ 8.68811387e-01 4.94387776e-01 2.73404697e-02 1.94852482e+02] [-4.94183084e-01 8.69240752e-01 -1.42686562e-02 -3.68151590e+01] [-3.08196996e-02 -1.11442664e-03 9.99524339e-01 -7.32044731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.250385723 meters 0.026226375814088175 Centerline is valid? [True, True] Translation: X:194.91, Y:-36.85, Z:-7.32 [[ 8.69533864e-01 4.93094302e-01 2.77284863e-02 1.94907294e+02] [-4.92882817e-01 8.69975202e-01 -1.44802224e-02 -3.68452315e+01] [-3.12632106e-02 -1.07585073e-03 9.99510607e-01 -7.32426127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.310385723 meters 0.021157372602009384 Centerline is valid? [True, True] Translation: X:194.96, Y:-36.88, Z:-7.32 [[ 8.69924181e-01 4.92418516e-01 2.74940716e-02 1.94959125e+02] [-4.92210196e-01 8.70357927e-01 -1.43597077e-02 -3.68796450e+01] [-3.10006692e-02 -1.04100539e-03 9.99518822e-01 -7.32324369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.370385723 meters 0.02105779364840536 Centerline is valid? [True, True] Translation: X:195.01, Y:-36.91, Z:-7.33 [[ 8.70894888e-01 4.90763835e-01 2.63239678e-02 1.95013177e+02] [-4.90571878e-01 8.71292136e-01 -1.37566484e-02 -3.69086966e+01] [-2.96871317e-02 -9.33203558e-04 9.99558804e-01 -7.32683121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.430385723 meters 0.020261172978320065 Centerline is valid? [True, True] Translation: X:195.07, Y:-36.94, Z:-7.33 [[ 8.72375002e-01 4.88100513e-01 2.68280708e-02 1.95066259e+02] [-4.87899595e-01 8.72787011e-01 -1.40292209e-02 -3.69395275e+01] [-3.02628616e-02 -8.50663292e-04 9.99541613e-01 -7.32800145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.490385723 meters 0.018854046252714942 Centerline is valid? [True, True] Translation: X:195.12, Y:-36.97, Z:-7.33 [[ 8.74504548e-01 4.84257592e-01 2.71363306e-02 1.95118839e+02] [-4.84050140e-01 8.74925174e-01 -1.41916303e-02 -3.69714357e+01] [-3.06146635e-02 -7.24699375e-04 9.99530999e-01 -7.32949833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.550385723 meters 0.017800595870099998 Centerline is valid? [True, True] Translation: X:195.17, Y:-37.00, Z:-7.33 [[ 8.77121131e-01 4.79531794e-01 2.66041355e-02 1.95172004e+02] [-4.79330196e-01 8.77524335e-01 -1.39141982e-02 -3.70032956e+01] [-3.00180768e-02 -5.47728254e-04 9.99549206e-01 -7.33159929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.610385723 meters 0.016577962506574975 Centerline is valid? [True, True] Translation: X:195.22, Y:-37.04, Z:-7.33 [[ 8.80871372e-01 4.72678067e-01 2.53193702e-02 1.95223506e+02] [-4.72492562e-01 8.81235131e-01 -1.32446862e-02 -3.70381486e+01] [-2.85727912e-02 -2.96349188e-04 9.99591671e-01 -7.33354935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.670385723 meters 0.0159498134936283 Centerline is valid? [True, True] Translation: X:195.27, Y:-37.07, Z:-7.33 [[ 8.84560858e-01 4.65755729e-01 2.49737770e-02 1.95274868e+02] [-4.65572486e-01 8.84913326e-01 -1.30638686e-02 -3.70735493e+01] [-2.81841997e-02 -7.13166576e-05 9.99602744e-01 -7.33443577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.730385723 meters 0.016183346010185253 Centerline is valid? [True, True] Translation: X:195.33, Y:-37.11, Z:-7.34 [[ 8.87933726e-01 4.59240885e-01 2.59134595e-02 1.95327770e+02] [-4.59040575e-01 8.88311762e-01 -1.35633210e-02 -3.71089911e+01] [-2.92480624e-02 1.48000797e-04 9.99572173e-01 -7.33513217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.790385723 meters 0.016672223916023826 Centerline is valid? [True, True] Translation: X:195.38, Y:-37.14, Z:-7.34 [[ 8.89911317e-01 4.55361299e-01 2.65317916e-02 1.95381146e+02] [-4.55149288e-01 8.90306690e-01 -1.38968559e-02 -3.71416127e+01] [-2.99495219e-02 2.91043266e-04 9.99551370e-01 -7.33633673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85038572300002 meters 0.016620612828820575 Centerline is valid? [True, True] Translation: X:195.44, Y:-37.17, Z:-7.34 [[ 8.89915589e-01 4.55484810e-01 2.41626199e-02 1.95435876e+02] [-4.55308844e-01 8.90243515e-01 -1.26625523e-02 -3.71715805e+01] [-2.72782159e-02 2.67148148e-04 9.99627845e-01 -7.33799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91038572300002 meters 0.017365489789134513 Centerline is valid? [True, True] Translation: X:195.49, Y:-37.20, Z:-7.34 [[ 8.89086583e-01 4.57158037e-01 2.30559452e-02 1.95490888e+02] [-4.56998215e-01 8.89385453e-01 -1.20891535e-02 -3.71994203e+01] [-2.60322759e-02 2.11778377e-04 9.99661080e-01 -7.34250559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.970385723 meters 0.016440487933994614 Centerline is valid? [True, True] Translation: X:195.55, Y:-37.23, Z:-7.34 [[ 8.88179952e-01 4.58924780e-01 2.29001922e-02 1.95546297e+02] [-4.58767499e-01 8.88475109e-01 -1.20151338e-02 -3.72273793e+01] [-2.58602934e-02 1.65737116e-04 9.99665553e-01 -7.34354788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.030385723 meters 0.0163209911376544 Centerline is valid? [True, True] Translation: X:195.60, Y:-37.25, Z:-7.35 [[ 8.86367831e-01 4.62425360e-01 2.26904188e-02 1.95602338e+02] [-4.62271916e-01 8.86658210e-01 -1.19119224e-02 -3.72546812e+01] [-2.56270211e-02 6.92014654e-05 9.99671572e-01 -7.34527651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.090385723 meters 0.016314929032324274 Centerline is valid? [True, True] Translation: X:195.66, Y:-37.28, Z:-7.35 [[ 8.84590167e-01 4.65810486e-01 2.28216309e-02 1.95659501e+02] [-4.65656212e-01 8.84884507e-01 -1.19875522e-02 -3.72816847e+01] [-2.57784351e-02 -2.29633678e-05 9.99667681e-01 -7.34771039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.150385723 meters 0.01635991286451461 Centerline is valid? [True, True] Translation: X:195.72, Y:-37.31, Z:-7.35 [[ 8.83024919e-01 4.68725279e-01 2.37403783e-02 1.95715929e+02] [-4.68559144e-01 8.83343989e-01 -1.24790217e-02 -3.73104918e+01] [-2.68201534e-02 -1.04484223e-04 9.99640270e-01 -7.34838474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.210385723 meters 0.016489989672770412 Centerline is valid? [True, True] Translation: X:195.77, Y:-37.34, Z:-7.35 [[ 8.81217943e-01 4.72086641e-01 2.42722283e-02 1.95772233e+02] [-4.71913999e-01 8.81552133e-01 -1.27677539e-02 -3.73377393e+01] [-2.74247207e-02 -2.03230482e-04 9.99623851e-01 -7.34987077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.270385723 meters 0.01781105581366573 Centerline is valid? [True, True] Translation: X:195.83, Y:-37.36, Z:-7.35 [[ 8.78475806e-01 4.77154872e-01 2.45659400e-02 1.95829435e+02] [-4.76979790e-01 8.78819150e-01 -1.29298476e-02 -3.73629302e+01] [-2.77585583e-02 -3.58898617e-04 9.99614593e-01 -7.35367996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.330385723 meters 0.018350094931853547 Centerline is valid? [True, True] Translation: X:195.89, Y:-37.39, Z:-7.36 [[ 8.75104057e-01 4.83352363e-01 2.37356753e-02 1.95885002e+02] [-4.83190944e-01 8.75425733e-01 -1.25019057e-02 -3.73892431e+01] [-2.68216466e-02 -5.28394934e-04 9.99640095e-01 -7.35508145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.390385723 meters 0.01975168718700057 Centerline is valid? [True, True] Translation: X:195.94, Y:-37.42, Z:-7.36 [[ 8.72636463e-01 4.87707866e-01 2.54291388e-02 1.95941775e+02] [-4.87524397e-01 8.73006607e-01 -1.33950195e-02 -3.74155747e+01] [-2.87326625e-02 -7.08343157e-04 9.99586881e-01 -7.35555665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.450385723 meters 0.019589541563956092 Centerline is valid? [True, True] Translation: X:196.00, Y:-37.45, Z:-7.36 [[ 8.70756533e-01 4.91031058e-01 2.59144686e-02 1.95995441e+02] [-4.90841929e-01 8.71141669e-01 -1.36525540e-02 -3.74462940e+01] [-2.92790015e-02 -8.31857216e-04 9.99570932e-01 -7.35702172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.510385723 meters 0.021619540356796738 Centerline is valid? [True, True] Translation: X:196.05, Y:-37.48, Z:-7.36 [[ 8.69919346e-01 4.92581075e-01 2.45808094e-02 1.96049513e+02] [-4.92411438e-01 8.70266158e-01 -1.29533653e-02 -3.74758056e+01] [-2.77724291e-02 -8.35488652e-04 9.99613923e-01 -7.36192447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57038572300002 meters 0.022785007788435514 Centerline is valid? [True, True] Translation: X:196.10, Y:-37.50, Z:-7.36 [[ 8.68433507e-01 4.95167067e-01 2.51558959e-02 1.96104096e+02] [-4.94990359e-01 8.68797272e-01 -1.32606319e-02 -3.75022937e+01] [-2.84216019e-02 -9.35948892e-04 9.99595586e-01 -7.36354890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63038572300002 meters 0.020733161180194366 Centerline is valid? [True, True] Translation: X:196.15, Y:-37.54, Z:-7.36 [[ 8.67669376e-01 4.96520041e-01 2.48536164e-02 1.96154571e+02] [-4.96348036e-01 8.68024720e-01 -1.31038791e-02 -3.75396571e+01] [-2.80798920e-02 -9.66209083e-04 9.99605215e-01 -7.36437166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69038572300002 meters 0.020867814309116637 Centerline is valid? [True, True] Translation: X:196.21, Y:-37.57, Z:-7.37 [[ 8.68815020e-01 4.94562506e-01 2.38409125e-02 1.96205517e+02] [-4.94403300e-01 8.69141639e-01 -1.25773245e-02 -3.75733019e+01] [-2.69414029e-02 -8.59657349e-04 9.99636645e-01 -7.36729720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.750385723 meters 0.02044107681245872 Centerline is valid? [True, True] Translation: X:196.26, Y:-37.61, Z:-7.37 [[ 8.70439429e-01 4.91707937e-01 2.36327223e-02 1.96255232e+02] [-4.91550237e-01 8.70759858e-01 -1.24753120e-02 -3.76090974e+01] [-2.67126359e-02 -7.57666813e-04 9.99642867e-01 -7.36883139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.810385723 meters 0.018747954687036886 Centerline is valid? [True, True] Translation: X:196.30, Y:-37.65, Z:-7.37 [[ 8.72081466e-01 4.88733032e-01 2.47778137e-02 1.96304337e+02] [-4.88558334e-01 8.72433116e-01 -1.30848206e-02 -3.76482233e+01] [-2.80119693e-02 -6.94377814e-04 9.99607347e-01 -7.36969121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.870385723 meters 0.01832774425753082 Centerline is valid? [True, True] Translation: X:196.36, Y:-37.68, Z:-7.37 [[ 8.73504363e-01 4.86116256e-01 2.60981706e-02 1.96355764e+02] [-4.85921256e-01 8.73893914e-01 -1.37825724e-02 -3.76842333e+01] [-2.95069650e-02 -6.42518726e-04 9.99564368e-01 -7.37156335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.930385723 meters 0.018140797085886975 Centerline is valid? [True, True] Translation: X:196.41, Y:-37.72, Z:-7.37 [[ 8.74799573e-01 4.83777464e-01 2.61738740e-02 1.96407195e+02] [-4.83580040e-01 8.75190867e-01 -1.38308003e-02 -3.77201478e+01] [-2.95981650e-02 -5.57984879e-04 9.99561723e-01 -7.37391505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.990385723 meters 0.019338454785319033 Centerline is valid? [True, True] Translation: X:196.46, Y:-37.76, Z:-7.38 [[ 8.76397461e-01 4.80958700e-01 2.46215126e-02 1.96457755e+02] [-4.80782695e-01 8.76743146e-01 -1.30175047e-02 -3.77571185e+01] [-2.78476246e-02 -4.29089083e-04 9.99612088e-01 -7.37862027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.050385723 meters 0.01709742936625317 Centerline is valid? [True, True] Translation: X:196.51, Y:-37.79, Z:-7.38 [[ 8.77659087e-01 4.78682418e-01 2.40347623e-02 1.96509332e+02] [-4.78513647e-01 8.77988056e-01 -1.27146880e-02 -3.77927244e+01] [-2.71885318e-02 -3.41800288e-04 9.99630265e-01 -7.38041509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.110385723 meters 0.016991383164598785 Centerline is valid? [True, True] Translation: X:196.56, Y:-37.83, Z:-7.38 [[ 8.78020611e-01 4.78083486e-01 2.27153409e-02 1.96562292e+02] [-4.77932378e-01 8.78314346e-01 -1.20229461e-02 -3.78271591e+01] [-2.56991818e-02 -3.00002451e-04 9.99669676e-01 -7.38342706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.170385723 meters 0.01687752728921541 Centerline is valid? [True, True] Translation: X:196.62, Y:-37.86, Z:-7.39 [[ 8.78390761e-01 4.77374104e-01 2.33159897e-02 1.96615263e+02] [-4.77214412e-01 8.78700112e-01 -1.23498356e-02 -3.78596863e+01] [-2.63832544e-02 -2.78744787e-04 9.99651862e-01 -7.38558383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.230385723 meters 0.016669116559423686 Centerline is valid? [True, True] Translation: X:196.67, Y:-37.89, Z:-7.39 [[ 8.79134343e-01 4.75915647e-01 2.50420530e-02 1.96668057e+02] [-4.75730595e-01 8.79490897e-01 -1.32726862e-02 -3.78924092e+01] [-2.83409367e-02 -2.44796473e-04 9.99598285e-01 -7.38506973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.290385723 meters 0.0165562952815718 Centerline is valid? [True, True] Translation: X:196.72, Y:-37.92, Z:-7.39 [[ 8.79432472e-01 4.75350845e-01 2.53002251e-02 1.96721273e+02] [-4.75161485e-01 8.79796298e-01 -1.34178196e-02 -3.79221097e+01] [-2.86372163e-02 -2.21626244e-04 9.99589846e-01 -7.38618789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35038572300002 meters 0.016620422070717067 Centerline is valid? [True, True] Translation: X:196.78, Y:-37.95, Z:-7.39 [[ 8.78675819e-01 4.76769763e-01 2.48877075e-02 1.96776389e+02] [-4.76586897e-01 8.79028172e-01 -1.32061412e-02 -3.79483620e+01] [-2.81732848e-02 -2.57238354e-04 9.99603021e-01 -7.38938650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41038572300002 meters 0.016869862829034417 Centerline is valid? [True, True] Translation: X:196.83, Y:-37.97, Z:-7.39 [[ 8.77604035e-01 4.78819909e-01 2.32948795e-02 1.96832754e+02] [-4.78660271e-01 8.77913097e-01 -1.23668624e-02 -3.79744919e+01] [-2.63723798e-02 -2.97125035e-04 9.99652144e-01 -7.39309713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.470385723 meters 0.019000983118670604 Centerline is valid? [True, True] Translation: X:196.89, Y:-38.00, Z:-7.40 [[ 8.76862352e-01 4.80257857e-01 2.15593728e-02 1.96888069e+02] [-4.80121408e-01 8.77127297e-01 -1.14515617e-02 -3.80006574e+01] [-2.44100169e-02 -3.09673142e-04 9.99701983e-01 -7.39859109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.530385723 meters 0.017113747140331433 Centerline is valid? [True, True] Translation: X:196.94, Y:-38.03, Z:-7.40 [[ 8.76237566e-01 4.81325596e-01 2.30954057e-02 1.96944059e+02] [-4.81169210e-01 8.76541809e-01 -1.22739231e-02 -3.80289189e+01] [-2.61518420e-02 -3.57925599e-04 9.99657918e-01 -7.39731177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.590385723 meters 0.016993028058913298 Centerline is valid? [True, True] Translation: X:197.00, Y:-38.06, Z:-7.40 [[ 8.76435557e-01 4.80907231e-01 2.42682735e-02 1.96999233e+02] [-4.80734143e-01 8.76771412e-01 -1.29063627e-02 -3.80583001e+01] [-2.74844915e-02 -3.54992525e-04 9.99622167e-01 -7.39813651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.650385723 meters 0.016847388104168345 Centerline is valid? [True, True] Translation: X:197.05, Y:-38.09, Z:-7.40 [[ 8.76596969e-01 4.80628574e-01 2.39568064e-02 1.97054491e+02] [-4.80459619e-01 8.76924205e-01 -1.27472835e-02 -3.80881904e+01] [-2.71350121e-02 -3.36047985e-04 9.99631721e-01 -7.40044180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.710385723 meters 0.017357032565691426 Centerline is valid? [True, True] Translation: X:197.11, Y:-38.12, Z:-7.40 [[ 8.75371741e-01 4.82855884e-01 2.39689472e-02 1.97110767e+02] [-4.82687367e-01 8.75699741e-01 -1.27619951e-02 -3.81152472e+01] [-2.71518053e-02 -3.98018149e-04 9.99631243e-01 -7.40419297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.770385723 meters 0.01895410802062917 Centerline is valid? [True, True] Translation: X:197.17, Y:-38.14, Z:-7.41 [[ 8.73083904e-01 4.86980051e-01 2.39776481e-02 1.97166450e+02] [-4.86812745e-01 8.73412938e-01 -1.27746292e-02 -3.81397191e+01] [-2.71633776e-02 -5.19301561e-04 9.99630872e-01 -7.40738389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.830385723 meters 0.021213900130475343 Centerline is valid? [True, True] Translation: X:197.22, Y:-38.16, Z:-7.41 [[ 8.70329997e-01 4.91829932e-01 2.50801600e-02 1.97222372e+02] [-4.91648806e-01 8.70691007e-01 -1.33649523e-02 -3.81642542e+01] [-2.84103534e-02 -6.98711838e-04 9.99596100e-01 -7.40886289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.890385723 meters 0.022333041595266563 Centerline is valid? [True, True] Translation: X:197.28, Y:-38.19, Z:-7.41 [[ 8.69168884e-01 4.93914182e-01 2.43768793e-02 1.97277830e+02] [-4.93743727e-01 8.69510341e-01 -1.29961340e-02 -3.81918955e+01] [-2.76149235e-02 -7.40095976e-04 9.99618361e-01 -7.41200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.950385723 meters 0.022974387988803743 Centerline is valid? [True, True] Translation: X:197.33, Y:-38.22, Z:-7.42 [[ 8.68669353e-01 4.94855867e-01 2.30483171e-02 1.97332924e+02] [-4.94703666e-01 8.68974768e-01 -1.22936990e-02 -3.82200843e+01] [-2.61120151e-02 -7.22927391e-04 9.99658762e-01 -7.41637633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.010385723 meters 0.019076845736653247 Centerline is valid? [True, True] Translation: X:197.39, Y:-38.25, Z:-7.42 [[ 8.68441698e-01 4.95215937e-01 2.38787118e-02 1.97385924e+02] [-4.95052537e-01 8.68769593e-01 -1.27428039e-02 -3.82549890e+01] [-2.70555383e-02 -7.54834604e-04 9.99633647e-01 -7.41610630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07038572300002 meters 0.01938154688922327 Centerline is valid? [True, True] Translation: X:197.44, Y:-38.28, Z:-7.42 [[ 8.68326254e-01 4.95391127e-01 2.44366150e-02 1.97441859e+02] [-4.95219823e-01 8.68669694e-01 -1.30495079e-02 -3.82844273e+01] [-2.76919573e-02 -7.70265846e-04 9.99616207e-01 -7.41753385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13038572300002 meters 0.019268794662051118 Centerline is valid? [True, True] Translation: X:197.50, Y:-38.31, Z:-7.42 [[ 8.68331087e-01 4.95346392e-01 2.51609816e-02 1.97496367e+02] [-4.95164491e-01 8.68695193e-01 -1.34457933e-02 -3.83133941e+01] [-2.85175490e-02 -7.83424341e-04 9.99592985e-01 -7.41996006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.190385723 meters 0.019143318390136752 Centerline is valid? [True, True] Translation: X:197.55, Y:-38.34, Z:-7.42 [[ 8.69026616e-01 4.94035493e-01 2.68639613e-02 1.97550986e+02] [-4.93827229e-01 8.69441383e-01 -1.43648590e-02 -3.83428277e+01] [-3.04533898e-02 -7.82710750e-04 9.99535882e-01 -7.42115060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.250385723 meters 0.01792354435768675 Centerline is valid? [True, True] Translation: X:197.60, Y:-38.37, Z:-7.42 [[ 8.69834967e-01 4.92525390e-01 2.83878698e-02 1.97604681e+02] [-4.92291716e-01 8.70297741e-01 -1.51890835e-02 -3.83743697e+01] [-3.21869082e-02 -7.63117181e-04 9.99481576e-01 -7.42209726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.310385723 meters 0.018280656462016157 Centerline is valid? [True, True] Translation: X:197.66, Y:-38.40, Z:-7.43 [[ 8.69862213e-01 4.92575648e-01 2.66263263e-02 1.97660549e+02] [-4.92369870e-01 8.70269341e-01 -1.42543190e-02 -3.84019356e+01] [-3.01934059e-02 -7.10707350e-04 9.99543823e-01 -7.42689927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.370385723 meters 0.018782336488993027 Centerline is valid? [True, True] Translation: X:197.72, Y:-38.43, Z:-7.43 [[ 8.69735150e-01 4.92901388e-01 2.46777411e-02 1.97715425e+02] [-4.92724520e-01 8.70084929e-01 -1.32198127e-02 -3.84276144e+01] [-2.79877947e-02 -6.61592388e-04 9.99608046e-01 -7.43213199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.430385723 meters 0.018395804505317487 Centerline is valid? [True, True] Translation: X:197.77, Y:-38.46, Z:-7.44 [[ 8.70327756e-01 4.91878513e-01 2.41893902e-02 1.97769603e+02] [-4.91708114e-01 8.70663627e-01 -1.29606721e-02 -3.84569182e+01] [-2.74358983e-02 -6.14086723e-04 9.99623376e-01 -7.43502864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.490385723 meters 0.01695729855507904 Centerline is valid? [True, True] Translation: X:197.82, Y:-38.49, Z:-7.43 [[ 8.72241657e-01 4.88370258e-01 2.62484776e-02 1.97821965e+02] [-4.88167725e-01 8.72636351e-01 -1.40737708e-02 -3.84898962e+01] [-2.97785868e-02 -5.37930386e-04 9.99556375e-01 -7.43466706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.550385723 meters 0.016758061753010853 Centerline is valid? [True, True] Translation: X:197.88, Y:-38.52, Z:-7.44 [[ 8.73329515e-01 4.86395736e-01 2.67347216e-02 1.97876616e+02] [-4.86184625e-01 8.73738497e-01 -1.43370260e-02 -3.85204933e+01] [-3.03326238e-02 -4.77062599e-04 9.99539746e-01 -7.43684729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.610385723 meters 0.01663802670209619 Centerline is valid? [True, True] Translation: X:197.93, Y:-38.55, Z:-7.44 [[ 8.72919925e-01 4.87144065e-01 2.64851855e-02 1.97932334e+02] [-4.86937174e-01 8.73321483e-01 -1.42047568e-02 -3.85494934e+01] [-3.00498444e-02 -4.97006130e-04 9.99548278e-01 -7.44076127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.670385723 meters 0.017313223040570272 Centerline is valid? [True, True] Translation: X:197.99, Y:-38.58, Z:-7.45 [[ 8.71925626e-01 4.88989266e-01 2.52031770e-02 1.97986968e+02] [-4.88802413e-01 8.72289644e-01 -1.35269797e-02 -3.85778221e+01] [-2.85990182e-02 -5.24853421e-04 9.99590827e-01 -7.44506996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.730385723 meters 0.01794497753500493 Centerline is valid? [True, True] Translation: X:198.04, Y:-38.60, Z:-7.45 [[ 8.70650941e-01 4.91266701e-01 2.49793417e-02 1.98041817e+02] [-4.91083971e-01 8.71009001e-01 -1.34109581e-02 -3.86042948e+01] [-2.83455886e-02 -5.90691020e-04 9.99598009e-01 -7.44801651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.790385723 meters 0.0185799977581143 Centerline is valid? [True, True] Translation: X:198.10, Y:-38.63, Z:-7.45 [[ 8.69336424e-01 4.93556931e-01 2.56073865e-02 1.98097733e+02] [-4.93365762e-01 8.69713226e-01 -1.37524242e-02 -3.86301920e+01] [-2.90586870e-02 -6.78324425e-04 9.99577477e-01 -7.45108821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85038572300002 meters 0.01918285700151341 Centerline is valid? [True, True] Translation: X:198.15, Y:-38.66, Z:-7.45 [[ 8.69486819e-01 4.93232386e-01 2.67298700e-02 1.98152349e+02] [-4.93023815e-01 8.69897312e-01 -1.43591521e-02 -3.86568663e+01] [-3.03346409e-02 -6.93369006e-04 9.99539558e-01 -7.45393604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91038572300002 meters 0.018545801797567322 Centerline is valid? [True, True] Translation: X:198.21, Y:-38.69, Z:-7.46 [[ 8.70766936e-01 4.90894868e-01 2.80565919e-02 1.98206122e+02] [-4.90663598e-01 8.71218587e-01 -1.50800560e-02 -3.86873434e+01] [-3.18461465e-02 -6.35134144e-04 9.99492581e-01 -7.45538867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.970385723 meters 0.017266374558337107 Centerline is valid? [True, True] Translation: X:198.26, Y:-38.72, Z:-7.46 [[ 8.72333656e-01 4.88081905e-01 2.84613091e-02 1.98259759e+02] [-4.87842144e-01 8.72797669e-01 -1.53059560e-02 -3.87186354e+01] [-3.23115244e-02 -5.32725497e-04 9.99477704e-01 -7.45789253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.030385723 meters 0.016038486384702847 Centerline is valid? [True, True] Translation: X:198.31, Y:-38.75, Z:-7.46 [[ 8.74780473e-01 4.83663565e-01 2.87868042e-02 1.98313537e+02] [-4.83415589e-01 8.75253919e-01 -1.54901788e-02 -3.87507488e+01] [-3.26877983e-02 -3.65483958e-04 9.99465544e-01 -7.45989888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.090385723 meters 0.01566692936186599 Centerline is valid? [True, True] Translation: X:198.37, Y:-38.78, Z:-7.46 [[ 8.76864048e-01 4.79930182e-01 2.78650605e-02 1.98367235e+02] [-4.79695875e-01 8.77306659e-01 -1.49964900e-02 -3.87800343e+01] [-3.16434713e-02 -2.16871675e-04 9.99499196e-01 -7.46263608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.150385723 meters 0.015483717467241934 Centerline is valid? [True, True] Translation: X:198.42, Y:-38.81, Z:-7.47 [[ 8.78487210e-01 4.77005091e-01 2.69511818e-02 1.98422563e+02] [-4.76784306e-01 8.78900525e-01 -1.45117962e-02 -3.88089676e+01] [-3.06096085e-02 -1.01473150e-04 9.99531411e-01 -7.46581419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.210385723 meters 0.015453825831767663 Centerline is valid? [True, True] Translation: X:198.48, Y:-38.84, Z:-7.47 [[ 8.79323070e-01 4.75471846e-01 2.67854755e-02 1.98477283e+02] [-4.75252802e-01 8.79730937e-01 -1.44309577e-02 -3.88371366e+01] [-3.04255256e-02 -4.03982635e-05 9.99537036e-01 -7.46836414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.270385723 meters 0.015494939746040989 Centerline is valid? [True, True] Translation: X:198.54, Y:-38.86, Z:-7.47 [[ 8.78434954e-01 4.77042471e-01 2.79734269e-02 1.98535210e+02] [-4.76804047e-01 8.78880238e-01 -1.50807286e-02 -3.88629592e+01] [-3.17794401e-02 -9.04040666e-05 9.99494902e-01 -7.46900188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.330385723 meters 0.015953087547979604 Centerline is valid? [True, True] Translation: X:198.59, Y:-38.89, Z:-7.47 [[ 8.76120025e-01 4.81198285e-01 2.93583566e-02 1.98592743e+02] [-4.80937613e-01 8.76611745e-01 -1.58385857e-02 -3.88859984e+01] [-3.33573805e-02 -2.43035841e-04 9.99443458e-01 -7.47010905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.390385723 meters 0.016889015956738133 Centerline is valid? [True, True] Translation: X:198.65, Y:-38.91, Z:-7.47 [[ 8.72918747e-01 4.86985697e-01 2.92880896e-02 1.98651100e+02] [-4.86729239e-01 8.73409826e-01 -1.58089789e-02 -3.89092186e+01] [-3.32792518e-02 -4.55415466e-04 9.99445989e-01 -7.47214113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.450385723 meters 0.01773776280107384 Centerline is valid? [True, True] Translation: X:198.71, Y:-38.93, Z:-7.48 [[ 8.70140815e-01 4.91936133e-01 2.92199216e-02 1.98708579e+02] [-4.91683337e-01 8.70631057e-01 -1.57815626e-02 -3.89325900e+01] [-3.32032921e-02 -6.34766789e-04 9.99448417e-01 -7.47501801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.510385723 meters 0.018469725640805325 Centerline is valid? [True, True] Translation: X:198.77, Y:-38.96, Z:-7.48 [[ 8.68250296e-01 4.95177570e-01 3.06691447e-02 1.98765236e+02] [-4.94900921e-01 8.68791429e-01 -1.65690204e-02 -3.89575637e+01] [-3.48496973e-02 -7.92131098e-04 9.99392251e-01 -7.47673221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57038572300002 meters 0.02068259872963563 Centerline is valid? [True, True] Translation: X:198.82, Y:-38.98, Z:-7.48 [[ 8.67048685e-01 4.97312628e-01 3.01119268e-02 1.98822841e+02] [-4.97046928e-01 8.67570989e-01 -1.62766925e-02 -3.89792590e+01] [-3.42188388e-02 -8.54355881e-04 9.99413999e-01 -7.47993543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63038572300002 meters 0.01893154844143713 Centerline is valid? [True, True] Translation: X:198.88, Y:-39.01, Z:-7.48 [[ 8.66401972e-01 4.98510712e-01 2.88910626e-02 1.98877426e+02] [-4.98266530e-01 8.66883114e-01 -1.56247086e-02 -3.90090911e+01] [-3.28342589e-02 -8.58171164e-04 9.99460442e-01 -7.48470833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.690385723 meters 0.019119205334976234 Centerline is valid? [True, True] Translation: X:198.93, Y:-39.04, Z:-7.49 [[ 8.66644966e-01 4.98203862e-01 2.68219077e-02 1.98933396e+02] [-4.97993031e-01 8.67059574e-01 -1.45133223e-02 -3.90376650e+01] [-3.04867851e-02 -7.79225417e-04 9.99534866e-01 -7.48897694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.750385723 meters 0.018988366226752085 Centerline is valid? [True, True] Translation: X:198.99, Y:-39.07, Z:-7.49 [[ 8.66850659e-01 4.97875670e-01 2.62631385e-02 1.98987901e+02] [-4.97673099e-01 8.67248099e-01 -1.42204617e-02 -3.90673562e+01] [-2.98566788e-02 -7.43440959e-04 9.99553914e-01 -7.49163699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.810385723 meters 0.02020594721604358 Centerline is valid? [True, True] Translation: X:199.04, Y:-39.10, Z:-7.50 [[ 8.68071363e-01 4.95754540e-01 2.60681034e-02 1.99042463e+02] [-4.95553769e-01 8.68462436e-01 -1.41229919e-02 -3.90973306e+01] [-2.96407059e-02 -6.58382075e-04 9.99560401e-01 -7.49669434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.870385723 meters 0.018094614880288757 Centerline is valid? [True, True] Translation: X:199.10, Y:-39.13, Z:-7.49 [[ 8.67784414e-01 4.96235759e-01 2.64628515e-02 1.99098435e+02] [-4.96028833e-01 8.68187545e-01 -1.43451769e-02 -3.91273162e+01] [-3.00933078e-02 -6.77816482e-04 9.99546864e-01 -7.49490542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.930385723 meters 0.018171572490446423 Centerline is valid? [True, True] Translation: X:199.15, Y:-39.16, Z:-7.50 [[ 8.67869133e-01 4.96147389e-01 2.53167200e-02 1.99154088e+02] [-4.95957712e-01 8.68238079e-01 -1.37326614e-02 -3.91573069e+01] [-2.87943644e-02 -6.37869524e-04 9.99585153e-01 -7.49802469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.990385723 meters 0.018698761019670163 Centerline is valid? [True, True] Translation: X:199.21, Y:-39.19, Z:-7.50 [[ 8.67408865e-01 4.96912141e-01 2.60803426e-02 1.99210057e+02] [-4.96710900e-01 8.67800593e-01 -1.41567191e-02 -3.91861974e+01] [-2.96671824e-02 -6.74726835e-04 9.99559605e-01 -7.49945540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.050385723 meters 0.01933418525067915 Centerline is valid? [True, True] Translation: X:199.26, Y:-39.21, Z:-7.50 [[ 8.66276584e-01 4.98870932e-01 2.63186999e-02 1.99264630e+02] [-4.98666601e-01 8.66675975e-01 -1.42959811e-02 -3.92148311e+01] [-2.99416343e-02 -7.39983018e-04 9.99551375e-01 -7.50056710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.110385723 meters 0.020590394146231476 Centerline is valid? [True, True] Translation: X:199.32, Y:-39.24, Z:-7.50 [[ 8.64380082e-01 5.02274007e-01 2.38305734e-02 1.99319614e+02] [-5.02107569e-01 8.64708176e-01 -1.29522220e-02 -3.92426514e+01] [-2.71120562e-02 -7.69868555e-04 9.99632104e-01 -7.50408695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.170385723 meters 0.02150417445029528 Centerline is valid? [True, True] Translation: X:199.37, Y:-39.27, Z:-7.51 [[ 8.63722098e-01 5.03399328e-01 2.39427369e-02 1.99373301e+02] [-5.03231724e-01 8.64053508e-01 -1.30141348e-02 -3.92708600e+01] [-2.72391125e-02 -8.08148958e-04 9.99628620e-01 -7.50696474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.230385723 meters 0.022232128647949614 Centerline is valid? [True, True] Translation: X:199.43, Y:-39.30, Z:-7.51 [[ 8.62424091e-01 5.05586595e-01 2.46349671e-02 1.99427026e+02] [-5.05409969e-01 8.62775397e-01 -1.33932202e-02 -3.93026724e+01] [-2.80258761e-02 -9.00122224e-04 9.99606793e-01 -7.50710370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.290385723 meters 0.02316151696055355 Centerline is valid? [True, True] Translation: X:199.48, Y:-39.33, Z:-7.51 [[ 8.60720198e-01 5.08455013e-01 2.51841243e-02 1.99481717e+02] [-5.08271380e-01 8.61087966e-01 -1.37010911e-02 -3.93320216e+01] [-2.86521348e-02 -1.00756379e-03 9.99588936e-01 -7.50893835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35038572300002 meters 0.022931275818813008 Centerline is valid? [True, True] Translation: X:199.53, Y:-39.36, Z:-7.51 [[ 8.58754846e-01 5.11737944e-01 2.57757862e-02 1.99534340e+02] [-5.11547016e-01 8.59140834e-01 -1.40241970e-02 -3.93630177e+01] [-2.93217442e-02 -1.14217936e-03 9.99569373e-01 -7.51118966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41038572300002 meters 0.024269641894011193 Centerline is valid? [True, True] Translation: X:199.59, Y:-39.39, Z:-7.51 [[ 8.57972064e-01 5.13049685e-01 2.57673743e-02 1.99587559e+02] [-5.12859239e-01 8.58358101e-01 -1.40275569e-02 -3.93918442e+01] [-2.93144681e-02 -1.17978398e-03 9.99569542e-01 -7.51384235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.470385723 meters 0.023584958015092132 Centerline is valid? [True, True] Translation: X:199.64, Y:-39.42, Z:-7.52 [[ 8.57770971e-01 5.13412997e-01 2.52201246e-02 1.99640803e+02] [-5.13230636e-01 8.58140861e-01 -1.37323247e-02 -3.94244122e+01] [-2.86927734e-02 -1.16455105e-03 9.99587599e-01 -7.51693646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.530385723 meters 0.024776283166132344 Centerline is valid? [True, True] Translation: X:199.69, Y:-39.46, Z:-7.52 [[ 8.58558145e-01 5.12183753e-01 2.33605196e-02 1.99693656e+02] [-5.12026614e-01 8.58875273e-01 -1.27283461e-02 -3.94552361e+01] [-2.65830248e-02 -1.03318254e-03 9.99646075e-01 -7.52173911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.590385723 meters 0.021895488151621196 Centerline is valid? [True, True] Translation: X:199.74, Y:-39.49, Z:-7.52 [[ 8.60272120e-01 5.09333150e-01 2.26190786e-02 1.99743905e+02] [-5.09184717e-01 8.60568947e-01 -1.23292844e-02 -3.94921277e+01] [-2.57449899e-02 -9.10749498e-04 9.99668128e-01 -7.52432508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.650385723 meters 0.020998948410241965 Centerline is valid? [True, True] Translation: X:199.79, Y:-39.53, Z:-7.53 [[ 8.62733634e-01 5.05123967e-01 2.32476572e-02 1.99794562e+02] [-5.04965593e-01 8.63046423e-01 -1.26736308e-02 -3.95280537e+01] [-2.64655620e-02 -8.05299434e-04 9.99649401e-01 -7.52597600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.710385723 meters 0.01917768767031665 Centerline is valid? [True, True] Translation: X:199.84, Y:-39.57, Z:-7.53 [[ 8.65506258e-01 5.00291810e-01 2.46378404e-02 1.99843944e+02] [-5.00111951e-01 8.65856582e-01 -1.34318986e-02 -3.95651367e+01] [-2.80527051e-02 -6.96286098e-04 9.99606203e-01 -7.52621182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.770385723 meters 0.01852018178078669 Centerline is valid? [True, True] Translation: X:199.89, Y:-39.60, Z:-7.53 [[ 8.67914263e-01 4.96087149e-01 2.49474030e-02 1.99894453e+02] [-4.95900826e-01 8.68272552e-01 -1.36068101e-02 -3.96000724e+01] [-2.84113089e-02 -5.61893158e-04 9.99596159e-01 -7.52921608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.830385723 meters 0.01884406903660106 Centerline is valid? [True, True] Translation: X:199.95, Y:-39.63, Z:-7.53 [[ 8.69376382e-01 4.93624624e-01 2.27911352e-02 1.99946003e+02] [-4.93468162e-01 8.69674962e-01 -1.24351653e-02 -3.96334018e+01] [-2.59591835e-02 -4.35860575e-04 9.99662909e-01 -7.53281095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.890385723 meters 0.019442447495815706 Centerline is valid? [True, True] Translation: X:200.00, Y:-39.67, Z:-7.54 [[ 8.69935753e-01 4.92712898e-01 2.11136416e-02 1.99999862e+02] [-4.92578234e-01 8.70191853e-01 -1.15248667e-02 -3.96667665e+01] [-2.40513694e-02 -3.74226652e-04 9.99710654e-01 -7.53612910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.950385723 meters 0.019824093179928486 Centerline is valid? [True, True] Translation: X:200.06, Y:-39.70, Z:-7.54 [[ 8.69303405e-01 4.93810874e-01 2.15037288e-02 2.00055419e+02] [-4.93671328e-01 8.69569236e-01 -1.17457754e-02 -3.96970012e+01] [-2.44991726e-02 -4.05131790e-04 9.99699768e-01 -7.53911049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.010385723 meters 0.01967321436284419 Centerline is valid? [True, True] Translation: X:200.11, Y:-39.73, Z:-7.54 [[ 8.68114125e-01 4.95865914e-01 2.22454697e-02 2.00109649e+02] [-4.95717024e-01 8.68398971e-01 -1.21597308e-02 -3.97281405e+01] [-2.53475390e-02 -4.71423966e-04 9.99678588e-01 -7.53905335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07038572300002 meters 0.020375874013108253 Centerline is valid? [True, True] Translation: X:200.16, Y:-39.76, Z:-7.54 [[ 8.67480071e-01 4.96974711e-01 2.22365012e-02 2.00163807e+02] [-4.96826128e-01 8.67764881e-01 -1.21618016e-02 -3.97585034e+01] [-2.53401626e-02 -4.97554307e-04 9.99678763e-01 -7.54097908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13038572300002 meters 0.02072180226000861 Centerline is valid? [True, True] Translation: X:200.22, Y:-39.79, Z:-7.54 [[ 8.66148323e-01 4.99333659e-01 2.12833199e-02 2.00218075e+02] [-4.99198105e-01 8.66409608e-01 -1.16465890e-02 -3.97882387e+01] [-2.42556068e-02 -5.36919481e-04 9.99705645e-01 -7.54265921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.190385723 meters 0.022101804330085205 Centerline is valid? [True, True] Translation: X:200.27, Y:-39.82, Z:-7.55 [[ 8.64233740e-01 5.02672132e-01 2.05126812e-02 2.00272747e+02] [-5.02547005e-01 8.64476932e-01 -1.12313094e-02 -3.98154500e+01] [-2.33784059e-02 -6.02109957e-04 9.99726506e-01 -7.54553395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.250385723 meters 0.022471566582589655 Centerline is valid? [True, True] Translation: X:200.33, Y:-39.85, Z:-7.55 [[ 8.62531222e-01 5.05655185e-01 1.87809968e-02 2.00326856e+02] [-5.05550844e-01 8.62735447e-01 -1.02904506e-02 -3.98453508e+01] [-2.14064513e-02 -6.18913848e-04 9.99770664e-01 -7.54866227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.310385723 meters 0.02335200160337752 Centerline is valid? [True, True] Translation: X:200.38, Y:-39.87, Z:-7.55 [[ 8.61644738e-01 5.07146137e-01 1.92650375e-02 2.00381338e+02] [-5.07036735e-01 8.61859816e-01 -1.05549183e-02 -3.98735792e+01] [-2.19566477e-02 -6.73491907e-04 9.99758697e-01 -7.55056053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.370385723 meters 0.023508968283067783 Centerline is valid? [True, True] Translation: X:200.44, Y:-39.90, Z:-7.55 [[ 8.61102009e-01 5.07988882e-01 2.12279631e-02 2.00437283e+02] [-5.07856154e-01 8.61363290e-01 -1.16365672e-02 -3.99024045e+01] [-2.41962349e-02 -7.60480290e-04 9.99706939e-01 -7.55076811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.430385723 meters 0.023829274250192104 Centerline is valid? [True, True] Translation: X:200.49, Y:-39.93, Z:-7.55 [[ 8.61413603e-01 5.07429391e-01 2.19549124e-02 2.00490790e+02] [-5.07287016e-01 8.61693003e-01 -1.20437512e-02 -3.99313562e+01] [-2.50297478e-02 -7.62790868e-04 9.99686416e-01 -7.55260131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.490385723 meters 0.022377425572249986 Centerline is valid? [True, True] Translation: X:200.54, Y:-39.96, Z:-7.55 [[ 8.62116339e-01 5.06235288e-01 2.19374232e-02 2.00543605e+02] [-5.06092608e-01 8.62395102e-01 -1.20399797e-02 -3.99648707e+01] [-2.50137889e-02 -7.22504488e-04 9.99686845e-01 -7.55453975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.550385723 meters 0.021854832634802795 Centerline is valid? [True, True] Translation: X:200.60, Y:-39.99, Z:-7.56 [[ 8.62338834e-01 5.05857014e-01 2.19184081e-02 2.00598948e+02] [-5.05714287e-01 8.62617055e-01 -1.20364153e-02 -3.99936797e+01] [-2.49958978e-02 -7.04983797e-04 9.99687305e-01 -7.55806567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.610385723 meters 0.021767326358579104 Centerline is valid? [True, True] Translation: X:200.65, Y:-40.02, Z:-7.56 [[ 8.62404495e-01 5.05748296e-01 2.18437217e-02 2.00653052e+02] [-5.05606341e-01 8.62680810e-01 -1.20020261e-02 -4.00245740e+01] [-2.49141637e-02 -6.93722949e-04 9.99689353e-01 -7.55980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.670385723 meters 0.021647795778151818 Centerline is valid? [True, True] Translation: X:200.71, Y:-40.05, Z:-7.56 [[ 8.62336997e-01 5.05829666e-01 2.26109029e-02 2.00707288e+02] [-5.05677402e-01 8.62633084e-01 -1.24308697e-02 -4.00543580e+01] [-2.57928156e-02 -7.14223842e-04 9.99667055e-01 -7.56145328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.730385723 meters 0.022269459943936854 Centerline is valid? [True, True] Translation: X:200.76, Y:-40.08, Z:-7.56 [[ 8.61873795e-01 5.06588180e-01 2.32804032e-02 2.00763660e+02] [-5.06426851e-01 8.62187827e-01 -1.28060659e-02 -4.00833011e+01] [-2.65594819e-02 -7.52608688e-04 9.99646951e-01 -7.56367684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.790385723 meters 0.021299340149568684 Centerline is valid? [True, True] Translation: X:200.82, Y:-40.11, Z:-7.57 [[ 8.61372586e-01 5.07396722e-01 2.42040257e-02 2.00818426e+02] [-5.07222412e-01 8.61712206e-01 -1.33228900e-02 -4.01148127e+01] [-2.76168951e-02 -8.00852053e-04 9.99618260e-01 -7.56528008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85038572300002 meters 0.023115339178425738 Centerline is valid? [True, True] Translation: X:200.87, Y:-40.14, Z:-7.57 [[ 8.61112649e-01 5.07826207e-01 2.44448068e-02 2.00873752e+02] [-5.07648305e-01 8.61459158e-01 -1.34654206e-02 -4.01420962e+01] [-2.78962962e-02 -8.14120706e-04 9.99610491e-01 -7.56942264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91038572300002 meters 0.023285654034378288 Centerline is valid? [True, True] Translation: X:200.93, Y:-40.17, Z:-7.57 [[ 8.59852814e-01 5.09966384e-01 2.42368751e-02 2.00928653e+02] [-5.09792168e-01 8.60193891e-01 -1.33572460e-02 -4.01716128e+01] [-2.76601583e-02 -8.70503520e-04 9.99617006e-01 -7.57133605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.970385723 meters 0.02567278307271838 Centerline is valid? [True, True] Translation: X:200.98, Y:-40.20, Z:-7.57 [[ 8.59006736e-01 5.11382224e-01 2.44059179e-02 2.00984471e+02] [-5.11206118e-01 8.59352879e-01 -1.34511674e-02 -4.01971408e+01] [-2.78519837e-02 -9.21811108e-04 9.99611633e-01 -7.57419288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.030385723 meters 0.023160988238258736 Centerline is valid? [True, True] Translation: X:201.04, Y:-40.23, Z:-7.58 [[ 8.58463434e-01 5.12391134e-01 2.22678543e-02 2.01035812e+02] [-5.12244740e-01 8.58751754e-01 -1.22780974e-02 -4.02314722e+01] [-2.54137472e-02 -8.66293550e-04 9.99676643e-01 -7.57701526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.090385723 meters 0.024035852576965146 Centerline is valid? [True, True] Translation: X:201.09, Y:-40.26, Z:-7.58 [[ 8.58512403e-01 5.12313726e-01 2.21607860e-02 2.01089208e+02] [-5.12168548e-01 8.58797948e-01 -1.22254923e-02 -4.02608654e+01] [-2.52949250e-02 -8.54320856e-04 9.99679667e-01 -7.57925777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.150385723 meters 0.025375072627587678 Centerline is valid? [True, True] Translation: X:201.14, Y:-40.29, Z:-7.58 [[ 8.58949079e-01 5.11584035e-01 2.20965094e-02 2.01143930e+02] [-5.11439302e-01 8.59232852e-01 -1.21961181e-02 -4.02891934e+01] [-2.52253861e-02 -8.25179003e-04 9.99681449e-01 -7.58148683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.210385723 meters 0.024818465104312935 Centerline is valid? [True, True] Translation: X:201.20, Y:-40.32, Z:-7.58 [[ 8.60219942e-01 5.09339293e-01 2.43954214e-02 2.01195517e+02] [-5.09161686e-01 8.60565393e-01 -1.34752161e-02 -4.03210000e+01] [-2.78573125e-02 -8.29564283e-04 9.99611566e-01 -7.57970220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.270385723 meters 0.021733522850660433 Centerline is valid? [True, True] Translation: X:201.25, Y:-40.36, Z:-7.58 [[ 8.60788128e-01 5.08360162e-01 2.47738531e-02 2.01246408e+02] [-5.08176636e-01 8.61144173e-01 -1.36828346e-02 -4.03573959e+01] [-2.82896673e-02 -8.11471789e-04 9.99599438e-01 -7.57984302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.330385723 meters 0.02231193553735789 Centerline is valid? [True, True] Translation: X:201.30, Y:-40.39, Z:-7.58 [[ 8.60495259e-01 5.08925658e-01 2.32934527e-02 2.01301446e+02] [-5.08763444e-01 8.60810127e-01 -1.28718114e-02 -4.03859858e+01] [-2.66020351e-02 -7.74724548e-04 9.99645803e-01 -7.58333098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.390385723 meters 0.022122659596285413 Centerline is valid? [True, True] Translation: X:201.36, Y:-40.42, Z:-7.59 [[ 8.59851069e-01 5.10036430e-01 2.27811002e-02 2.01356383e+02] [-5.09881492e-01 8.60152442e-01 -1.25952843e-02 -4.04154725e+01] [-2.60192728e-02 -7.85592672e-04 9.99661133e-01 -7.58636398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.450385723 meters 0.022460159408168916 Centerline is valid? [True, True] Translation: X:201.41, Y:-40.44, Z:-7.59 [[ 8.60082229e-01 5.09600084e-01 2.37973645e-02 2.01410696e+02] [-5.09430634e-01 8.60411015e-01 -1.31649085e-02 -4.04447753e+01] [-2.71843530e-02 -8.00202702e-04 9.99630117e-01 -7.58813997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.510385723 meters 0.022770999242078194 Centerline is valid? [True, True] Translation: X:201.47, Y:-40.48, Z:-7.59 [[ 8.60063608e-01 5.09678702e-01 2.27642388e-02 2.01465829e+02] [-5.09523516e-01 8.60364481e-01 -1.25994792e-02 -4.04758551e+01] [-2.60072287e-02 -7.62561502e-04 9.99661464e-01 -7.59146881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57038572300002 meters 0.02213808875746291 Centerline is valid? [True, True] Translation: X:201.52, Y:-40.51, Z:-7.60 [[ 8.59150850e-01 5.11283350e-01 2.11932171e-02 2.01520048e+02] [-5.11149169e-01 8.59411877e-01 -1.17368058e-02 -4.05063156e+01] [-2.42145359e-02 -7.49208603e-04 9.99706504e-01 -7.59541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63038572300002 meters 0.02291067791107096 Centerline is valid? [True, True] Translation: X:201.57, Y:-40.53, Z:-7.60 [[ 8.58134164e-01 5.13005535e-01 2.07623973e-02 2.01574541e+02] [-5.12877101e-01 8.58384948e-01 -1.15047839e-02 -4.05347427e+01] [-2.37241472e-02 -7.75910006e-04 9.99718242e-01 -7.59832533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.690385723 meters 0.023073598900949233 Centerline is valid? [True, True] Translation: X:201.63, Y:-40.56, Z:-7.60 [[ 8.57860992e-01 5.13320430e-01 2.40136382e-02 2.01629536e+02] [-5.13148513e-01 8.58196554e-01 -1.33145952e-02 -4.05638222e+01] [-2.74430753e-02 -9.00490900e-04 9.99622962e-01 -7.59812663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.750385723 meters 0.0241057109705076 Centerline is valid? [True, True] Translation: X:201.68, Y:-40.59, Z:-7.60 [[ 8.57616607e-01 5.13607795e-01 2.64724016e-02 2.01684284e+02] [-5.13398718e-01 8.58024500e-01 -1.46871802e-02 -4.05912691e+01] [-3.02574194e-02 -9.94927461e-04 9.99541644e-01 -7.59781921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.810385723 meters 0.026848659568838324 Centerline is valid? [True, True] Translation: X:201.74, Y:-40.61, Z:-7.60 [[ 8.56639817e-01 5.15260072e-01 2.59861812e-02 2.01740607e+02] [-5.15059118e-01 8.57033257e-01 -1.44257193e-02 -4.06144318e+01] [-2.97040187e-02 -1.02677408e-03 9.99558211e-01 -7.60211892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.870385723 meters 0.02450394235792609 Centerline is valid? [True, True] Translation: X:201.79, Y:-40.65, Z:-7.61 [[ 8.55539645e-01 5.17163713e-01 2.43641119e-02 2.01794686e+02] [-5.16987789e-01 8.55885884e-01 -1.35269747e-02 -4.06453110e+01] [-2.78485599e-02 -1.02308517e-03 9.99611630e-01 -7.60614284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.930385723 meters 0.0231349514912312 Centerline is valid? [True, True] Translation: X:201.85, Y:-40.67, Z:-7.61 [[ 8.54748917e-01 5.18528527e-01 2.30750202e-02 2.01849501e+02] [-5.18371227e-01 8.55059732e-01 -1.28111888e-02 -4.06745651e+01] [-2.63734874e-02 -1.01107679e-03 9.99651648e-01 -7.60958879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.990385723 meters 0.023220120075189022 Centerline is valid? [True, True] Translation: X:201.90, Y:-40.70, Z:-7.61 [[ 8.55208745e-01 5.17799421e-01 2.24000723e-02 2.01904870e+02] [-5.17650761e-01 8.55501520e-01 -1.24434223e-02 -4.07033918e+01] [-2.56064928e-02 -9.53690969e-04 9.99671645e-01 -7.61131390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.050385723 meters 0.023506831060214513 Centerline is valid? [True, True] Translation: X:201.96, Y:-40.73, Z:-7.61 [[ 8.56726649e-01 5.15286665e-01 2.23405836e-02 2.01958881e+02] [-5.15137698e-01 8.57017444e-01 -1.24198477e-02 -4.07303375e+01] [-2.55460518e-02 -8.68062338e-04 9.99673269e-01 -7.61355948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.110385723 meters 0.022008983706001517 Centerline is valid? [True, True] Translation: X:202.01, Y:-40.76, Z:-7.62 [[ 8.58485357e-01 5.12352792e-01 2.23049023e-02 2.02013114e+02] [-5.12203280e-01 8.58774715e-01 -1.24011650e-02 -4.07594405e+01] [-2.55086576e-02 -7.78425598e-04 9.99674298e-01 -7.61581637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.170385723 meters 0.021965415461652798 Centerline is valid? [True, True] Translation: X:202.07, Y:-40.79, Z:-7.62 [[ 8.59564950e-01 5.10526194e-01 2.26075636e-02 2.02068058e+02] [-5.10371975e-01 8.59861888e-01 -1.25690539e-02 -4.07864605e+01] [-2.58562135e-02 -7.34348704e-04 9.99665402e-01 -7.61653251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.230385723 meters 0.020823225632608928 Centerline is valid? [True, True] Translation: X:202.12, Y:-40.82, Z:-7.62 [[ 8.60594351e-01 5.08833915e-01 2.15733685e-02 2.02122675e+02] [-5.08692819e-01 8.60864465e-01 -1.19995102e-02 -4.08166852e+01] [-2.46775041e-02 -6.47506892e-04 9.99695254e-01 -7.61738539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.290385723 meters 0.021006417764748916 Centerline is valid? [True, True] Translation: X:202.18, Y:-40.84, Z:-7.62 [[ 8.61045416e-01 5.08145368e-01 1.97250363e-02 2.02179251e+02] [-5.08027126e-01 8.61271131e-01 -1.09762844e-02 -4.08440062e+01] [-2.25661524e-02 -5.69774156e-04 9.99745190e-01 -7.62086614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35038572300002 meters 0.021177327627179155 Centerline is valid? [True, True] Translation: X:202.23, Y:-40.87, Z:-7.62 [[ 8.61061708e-01 5.08169217e-01 1.83516276e-02 2.02234965e+02] [-5.08066741e-01 8.61257088e-01 -1.02184030e-02 -4.08719883e+01] [-2.09981472e-02 -5.25176027e-04 9.99779377e-01 -7.62291425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41038572300002 meters 0.02127712722343074 Centerline is valid? [True, True] Translation: X:202.29, Y:-40.90, Z:-7.62 [[ 8.61819761e-01 5.06875442e-01 1.85468464e-02 2.02289591e+02] [-5.06770340e-01 8.62019166e-01 -1.03334297e-02 -4.08995809e+01] [-2.12254989e-02 -4.93437716e-04 9.99774592e-01 -7.62451969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.470385723 meters 0.020899572341190577 Centerline is valid? [True, True] Translation: X:202.34, Y:-40.93, Z:-7.62 [[ 8.62842303e-01 5.05091783e-01 1.96328801e-02 2.02343936e+02] [-5.04973414e-01 8.63065507e-01 -1.09444850e-02 -4.09301889e+01] [-2.24724310e-02 -4.70717893e-04 9.99747352e-01 -7.62419987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.530385723 meters 0.020802329950823664 Centerline is valid? [True, True] Translation: X:202.40, Y:-40.96, Z:-7.63 [[ 8.63603175e-01 5.03776237e-01 1.99764595e-02 2.02398195e+02] [-5.03653191e-01 8.63834076e-01 -1.11423725e-02 -4.09599907e+01] [-2.28696089e-02 -4.38619274e-04 9.99738360e-01 -7.62577628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.590385723 meters 0.020768408098494347 Centerline is valid? [True, True] Translation: X:202.45, Y:-40.99, Z:-7.63 [[ 8.64417047e-01 5.02409562e-01 1.91781253e-02 2.02451470e+02] [-5.02295693e-01 8.64629682e-01 -1.07028249e-02 -4.09895176e+01] [-2.19591780e-02 -3.81385445e-04 9.99758795e-01 -7.62936302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.650385723 meters 0.020189639955288205 Centerline is valid? [True, True] Translation: X:202.51, Y:-41.02, Z:-7.63 [[ 8.65255803e-01 5.00974942e-01 1.88812959e-02 2.02505284e+02] [-5.00864126e-01 8.65461723e-01 -1.05419406e-02 -4.10206754e+01] [-2.16222870e-02 -3.35488503e-04 9.99766155e-01 -7.63195718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.710385723 meters 0.01953332417247843 Centerline is valid? [True, True] Translation: X:202.56, Y:-41.05, Z:-7.64 [[ 8.66488362e-01 4.98883603e-01 1.76937485e-02 2.02558604e+02] [-4.98785758e-01 8.66668958e-01 -9.88360326e-03 -4.10516119e+01] [-2.02653902e-02 -2.61362567e-04 9.99794602e-01 -7.63608455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.770385723 meters 0.01891689145669131 Centerline is valid? [True, True] Translation: X:202.61, Y:-41.09, Z:-7.64 [[ 8.68740434e-01 4.94974029e-01 1.70519327e-02 2.02609799e+02] [-4.94882297e-01 8.68907754e-01 -9.53033820e-03 -4.10850408e+01] [-1.95338264e-02 -1.59309457e-04 9.99809184e-01 -7.63889909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.830385723 meters 0.018406043180539185 Centerline is valid? [True, True] Translation: X:202.66, Y:-41.12, Z:-7.64 [[ 8.70397692e-01 4.91977552e-01 1.91297128e-02 2.02662455e+02] [-4.91861239e-01 8.70607879e-01 -1.06977788e-02 -4.11184536e+01] [-2.19175457e-02 -9.78422664e-05 9.99759777e-01 -7.63903121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.890385723 meters 0.01808238394249857 Centerline is valid? [True, True] Translation: X:202.72, Y:-41.15, Z:-7.64 [[ 8.70908663e-01 4.90960458e-01 2.18157976e-02 2.02716087e+02] [-4.90808663e-01 8.71181854e-01 -1.22079420e-02 -4.11505171e+01] [-2.49991438e-02 -7.53799969e-05 9.99687470e-01 -7.63787511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.950385723 meters 0.017931659378806558 Centerline is valid? [True, True] Translation: X:202.77, Y:-41.18, Z:-7.64 [[ 8.69759888e-01 4.92885005e-01 2.41269435e-02 2.02770764e+02] [-4.92699850e-01 8.70094451e-01 -1.35094312e-02 -4.11807727e+01] [-2.76513158e-02 -1.37380066e-04 9.99617620e-01 -7.63687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.010385723 meters 0.01802055876904032 Centerline is valid? [True, True] Translation: X:202.83, Y:-41.21, Z:-7.64 [[ 8.67764836e-01 4.96388867e-01 2.41305180e-02 2.02825238e+02] [-4.96204793e-01 8.68100244e-01 -1.35192315e-02 -4.12078898e+01] [-2.76585046e-02 -2.42164989e-04 9.99617401e-01 -7.64006477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07038572300002 meters 0.01838848892722861 Centerline is valid? [True, True] Translation: X:202.88, Y:-41.24, Z:-7.64 [[ 8.64904376e-01 5.01388545e-01 2.34509375e-02 2.02880067e+02] [-5.01216358e-01 8.65222156e-01 -1.31447422e-02 -4.12372481e+01] [-2.68808938e-02 -3.85048414e-04 9.99638569e-01 -7.64202684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13038572300002 meters 0.019195846235897367 Centerline is valid? [True, True] Translation: X:202.93, Y:-41.27, Z:-7.64 [[ 8.62101989e-01 5.06252158e-01 2.21113873e-02 2.02934141e+02] [-5.06100471e-01 8.62385357e-01 -1.24019823e-02 -4.12665573e+01] [-2.53470670e-02 -4.98809962e-04 9.99678587e-01 -7.64419467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.190385723 meters 0.019821626856284802 Centerline is valid? [True, True] Translation: X:202.99, Y:-41.30, Z:-7.65 [[ 8.60549472e-01 5.08854581e-01 2.28390475e-02 2.02988212e+02] [-5.08693603e-01 8.60852289e-01 -1.28122696e-02 -4.12973979e+01] [-2.61806284e-02 -5.92485518e-04 9.99657053e-01 -7.64662851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.250385723 meters 0.020951031942406204 Centerline is valid? [True, True] Translation: X:203.04, Y:-41.33, Z:-7.65 [[ 8.59618783e-01 5.10307732e-01 2.53291689e-02 2.03041605e+02] [-5.10110106e-01 8.59991588e-01 -1.42179136e-02 -4.13311555e+01] [-2.90383834e-02 -6.98679490e-04 9.99578053e-01 -7.64892916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.310385723 meters 0.020385393639481955 Centerline is valid? [True, True] Translation: X:203.09, Y:-41.37, Z:-7.65 [[ 8.59599854e-01 5.10318138e-01 2.57582936e-02 2.03092958e+02] [-5.10113472e-01 8.59985409e-01 -1.44686161e-02 -4.13662472e+01] [-2.95353539e-02 -7.02432314e-04 9.99563489e-01 -7.64907509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.370385723 meters 0.02062990188052097 Centerline is valid? [True, True] Translation: X:203.14, Y:-41.40, Z:-7.65 [[ 8.59023292e-01 5.11287229e-01 2.57750470e-02 2.03144886e+02] [-5.11082486e-01 8.59409587e-01 -1.44863441e-02 -4.13994480e+01] [-2.95580052e-02 -7.29068104e-04 9.99562801e-01 -7.64952667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.430385723 meters 0.020543949523624032 Centerline is valid? [True, True] Translation: X:203.20, Y:-41.43, Z:-7.65 [[ 8.58534870e-01 5.12073661e-01 2.64280782e-02 2.03197574e+02] [-5.11858554e-01 8.58941194e-01 -1.48608974e-02 -4.14331730e+01] [-3.03100392e-02 -7.68839292e-04 9.99540250e-01 -7.65220063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.490385723 meters 0.019791165117961595 Centerline is valid? [True, True] Translation: X:203.25, Y:-41.47, Z:-7.65 [[ 8.59462194e-01 5.10472781e-01 2.72447692e-02 2.03248326e+02] [-5.10243047e-01 8.59893606e-01 -1.53303549e-02 -4.14700593e+01] [-3.12533317e-02 -7.25593596e-04 9.99511232e-01 -7.65376085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.550385723 meters 0.01914696609920813 Centerline is valid? [True, True] Translation: X:203.30, Y:-41.51, Z:-7.65 [[ 8.62049260e-01 5.05999284e-01 2.89101607e-02 2.03296951e+02] [-5.05737740e-01 8.62533697e-01 -1.62776089e-02 -4.15069738e+01] [-3.31724462e-02 -5.88858641e-04 9.99449469e-01 -7.65491515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.610385723 meters 0.018155522055728762 Centerline is valid? [True, True] Translation: X:203.35, Y:-41.54, Z:-7.66 [[ 8.63688063e-01 5.03149130e-01 2.97301480e-02 2.03346810e+02] [-5.02870707e-01 8.64199464e-01 -1.67433342e-02 -4.15443849e+01] [-3.41171720e-02 -4.89402653e-04 9.99417720e-01 -7.65725957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.670385723 meters 0.01790382927086978 Centerline is valid? [True, True] Translation: X:203.40, Y:-41.58, Z:-7.66 [[ 8.64680678e-01 5.01582198e-01 2.72511153e-02 2.03397403e+02] [-5.01347255e-01 8.65109907e-01 -1.53551128e-02 -4.15785113e+01] [-3.12770610e-02 -3.85002523e-04 9.99510679e-01 -7.66315919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.730385723 meters 0.017721770220960494 Centerline is valid? [True, True] Translation: X:203.45, Y:-41.61, Z:-7.67 [[ 8.64966714e-01 5.01223942e-01 2.46402910e-02 2.03450458e+02] [-5.01031557e-01 8.65317543e-01 -1.38898608e-02 -4.16130059e+01] [-2.82836069e-02 -3.31296132e-04 9.99599884e-01 -7.66918522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.790385723 meters 0.01799874334249976 Centerline is valid? [True, True] Translation: X:203.50, Y:-41.65, Z:-7.67 [[ 8.65376746e-01 5.00464713e-01 2.56546244e-02 2.03502420e+02] [-5.00255532e-01 8.65756880e-01 -1.44716163e-02 -4.16462946e+01] [-2.94532009e-02 -3.10467568e-04 9.99566112e-01 -7.67231132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85038572300002 meters 0.018917094383077683 Centerline is valid? [True, True] Translation: X:203.55, Y:-41.68, Z:-7.68 [[ 8.65566946e-01 5.00057543e-01 2.71351332e-02 2.03554393e+02] [-4.99823034e-01 8.65992125e-01 -1.53158425e-02 -4.16774237e+01] [-3.11576143e-02 -3.05877573e-04 9.99514437e-01 -7.67581355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91038572300002 meters 0.017950696482081443 Centerline is valid? [True, True] Translation: X:203.61, Y:-41.71, Z:-7.68 [[ 8.64471087e-01 5.02026328e-01 2.56769494e-02 2.03608073e+02] [-5.01817021e-01 8.64852267e-01 -1.44994809e-02 -4.17087367e+01] [-2.94858891e-02 -3.50748234e-04 9.99565135e-01 -7.67858055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.970385723 meters 0.01957022588198301 Centerline is valid? [True, True] Translation: X:203.66, Y:-41.74, Z:-7.68 [[ 8.63951447e-01 5.02988800e-01 2.42933013e-02 2.03661935e+02] [-5.02801636e-01 8.64292855e-01 -1.37249727e-02 -4.17396598e+01] [-2.79000343e-02 -3.57001637e-04 9.99610655e-01 -7.68483221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.030385723 meters 0.018100718122908272 Centerline is valid? [True, True] Translation: X:203.72, Y:-41.77, Z:-7.69 [[ 8.63734989e-01 5.03391356e-01 2.36434223e-02 2.03716669e+02] [-5.03214047e-01 8.64058457e-01 -1.33643543e-02 -4.17711943e+01] [-2.71567994e-02 -3.54441875e-04 9.99631123e-01 -7.68661584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.090385723 meters 0.017430613360932375 Centerline is valid? [True, True] Translation: X:203.77, Y:-41.80, Z:-7.69 [[ 8.64944042e-01 5.01214164e-01 2.56157177e-02 2.03769580e+02] [-5.01004779e-01 8.65323217e-01 -1.44893186e-02 -4.18033166e+01] [-2.94281270e-02 -3.01147200e-04 9.99566854e-01 -7.68746894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.150385723 meters 0.016831354822719555 Centerline is valid? [True, True] Translation: X:203.82, Y:-41.84, Z:-7.69 [[ 8.66637335e-01 4.98229637e-01 2.65886996e-02 2.03822127e+02] [-4.98002372e-01 8.67045090e-01 -1.50482183e-02 -4.18358585e+01] [-3.05510698e-02 -1.99887677e-04 9.99533187e-01 -7.68850667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.210385723 meters 0.01671923781225032 Centerline is valid? [True, True] Translation: X:203.88, Y:-41.87, Z:-7.69 [[ 8.67254859e-01 4.97113225e-01 2.73395587e-02 2.03875562e+02] [-4.96872099e-01 8.67685667e-01 -1.54822471e-02 -4.18656813e+01] [-3.14185731e-02 -1.57209911e-04 9.99506302e-01 -7.69055029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.270385723 meters 0.016511476608021883 Centerline is valid? [True, True] Translation: X:203.93, Y:-41.89, Z:-7.69 [[ 8.67855256e-01 4.95993927e-01 2.85880812e-02 2.03930917e+02] [-4.95729377e-01 8.68325982e-01 -1.61979467e-02 -4.18937852e+01] [-3.28578569e-02 -1.14478502e-04 9.99460028e-01 -7.69261794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.330385723 meters 0.01701108010046849 Centerline is valid? [True, True] Translation: X:203.99, Y:-41.92, Z:-7.70 [[ 8.67350263e-01 4.96907354e-01 2.80464638e-02 2.03986960e+02] [-4.96652943e-01 8.67803585e-01 -1.58994073e-02 -4.19227462e+01] [-3.22393542e-02 -1.39003751e-04 9.99480167e-01 -7.69638743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.390385723 meters 0.016560278636592565 Centerline is valid? [True, True] Translation: X:204.04, Y:-41.95, Z:-7.70 [[ 8.65903099e-01 4.99520873e-01 2.62815675e-02 2.04042784e+02] [-4.99298415e-01 8.66301825e-01 -1.49077389e-02 -4.19494317e+01] [-3.02144966e-02 -2.13687693e-04 9.99543415e-01 -7.70011170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.450385723 meters 0.01886091795126921 Centerline is valid? [True, True] Translation: X:204.10, Y:-41.98, Z:-7.71 [[ 8.64843836e-01 5.01537363e-01 2.24813873e-02 2.04098008e+02] [-5.01375129e-01 8.65135953e-01 -1.27578508e-02 -4.19766549e+01] [-2.58479953e-02 -2.38059861e-04 9.99665856e-01 -7.70742872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.510385723 meters 0.01712203858617594 Centerline is valid? [True, True] Translation: X:204.15, Y:-42.00, Z:-7.71 [[ 8.63862199e-01 5.03251780e-01 2.19031354e-02 2.04152186e+02] [-5.03098171e-01 8.64139786e-01 -1.24362789e-02 -4.20039489e+01] [-2.51859502e-02 -2.76196074e-04 9.99682745e-01 -7.70879127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57038572300002 meters 0.017039521767342154 Centerline is valid? [True, True] Translation: X:204.21, Y:-42.03, Z:-7.71 [[ 8.63284761e-01 5.04198357e-01 2.28787630e-02 2.04207801e+02] [-5.04030957e-01 8.63587818e-01 -1.29952339e-02 -4.20333125e+01] [-2.63099966e-02 -3.13017427e-04 9.99653783e-01 -7.71032194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63038572300002 meters 0.017511900941916556 Centerline is valid? [True, True] Translation: X:204.26, Y:-42.06, Z:-7.71 [[ 8.62908482e-01 5.04769429e-01 2.44289861e-02 2.04261881e+02] [-5.04578530e-01 8.63254137e-01 -1.38853298e-02 -4.20646071e+01] [-2.80973133e-02 -3.44573040e-04 9.99605133e-01 -7.70950898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.690385723 meters 0.017156737078076804 Centerline is valid? [True, True] Translation: X:204.32, Y:-42.09, Z:-7.71 [[ 8.61179039e-01 5.07636335e-01 2.60002818e-02 2.04316635e+02] [-5.07421123e-01 8.61571321e-01 -1.47872734e-02 -4.20934282e+01] [-2.99076544e-02 -4.58602340e-04 9.99552561e-01 -7.70819824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.750385723 meters 0.01790165653030862 Centerline is valid? [True, True] Translation: X:204.37, Y:-42.12, Z:-7.71 [[ 8.58742977e-01 5.11709358e-01 2.67213695e-02 2.04373269e+02] [-5.11483730e-01 8.59158403e-01 -1.52063231e-02 -4.21200357e+01] [-3.07391069e-02 -6.09222600e-04 9.99527256e-01 -7.70989214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.810385723 meters 0.01884163629654623 Centerline is valid? [True, True] Translation: X:204.43, Y:-42.15, Z:-7.71 [[ 8.56745122e-01 5.15116726e-01 2.53486372e-02 2.04429111e+02] [-5.14914920e-01 8.57119763e-01 -1.44339090e-02 -4.21477943e+01] [-2.91619658e-02 -6.86210338e-04 9.99574464e-01 -7.71309158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.870385723 meters 0.019664941986016045 Centerline is valid? [True, True] Translation: X:204.48, Y:-42.18, Z:-7.72 [[ 8.55613691e-01 5.17072586e-01 2.36886652e-02 2.04483352e+02] [-5.16897058e-01 8.55941264e-01 -1.34901419e-02 -4.21769539e+01] [-2.72514886e-02 -7.02251227e-04 9.99628363e-01 -7.71601357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.930385723 meters 0.020622763870015905 Centerline is valid? [True, True] Translation: X:204.54, Y:-42.21, Z:-7.72 [[ 8.55645621e-01 5.17057883e-01 2.28411083e-02 2.04537345e+02] [-5.16894641e-01 8.55950168e-01 -1.30092691e-02 -4.22093726e+01] [-2.62773956e-02 -6.75122297e-04 9.99654462e-01 -7.71904112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.990385723 meters 0.020680796637163535 Centerline is valid? [True, True] Translation: X:204.59, Y:-42.24, Z:-7.72 [[ 8.56342418e-01 5.15871920e-01 2.35334845e-02 2.04590113e+02] [-5.15697927e-01 8.56665477e-01 -1.34130178e-02 -4.22397426e+01] [-2.70797230e-02 -6.50033021e-04 9.99633066e-01 -7.72073805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.050385723 meters 0.0181991290030042 Centerline is valid? [True, True] Translation: X:204.64, Y:-42.28, Z:-7.72 [[ 8.58670375e-01 5.11985666e-01 2.35768022e-02 2.04638864e+02] [-5.11809370e-01 8.58993833e-01 -1.34448128e-02 -4.22774118e+01] [-2.71358791e-02 -5.22165806e-04 9.99631618e-01 -7.72050300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.110385723 meters 0.017309095293312187 Centerline is valid? [True, True] Translation: X:204.69, Y:-42.31, Z:-7.72 [[ 8.60686100e-01 5.08584268e-01 2.36955592e-02 2.04689565e+02] [-5.08404751e-01 8.61012121e-01 -1.35180028e-02 -4.23139111e+01] [-2.72772072e-02 -4.12177724e-04 9.99627823e-01 -7.72223578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.170385723 meters 0.016937816465272756 Centerline is valid? [True, True] Translation: X:204.74, Y:-42.35, Z:-7.72 [[ 8.61608111e-01 5.07001142e-01 2.41102860e-02 2.04741407e+02] [-5.06814451e-01 8.61945307e-01 -1.37622838e-02 -4.23486685e+01] [-2.77592415e-02 -3.61746004e-04 9.99614573e-01 -7.72390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.230385723 meters 0.01700144077577782 Centerline is valid? [True, True] Translation: X:204.79, Y:-42.38, Z:-7.73 [[ 8.61341647e-01 5.07480464e-01 2.35403103e-02 2.04794794e+02] [-5.07302495e-01 8.61663186e-01 -1.34436500e-02 -4.23818827e+01] [-2.71062085e-02 -3.62482535e-04 9.99632494e-01 -7.72612287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.290385723 meters 0.017292339535744168 Centerline is valid? [True, True] Translation: X:204.85, Y:-42.41, Z:-7.73 [[ 8.60884917e-01 5.08265451e-01 2.33107518e-02 2.04849013e+02] [-5.08091003e-01 8.61200377e-01 -1.33207667e-02 -4.24137364e+01] [-2.68457138e-02 -3.76336123e-04 9.99639518e-01 -7.72880327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35038572300002 meters 0.018208474013494496 Centerline is valid? [True, True] Translation: X:204.90, Y:-42.44, Z:-7.73 [[ 8.60004896e-01 5.09779375e-01 2.27281091e-02 2.04901897e+02] [-5.09613850e-01 8.60305076e-01 -1.29961630e-02 -4.24436038e+01] [-2.61782835e-02 -4.05795352e-04 9.99657208e-01 -7.73308127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41038572300002 meters 0.018055272468951937 Centerline is valid? [True, True] Translation: X:204.96, Y:-42.48, Z:-7.74 [[ 8.59578743e-01 5.10521964e-01 2.21745224e-02 2.04955380e+02] [-5.10364503e-01 8.59864614e-01 -1.26854192e-02 -4.24753367e+01] [-2.55432723e-02 -4.12972430e-04 9.99673632e-01 -7.73584797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.470385723 meters 0.017776868934436574 Centerline is valid? [True, True] Translation: X:205.01, Y:-42.51, Z:-7.74 [[ 8.58193764e-01 5.12842552e-01 2.22706290e-02 2.05008661e+02] [-5.12684332e-01 8.58482550e-01 -1.27470502e-02 -4.25077003e+01] [-2.56561761e-02 -4.78363551e-04 9.99670712e-01 -7.73725229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.530385723 meters 0.018484072322448832 Centerline is valid? [True, True] Translation: X:205.06, Y:-42.54, Z:-7.74 [[ 8.57248346e-01 5.14442048e-01 2.17865218e-02 2.05062845e+02] [-5.14290970e-01 8.57524997e-01 -1.24770643e-02 -4.25365801e+01] [-2.51012135e-02 -5.08668687e-04 9.99684785e-01 -7.74093191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.590385723 meters 0.018725161139238188 Centerline is valid? [True, True] Translation: X:205.12, Y:-42.57, Z:-7.74 [[ 8.56031190e-01 5.16524037e-01 2.03352057e-02 2.05117303e+02] [-5.16392887e-01 8.56272527e-01 -1.16509786e-02 -4.25663980e+01] [-2.34304885e-02 -5.27354539e-04 9.99725329e-01 -7.74459663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.650385723 meters 0.019895483673359096 Centerline is valid? [True, True] Translation: X:205.17, Y:-42.59, Z:-7.75 [[ 8.54909247e-01 5.18399108e-01 1.98127351e-02 2.05171292e+02] [-5.18274938e-01 8.55138617e-01 -1.13592929e-02 -4.25940289e+01] [-2.28312822e-02 -5.57279489e-04 9.99739177e-01 -7.74739741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.710385723 meters 0.019876558200685977 Centerline is valid? [True, True] Translation: X:205.23, Y:-42.63, Z:-7.75 [[ 8.55189584e-01 5.17886099e-01 2.10894186e-02 2.05225389e+02] [-5.17745177e-01 8.55449389e-01 -1.20943925e-02 -4.26250871e+01] [-2.43044480e-02 -5.75946257e-04 9.99704437e-01 -7.74740364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.770385723 meters 0.018396968026336332 Centerline is valid? [True, True] Translation: X:205.28, Y:-42.66, Z:-7.75 [[ 8.56369145e-01 5.15843830e-01 2.31739264e-02 2.05277439e+02] [-5.15672708e-01 8.56682454e-01 -1.32977672e-02 -4.26585328e+01] [-2.67122673e-02 -5.62363853e-04 9.99643006e-01 -7.74680056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.830385723 meters 0.01844873394197466 Centerline is valid? [True, True] Translation: X:205.33, Y:-42.69, Z:-7.75 [[ 8.56440904e-01 5.15731064e-01 2.30314565e-02 2.05331808e+02] [-5.15561816e-01 8.56750353e-01 -1.32229331e-02 -4.26902707e+01] [-2.65516858e-02 -5.49478758e-04 9.99647291e-01 -7.74942924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.890385723 meters 0.020174033398362243 Centerline is valid? [True, True] Translation: X:205.39, Y:-42.72, Z:-7.76 [[ 8.56062313e-01 5.16454161e-01 2.07945938e-02 2.05386760e+02] [-5.16316207e-01 8.56314685e-01 -1.19471217e-02 -4.27163930e+01] [-2.39768568e-02 -5.09105213e-04 9.99712384e-01 -7.75657984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.950385723 meters 0.018773840530954378 Centerline is valid? [True, True] Translation: X:205.44, Y:-42.75, Z:-7.76 [[ 8.55733263e-01 5.17002593e-01 2.07099467e-02 2.05438360e+02] [-5.16865843e-01 8.55983673e-01 -1.19017624e-02 -4.27503124e+01] [-2.38806183e-02 -5.19530108e-04 9.99714682e-01 -7.75701580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.010385723 meters 0.018788202226952957 Centerline is valid? [True, True] Translation: X:205.49, Y:-42.78, Z:-7.76 [[ 8.56348735e-01 5.15959196e-01 2.12826632e-02 2.05491274e+02] [-5.15814393e-01 8.56613014e-01 -1.22333665e-02 -4.27816936e+01] [-2.45429242e-02 -5.01876051e-04 9.99698651e-01 -7.75797625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07038572300002 meters 0.018115452771260847 Centerline is valid? [True, True] Translation: X:205.55, Y:-42.81, Z:-7.76 [[ 8.56226372e-01 5.16149943e-01 2.15786235e-02 2.05545711e+02] [-5.16000990e-01 8.56498089e-01 -1.24097044e-02 -4.28139423e+01] [-2.48873181e-02 -5.09074907e-04 9.99690133e-01 -7.75957919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13038572300002 meters 0.018063174676770773 Centerline is valid? [True, True] Translation: X:205.60, Y:-42.85, Z:-7.76 [[ 8.56082301e-01 5.16389400e-01 2.15657257e-02 2.05600237e+02] [-5.16240505e-01 8.56353740e-01 -1.24102070e-02 -4.28460952e+01] [-2.48763892e-02 -5.08942589e-04 9.99690405e-01 -7.76112757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.190385723 meters 0.019776851042181073 Centerline is valid? [True, True] Translation: X:205.65, Y:-42.88, Z:-7.77 [[ 8.56310942e-01 5.16029496e-01 2.10980931e-02 2.05654639e+02] [-5.15886693e-01 8.56570679e-01 -1.21487421e-02 -4.28772958e+01] [-2.43411172e-02 -4.81124696e-04 9.99703595e-01 -7.76569536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.250385723 meters 0.01857210944861011 Centerline is valid? [True, True] Translation: X:205.71, Y:-42.90, Z:-7.77 [[ 8.55460650e-01 5.17420060e-01 2.15303772e-02 2.05708762e+02] [-5.17271551e-01 8.55731387e-01 -1.24070613e-02 -4.29047949e+01] [-2.48438819e-02 -5.23298915e-04 9.99691206e-01 -7.76632194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.310385723 meters 0.01886440760547123 Centerline is valid? [True, True] Translation: X:205.76, Y:-42.93, Z:-7.77 [[ 8.53509913e-01 5.20696369e-01 1.99027857e-02 2.05763275e+02] [-5.20570266e-01 8.53741746e-01 -1.14729829e-02 -4.29331756e+01] [-2.29657796e-02 -5.68493880e-04 9.99736090e-01 -7.76893044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.370385723 meters 0.020301110393938702 Centerline is valid? [True, True] Translation: X:205.82, Y:-42.96, Z:-7.77 [[ 8.53212973e-01 5.21187604e-01 1.97763746e-02 2.05818172e+02] [-5.21063116e-01 8.53441944e-01 -1.14051073e-02 -4.29640303e+01] [-2.28221882e-02 -5.73753849e-04 9.99739375e-01 -7.77340531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.430385723 meters 0.0190629192291197 Centerline is valid? [True, True] Translation: X:205.87, Y:-42.99, Z:-7.77 [[ 8.52272678e-01 5.22649494e-01 2.16515152e-02 2.05873446e+02] [-5.22500521e-01 8.52547398e-01 -1.24955668e-02 -4.29933383e+01] [-2.49897446e-02 -6.63297854e-04 9.99687488e-01 -7.77227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.490385723 meters 0.019582165167378398 Centerline is valid? [True, True] Translation: X:205.93, Y:-43.02, Z:-7.77 [[ 8.51418392e-01 5.24043570e-01 2.15652160e-02 2.05927754e+02] [-5.23896020e-01 8.51691173e-01 -1.24541298e-02 -4.30231434e+01] [-2.48934108e-02 -6.94255645e-04 9.99689870e-01 -7.77315526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.550385723 meters 0.0202662790464142 Centerline is valid? [True, True] Translation: X:205.98, Y:-43.05, Z:-7.78 [[ 8.50779886e-01 5.25090261e-01 2.13026440e-02 2.05983002e+02] [-5.24946443e-01 8.51046246e-01 -1.23093080e-02 -4.30523995e+01] [-2.45930330e-02 -7.10235537e-04 9.99697293e-01 -7.77519002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.610385723 meters 0.02113480686725557 Centerline is valid? [True, True] Translation: X:206.04, Y:-43.08, Z:-7.78 [[ 8.49905064e-01 5.26490173e-01 2.16674817e-02 2.06038147e+02] [-5.26341659e-01 8.50180877e-01 -1.25273326e-02 -4.30806406e+01] [-2.50167961e-02 -7.57454831e-04 9.99686744e-01 -7.77760075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.670385723 meters 0.019993003722282226 Centerline is valid? [True, True] Translation: X:206.09, Y:-43.11, Z:-7.78 [[ 8.49231204e-01 5.27574890e-01 2.17047825e-02 2.06092000e+02] [-5.27426048e-01 8.49508163e-01 -1.25556675e-02 -4.31123732e+01] [-2.50624448e-02 -7.85003011e-04 9.99685579e-01 -7.77931186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.730385723 meters 0.02036449955259201 Centerline is valid? [True, True] Translation: X:206.15, Y:-43.14, Z:-7.78 [[ 8.48490526e-01 5.28809505e-01 2.05993710e-02 2.06146895e+02] [-5.28675644e-01 8.48740189e-01 -1.19228742e-02 -4.31405575e+01] [-2.37884433e-02 -7.73939913e-04 9.99716715e-01 -7.78237959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.790385723 meters 0.02349822728878231 Centerline is valid? [True, True] Translation: X:206.20, Y:-43.17, Z:-7.79 [[ 8.48264500e-01 5.29227448e-01 1.91218763e-02 2.06201371e+02] [-5.29112092e-01 8.48479689e-01 -1.10729950e-02 -4.31686311e+01] [-2.20846565e-02 -7.24787346e-04 9.99755842e-01 -7.78645042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85038572300002 meters 0.02110282369217993 Centerline is valid? [True, True] Translation: X:206.26, Y:-43.20, Z:-7.79 [[ 8.47942955e-01 5.29721617e-01 1.96914671e-02 2.06256370e+02] [-5.29599295e-01 8.48171232e-01 -1.14082644e-02 -4.31990855e+01] [-2.27449402e-02 -7.55029719e-04 9.99741015e-01 -7.78715293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91038572300002 meters 0.020503840402143016 Centerline is valid? [True, True] Translation: X:206.31, Y:-43.23, Z:-7.79 [[ 8.48094281e-01 5.29535731e-01 1.81107910e-02 2.06310164e+02] [-5.29432100e-01 8.48287357e-01 -1.04981457e-02 -4.32309598e+01] [-2.09222983e-02 -6.85016786e-04 9.99780870e-01 -7.79027428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.970385723 meters 0.020932085846421967 Centerline is valid? [True, True] Translation: X:206.36, Y:-43.26, Z:-7.79 [[ 8.48547176e-01 5.28832347e-01 1.74367136e-02 2.06363959e+02] [-5.28736003e-01 8.48726071e-01 -1.01141461e-02 -4.32618907e+01] [-2.01476810e-02 -6.37088169e-04 9.99796812e-01 -7.79267823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.030385723 meters 0.020548483564769154 Centerline is valid? [True, True] Translation: X:206.42, Y:-43.29, Z:-7.79 [[ 8.49528877e-01 5.27219031e-01 1.84602203e-02 2.06416828e+02] [-5.27110524e-01 8.49729191e-01 -1.07143447e-02 -4.32944483e+01] [-2.13349945e-02 -6.28431215e-04 9.99772186e-01 -7.79363694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.090385723 meters 0.0192910823763966 Centerline is valid? [True, True] Translation: X:206.47, Y:-43.33, Z:-7.79 [[ 8.50305846e-01 5.25882475e-01 2.06782461e-02 2.06469509e+02] [-5.25745689e-01 8.50556988e-01 -1.20117140e-02 -4.33287723e+01] [-2.39047766e-02 -6.57868104e-04 9.99714024e-01 -7.79208969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.150385723 meters 0.02081037296699749 Centerline is valid? [True, True] Translation: X:206.52, Y:-43.36, Z:-7.80 [[ 8.50810338e-01 5.25082700e-01 2.02466459e-02 2.06523085e+02] [-5.24951338e-01 8.51050980e-01 -1.17610448e-02 -4.33604905e+01] [-2.34064490e-02 -6.22085339e-04 9.99725838e-01 -7.79582762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.210385723 meters 0.018310326581751007 Centerline is valid? [True, True] Translation: X:206.58, Y:-43.39, Z:-7.80 [[ 8.51247362e-01 5.24388049e-01 1.98771718e-02 2.06575527e+02] [-5.24261106e-01 8.51479201e-01 -1.15526065e-02 -4.33935943e+01] [-2.29830472e-02 -5.86702234e-04 9.99735683e-01 -7.79562294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.270385723 meters 0.019074145526839555 Centerline is valid? [True, True] Translation: X:206.63, Y:-43.43, Z:-7.80 [[ 8.52141823e-01 5.22931536e-01 1.99228977e-02 2.06628295e+02] [-5.22803460e-01 8.52374515e-01 -1.15856777e-02 -4.34252911e+01] [-2.30402865e-02 -5.43119336e-04 9.99734390e-01 -7.79967762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.330385723 meters 0.017561819969885803 Centerline is valid? [True, True] Translation: X:206.68, Y:-43.46, Z:-7.80 [[ 8.53385277e-01 5.20869522e-01 2.07004742e-02 2.06680785e+02] [-5.20730465e-01 8.53636158e-01 -1.20454089e-02 -4.34570632e+01] [-2.39447597e-02 -4.99992956e-04 9.99713158e-01 -7.80140977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.390385723 meters 0.01711383364823863 Centerline is valid? [True, True] Translation: X:206.73, Y:-43.49, Z:-7.80 [[ 8.54932806e-01 5.18325099e-01 2.07120437e-02 2.06732509e+02] [-5.18184993e-01 8.55183555e-01 -1.20582078e-02 -4.34914501e+01] [-2.39626709e-02 -4.23712807e-04 9.99712764e-01 -7.80252087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.450385723 meters 0.01642447617399966 Centerline is valid? [True, True] Translation: X:206.78, Y:-43.52, Z:-7.80 [[ 8.56303731e-01 5.16015468e-01 2.17245803e-02 2.06784919e+02] [-5.15860396e-01 8.56579185e-01 -1.26551276e-02 -4.35242718e+01] [-2.51390648e-02 -3.70217618e-04 9.99683895e-01 -7.80453459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.510385723 meters 0.01612384595090116 Centerline is valid? [True, True] Translation: X:206.84, Y:-43.56, Z:-7.81 [[ 8.57636521e-01 5.13743355e-01 2.29643646e-02 2.06839080e+02] [-5.13568999e-01 8.57943860e-01 -1.33871700e-02 -4.35557551e+01] [-2.65797052e-02 -3.12459831e-04 9.99646648e-01 -7.80675139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57038572300002 meters 0.01585206826607216 Centerline is valid? [True, True] Translation: X:206.89, Y:-43.59, Z:-7.81 [[ 8.58365511e-01 5.12482869e-01 2.38738067e-02 2.06892422e+02] [-5.12293902e-01 8.58697402e-01 -1.39186864e-02 -4.35879948e+01] [-2.76334642e-02 -2.83085220e-04 9.99618083e-01 -7.80738037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63038572300002 meters 0.015892950372227963 Centerline is valid? [True, True] Translation: X:206.95, Y:-43.62, Z:-7.81 [[ 8.58195264e-01 5.12742148e-01 2.44208609e-02 2.06947688e+02] [-5.12544298e-01 8.58542605e-01 -1.42456372e-02 -4.36173909e+01] [-2.82706882e-02 -2.91234626e-04 9.99600262e-01 -7.80853718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.690385723 meters 0.01665219239756968 Centerline is valid? [True, True] Translation: X:207.00, Y:-43.65, Z:-7.81 [[ 8.57336214e-01 5.14297620e-01 2.17387712e-02 2.07003419e+02] [-5.14141163e-01 8.57611724e-01 -1.26883855e-02 -4.36453067e+01] [-2.51690315e-02 -2.98584671e-04 9.99683165e-01 -7.81394526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.750385723 meters 0.01870110399437414 Centerline is valid? [True, True] Translation: X:207.06, Y:-43.67, Z:-7.82 [[ 8.57489562e-01 5.14118251e-01 1.98513431e-02 2.07058094e+02] [-5.13987610e-01 8.57719275e-01 -1.15923162e-02 -4.36739330e+01] [-2.29867009e-02 -2.63054277e-04 9.99735736e-01 -7.82013231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.810385723 meters 0.017223286620426718 Centerline is valid? [True, True] Translation: X:207.11, Y:-43.70, Z:-7.82 [[ 8.56753018e-01 5.15286395e-01 2.13119189e-02 2.07114036e+02] [-5.15136006e-01 8.57017990e-01 -1.24523316e-02 -4.37038435e+01] [-2.46812149e-02 -3.09964141e-04 9.99695324e-01 -7.81906362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.870385723 meters 0.01682924207122332 Centerline is valid? [True, True] Translation: X:207.17, Y:-43.73, Z:-7.82 [[ 8.55689323e-01 5.16999821e-01 2.25159667e-02 2.07170138e+02] [-5.16832315e-01 8.55985425e-01 -1.31647704e-02 -4.37331295e+01] [-2.60795232e-02 -3.72025686e-04 9.99659802e-01 -7.81935988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.930385723 meters 0.018719051215933886 Centerline is valid? [True, True] Translation: X:207.23, Y:-43.76, Z:-7.82 [[ 8.54112482e-01 5.19606274e-01 2.23872515e-02 2.07225916e+02] [-5.19441350e-01 8.54405715e-01 -1.30980515e-02 -4.37603037e+01] [-2.59336253e-02 -4.41654874e-04 9.99663569e-01 -7.82352209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.990385723 meters 0.018175253629409298 Centerline is valid? [True, True] Translation: X:207.28, Y:-43.79, Z:-7.83 [[ 8.53059426e-01 5.21368286e-01 2.15575259e-02 2.07280646e+02] [-5.21215753e-01 8.53331641e-01 -1.26194340e-02 -4.37870965e+01] [-2.49750916e-02 -4.70994960e-04 9.99687963e-01 -7.82617332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.050385723 meters 0.017379399408910628 Centerline is valid? [True, True] Translation: X:207.33, Y:-43.82, Z:-7.83 [[ 8.53322332e-01 5.20886825e-01 2.27576893e-02 2.07334577e+02] [-5.20716445e-01 8.53625614e-01 -1.33302268e-02 -4.38190352e+01] [-2.63700861e-02 -4.75322836e-04 9.99652136e-01 -7.82625125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.110385723 meters 0.01693525057180143 Centerline is valid? [True, True] Translation: X:207.39, Y:-43.85, Z:-7.83 [[ 8.54862292e-01 5.18266976e-01 2.46941707e-02 2.07388595e+02] [-5.18065118e-01 8.55218780e-01 -1.44696887e-02 -4.38506155e+01] [-2.86180803e-02 -4.23597211e-04 9.99590329e-01 -7.82715281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.170385723 meters 0.016686927124480225 Centerline is valid? [True, True] Translation: X:207.44, Y:-43.88, Z:-7.83 [[ 8.56406147e-01 5.15659999e-01 2.57541484e-02 2.07442466e+02] [-5.15439194e-01 8.56793233e-01 -1.50928315e-02 -4.38804333e+01] [-2.98487495e-02 -3.49103781e-04 9.99554366e-01 -7.83014272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.230385723 meters 0.016841816426213203 Centerline is valid? [True, True] Translation: X:207.50, Y:-43.91, Z:-7.83 [[ 8.58015514e-01 5.12870810e-01 2.78012712e-02 2.07495728e+02] [-5.12611724e-01 8.58465761e-01 -1.63020847e-02 -4.39119314e+01] [-3.22273028e-02 -2.63815967e-04 9.99480531e-01 -7.83174605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.290385723 meters 0.016173936248072004 Centerline is valid? [True, True] Translation: X:207.55, Y:-43.94, Z:-7.83 [[ 8.58252294e-01 5.12463191e-01 2.80085191e-02 2.07550512e+02] [-5.12199712e-01 8.58709159e-01 -1.64327648e-02 -4.39435438e+01] [-3.24723589e-02 -2.42497278e-04 9.99472604e-01 -7.83340648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35038572300002 meters 0.016184781684640877 Centerline is valid? [True, True] Translation: X:207.61, Y:-43.97, Z:-7.84 [[ 8.58997989e-01 5.11294684e-01 2.64613147e-02 2.07605313e+02] [-5.11058679e-01 8.59405442e-01 -1.55342339e-02 -4.39732859e+01] [-3.06835690e-02 -1.79408833e-04 9.99529132e-01 -7.83796515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41038572300002 meters 0.0167113567106408 Centerline is valid? [True, True] Translation: X:207.66, Y:-44.00, Z:-7.84 [[ 8.58988953e-01 5.11495147e-01 2.25985047e-02 2.07660695e+02] [-5.11322911e-01 8.59286152e-01 -1.32736532e-02 -4.40006884e+01] [-2.62079913e-02 -1.53211671e-04 9.99656500e-01 -7.84463425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.470385723 meters 0.016604692500620986 Centerline is valid? [True, True] Translation: X:207.72, Y:-44.03, Z:-7.85 [[ 8.59152101e-01 5.11235153e-01 2.22774704e-02 2.07715503e+02] [-5.11067516e-01 8.59440864e-01 -1.30917710e-02 -4.40312529e+01] [-2.58391420e-02 -1.37468895e-04 9.99666104e-01 -7.84747625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.530385723 meters 0.01657227542114105 Centerline is valid? [True, True] Translation: X:207.77, Y:-44.06, Z:-7.85 [[ 8.59352296e-01 5.10888992e-01 2.24959834e-02 2.07770720e+02] [-5.10717712e-01 8.59646685e-01 -1.32285823e-02 -4.40618182e+01] [-2.60969346e-02 -1.21084613e-04 9.99659410e-01 -7.84900393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.590385723 meters 0.016585054994504512 Centerline is valid? [True, True] Translation: X:207.83, Y:-44.09, Z:-7.85 [[ 8.58990658e-01 5.11413671e-01 2.43126791e-02 2.07826485e+02] [-5.11213528e-01 8.59334648e-01 -1.43070128e-02 -4.40898655e+01] [-2.82095295e-02 -1.39380155e-04 9.99602022e-01 -7.84979642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.650385723 meters 0.016563271495595864 Centerline is valid? [True, True] Translation: X:207.88, Y:-44.12, Z:-7.85 [[ 8.59000427e-01 5.11375093e-01 2.47746175e-02 2.07881629e+02] [-5.11167028e-01 8.59357607e-01 -1.45867431e-02 -4.41207028e+01] [-2.87495531e-02 -1.33949051e-04 9.99586637e-01 -7.85094752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.710385723 meters 0.01667619514887265 Centerline is valid? [True, True] Translation: X:207.94, Y:-44.15, Z:-7.85 [[ 8.58660085e-01 5.11937964e-01 2.49475165e-02 2.07936195e+02] [-5.11726947e-01 8.59022409e-01 -1.46980271e-02 -4.41509142e+01] [-2.89549538e-02 -1.45707248e-04 9.99580707e-01 -7.85317201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.770385723 meters 0.016531081508819937 Centerline is valid? [True, True] Translation: X:207.99, Y:-44.18, Z:-7.85 [[ 8.57939683e-01 5.13100357e-01 2.58364901e-02 2.07991675e+02] [-5.12874285e-01 8.58328603e-01 -1.52308321e-02 -4.41797316e+01] [-2.99911438e-02 -1.83736171e-04 9.99550148e-01 -7.85416327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.830385723 meters 0.019131046891696302 Centerline is valid? [True, True] Translation: X:208.05, Y:-44.21, Z:-7.86 [[ 8.57692171e-01 5.13571821e-01 2.46601833e-02 2.08048366e+02] [-5.13365816e-01 8.58046590e-01 -1.45460712e-02 -4.42063348e+01] [-2.86300384e-02 -1.83643757e-04 9.99590060e-01 -7.86031597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.890385723 meters 0.016463723184522952 Centerline is valid? [True, True] Translation: X:208.10, Y:-44.24, Z:-7.86 [[ 8.57795248e-01 5.13464184e-01 2.32775616e-02 2.08104163e+02] [-5.13280382e-01 8.58111010e-01 -1.37384018e-02 -4.42360473e+01] [-2.70289092e-02 -1.63179923e-04 9.99634639e-01 -7.86320671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.950385723 meters 0.016038587703166064 Centerline is valid? [True, True] Translation: X:208.16, Y:-44.27, Z:-7.87 [[ 8.58340604e-01 5.12562383e-01 2.30480143e-02 2.08158971e+02] [-5.12381636e-01 8.58649980e-01 -1.36114335e-02 -4.42677374e+01] [-2.67668858e-02 -1.26133189e-04 9.99641695e-01 -7.86541844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.010385723 meters 0.01626142531470821 Centerline is valid? [True, True] Translation: X:208.21, Y:-44.30, Z:-7.87 [[ 8.59327944e-01 5.10810458e-01 2.50631338e-02 2.08212710e+02] [-5.10595657e-01 8.59693359e-01 -1.48122705e-02 -4.42971808e+01] [-2.91128723e-02 -6.85293425e-05 9.99576128e-01 -7.86735369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07038572300002 meters 0.015729140910134005 Centerline is valid? [True, True] Translation: X:208.27, Y:-44.32, Z:-7.87 [[ 8.57561181e-01 5.13782254e-01 2.48317845e-02 2.08267925e+02] [-5.13572433e-01 8.57920608e-01 -1.46828424e-02 -4.43248230e+01] [-2.88474836e-02 -1.61484354e-04 9.99583812e-01 -7.86926434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13038572300002 meters 0.015893053904716292 Centerline is valid? [True, True] Translation: X:208.32, Y:-44.35, Z:-7.87 [[ 8.55596557e-01 5.17089198e-01 2.39435189e-02 2.08323156e+02] [-5.16895236e-01 8.55931478e-01 -1.41640477e-02 -4.43540646e+01] [-2.78180876e-02 -2.57580355e-04 9.99612969e-01 -7.87185155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.190385723 meters 0.01667433323132162 Centerline is valid? [True, True] Translation: X:208.38, Y:-44.38, Z:-7.87 [[ 8.50923014e-01 5.24796426e-01 2.27757798e-02 2.08378270e+02] [-5.24623437e-01 8.51227634e-01 -1.34820320e-02 -4.43809907e+01] [-2.64626954e-02 -4.76536562e-04 9.99649688e-01 -7.87296231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.250385723 meters 0.017618540259541036 Centerline is valid? [True, True] Translation: X:208.43, Y:-44.41, Z:-7.87 [[ 8.48333209e-01 5.28964510e-01 2.29633021e-02 2.08433422e+02] [-5.28790118e-01 8.48643727e-01 -1.35954121e-02 -4.44104646e+01] [-2.66791528e-02 -6.09327653e-04 9.99643862e-01 -7.87444997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.310385723 meters 0.01818072997585502 Centerline is valid? [True, True] Translation: X:208.49, Y:-44.44, Z:-7.88 [[ 8.47042794e-01 5.30950946e-01 2.46900471e-02 2.08486633e+02] [-5.30750146e-01 8.47402250e-01 -1.46188103e-02 -4.44422844e+01] [-2.86842726e-02 -7.21488179e-04 9.99588261e-01 -7.87507109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.370385723 meters 0.01863474531133934 Centerline is valid? [True, True] Translation: X:208.54, Y:-44.48, Z:-7.88 [[ 8.46161794e-01 5.32310497e-01 2.56076643e-02 2.08538358e+02] [-5.32094852e-01 8.46548825e-01 -1.51708809e-02 -4.44762263e+01] [-2.97537573e-02 -7.88686545e-04 9.99556948e-01 -7.87603705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.430385723 meters 0.01932616979997587 Centerline is valid? [True, True] Translation: X:208.59, Y:-44.51, Z:-7.88 [[ 8.45603710e-01 5.33179802e-01 2.59550405e-02 2.08590811e+02] [-5.32958416e-01 8.46001549e-01 -1.53852344e-02 -4.45087232e+01] [-3.01611007e-02 -8.23145943e-04 9.99544712e-01 -7.87885101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.490385723 meters 0.02018302378556547 Centerline is valid? [True, True] Translation: X:208.64, Y:-44.54, Z:-7.88 [[ 8.44577063e-01 5.34839006e-01 2.52353334e-02 2.08643975e+02] [-5.34630240e-01 8.44953557e-01 -1.49664170e-02 -4.45407562e+01] [-2.93273083e-02 -8.51279847e-04 9.99569499e-01 -7.88371531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.550385723 meters 0.020078287572909605 Centerline is valid? [True, True] Translation: X:208.69, Y:-44.58, Z:-7.89 [[ 8.43236887e-01 5.37038502e-01 2.32636843e-02 2.08694940e+02] [-5.36861699e-01 8.43557305e-01 -1.38053891e-02 -4.45758881e+01] [-2.70382763e-02 -8.48167747e-04 9.99634039e-01 -7.88771109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.610385723 meters 0.021210518860880375 Centerline is valid? [True, True] Translation: X:208.75, Y:-44.61, Z:-7.89 [[ 8.42043811e-01 5.38953820e-01 2.21585328e-02 2.08745925e+02] [-5.38794044e-01 8.42334869e-01 -1.31509221e-02 -4.46107177e+01] [-2.57526445e-02 -8.65232959e-04 9.99667971e-01 -7.89052983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.670385723 meters 0.021684108243339786 Centerline is valid? [True, True] Translation: X:208.80, Y:-44.64, Z:-7.89 [[ 8.41435614e-01 5.39876824e-01 2.27842675e-02 2.08798768e+02] [-5.39708170e-01 8.41743533e-01 -1.35246545e-02 -4.46424799e+01] [-2.64801573e-02 -9.16729398e-04 9.99648919e-01 -7.89344702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.730385723 meters 0.023061058547028893 Centerline is valid? [True, True] Translation: X:208.85, Y:-44.68, Z:-7.90 [[ 8.40500473e-01 5.41319164e-01 2.30763571e-02 2.08850111e+02] [-5.41146491e-01 8.40816642e-01 -1.37058266e-02 -4.46759231e+01] [-2.68222117e-02 -9.67935941e-04 9.99639751e-01 -7.89628094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.790385723 meters 0.024309830722567965 Centerline is valid? [True, True] Translation: X:208.90, Y:-44.71, Z:-7.90 [[ 8.40096783e-01 5.41928554e-01 2.34699138e-02 2.08902356e+02] [-5.41749989e-01 8.40423968e-01 -1.39464754e-02 -4.47093148e+01] [-2.72826713e-02 -9.98436393e-04 9.99627260e-01 -7.89873532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85038572300002 meters 0.024926868370221213 Centerline is valid? [True, True] Translation: X:208.95, Y:-44.74, Z:-7.90 [[ 8.39151018e-01 5.43329575e-01 2.48705123e-02 2.08954335e+02] [-5.43129425e-01 8.39518770e-01 -1.47872425e-02 -4.47425493e+01] [-2.89136081e-02 -1.09917743e-03 9.99581310e-01 -7.89980452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91038572300002 meters 0.023742982355279767 Centerline is valid? [True, True] Translation: X:209.00, Y:-44.78, Z:-7.90 [[ 8.37928581e-01 5.45157951e-01 2.60480699e-02 2.09004165e+02] [-5.44939043e-01 8.38332477e-01 -1.54950850e-02 -4.47805692e+01] [-3.02842118e-02 -1.21083565e-03 9.99540595e-01 -7.90103011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.970385723 meters 0.024174062932244562 Centerline is valid? [True, True] Translation: X:209.06, Y:-44.82, Z:-7.90 [[ 8.37816627e-01 5.45326920e-01 2.61122465e-02 2.09057081e+02] [-5.45106763e-01 8.38222571e-01 -1.55415102e-02 -4.48153101e+01] [-3.03630783e-02 -1.21302653e-03 9.99538199e-01 -7.90399081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.030385723 meters 0.02369157403595121 Centerline is valid? [True, True] Translation: X:209.11, Y:-44.85, Z:-7.91 [[ 8.38109065e-01 5.44892025e-01 2.58045840e-02 2.09108253e+02] [-5.44676528e-01 8.38505397e-01 -1.53681365e-02 -4.48506090e+01] [-3.00112580e-02 -1.17497673e-03 9.99548870e-01 -7.90641210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.090385723 meters 0.023951850977374314 Centerline is valid? [True, True] Translation: X:209.16, Y:-44.89, Z:-7.91 [[ 8.39908145e-01 5.42084729e-01 2.64283006e-02 2.09157472e+02] [-5.41856987e-01 8.40323125e-01 -1.57496453e-02 -4.48856997e+01] [-3.07459543e-02 -1.09210399e-03 9.99526635e-01 -7.90955758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.150385723 meters 0.02369494995559111 Centerline is valid? [True, True] Translation: X:209.21, Y:-44.92, Z:-7.91 [[ 8.40360073e-01 5.41364178e-01 2.68286247e-02 2.09209774e+02] [-5.41129116e-01 8.40787521e-01 -1.59882417e-02 -4.49190313e+01] [-3.12126342e-02 -1.08186996e-03 9.99512182e-01 -7.91182879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.210385723 meters 0.02260751422708971 Centerline is valid? [True, True] Translation: X:209.26, Y:-44.96, Z:-7.91 [[ 8.42591251e-01 5.37797431e-01 2.85290459e-02 2.09258882e+02] [-5.37529246e-01 8.43073496e-01 -1.70114477e-02 -4.49555714e+01] [-3.32007953e-02 -1.00149954e-03 9.99448200e-01 -7.91231116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.270385723 meters 0.021272232716321674 Centerline is valid? [True, True] Translation: X:209.31, Y:-44.99, Z:-7.91 [[ 8.44024975e-01 5.35540935e-01 2.85963100e-02 2.09308526e+02] [-5.35270081e-01 8.44508777e-01 -1.70547842e-02 -4.49916417e+01] [-3.32833699e-02 -9.12085371e-04 9.99445539e-01 -7.91333550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.330385723 meters 0.019974616625059394 Centerline is valid? [True, True] Translation: X:209.36, Y:-45.03, Z:-7.92 [[ 8.44203632e-01 5.35249283e-01 2.87825107e-02 2.09359701e+02] [-5.34974498e-01 8.44693668e-01 -1.71724583e-02 -4.50262131e+01] [-3.35039505e-02 -9.00857496e-04 9.99438179e-01 -7.91646708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.390385723 meters 0.019657946904757417 Centerline is valid? [True, True] Translation: X:209.41, Y:-45.06, Z:-7.92 [[ 8.45751039e-01 5.32757723e-01 2.95700463e-02 2.09410714e+02] [-5.32465832e-01 8.46267418e-01 -1.76520495e-02 -4.50600629e+01] [-3.44284325e-02 -8.15800112e-04 9.99406833e-01 -7.91932756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.450385723 meters 0.01834869056942571 Centerline is valid? [True, True] Translation: X:209.46, Y:-45.10, Z:-7.92 [[ 8.48565567e-01 5.28219640e-01 3.03395825e-02 2.09459898e+02] [-5.27909125e-01 8.49107533e-01 -1.81205267e-02 -4.50973305e+01] [-3.53331861e-02 -6.40087432e-04 9.99375383e-01 -7.92000525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.510385723 meters 0.017511599507853512 Centerline is valid? [True, True] Translation: X:209.51, Y:-45.13, Z:-7.92 [[ 8.50540179e-01 5.24915799e-01 3.23234737e-02 2.09510704e+02] [-5.24560637e-01 8.51153996e-01 -1.93135634e-02 -4.51336163e+01] [-3.76502484e-02 -5.28660294e-04 9.99290838e-01 -7.92139949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57038572300002 meters 0.017056385530369318 Centerline is valid? [True, True] Translation: X:209.56, Y:-45.17, Z:-7.92 [[ 8.51640975e-01 5.23115502e-01 3.25241705e-02 2.09561271e+02] [-5.22754210e-01 8.52261683e-01 -1.94437704e-02 -4.51697749e+01] [-3.78904420e-02 -4.43035498e-04 9.99281801e-01 -7.92409874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63038572300002 meters 0.01708634486737302 Centerline is valid? [True, True] Translation: X:209.61, Y:-45.20, Z:-7.93 [[ 8.51350878e-01 5.23612037e-01 3.21265764e-02 2.09614075e+02] [-5.23259492e-01 8.51956707e-01 -1.92164602e-02 -4.52042983e+01] [-3.74324221e-02 -4.50585767e-04 9.99299060e-01 -7.92649736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.690385723 meters 0.01743482925134292 Centerline is valid? [True, True] Translation: X:209.67, Y:-45.24, Z:-7.93 [[ 8.50544834e-01 5.24986495e-01 3.10268435e-02 2.09666963e+02] [-5.24658183e-01 8.51110420e-01 -1.85700060e-02 -4.52373911e+01] [-3.61562722e-02 -4.83864640e-04 9.99346031e-01 -7.93007838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.750385723 meters 0.01817438059968913 Centerline is valid? [True, True] Translation: X:209.72, Y:-45.27, Z:-7.94 [[ 8.49909854e-01 5.26136426e-01 2.88738972e-02 2.09719079e+02] [-5.25852468e-01 8.50400037e-01 -1.72904337e-02 -4.52680756e+01] [-3.36514902e-02 -4.88100163e-04 9.99433509e-01 -7.93529876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.810385723 meters 0.018114351846139454 Centerline is valid? [True, True] Translation: X:209.77, Y:-45.30, Z:-7.94 [[ 8.49614400e-01 5.26671375e-01 2.77963030e-02 2.09771138e+02] [-5.26408297e-01 8.50068837e-01 -1.66516429e-02 -4.53031471e+01] [-3.23987146e-02 -4.84728891e-04 9.99474906e-01 -7.93826594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.870385723 meters 0.018028202222065918 Centerline is valid? [True, True] Translation: X:209.82, Y:-45.34, Z:-7.94 [[ 8.49751371e-01 5.26371469e-01 2.92520914e-02 2.09822716e+02] [-5.26079534e-01 8.50254573e-01 -1.75352594e-02 -4.53385834e+01] [-3.41017847e-02 -4.88315901e-04 9.99418246e-01 -7.93789795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.930385723 meters 0.018489849992130828 Centerline is valid? [True, True] Translation: X:209.88, Y:-45.37, Z:-7.94 [[ 8.49173842e-01 5.27242451e-01 3.03180601e-02 2.09876439e+02] [-5.26929031e-01 8.49714725e-01 -1.81846710e-02 -4.53695999e+01] [-3.53494326e-02 -5.33519100e-04 9.99374871e-01 -7.93873906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.990385723 meters 0.018681362195431615 Centerline is valid? [True, True] Translation: X:209.93, Y:-45.40, Z:-7.94 [[ 8.48854392e-01 5.27786112e-01 2.98000271e-02 2.09931297e+02] [-5.27483294e-01 8.49377143e-01 -1.78841865e-02 -4.54002034e+01] [-3.47504871e-02 -5.37946171e-04 9.99395875e-01 -7.94273419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.050385723 meters 0.0190959830996336 Centerline is valid? [True, True] Translation: X:209.99, Y:-45.43, Z:-7.95 [[ 8.48438015e-01 5.28550139e-01 2.80657482e-02 2.09985506e+02] [-5.28281646e-01 8.48901922e-01 -1.68531914e-02 -4.54311657e+01] [-3.27328242e-02 -5.27731447e-04 9.99463998e-01 -7.94549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.110385723 meters 0.019634636889419056 Centerline is valid? [True, True] Translation: X:210.04, Y:-45.46, Z:-7.95 [[ 8.47369167e-01 5.30262330e-01 2.80598545e-02 2.10039892e+02] [-5.29994595e-01 8.47833426e-01 -1.68585600e-02 -4.54604483e+01] [-3.27295419e-02 -5.86147280e-04 9.99464073e-01 -7.94715024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.170385723 meters 0.019648844374442014 Centerline is valid? [True, True] Translation: X:210.09, Y:-45.49, Z:-7.95 [[ 8.46354732e-01 5.31968891e-01 2.63204660e-02 2.10094834e+02] [-5.31733915e-01 8.46763682e-01 -1.58212285e-02 -4.54901781e+01] [-3.07036161e-02 -6.05112796e-04 9.99528350e-01 -7.94983538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.230385723 meters 0.020157459364564097 Centerline is valid? [True, True] Translation: X:210.15, Y:-45.52, Z:-7.95 [[ 8.46433793e-01 5.31878077e-01 2.56036085e-02 2.10148612e+02] [-5.31655447e-01 8.46820746e-01 -1.53983514e-02 -4.55205109e+01] [-2.98717124e-02 -5.78612959e-04 9.99553573e-01 -7.95295255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.290385723 meters 0.019772578767104112 Centerline is valid? [True, True] Translation: X:210.20, Y:-45.55, Z:-7.95 [[ 8.47463218e-01 5.30241053e-01 2.55052720e-02 2.10200510e+02] [-5.30019124e-01 8.47846781e-01 -1.53481072e-02 -4.55546434e+01] [-2.97627593e-02 -5.11325549e-04 9.99556860e-01 -7.95339875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35038572300002 meters 0.01898720454410561 Centerline is valid? [True, True] Translation: X:210.25, Y:-45.59, Z:-7.95 [[ 8.49465123e-01 5.27019607e-01 2.56775995e-02 2.10251963e+02] [-5.26792946e-01 8.49853034e-01 -1.54600540e-02 -4.55899489e+01] [-2.99699374e-02 -3.94001569e-04 9.99550723e-01 -7.95357286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41038572300002 meters 0.019040842181393087 Centerline is valid? [True, True] Translation: X:210.30, Y:-45.62, Z:-7.96 [[ 8.50653500e-01 5.25098356e-01 2.56970761e-02 2.10304112e+02] [-5.24870218e-01 8.51041488e-01 -1.54803175e-02 -4.56212306e+01] [-2.99979672e-02 -3.19243656e-04 9.99549909e-01 -7.95682712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.470385723 meters 0.018558959221030208 Centerline is valid? [True, True] Translation: X:210.36, Y:-45.66, Z:-7.96 [[ 8.51835532e-01 5.23218585e-01 2.48704397e-02 2.10355575e+02] [-5.23003888e-01 8.52198483e-01 -1.49892496e-02 -4.56564264e+01] [-2.90372049e-02 -2.38961290e-04 9.99578303e-01 -7.95693023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.530385723 meters 0.018580632572431914 Centerline is valid? [True, True] Translation: X:210.41, Y:-45.69, Z:-7.96 [[ 8.52349324e-01 5.22490963e-01 2.24460051e-02 2.10408066e+02] [-5.22315633e-01 8.52644802e-01 -1.35358970e-02 -4.56874312e+01] [-2.62108534e-02 -1.86586735e-04 9.99656419e-01 -7.95981230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.590385723 meters 0.018625457092125024 Centerline is valid? [True, True] Translation: X:210.46, Y:-45.72, Z:-7.96 [[ 8.53369893e-01 5.20911118e-01 2.02838261e-02 2.10460940e+02] [-5.20767458e-01 8.53610914e-01 -1.22336711e-02 -4.57199906e+01] [-2.36871506e-02 -1.23310003e-04 9.99719412e-01 -7.96393517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.650385723 meters 0.018576915055895413 Centerline is valid? [True, True] Translation: X:210.51, Y:-45.75, Z:-7.97 [[ 8.54644920e-01 5.18867674e-01 1.89314139e-02 2.10513509e+02] [-5.18741922e-01 8.54854569e-01 -1.14229757e-02 -4.57547473e+01] [-2.21106185e-02 -5.79298352e-05 9.99755529e-01 -7.96655098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.710385723 meters 0.018578863094683797 Centerline is valid? [True, True] Translation: X:210.57, Y:-45.79, Z:-7.97 [[ 8.57108551e-01 5.14790877e-01 1.88490091e-02 2.10565624e+02] [-5.14665079e-01 8.57315782e-01 -1.13801040e-02 -4.57897763e+01] [-2.20179266e-02 5.30576843e-05 9.99757575e-01 -7.96593034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.770385723 meters 0.0186141466937947 Centerline is valid? [True, True] Translation: X:210.62, Y:-45.82, Z:-7.97 [[ 8.57366622e-01 5.14296598e-01 2.05300976e-02 2.10618580e+02] [-5.14146993e-01 8.57612385e-01 -1.24043211e-02 -4.58205222e+01] [-2.39863661e-02 7.95629686e-05 9.99712283e-01 -7.96560603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.830385723 meters 0.018411016504416414 Centerline is valid? [True, True] Translation: X:210.67, Y:-45.85, Z:-7.97 [[ 8.57169908e-01 5.14574283e-01 2.17498539e-02 2.10672973e+02] [-5.14406287e-01 8.57445800e-01 -1.31480656e-02 -4.58505513e+01] [-2.54149772e-02 8.18645896e-05 9.99676984e-01 -7.96687066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.890385723 meters 0.01820235888663448 Centerline is valid? [True, True] Translation: X:210.73, Y:-45.88, Z:-7.97 [[ 8.56833239e-01 5.15136076e-01 2.17168809e-02 2.10727785e+02] [-5.14968619e-01 8.57108405e-01 -1.31340444e-02 -4.58814173e+01] [-2.53795412e-02 7.01736866e-05 9.99677885e-01 -7.96722931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.950385723 meters 0.018020927004118958 Centerline is valid? [True, True] Translation: X:210.78, Y:-45.91, Z:-7.97 [[ 8.56122794e-01 5.16407250e-01 1.94245759e-02 2.10782673e+02] [-5.16273458e-01 8.56343127e-01 -1.17543921e-02 -4.59105090e+01] [-2.27041554e-02 3.48100543e-05 9.99742227e-01 -7.97027124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.010385723 meters 0.019616913126681356 Centerline is valid? [True, True] Translation: X:210.84, Y:-45.94, Z:-7.98 [[ 8.57028656e-01 5.14996376e-01 1.67515728e-02 2.10836491e+02] [-5.14896516e-01 8.57192352e-01 -1.01414416e-02 -4.59386637e+01] [-1.95821258e-02 6.61796227e-05 9.99808250e-01 -7.97767545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07038572300002 meters 0.018264976115140417 Centerline is valid? [True, True] Translation: X:210.89, Y:-45.97, Z:-7.98 [[ 8.58548944e-01 5.12481047e-01 1.60277070e-02 2.10887910e+02] [-5.12389107e-01 8.58698528e-01 -9.70779445e-03 -4.59714472e+01] [-1.87380290e-02 1.22194214e-04 9.99824420e-01 -7.97834285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13038572300002 meters 0.020706998341282163 Centerline is valid? [True, True] Translation: X:210.94, Y:-46.00, Z:-7.98 [[ 8.60565723e-01 5.09094806e-01 1.57834060e-02 2.10941159e+02] [-5.09005001e-01 8.60710428e-01 -9.56393380e-03 -4.60034838e+01] [-1.84538912e-02 1.96561001e-04 9.99829693e-01 -7.98120179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.190385723 meters 0.018538173412642616 Centerline is valid? [True, True] Translation: X:210.99, Y:-46.04, Z:-7.98 [[ 8.61586379e-01 5.07272483e-01 1.85348455e-02 2.10994002e+02] [-5.07148044e-01 8.61785674e-01 -1.12389059e-02 -4.60355693e+01] [-2.16742520e-02 2.83377575e-04 9.99765046e-01 -7.97780352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.250385723 meters 0.020068802109365465 Centerline is valid? [True, True] Translation: X:211.05, Y:-46.07, Z:-7.98 [[ 8.63591659e-01 5.03761065e-01 2.08383209e-02 2.11047362e+02] [-5.03602537e-01 8.63842931e-01 -1.26442198e-02 -4.60661444e+01] [-2.43707019e-02 4.25211441e-04 9.99702900e-01 -7.98064688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.310385723 meters 0.01904819528461443 Centerline is valid? [True, True] Translation: X:211.10, Y:-46.09, Z:-7.98 [[ 8.62991733e-01 5.04760088e-01 2.15063119e-02 2.11103016e+02] [-5.04591372e-01 8.63259567e-01 -1.30563101e-02 -4.60947526e+01] [-2.51558337e-02 4.15588315e-04 9.99683456e-01 -7.98186611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.370385723 meters 0.01878465606234118 Centerline is valid? [True, True] Translation: X:211.16, Y:-46.12, Z:-7.99 [[ 8.62432005e-01 5.05735412e-01 2.10411233e-02 2.11159075e+02] [-5.05574054e-01 8.62688556e-01 -1.27801067e-02 -4.61226066e+01] [-2.46152888e-02 3.84127055e-04 9.99696924e-01 -7.98548095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.430385723 meters 0.01958356682178562 Centerline is valid? [True, True] Translation: X:211.22, Y:-46.15, Z:-7.99 [[ 8.62716095e-01 5.05266156e-01 2.06652076e-02 2.11215398e+02] [-5.05110182e-01 8.62963472e-01 -1.25598493e-02 -4.61491754e+01] [-2.41793861e-02 3.97377396e-04 9.99707557e-01 -7.99058081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.490385723 meters 0.01857931375070038 Centerline is valid? [True, True] Translation: X:211.27, Y:-46.18, Z:-7.99 [[ 8.62657735e-01 5.05258891e-01 2.31319174e-02 2.11271884e+02] [-5.05063211e-01 8.62967698e-01 -1.40678628e-02 -4.61764984e+01] [-2.70700102e-02 4.52670174e-04 9.99633438e-01 -7.98998779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.550385723 meters 0.01863221690393742 Centerline is valid? [True, True] Translation: X:211.33, Y:-46.20, Z:-7.99 [[ 8.63377989e-01 5.03911861e-01 2.55202965e-02 2.11328608e+02] [-5.03672810e-01 8.63754901e-01 -1.55296548e-02 -4.62035413e+01] [-2.98688584e-02 5.54082654e-04 9.99553673e-01 -7.99128580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.610385723 meters 0.018706724105994218 Centerline is valid? [True, True] Translation: X:211.39, Y:-46.23, Z:-7.99 [[ 8.63462036e-01 5.03688562e-01 2.70396788e-02 2.11385983e+02] [-5.03419736e-01 8.63885100e-01 -1.64652107e-02 -4.62306236e+01] [-3.16525139e-02 6.04776431e-04 9.99498751e-01 -7.99329072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.670385723 meters 0.018555969093919388 Centerline is valid? [True, True] Translation: X:211.44, Y:-46.26, Z:-8.00 [[ 8.62812487e-01 5.04782154e-01 2.73786177e-02 2.11442963e+02] [-5.04506753e-01 8.63246569e-01 -1.66822425e-02 -4.62555698e+01] [-3.20553962e-02 5.80949634e-04 9.99485925e-01 -7.99685316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.730385723 meters 0.01811415075198629 Centerline is valid? [True, True] Translation: X:211.50, Y:-46.28, Z:-8.00 [[ 8.62127607e-01 5.05965835e-01 2.71028098e-02 2.11500496e+02] [-5.05696263e-01 8.62553351e-01 -1.65229225e-02 -4.62799973e+01] [-3.17376537e-02 5.39078058e-04 9.99496088e-01 -8.00052752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.790385723 meters 0.018038497040577188 Centerline is valid? [True, True] Translation: X:211.56, Y:-46.31, Z:-8.00 [[ 8.61665694e-01 5.06752168e-01 2.71011477e-02 2.11556718e+02] [-5.06482728e-01 8.62091626e-01 -1.65310187e-02 -4.63054347e+01] [-3.17408021e-02 5.17948502e-04 9.99496000e-01 -8.00440495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85038572300002 meters 0.01733247874832791 Centerline is valid? [True, True] Translation: X:211.61, Y:-46.33, Z:-8.01 [[ 8.59895151e-01 5.09791545e-01 2.63231926e-02 2.11614359e+02] [-5.09538541e-01 8.60297867e-01 -1.60641028e-02 -4.63294908e+01] [-3.08351302e-02 4.00762919e-04 9.99524404e-01 -8.00797547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91038572300002 meters 0.01646365137903517 Centerline is valid? [True, True] Translation: X:211.67, Y:-46.35, Z:-8.01 [[ 8.55347972e-01 5.17327932e-01 2.74163843e-02 2.11673495e+02] [-5.17057012e-01 8.55787235e-01 -1.67408258e-02 -4.63499962e+01] [-3.21230885e-02 1.43397692e-04 9.99483910e-01 -8.01062643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.970385723 meters 0.01620021773943625 Centerline is valid? [True, True] Translation: X:211.73, Y:-46.38, Z:-8.01 [[ 8.52988591e-01 5.21171008e-01 2.81290587e-02 2.11729295e+02] [-5.20887614e-01 8.53452272e-01 -1.71846718e-02 -4.63771959e+01] [-3.29629617e-02 6.25073832e-06 9.99456574e-01 -8.01326208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.030385723 meters 0.016397470580066822 Centerline is valid? [True, True] Translation: X:211.79, Y:-46.40, Z:-8.02 [[ 8.51084136e-01 5.24233453e-01 2.88977515e-02 2.11786124e+02] [-5.23935792e-01 8.51574586e-01 -1.76638197e-02 -4.64049054e+01] [-3.38685559e-02 -1.07169582e-04 9.99426290e-01 -8.01566279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.090385723 meters 0.01833864333118879 Centerline is valid? [True, True] Translation: X:211.84, Y:-46.43, Z:-8.02 [[ 8.50872032e-01 5.24558970e-01 2.92347935e-02 2.11841624e+02] [-5.24254133e-01 8.51374110e-01 -1.78809925e-02 -4.64348527e+01] [-3.42693813e-02 -1.12024913e-04 9.99412626e-01 -8.02020041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.150385723 meters 0.019013140400874984 Centerline is valid? [True, True] Translation: X:211.90, Y:-46.47, Z:-8.02 [[ 8.51869805e-01 5.22941636e-01 2.91527045e-02 2.11895628e+02] [-5.22637183e-01 8.52368491e-01 -1.78418318e-02 -4.64665119e+01] [-3.41790834e-02 -3.73695636e-05 9.99415724e-01 -8.02401927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.210385723 meters 0.016752478316878407 Centerline is valid? [True, True] Translation: X:211.95, Y:-46.50, Z:-8.02 [[ 8.54264136e-01 5.18953178e-01 3.03378368e-02 2.11948730e+02] [-5.18620511e-01 8.54802655e-01 -1.85791742e-02 -4.65005656e+01] [-3.55745849e-02 1.37697751e-04 9.99367015e-01 -8.02373519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.270385723 meters 0.017196305899009126 Centerline is valid? [True, True] Translation: X:212.00, Y:-46.53, Z:-8.02 [[ 8.56975929e-01 5.14428518e-01 3.09120853e-02 2.11999268e+02] [-5.14079745e-01 8.57533197e-01 -1.89428689e-02 -4.65344274e+01] [-3.62528913e-02 3.42305747e-04 9.99342589e-01 -8.02485147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.330385723 meters 0.01700573704003373 Centerline is valid? [True, True] Translation: X:212.05, Y:-46.56, Z:-8.03 [[ 8.55603818e-01 5.16776156e-01 2.97407293e-02 2.12054811e+02] [-5.16454568e-01 8.56120522e-01 -1.82299539e-02 -4.65629485e+01] [-3.48824542e-02 2.37882669e-04 9.99391394e-01 -8.02943067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.390385723 meters 0.019761377900359388 Centerline is valid? [True, True] Translation: X:212.11, Y:-46.59, Z:-8.04 [[ 8.52686530e-01 5.21575505e-01 2.97434655e-02 2.12110776e+02] [-5.21256434e-01 8.53205128e-01 -1.82411829e-02 -4.65902545e+01] [-3.48914315e-02 5.00381888e-05 9.99391107e-01 -8.03535673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.450385723 meters 0.017277261758881297 Centerline is valid? [True, True] Translation: X:212.17, Y:-46.61, Z:-8.04 [[ 8.45042006e-01 5.33991242e-01 2.75201973e-02 2.12166948e+02] [-5.33724324e-01 8.45489904e-01 -1.68869010e-02 -4.66146702e+01] [-3.22855062e-02 -4.18058013e-04 9.99478600e-01 -8.03524935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.510385723 meters 0.01935097768009819 Centerline is valid? [True, True] Translation: X:212.22, Y:-46.64, Z:-8.04 [[ 8.41651651e-01 5.39352110e-01 2.68663349e-02 2.12221245e+02] [-5.39100324e-01 8.42080124e-01 -1.64895567e-02 -4.66439409e+01] [-3.15172839e-02 -6.05187240e-04 9.99503024e-01 -8.04016334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57038572300002 meters 0.01940684800791038 Centerline is valid? [True, True] Translation: X:212.27, Y:-46.68, Z:-8.04 [[ 8.39057482e-01 5.43376920e-01 2.69084361e-02 2.12274343e+02] [-5.43126141e-01 8.39488511e-01 -1.65237863e-02 -4.66756122e+01] [-3.15679671e-02 -7.50268486e-04 9.99501326e-01 -8.04096143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63038572300002 meters 0.02127913130001631 Centerline is valid? [True, True] Translation: X:212.33, Y:-46.71, Z:-8.04 [[ 8.39441759e-01 5.42677432e-01 2.89609605e-02 2.12325250e+02] [-5.42386184e-01 8.39940837e-01 -1.77937706e-02 -4.67115412e+01] [-3.39817712e-02 -7.71190800e-04 9.99422155e-01 -8.04414860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.690385723 meters 0.018523423352884347 Centerline is valid? [True, True] Translation: X:212.37, Y:-46.75, Z:-8.04 [[ 8.41646305e-01 5.39192662e-01 3.00461233e-02 2.12374268e+02] [-5.38876573e-01 8.42182199e-01 -1.84711074e-02 -4.67470187e+01] [-3.52637957e-02 -6.45012648e-04 9.99377831e-01 -8.04337180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.750385723 meters 0.01753980747324834 Centerline is valid? [True, True] Translation: X:212.42, Y:-46.79, Z:-8.04 [[ 8.44352145e-01 5.34930268e-01 3.03160725e-02 2.12422380e+02] [-5.34605695e-01 8.44896081e-01 -1.86376709e-02 -4.67866409e+01] [-3.55837851e-02 -4.70387607e-04 9.99366586e-01 -8.04488648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.810385723 meters 0.01705462647708664 Centerline is valid? [True, True] Translation: X:212.47, Y:-46.82, Z:-8.05 [[ 8.45489037e-01 5.33153394e-01 2.99290379e-02 2.12471256e+02] [-5.32835611e-01 8.46018506e-01 -1.84092098e-02 -4.68247196e+01] [-3.51354526e-02 -3.82472205e-04 9.99382486e-01 -8.04860927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.870385723 meters 0.018057947833823428 Centerline is valid? [True, True] Translation: X:212.52, Y:-46.86, Z:-8.05 [[ 8.42599883e-01 5.37791483e-01 2.83858920e-02 2.12521185e+02] [-5.37507951e-01 8.43077714e-01 -1.74691302e-02 -4.68603823e+01] [-3.33262623e-02 -5.38155623e-04 9.99444381e-01 -8.05340458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.930385723 meters 0.01883315824807679 Centerline is valid? [True, True] Translation: X:212.57, Y:-46.89, Z:-8.06 [[ 8.40136186e-01 5.41624364e-01 2.85348531e-02 2.12572594e+02] [-5.41339739e-01 8.40620353e-01 -1.75701156e-02 -4.68949561e+01] [-3.35033810e-02 -6.85759974e-04 9.99438369e-01 -8.05514861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.990385723 meters 0.019239120406108173 Centerline is valid? [True, True] Translation: X:212.62, Y:-46.93, Z:-8.06 [[ 8.37588219e-01 5.45548854e-01 2.86779320e-02 2.12623713e+02] [-5.45263565e-01 8.38078597e-01 -1.76609569e-02 -4.69302311e+01] [-3.36692758e-02 -8.44422007e-04 9.99432672e-01 -8.05672286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.050385723 meters 0.020390444125215033 Centerline is valid? [True, True] Translation: X:212.67, Y:-46.97, Z:-8.06 [[ 8.35421500e-01 5.48941494e-01 2.70952668e-02 2.12674059e+02] [-5.48688530e-01 8.35860264e-01 -1.66887978e-02 -4.69673264e+01] [-3.18090305e-02 -9.24681649e-04 9.99493537e-01 -8.05986312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.110385723 meters 0.020747870756790285 Centerline is valid? [True, True] Translation: X:212.72, Y:-47.01, Z:-8.06 [[ 8.35449585e-01 5.48959950e-01 2.58256444e-02 2.12723148e+02] [-5.48730122e-01 8.35848190e-01 -1.59077575e-02 -4.70075417e+01] [-3.03190399e-02 -8.81179652e-04 9.99539884e-01 -8.06323862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.170385723 meters 0.02033414233472887 Centerline is valid? [True, True] Translation: X:212.77, Y:-47.05, Z:-8.07 [[ 8.36218548e-01 5.47788931e-01 2.58036347e-02 2.12770342e+02] [-5.47558629e-01 8.36616160e-01 -1.59043649e-02 -4.70495662e+01] [-3.02999728e-02 -8.29477913e-04 9.99540506e-01 -8.06582266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.230385723 meters 0.02050286767025669 Centerline is valid? [True, True] Translation: X:212.82, Y:-47.09, Z:-8.07 [[ 8.35425807e-01 5.49011881e-01 2.54887429e-02 2.12818533e+02] [-5.48787481e-01 8.35814107e-01 -1.57187329e-02 -4.70899753e+01] [-2.99336220e-02 -8.56067925e-04 9.99551522e-01 -8.06833720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.290385723 meters 0.02164348260815214 Centerline is valid? [True, True] Translation: X:212.87, Y:-47.13, Z:-8.07 [[ 8.33597633e-01 5.51795727e-01 2.52282074e-02 2.12866875e+02] [-5.51576871e-01 8.33978774e-01 -1.55678947e-02 -4.71294214e+01] [-2.96300873e-02 -9.37935502e-04 9.99560493e-01 -8.07036249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35038572300002 meters 0.022502669871803795 Centerline is valid? [True, True] Translation: X:212.91, Y:-47.17, Z:-8.07 [[ 8.32686329e-01 5.53168458e-01 2.52613342e-02 2.12914244e+02] [-5.52949622e-01 8.33068834e-01 -1.55895081e-02 -4.71710425e+01] [-2.96680544e-02 -9.87074976e-04 9.99559319e-01 -8.07123789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41038572300002 meters 0.021328594809452397 Centerline is valid? [True, True] Translation: X:212.96, Y:-47.22, Z:-8.07 [[ 8.35498047e-01 5.48921032e-01 2.50741800e-02 2.12959318e+02] [-5.48703223e-01 8.35873809e-01 -1.54838065e-02 -4.72151578e+01] [-2.94582374e-02 -8.21593286e-04 9.99565674e-01 -8.07246505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.470385723 meters 0.019297975838748375 Centerline is valid? [True, True] Translation: X:213.00, Y:-47.26, Z:-8.07 [[ 8.41033261e-01 5.40431250e-01 2.44360021e-02 2.13002950e+02] [-5.40220755e-01 8.41388023e-01 -1.50907693e-02 -4.72588800e+01] [-2.87156828e-02 -5.08996576e-04 9.99587490e-01 -8.07460776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.530385723 meters 0.01789382426283085 Centerline is valid? [True, True] Translation: X:213.05, Y:-47.29, Z:-8.08 [[ 8.44526656e-01 5.34944298e-01 2.46845343e-02 2.13053568e+02] [-5.34727006e-01 8.44887268e-01 -1.52490812e-02 -4.72946991e+01] [-2.90130577e-02 -3.21231543e-04 9.99578981e-01 -8.07684607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.590385723 meters 0.017623452505082682 Centerline is valid? [True, True] Translation: X:213.11, Y:-47.33, Z:-8.08 [[ 8.45493815e-01 5.33389449e-01 2.52171421e-02 2.13107009e+02] [-5.33161948e-01 8.45869742e-01 -1.55793637e-02 -4.73272695e+01] [-2.96402857e-02 -2.72564893e-04 9.99560593e-01 -8.07844896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.650385723 meters 0.017766646603553975 Centerline is valid? [True, True] Translation: X:213.16, Y:-47.36, Z:-8.08 [[ 8.44775227e-01 5.34468552e-01 2.64231468e-02 2.13160945e+02] [-5.34219143e-01 8.45188301e-01 -1.63292134e-02 -4.73588298e+01] [-3.10599856e-02 -3.21235917e-04 9.99517471e-01 -8.07798692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.710385723 meters 0.01928923327762105 Centerline is valid? [True, True] Translation: X:213.21, Y:-47.39, Z:-8.08 [[ 8.43855270e-01 5.36020505e-01 2.42961389e-02 2.13213653e+02] [-5.35810156e-01 8.44204892e-01 -1.50191883e-02 -4.73914136e+01] [-2.85615122e-02 -3.44096740e-04 9.99591978e-01 -8.08347963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.770385723 meters 0.017975710335860772 Centerline is valid? [True, True] Translation: X:213.27, Y:-47.42, Z:-8.09 [[ 8.43122665e-01 5.37264186e-01 2.21667908e-02 2.13265807e+02] [-5.37089320e-01 8.43413940e-01 -1.37108459e-02 -4.74225718e+01] [-2.60621269e-02 -3.45621647e-04 9.99660265e-01 -8.08580758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.830385723 meters 0.017620184161570924 Centerline is valid? [True, True] Translation: X:213.32, Y:-47.46, Z:-8.09 [[ 8.43806251e-01 5.36238144e-01 2.09681655e-02 2.13317879e+02] [-5.36081329e-01 8.44066683e-01 -1.29708678e-02 -4.74583907e+01] [-2.46540040e-02 -2.95742661e-04 9.99696000e-01 -8.08758018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.890385723 meters 0.017617257456202472 Centerline is valid? [True, True] Translation: X:213.37, Y:-47.49, Z:-8.09 [[ 8.44123100e-01 5.35680095e-01 2.24282753e-02 2.13369543e+02] [-5.35500217e-01 8.44420956e-01 -1.38840402e-02 -4.74925906e+01] [-2.63763096e-02 -2.90507254e-04 9.99652042e-01 -8.08760959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.950385723 meters 0.01783099584388612 Centerline is valid? [True, True] Translation: X:213.42, Y:-47.53, Z:-8.09 [[ 8.43220239e-01 5.37046719e-01 2.36738519e-02 2.13422560e+02] [-5.36846608e-01 8.43552431e-01 -1.46634367e-02 -4.75254061e+01] [-2.78450859e-02 -3.44720434e-04 9.99612191e-01 -8.08833522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.010385723 meters 0.018283010084202425 Centerline is valid? [True, True] Translation: X:213.48, Y:-47.56, Z:-8.09 [[ 8.41622656e-01 5.39510196e-01 2.44959762e-02 2.13475728e+02] [-5.39296720e-01 8.41978955e-01 -1.51818168e-02 -4.75566352e+01] [-2.88158414e-02 -4.33238615e-04 9.99584644e-01 -8.08967507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07038572300002 meters 0.018159938954583666 Centerline is valid? [True, True] Translation: X:213.53, Y:-47.59, Z:-8.09 [[ 8.40856785e-01 5.40752104e-01 2.33886338e-02 2.13529526e+02] [-5.40557781e-01 8.41181883e-01 -1.45025794e-02 -4.75883464e+01] [-2.75163954e-02 -4.48315722e-04 9.99621252e-01 -8.09201360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13038572300002 meters 0.017860458022704265 Centerline is valid? [True, True] Translation: X:213.58, Y:-47.62, Z:-8.09 [[ 8.40926015e-01 5.40635701e-01 2.35897620e-02 2.13583024e+02] [-5.40437765e-01 8.41256705e-01 -1.46348447e-02 -4.76211108e+01] [-2.77571649e-02 -4.41976645e-04 9.99614598e-01 -8.09318746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.190385723 meters 0.017515463608229566 Centerline is valid? [True, True] Translation: X:213.64, Y:-47.65, Z:-8.09 [[ 8.41251092e-01 5.40096136e-01 2.43467711e-02 2.13635797e+02] [-5.39884776e-01 8.41603220e-01 -1.51145259e-02 -4.76537965e+01] [-2.86536180e-02 -4.29339687e-04 9.99589309e-01 -8.09448091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.250385723 meters 0.0176094949298072 Centerline is valid? [True, True] Translation: X:213.69, Y:-47.69, Z:-8.10 [[ 8.40981426e-01 5.40486497e-01 2.49917529e-02 2.13688715e+02] [-5.40263712e-01 8.41352570e-01 -1.55233392e-02 -4.76875908e+01] [-2.94170307e-02 -4.47297259e-04 9.99567125e-01 -8.09587504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.310385723 meters 0.017485310434027335 Centerline is valid? [True, True] Translation: X:213.74, Y:-47.72, Z:-8.10 [[ 8.41010061e-01 5.40436097e-01 2.51177591e-02 2.13741151e+02] [-5.40210754e-01 8.41384949e-01 -1.56112059e-02 -4.77217691e+01] [-2.95705637e-02 -4.39702346e-04 9.99562599e-01 -8.09763623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.370385723 meters 0.01856615866147564 Centerline is valid? [True, True] Translation: X:213.79, Y:-47.75, Z:-8.10 [[ 8.41617968e-01 5.39477073e-01 2.53709074e-02 2.13793655e+02] [-5.39246428e-01 8.42000194e-01 -1.57785805e-02 -4.77541807e+01] [-2.98744914e-02 -4.01634326e-04 9.99553577e-01 -8.10175407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.430385723 meters 0.018014031639218966 Centerline is valid? [True, True] Translation: X:213.85, Y:-47.79, Z:-8.10 [[ 8.41228026e-01 5.40046709e-01 2.61717468e-02 2.13847243e+02] [-5.39801276e-01 8.41634938e-01 -1.62853651e-02 -4.77866742e+01] [-3.08219143e-02 -4.27836762e-04 9.99524800e-01 -8.10168508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.490385723 meters 0.01746119946181137 Centerline is valid? [True, True] Translation: X:213.90, Y:-47.82, Z:-8.10 [[ 8.41033431e-01 5.40269526e-01 2.77778280e-02 2.13900439e+02] [-5.39992789e-01 8.41491909e-01 -1.72960815e-02 -4.78206141e+01] [-3.27193633e-02 -4.53244062e-04 9.99464476e-01 -8.10047753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.550385723 meters 0.0169443131487626 Centerline is valid? [True, True] Translation: X:213.95, Y:-47.85, Z:-8.10 [[ 8.41597277e-01 5.39328849e-01 2.89554206e-02 2.13952219e+02] [-5.39027188e-01 8.42095133e-01 -1.80409978e-02 -4.78543845e+01] [-3.41132493e-02 -4.24504330e-04 9.99417884e-01 -8.10140407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.610385723 meters 0.016582421194687825 Centerline is valid? [True, True] Translation: X:214.00, Y:-47.89, Z:-8.10 [[ 8.43407584e-01 5.36449028e-01 2.97672266e-02 2.14003431e+02] [-5.36128054e-01 8.43932667e-01 -1.85570407e-02 -4.78902399e+01] [-3.50764414e-02 -3.07896397e-04 9.99384585e-01 -8.10308343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.670385723 meters 0.016198479606019965 Centerline is valid? [True, True] Translation: X:214.05, Y:-47.93, Z:-8.10 [[ 8.45336874e-01 5.33299335e-01 3.15814560e-02 2.14054925e+02] [-5.32935421e-01 8.45926585e-01 -1.96989880e-02 -4.79257587e+01] [-3.72210504e-02 -1.78595624e-04 9.99307041e-01 -8.10446163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.730385723 meters 0.01621554611192478 Centerline is valid? [True, True] Translation: X:214.11, Y:-47.96, Z:-8.10 [[ 8.46841582e-01 5.30667254e-01 3.53779553e-02 2.14107839e+02] [-5.30207682e-01 8.47580239e-01 -2.20805791e-02 -4.79593027e+01] [-4.17030961e-02 -5.89111359e-05 9.99130046e-01 -8.10476092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.790385723 meters 0.016166781962889856 Centerline is valid? [True, True] Translation: X:214.16, Y:-47.99, Z:-8.11 [[ 8.47941453e-01 5.28727031e-01 3.79870838e-02 2.14159771e+02] [-5.28194559e-01 8.48791920e-01 -2.37230798e-02 -4.79926075e+01] [-4.47861634e-02 5.12118343e-05 9.98996595e-01 -8.10501802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85038572300002 meters 0.0162195145741249 Centerline is valid? [True, True] Translation: X:214.21, Y:-48.03, Z:-8.11 [[ 8.49220104e-01 5.26453213e-01 4.08929098e-02 2.14211587e+02] [-5.25833032e-01 8.50204080e-01 -2.55469224e-02 -4.80255831e+01] [-4.82165782e-02 1.92117391e-04 9.98836886e-01 -8.10568024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91038572300002 meters 0.016218266742210642 Centerline is valid? [True, True] Translation: X:214.27, Y:-48.06, Z:-8.11 [[ 8.49405133e-01 5.26115805e-01 4.13893740e-02 2.14265012e+02] [-5.25479399e-01 8.50412905e-01 -2.58706895e-02 -4.80592967e+01] [-4.88090364e-02 2.25433126e-04 9.98808103e-01 -8.10796946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.970385723 meters 0.016551573089738814 Centerline is valid? [True, True] Translation: X:214.32, Y:-48.09, Z:-8.11 [[ 8.49715957e-01 5.25486641e-01 4.29718840e-02 2.14315886e+02] [-5.24798989e-01 8.50801803e-01 -2.68758867e-02 -4.80930670e+01] [-5.06834758e-02 2.85268554e-04 9.98714726e-01 -8.10737854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.030385723 meters 0.016403711757303686 Centerline is valid? [True, True] Translation: X:214.37, Y:-48.12, Z:-8.11 [[ 8.49822780e-01 5.25242829e-01 4.38316361e-02 2.14368704e+02] [-5.24526338e-01 8.50952331e-01 -2.74271984e-02 -4.81246799e+01] [-5.17045722e-02 3.17410450e-04 9.98662374e-01 -8.11034567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.090385723 meters 0.016195837393536916 Centerline is valid? [True, True] Translation: X:214.42, Y:-48.16, Z:-8.11 [[ 8.49837846e-01 5.25156405e-01 4.45688984e-02 2.14421205e+02] [-5.24414728e-01 8.51005661e-01 -2.79026529e-02 -4.81568078e+01] [-5.25816417e-02 3.40143675e-04 9.98616571e-01 -8.11461505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.150385723 meters 0.01635502874439623 Centerline is valid? [True, True] Translation: X:214.47, Y:-48.19, Z:-8.12 [[ 8.50291201e-01 5.24488951e-01 4.37745818e-02 2.14472922e+02] [-5.23771843e-01 8.51417166e-01 -2.74201757e-02 -4.81908013e+01] [-5.16520095e-02 3.87240782e-04 9.98665069e-01 -8.11786608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.210385723 meters 0.016195918385671783 Centerline is valid? [True, True] Translation: X:214.53, Y:-48.22, Z:-8.12 [[ 8.50473472e-01 5.24243126e-01 4.31742699e-02 2.14526463e+02] [-5.23544460e-01 8.51568539e-01 -2.70595886e-02 -4.82228068e+01] [-5.09516533e-02 4.09812477e-04 9.98701037e-01 -8.12272273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.270385723 meters 0.01572021175155683 Centerline is valid? [True, True] Translation: X:214.58, Y:-48.25, Z:-8.13 [[ 8.49909778e-01 5.25271203e-01 4.17556308e-02 2.14580973e+02] [-5.24618229e-01 8.50934804e-01 -2.61853486e-02 -4.82523865e+01] [-4.92857290e-02 3.49418692e-04 9.98784659e-01 -8.12810084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.330385723 meters 0.01578392736453872 Centerline is valid? [True, True] Translation: X:214.63, Y:-48.28, Z:-8.13 [[ 8.48997676e-01 5.26794459e-01 4.11162276e-02 2.14634442e+02] [-5.26162466e-01 8.49992662e-01 -2.57979534e-02 -4.82819199e+01] [-4.85387107e-02 2.68586779e-04 9.98821266e-01 -8.13119034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.390385723 meters 0.01533965983913243 Centerline is valid? [True, True] Translation: X:214.69, Y:-48.31, Z:-8.14 [[ 8.46456249e-01 5.31046891e-01 3.87429660e-02 2.14691200e+02] [-5.30489688e-01 8.47342433e-01 -2.43206174e-02 -4.83071623e+01] [-4.57439474e-02 3.35946451e-05 9.98953197e-01 -8.13917360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.450385723 meters 0.015362760263337247 Centerline is valid? [True, True] Translation: X:214.75, Y:-48.34, Z:-8.14 [[ 8.45130049e-01 5.33342655e-01 3.60667745e-02 2.14746178e+02] [-5.32861402e-01 8.45899289e-01 -2.26521422e-02 -4.83368655e+01] [-4.25902126e-02 -7.45859633e-05 9.99092622e-01 -8.14463608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.510385723 meters 0.015431903358893627 Centerline is valid? [True, True] Translation: X:214.80, Y:-48.37, Z:-8.15 [[ 8.44817028e-01 5.34026232e-01 3.31688514e-02 2.14800059e+02] [-5.33619356e-01 8.45467903e-01 -2.08424380e-02 -4.83666122e+01] [-3.91736078e-02 -9.14945688e-05 9.99232415e-01 -8.15074685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57038572300002 meters 0.015399262154147237 Centerline is valid? [True, True] Translation: X:214.85, Y:-48.40, Z:-8.16 [[ 8.45047636e-01 5.33787160e-01 3.10766879e-02 2.14855000e+02] [-5.33429484e-01 8.45618864e-01 -1.95377084e-02 -4.83964704e+01] [-3.67080114e-02 -6.69272454e-05 9.99326032e-01 -8.15672991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63038572300002 meters 0.015378964508612054 Centerline is valid? [True, True] Translation: X:214.91, Y:-48.43, Z:-8.16 [[ 8.45060723e-01 5.33928046e-01 2.81640916e-02 2.14910364e+02] [-5.33634044e-01 8.45529916e-01 -1.77163507e-02 -4.84271318e+01] [-3.32728385e-02 -5.79259821e-05 9.99446304e-01 -8.16262926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.690385723 meters 0.01541311589522612 Centerline is valid? [True, True] Translation: X:214.97, Y:-48.46, Z:-8.17 [[ 8.44230419e-01 5.35386010e-01 2.52352955e-02 2.14965832e+02] [-5.35150378e-01 8.44607489e-01 -1.58827404e-02 -4.84560001e+01] [-2.98173166e-02 -9.59853191e-05 9.99555360e-01 -8.16804244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.750385723 meters 0.01602624390787207 Centerline is valid? [True, True] Translation: X:215.02, Y:-48.48, Z:-8.17 [[ 8.42470069e-01 5.38229436e-01 2.35214290e-02 2.15021368e+02] [-5.38025629e-01 8.42798341e-01 -1.48114446e-02 -4.84823097e+01] [-2.77957768e-02 -1.76932882e-04 9.99613607e-01 -8.17408999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.810385723 meters 0.016273859606292625 Centerline is valid? [True, True] Translation: X:215.08, Y:-48.51, Z:-8.17 [[ 8.38708703e-01 5.44078274e-01 2.33782422e-02 2.15077387e+02] [-5.43879013e-01 8.39034386e-01 -1.47281626e-02 -4.85100528e+01] [-2.76284224e-02 -3.62297111e-04 9.99618197e-01 -8.17413299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.870385723 meters 0.017224950367328337 Centerline is valid? [True, True] Translation: X:215.13, Y:-48.54, Z:-8.18 [[ 8.35544234e-01 5.49019145e-01 2.10668372e-02 2.15133379e+02] [-5.48858697e-01 8.35809644e-01 -1.32804379e-02 -4.85376148e+01] [-2.48990803e-02 -4.66323497e-04 9.99689861e-01 -8.17867788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.930385723 meters 0.017337163338542155 Centerline is valid? [True, True] Translation: X:215.19, Y:-48.57, Z:-8.18 [[ 8.34805480e-01 5.50160543e-01 2.05715286e-02 2.15187338e+02] [-5.50007914e-01 8.35058763e-01 -1.29675294e-02 -4.85675558e+01] [-2.43126582e-02 -4.89138948e-04 9.99704284e-01 -8.18366087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.990385723 meters 0.017731402438813076 Centerline is valid? [True, True] Translation: X:215.24, Y:-48.60, Z:-8.19 [[ 8.34639035e-01 5.50370166e-01 2.16878427e-02 2.15240413e+02] [-5.50200382e-01 8.34920604e-01 -1.36793620e-02 -4.86002369e+01] [-2.56363395e-02 -5.15329888e-04 9.99671202e-01 -8.18608676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.050385723 meters 0.019350058159840984 Centerline is valid? [True, True] Translation: X:215.29, Y:-48.63, Z:-8.19 [[ 8.34847870e-01 5.50013960e-01 2.26644596e-02 2.15292756e+02] [-5.49828186e-01 8.35155299e-01 -1.43035942e-02 -4.86336546e+01] [-2.67955200e-02 -5.20233580e-04 9.99640800e-01 -8.18922677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.110385723 meters 0.01814770186995961 Centerline is valid? [True, True] Translation: X:215.35, Y:-48.67, Z:-8.19 [[ 8.34288204e-01 5.50785682e-01 2.44606987e-02 2.15346196e+02] [-5.50569361e-01 8.34646509e-01 -1.54461270e-02 -4.86673379e+01] [-2.89235424e-02 -5.80789734e-04 9.99581458e-01 -8.19034962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.170385723 meters 0.01922870638029816 Centerline is valid? [True, True] Translation: X:215.40, Y:-48.70, Z:-8.19 [[ 8.32446574e-01 5.53576338e-01 2.42061721e-02 2.15397959e+02] [-5.53365368e-01 8.32798175e-01 -1.52960698e-02 -4.86999182e+01] [-2.86263983e-02 -6.61696408e-04 9.99589962e-01 -8.19414106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.230385723 meters 0.01973890756299527 Centerline is valid? [True, True] Translation: X:215.45, Y:-48.73, Z:-8.20 [[ 8.30039076e-01 5.57217242e-01 2.33254579e-02 2.15449430e+02] [-5.57022661e-01 8.30366410e-01 -1.47438321e-02 -4.87342576e+01] [-2.75841942e-02 -7.54851812e-04 9.99619199e-01 -8.19811335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.290385723 meters 0.020688237811009324 Centerline is valid? [True, True] Translation: X:215.50, Y:-48.77, Z:-8.20 [[ 8.28202101e-01 5.59944165e-01 2.33197675e-02 2.15500303e+02] [-5.59750693e-01 8.28529915e-01 -1.47425106e-02 -4.87696597e+01] [-2.75761078e-02 -8.43477776e-04 9.99619351e-01 -8.20146607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35038572300002 meters 0.02379922058870028 Centerline is valid? [True, True] Translation: X:215.55, Y:-48.80, Z:-8.21 [[ 8.27142271e-01 5.61520761e-01 2.30238726e-02 2.15552203e+02] [-5.61332731e-01 8.27462177e-01 -1.45571310e-02 -4.88021768e+01] [-2.72255151e-02 -8.83234887e-04 9.99628927e-01 -8.20539695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41038572300002 meters 0.022542111319567574 Centerline is valid? [True, True] Translation: X:215.60, Y:-48.84, Z:-8.21 [[ 8.26555755e-01 5.62412011e-01 2.23229566e-02 2.15600674e+02] [-5.62235515e-01 8.26856669e-01 -1.41164865e-02 -4.88422392e+01] [-2.63971671e-02 -8.82695796e-04 9.99651144e-01 -8.20864517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.470385723 meters 0.022734574113888163 Centerline is valid? [True, True] Translation: X:215.65, Y:-48.88, Z:-8.21 [[ 8.26600172e-01 5.62352552e-01 2.21757213e-02 2.15650100e+02] [-5.62178159e-01 8.26897123e-01 -1.40308597e-02 -4.88796882e+01] [-2.62273299e-02 -8.68795153e-04 9.99655627e-01 -8.21122353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.530385723 meters 0.02203297844585981 Centerline is valid? [True, True] Translation: X:215.70, Y:-48.92, Z:-8.21 [[ 8.27984685e-01 5.60290263e-01 2.27196550e-02 2.15699937e+02] [-5.60106203e-01 8.28295934e-01 -1.43835608e-02 -4.89159555e+01] [-2.68775669e-02 -8.16051634e-04 9.99638400e-01 -8.21328898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.590385723 meters 0.021917406573327816 Centerline is valid? [True, True] Translation: X:215.75, Y:-48.95, Z:-8.21 [[ 8.29518534e-01 5.57909479e-01 2.52193432e-02 2.15751513e+02] [-5.57681343e-01 8.29901410e-01 -1.59740109e-02 -4.89479427e+01] [-2.98416205e-02 -8.13619102e-04 9.99554309e-01 -8.21372282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.650385723 meters 0.021140419287833615 Centerline is valid? [True, True] Translation: X:215.80, Y:-48.98, Z:-8.21 [[ 8.30936805e-01 5.55707271e-01 2.70823639e-02 2.15802719e+02] [-5.55442971e-01 8.31377656e-01 -1.71551367e-02 -4.89821655e+01] [-3.20489064e-02 -7.87874228e-04 9.99485991e-01 -8.21417643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.710385723 meters 0.019440360159835558 Centerline is valid? [True, True] Translation: X:215.85, Y:-49.02, Z:-8.21 [[ 8.31616663e-01 5.54618410e-01 2.84981503e-02 2.15851549e+02] [-5.54324869e-01 8.32104448e-01 -1.80589969e-02 -4.90211621e+01] [-3.37292898e-02 -7.79070672e-04 9.99430702e-01 -8.21380778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.770385723 meters 0.019152244892196534 Centerline is valid? [True, True] Translation: X:215.90, Y:-49.06, Z:-8.22 [[ 8.32986087e-01 5.52575872e-01 2.81795255e-02 2.15903738e+02] [-5.52287369e-01 8.33462323e-01 -1.78666965e-02 -4.90552332e+01] [-3.33592782e-02 -6.80486442e-04 9.99443193e-01 -8.21698441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.830385723 meters 0.018863042612319803 Centerline is valid? [True, True] Translation: X:215.95, Y:-49.09, Z:-8.22 [[ 8.33825002e-01 5.51282242e-01 2.87011623e-02 2.15954874e+02] [-5.50981851e-01 8.34318578e-01 -1.82073961e-02 -4.90902052e+01] [-3.39833271e-02 -6.32037495e-04 9.99422200e-01 -8.21881179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.890385723 meters 0.018437547220750992 Centerline is valid? [True, True] Translation: X:216.00, Y:-49.13, Z:-8.22 [[ 8.34260564e-01 5.50648715e-01 2.82011319e-02 2.16004976e+02] [-5.50358029e-01 8.34736873e-01 -1.78995333e-02 -4.91273001e+01] [-3.33968796e-02 -5.87844626e-04 9.99441996e-01 -8.21882872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.950385723 meters 0.01833013921260161 Centerline is valid? [True, True] Translation: X:216.06, Y:-49.16, Z:-8.22 [[ 8.34865199e-01 5.49660766e-01 2.95489652e-02 2.16057493e+02] [-5.49340626e-01 8.35387768e-01 -1.87657755e-02 -4.91604485e+01] [-3.49996546e-02 -5.65554118e-04 9.99387164e-01 -8.22027714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.010385723 meters 0.01795147499645125 Centerline is valid? [True, True] Translation: X:216.11, Y:-49.20, Z:-8.22 [[ 8.36594318e-01 5.46831915e-01 3.29363645e-02 2.16108996e+02] [-5.46431454e-01 8.37242270e-01 -2.09295885e-02 -4.91952101e+01] [-3.90206835e-02 -4.87890724e-04 9.99238284e-01 -8.21991653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07038572300002 meters 0.017281707871371364 Centerline is valid? [True, True] Translation: X:216.16, Y:-49.23, Z:-8.22 [[ 8.39520352e-01 5.42152761e-01 3.57206157e-02 2.16157694e+02] [-5.41676894e-01 8.40279897e-01 -2.27120666e-02 -4.92342708e+01] [-4.23287248e-02 -2.81789983e-04 9.99103698e-01 -8.21831148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13038572300002 meters 0.017197006813800066 Centerline is valid? [True, True] Translation: X:216.21, Y:-49.27, Z:-8.22 [[ 8.40168998e-01 5.41107962e-01 3.63074143e-02 2.16209640e+02] [-5.40614784e-01 8.40953105e-01 -2.30982908e-02 -4.92690064e+01] [-4.30315018e-02 -2.21857077e-04 9.99073691e-01 -8.22018097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.190385723 meters 0.01722929307084107 Centerline is valid? [True, True] Translation: X:216.26, Y:-49.30, Z:-8.22 [[ 8.39678806e-01 5.41796472e-01 3.73642322e-02 2.16263050e+02] [-5.41274183e-01 8.40509678e-01 -2.37852825e-02 -4.93013117e+01] [-4.42917809e-02 -2.52296608e-04 9.99018606e-01 -8.22194337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.250385723 meters 0.017109859418605735 Centerline is valid? [True, True] Translation: X:216.32, Y:-49.33, Z:-8.23 [[ 8.39307930e-01 5.42436251e-01 3.64021019e-02 2.16316320e+02] [-5.41940588e-01 8.40096924e-01 -2.31852688e-02 -4.93340008e+01] [-4.31578242e-02 -2.68196571e-04 9.99068231e-01 -8.22548945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.310385723 meters 0.017040337142386962 Centerline is valid? [True, True] Translation: X:216.37, Y:-49.37, Z:-8.23 [[ 8.39379318e-01 5.42377391e-01 3.56248007e-02 2.16369153e+02] [-5.41902054e-01 8.40134932e-01 -2.27037512e-02 -4.93669870e+01] [-4.22436409e-02 -2.48093436e-04 9.99107308e-01 -8.22779162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.370385723 meters 0.01710963179195234 Centerline is valid? [True, True] Translation: X:216.42, Y:-49.40, Z:-8.23 [[ 8.38937330e-01 5.42993341e-01 3.66386058e-02 2.16421889e+02] [-5.42490602e-01 8.39736956e-01 -2.33621746e-02 -4.93984483e+01] [-4.34522965e-02 -2.76698916e-04 9.99055465e-01 -8.22970543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.430385723 meters 0.01702888232975119 Centerline is valid? [True, True] Translation: X:216.48, Y:-49.43, Z:-8.23 [[ 8.38665716e-01 5.43482619e-01 3.55873446e-02 2.16475252e+02] [-5.43008457e-01 8.39420371e-01 -2.26992409e-02 -4.94319411e+01] [-4.22093849e-02 -2.87153987e-04 9.99108746e-01 -8.23430306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.490385723 meters 0.01685310702910424 Centerline is valid? [True, True] Translation: X:216.53, Y:-49.47, Z:-8.24 [[ 8.40103993e-01 5.41285159e-01 3.51519255e-02 2.16526111e+02] [-5.40820051e-01 8.40839075e-01 -2.24348558e-02 -4.94662420e+01] [-4.17007670e-02 -1.63254225e-04 9.99130131e-01 -8.23674104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.550385723 meters 0.016861267648589962 Centerline is valid? [True, True] Translation: X:216.58, Y:-49.50, Z:-8.24 [[ 8.41184034e-01 5.39560345e-01 3.58337136e-02 2.16579538e+02] [-5.39074941e-01 8.41946928e-01 -2.28818310e-02 -4.95002122e+01] [-4.25162137e-02 -6.92261408e-05 9.99095775e-01 -8.23983479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.610385723 meters 0.016863433727468 Centerline is valid? [True, True] Translation: X:216.63, Y:-49.53, Z:-8.24 [[ 8.40414402e-01 5.40804112e-01 3.51360894e-02 2.16633826e+02] [-5.40337965e-01 8.41148559e-01 -2.24496053e-02 -4.95324459e+01] [-4.16955098e-02 -1.18391497e-04 9.99130357e-01 -8.24337457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.670385723 meters 0.017151627766213002 Centerline is valid? [True, True] Translation: X:216.69, Y:-49.56, Z:-8.25 [[ 8.38163802e-01 5.44401343e-01 3.32959221e-02 2.16688352e+02] [-5.43985112e-01 8.38824835e-01 -2.12859946e-02 -4.95631775e+01] [-3.95175704e-02 -2.71335772e-04 9.99218839e-01 -8.24698080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.730385723 meters 0.017157156914535114 Centerline is valid? [True, True] Translation: X:216.74, Y:-49.59, Z:-8.25 [[ 8.36569814e-01 5.47025452e-01 3.02341186e-02 2.16742866e+02] [-5.46683606e-01 8.37115902e-01 -1.93391318e-02 -4.95926864e+01] [-3.58884587e-02 -3.49963081e-04 9.99355740e-01 -8.25337390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.790385723 meters 0.017220669826897878 Centerline is valid? [True, True] Translation: X:216.80, Y:-49.62, Z:-8.26 [[ 8.35982081e-01 5.48077415e-01 2.72966707e-02 2.16796629e+02] [-5.47799076e-01 8.36427537e-01 -1.74684710e-02 -4.96235809e+01] [-3.24057615e-02 -3.49762297e-04 9.99474734e-01 -8.25952181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85038572300002 meters 0.017078842078459663 Centerline is valid? [True, True] Translation: X:216.85, Y:-49.66, Z:-8.27 [[ 8.36402636e-01 5.47560217e-01 2.46665713e-02 2.16849995e+02] [-5.47332512e-01 8.36766230e-01 -1.57923392e-02 -4.96573867e+01] [-2.92874105e-02 -2.92062303e-04 9.99570989e-01 -8.26507380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91038572300002 meters 0.01685704172775327 Centerline is valid? [True, True] Translation: X:216.90, Y:-49.69, Z:-8.27 [[ 8.37447818e-01 5.46047169e-01 2.26636699e-02 2.16902621e+02] [-5.45854188e-01 8.37754405e-01 -1.45176348e-02 -4.96910737e+01] [-2.69139027e-02 -2.13297496e-04 9.99637733e-01 -8.27005316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.970385723 meters 0.01688063637381689 Centerline is valid? [True, True] Translation: X:216.95, Y:-49.73, Z:-8.27 [[ 8.38310376e-01 5.44757657e-01 2.17901056e-02 2.16954282e+02] [-5.44578593e-01 8.38593507e-01 -1.39672796e-02 -4.97252168e+01] [-2.58818236e-02 -1.57509631e-04 9.99664997e-01 -8.27307661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.030385723 meters 0.01698759530553709 Centerline is valid? [True, True] Translation: X:217.01, Y:-49.76, Z:-8.28 [[ 8.37817608e-01 5.45544271e-01 2.10500425e-02 2.17006686e+02] [-5.45377310e-01 8.38081988e-01 -1.34970605e-02 -4.97573896e+01] [-2.50049055e-02 -1.72140688e-04 9.99687314e-01 -8.27690796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.090385723 meters 0.017255121284000544 Centerline is valid? [True, True] Translation: X:217.06, Y:-49.79, Z:-8.28 [[ 8.36722290e-01 5.47198569e-01 2.16687774e-02 2.17060242e+02] [-5.47022040e-01 8.37002793e-01 -1.39000587e-02 -4.97899321e+01] [-2.57429195e-02 -2.22809850e-04 9.99668571e-01 -8.27901791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.150385723 meters 0.01781942307565411 Centerline is valid? [True, True] Translation: X:217.11, Y:-49.82, Z:-8.28 [[ 8.33451108e-01 5.52114065e-01 2.30067396e-02 2.17113853e+02] [-5.51916665e-01 8.33768497e-01 -1.47677918e-02 -4.98216541e+01] [-2.73358003e-02 -3.89570516e-04 9.99626231e-01 -8.27836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.210385723 meters 0.018157092335661845 Centerline is valid? [True, True] Translation: X:217.17, Y:-49.85, Z:-8.28 [[ 8.32225798e-01 5.53944750e-01 2.33545498e-02 2.17166300e+02] [-5.53741831e-01 8.32553309e-01 -1.49990785e-02 -4.98547893e+01] [-2.77525684e-02 -4.49771092e-04 9.99614722e-01 -8.27886331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.270385723 meters 0.01844866847357702 Centerline is valid? [True, True] Translation: X:217.22, Y:-49.89, Z:-8.28 [[ 8.30917606e-01 5.55855875e-01 2.44985251e-02 2.17219003e+02] [-5.55633164e-01 8.31278511e-01 -1.57424302e-02 -4.98883867e+01] [-2.91156198e-02 -5.31530625e-04 9.99575909e-01 -8.27972266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.330385723 meters 0.018208877116924243 Centerline is valid? [True, True] Translation: X:217.27, Y:-49.92, Z:-8.28 [[ 8.31373773e-01 5.55073312e-01 2.66695938e-02 2.17270519e+02] [-5.54808649e-01 8.31801254e-01 -1.71475207e-02 -4.99237887e+01] [-3.17019326e-02 -5.40522293e-04 9.99497221e-01 -8.27957121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.390385723 meters 0.01797339680832307 Centerline is valid? [True, True] Translation: X:217.32, Y:-49.96, Z:-8.28 [[ 8.32277682e-01 5.53589476e-01 2.91984999e-02 2.17320480e+02] [-5.53270934e-01 8.32789542e-01 -1.87843571e-02 -4.99603029e+01] [-3.47150278e-02 -5.20880098e-04 9.99397116e-01 -8.27831822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.450385723 meters 0.017622838394783787 Centerline is valid? [True, True] Translation: X:217.37, Y:-49.99, Z:-8.28 [[ 8.33570302e-01 5.51623704e-01 2.95269626e-02 2.17372375e+02] [-5.51296362e-01 8.34092980e-01 -1.90058235e-02 -4.99949946e+01] [-3.51122950e-02 -4.35417033e-04 9.99383278e-01 -8.28052744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.510385723 meters 0.01714314155198991 Centerline is valid? [True, True] Translation: X:217.42, Y:-50.03, Z:-8.28 [[ 8.35107886e-01 5.49296208e-01 2.94702399e-02 2.17423611e+02] [-5.48968325e-01 8.35627649e-01 -1.89792052e-02 -5.00299155e+01] [-3.50513527e-02 -3.28544274e-04 9.99385459e-01 -8.28269554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57038572300002 meters 0.017009913506959157 Centerline is valid? [True, True] Translation: X:217.48, Y:-50.06, Z:-8.28 [[ 8.36141237e-01 5.47772560e-01 2.85140866e-02 2.17475454e+02] [-5.47464409e-01 8.36627253e-01 -1.83728255e-02 -5.00631537e+01] [-3.39197916e-02 -2.48170562e-04 9.99424527e-01 -8.28453472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63038572300002 meters 0.017048021230509542 Centerline is valid? [True, True] Translation: X:217.53, Y:-50.10, Z:-8.29 [[ 8.36182187e-01 5.47733264e-01 2.80645920e-02 2.17529419e+02] [-5.47434415e-01 8.36652984e-01 -1.80926795e-02 -5.00952666e+01] [-3.33902871e-02 -2.34747224e-04 9.99442361e-01 -8.28789688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.690385723 meters 0.016946669133689193 Centerline is valid? [True, True] Translation: X:217.58, Y:-50.13, Z:-8.29 [[ 8.36405634e-01 5.47365626e-01 2.85742475e-02 2.17582282e+02] [-5.47055217e-01 8.36893557e-01 -1.84326993e-02 -5.01285452e+01] [-3.40030296e-02 -2.14477580e-04 9.99421707e-01 -8.28968538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.750385723 meters 0.01679353536732091 Centerline is valid? [True, True] Translation: X:217.63, Y:-50.16, Z:-8.29 [[ 8.37155380e-01 5.46221977e-01 2.85030191e-02 2.17634328e+02] [-5.45912066e-01 8.37640452e-01 -1.83980873e-02 -5.01629809e+01] [-3.39247214e-02 -1.58084295e-04 9.99424378e-01 -8.29104496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.810385723 meters 0.01661208453344374 Centerline is valid? [True, True] Translation: X:217.69, Y:-50.20, Z:-8.29 [[ 8.37807286e-01 5.45269991e-01 2.75606129e-02 2.17686510e+02] [-5.44979384e-01 8.38260476e-01 -1.78001535e-02 -5.01979926e+01] [-3.28088620e-02 -1.06867498e-04 9.99461639e-01 -8.29352528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.870385723 meters 0.017578893248363443 Centerline is valid? [True, True] Translation: X:217.74, Y:-50.23, Z:-8.30 [[ 8.38226086e-01 5.44670458e-01 2.66668416e-02 2.17739672e+02] [-5.44397763e-01 8.38650158e-01 -1.72333509e-02 -5.02312394e+01] [-3.17506481e-02 -7.19246179e-05 9.99495818e-01 -8.29737412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.930385723 meters 0.016677087062678866 Centerline is valid? [True, True] Translation: X:217.79, Y:-50.26, Z:-8.30 [[ 8.37112457e-01 5.46455086e-01 2.50913207e-02 2.17794185e+02] [-5.46214185e-01 8.37488402e-01 -1.62246752e-02 -5.02613170e+01] [-2.98797463e-02 -1.23357605e-04 9.99553493e-01 -8.30194106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.990385723 meters 0.016681859611878045 Centerline is valid? [True, True] Translation: X:217.85, Y:-50.29, Z:-8.31 [[ 8.36040434e-01 5.48169957e-01 2.33685867e-02 2.17847563e+02] [-5.47961467e-01 8.36366948e-01 -1.51181939e-02 -5.02932676e+01] [-2.78320532e-02 -1.65663671e-04 9.99612600e-01 -8.30593927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.050385723 meters 0.01675895008229574 Centerline is valid? [True, True] Translation: X:217.90, Y:-50.33, Z:-8.31 [[ 8.34698255e-01 5.50259997e-01 2.21981791e-02 2.17899286e+02] [-5.50072425e-01 8.34993346e-01 -1.43679610e-02 -5.03271983e+01] [-2.64414460e-02 -2.17694227e-04 9.99650340e-01 -8.30668737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.110385723 meters 0.016885701562394873 Centerline is valid? [True, True] Translation: X:217.95, Y:-50.36, Z:-8.31 [[ 8.33209588e-01 5.52518540e-01 2.20237431e-02 2.17952849e+02] [-5.52334481e-01 8.33500560e-01 -1.42631247e-02 -5.03564901e+01] [-2.62374430e-02 -2.80300485e-04 9.99655700e-01 -8.31107768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.170385723 meters 0.0172965628322187 Centerline is valid? [True, True] Translation: X:218.00, Y:-50.39, Z:-8.31 [[ 8.31382983e-01 5.55298510e-01 2.11163545e-02 2.18004944e+02] [-5.55130037e-01 8.31651035e-01 -1.36820118e-02 -5.03893500e+01] [-2.51590389e-02 -3.47330874e-04 9.99683401e-01 -8.31448191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.230385723 meters 0.01795911166146891 Centerline is valid? [True, True] Translation: X:218.06, Y:-50.42, Z:-8.32 [[ 8.29277564e-01 5.58489377e-01 1.97062814e-02 2.18057084e+02] [-5.58343420e-01 8.29511572e-01 -1.27740838e-02 -5.04220981e+01] [-2.34807786e-02 -4.09611441e-04 9.99724205e-01 -8.31868944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.290385723 meters 0.018863418949842167 Centerline is valid? [True, True] Translation: X:218.11, Y:-50.45, Z:-8.32 [[ 8.27595656e-01 5.61012666e-01 1.87141371e-02 2.18110721e+02] [-5.60881558e-01 8.27807093e-01 -1.21364912e-02 -5.04523680e+01] [-2.23004208e-02 -4.52306970e-04 9.99751212e-01 -8.32397260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35038572300002 meters 0.018754248210654537 Centerline is valid? [True, True] Translation: X:218.16, Y:-50.49, Z:-8.33 [[ 8.26664825e-01 5.62454207e-01 1.64478730e-02 2.18162408e+02] [-5.62353080e-01 8.26828328e-01 -1.06737661e-02 -5.04864051e+01] [-1.96030720e-02 -4.25885045e-04 9.99807751e-01 -8.32682711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41038572300002 meters 0.018939204103567038 Centerline is valid? [True, True] Translation: X:218.21, Y:-50.52, Z:-8.33 [[ 8.26089907e-01 5.63321282e-01 1.56396193e-02 2.18214009e+02] [-5.63230039e-01 8.26237830e-01 -1.01474765e-02 -5.05198656e+01] [-1.86383346e-02 -4.25975501e-04 9.99826200e-01 -8.32925015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.470385723 meters 0.01894850365402088 Centerline is valid? [True, True] Translation: X:218.27, Y:-50.55, Z:-8.33 [[ 8.25877816e-01 5.63648329e-01 1.50464121e-02 2.18266812e+02] [-5.63563858e-01 8.26014764e-01 -9.76666397e-03 -5.05532483e+01] [-1.79335223e-02 -4.13542929e-04 9.99839096e-01 -8.33216887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.530385723 meters 0.019440777946565013 Centerline is valid? [True, True] Translation: X:218.32, Y:-50.59, Z:-8.33 [[ 8.25226729e-01 5.64564158e-01 1.63755165e-02 2.18319166e+02] [-5.64464168e-01 8.25389056e-01 -1.06352677e-02 -5.05876098e+01] [-1.95204630e-02 -4.66885101e-04 9.99809349e-01 -8.33322262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.590385723 meters 0.0199567937457467 Centerline is valid? [True, True] Translation: X:218.37, Y:-50.62, Z:-8.33 [[ 8.23767576e-01 5.66610532e-01 1.89600942e-02 2.18370846e+02] [-5.66476820e-01 8.23985532e-01 -1.23229590e-02 -5.06239566e+01] [-2.26051617e-02 -5.89199760e-04 9.99744297e-01 -8.33106921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.650385723 meters 0.020624925639558592 Centerline is valid? [True, True] Translation: X:218.42, Y:-50.66, Z:-8.33 [[ 8.23056382e-01 5.67636636e-01 1.91531160e-02 2.18423095e+02] [-5.67500268e-01 8.23278974e-01 -1.24569641e-02 -5.06561591e+01] [-2.28393869e-02 -6.16614635e-04 9.99738957e-01 -8.33452880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.710385723 meters 0.020391204200589836 Centerline is valid? [True, True] Translation: X:218.47, Y:-50.69, Z:-8.34 [[ 8.23938600e-01 5.66354223e-01 1.91853358e-02 2.18473400e+02] [-5.66216908e-01 8.24161733e-01 -1.24840783e-02 -5.06923389e+01] [-2.28822300e-02 -5.76947523e-04 9.99738001e-01 -8.33611543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.770385723 meters 0.018967942759323668 Centerline is valid? [True, True] Translation: X:218.52, Y:-50.73, Z:-8.33 [[ 8.24510364e-01 5.65436012e-01 2.15586757e-02 2.18524066e+02] [-5.65262094e-01 8.24791938e-01 -1.40365446e-02 -5.07284466e+01] [-2.57181897e-02 -6.13025680e-04 9.99669045e-01 -8.33485561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.830385723 meters 0.01831734410406777 Centerline is valid? [True, True] Translation: X:218.57, Y:-50.76, Z:-8.33 [[ 8.24506757e-01 5.65383444e-01 2.30254121e-02 2.18574969e+02] [-5.65184801e-01 8.24827948e-01 -1.49998957e-02 -5.07640630e+01] [-2.74726961e-02 -6.46097624e-04 9.99622345e-01 -8.33410018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.890385723 meters 0.017381050880002157 Centerline is valid? [True, True] Translation: X:218.62, Y:-50.80, Z:-8.33 [[ 8.26689484e-01 5.62046269e-01 2.62390727e-02 2.18623632e+02] [-5.61786247e-01 8.27105574e-01 -1.71050246e-02 -5.08030428e+01] [-3.13162986e-02 -6.00206245e-04 9.99509344e-01 -8.33231749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.950385723 meters 0.016452284857012126 Centerline is valid? [True, True] Translation: X:218.67, Y:-50.84, Z:-8.33 [[ 8.30353166e-01 5.56427076e-01 3.00421205e-02 2.18671900e+02] [-5.56082409e-01 8.30896332e-01 -1.95867376e-02 -5.08412873e+01] [-3.58604788e-02 -4.41985113e-04 9.99356708e-01 -8.33171022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.010385723 meters 0.015721794656631774 Centerline is valid? [True, True] Translation: X:218.72, Y:-50.88, Z:-8.33 [[ 8.33602661e-01 5.51281031e-01 3.45807573e-02 2.18720402e+02] [-5.50819435e-01 8.34319582e-01 -2.25562607e-02 -5.08808604e+01] [-4.12862416e-02 -2.44794261e-04 9.99147330e-01 -8.32944937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07038572300002 meters 0.015700372274211075 Centerline is valid? [True, True] Translation: X:218.77, Y:-50.92, Z:-8.33 [[ 8.35083395e-01 5.48845826e-01 3.74697616e-02 2.18771870e+02] [-5.48300735e-01 8.35923587e-01 -2.44552661e-02 -5.09166876e+01] [-4.47440283e-02 -1.22511222e-04 9.98998477e-01 -8.32914892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13038572300002 meters 0.015787392397907832 Centerline is valid? [True, True] Translation: X:218.82, Y:-50.95, Z:-8.33 [[ 8.38584295e-01 5.43405446e-01 3.85603628e-02 2.18822381e+02] [-5.42821666e-01 8.39470361e-01 -2.51823685e-02 -5.09519096e+01] [-4.60545179e-02 1.86138308e-04 9.98938910e-01 -8.33126649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.190385723 meters 0.01611542339947485 Centerline is valid? [True, True] Translation: X:218.87, Y:-50.99, Z:-8.34 [[ 8.41908372e-01 5.38281837e-01 3.79862780e-02 2.18873427e+02] [-5.37709523e-01 8.42764761e-01 -2.48198922e-02 -5.09875053e+01] [-4.53735937e-02 4.70491658e-04 9.98969977e-01 -8.33510241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.250385723 meters 0.016869592466209483 Centerline is valid? [True, True] Translation: X:218.92, Y:-51.02, Z:-8.34 [[ 8.45236249e-01 5.33133691e-01 3.66626680e-02 2.18923830e+02] [-5.32595185e-01 8.46030692e-01 -2.39674011e-02 -5.10233619e+01] [-4.37955714e-02 7.31755736e-04 9.99040246e-01 -8.33864406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.310385723 meters 0.01910097444040375 Centerline is valid? [True, True] Translation: X:218.98, Y:-51.06, Z:-8.35 [[ 8.48869631e-01 5.27467651e-01 3.46154143e-02 2.18975359e+02] [-5.26982454e-01 8.49574554e-01 -2.26400088e-02 -5.10562771e+01] [-4.13502474e-02 9.76699894e-04 9.99144235e-01 -8.34608128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.370385723 meters 0.019440139349088243 Centerline is valid? [True, True] Translation: X:219.03, Y:-51.09, Z:-8.35 [[ 8.51826334e-01 5.22740881e-01 3.36729513e-02 2.19026113e+02] [-5.22277649e-01 8.52490806e-01 -2.20336823e-02 -5.10896738e+01] [-4.02237879e-02 1.18224096e-03 9.99189997e-01 -8.34824837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.430385723 meters 0.022514206102179878 Centerline is valid? [True, True] Translation: X:219.08, Y:-51.12, Z:-8.35 [[ 8.54333938e-01 5.18702926e-01 3.25698814e-02 2.19078805e+02] [-5.18266361e-01 8.54953506e-01 -2.13185999e-02 -5.11218364e+01] [-3.89037545e-02 1.33332945e-03 9.99242073e-01 -8.35473354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.490385723 meters 0.019611360389723734 Centerline is valid? [True, True] Translation: X:219.13, Y:-51.15, Z:-8.36 [[ 8.53704550e-01 5.19936663e-01 2.92302495e-02 2.19134482e+02] [-5.19585712e-01 8.54204044e-01 -1.91347382e-02 -5.11503349e+01] [-3.49174493e-02 1.14779302e-03 9.99389541e-01 -8.35990444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.550385723 meters 0.02118104255729133 Centerline is valid? [True, True] Translation: X:219.19, Y:-51.18, Z:-8.37 [[ 8.51614942e-01 5.23552936e-01 2.53833521e-02 2.19187210e+02] [-5.23289651e-01 8.51992698e-01 -1.66247821e-02 -5.11789944e+01] [-3.03303841e-02 8.75067388e-04 9.99539545e-01 -8.36858827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.610385723 meters 0.01895018557545515 Centerline is valid? [True, True] Translation: X:219.24, Y:-51.21, Z:-8.37 [[ 8.48875764e-01 5.28027380e-01 2.44340626e-02 2.19243127e+02] [-5.27785149e-01 8.49227064e-01 -1.60071890e-02 -5.12064941e+01] [-2.92023014e-02 6.92179433e-04 9.99573282e-01 -8.37185984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.670385723 meters 0.016276346401163492 Centerline is valid? [True, True] Translation: X:219.30, Y:-51.23, Z:-8.38 [[ 8.44213555e-01 5.35549186e-01 2.21482169e-02 2.19301522e+02] [-5.35352714e-01 8.44503946e-01 -1.45105557e-02 -5.12286016e+01] [-2.64753728e-02 3.92899775e-04 9.99649389e-01 -8.37736642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.730385723 meters 0.015055652932862224 Centerline is valid? [True, True] Translation: X:219.36, Y:-51.25, Z:-8.38 [[ 8.38387609e-01 5.44729582e-01 1.93881431e-02 2.19361686e+02] [-5.44581420e-01 8.38611754e-01 -1.27044526e-02 -5.12508049e+01] [-2.31796158e-02 9.28331250e-05 9.99731312e-01 -8.38437985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.790385723 meters 0.014969405272950856 Centerline is valid? [True, True] Translation: X:219.42, Y:-51.27, Z:-8.39 [[ 8.33965354e-01 5.51554737e-01 1.70047103e-02 2.19421956e+02] [-5.51442206e-01 8.34138696e-01 -1.11413305e-02 -5.12724300e+01] [-2.03293404e-02 -8.56313261e-05 9.99793334e-01 -8.39070880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85038572300002 meters 0.015327236271126084 Centerline is valid? [True, True] Translation: X:219.48, Y:-51.30, Z:-8.40 [[ 8.33289157e-01 5.52665100e-01 1.38010203e-02 2.19479566e+02] [-5.52591077e-01 8.33403431e-01 -9.04554150e-03 -5.12956931e+01] [-1.65009728e-02 -8.87690341e-05 9.99863846e-01 -8.39903489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91038572300002 meters 0.014997623247338929 Centerline is valid? [True, True] Translation: X:219.54, Y:-51.32, Z:-8.40 [[ 8.35477273e-01 5.49372860e-01 1.29300486e-02 2.19536413e+02] [-5.49307460e-01 8.35577321e-01 -8.47667597e-03 -5.13234721e+01] [-1.54609111e-02 -2.05020528e-05 9.99880473e-01 -8.40120101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.970385723 meters 0.015716257748602143 Centerline is valid? [True, True] Translation: X:219.59, Y:-51.35, Z:-8.41 [[ 8.39015702e-01 5.43972278e-01 1.21166509e-02 2.19592684e+02] [-5.43914168e-01 8.39103185e-01 -7.95135304e-03 -5.13485554e+01] [-1.44924360e-02 8.08919668e-05 9.99894976e-01 -8.40677414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.030385723 meters 0.015751111411032262 Centerline is valid? [True, True] Translation: X:219.65, Y:-51.37, Z:-8.41 [[ 8.41038321e-01 5.40896463e-01 9.24980396e-03 2.19650628e+02] [-5.40862442e-01 8.41089178e-01 -6.06738379e-03 -5.13726137e+01] [-1.10617364e-02 1.00030713e-04 9.99938812e-01 -8.40917445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.090385723 meters 0.01687908066268928 Centerline is valid? [True, True] Translation: X:219.71, Y:-51.39, Z:-8.42 [[ 8.40435506e-01 5.41856098e-01 7.75433018e-03 2.19709266e+02] [-5.41832219e-01 8.40471275e-01 -5.08749985e-03 -5.13947657e+01] [-9.27398459e-03 7.41695813e-05 9.99956993e-01 -8.41728364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.150385723 meters 0.020532846511089 Centerline is valid? [True, True] Translation: X:219.77, Y:-51.42, Z:-8.42 [[ 8.39921618e-01 5.42674640e-01 5.99251183e-03 2.19769968e+02] [-5.42660408e-01 8.39942993e-01 -3.93060171e-03 -5.14156318e+01] [-7.16640620e-03 4.94984406e-05 9.99974320e-01 -8.41875587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.210385723 meters 0.01862242103360926 Centerline is valid? [True, True] Translation: X:219.83, Y:-51.44, Z:-8.42 [[ 8.37974587e-01 5.45688034e-01 4.81258074e-03 2.19828268e+02] [-5.45678883e-01 8.37988406e-01 -3.16036339e-03 -5.14382638e+01] [-5.75745935e-03 2.21805271e-05 9.99983425e-01 -8.41956712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.270385723 meters 0.017559451546468558 Centerline is valid? [True, True] Translation: X:219.88, Y:-51.47, Z:-8.42 [[ 8.35967902e-01 5.48752993e-01 5.27440915e-03 2.19884431e+02] [-5.48742076e-01 8.35984541e-01 -3.46133086e-03 -5.14664872e+01] [-6.30874018e-03 -7.28726369e-07 9.99980100e-01 -8.41990937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.330385723 meters 0.015428738718193951 Centerline is valid? [True, True] Translation: X:219.94, Y:-51.49, Z:-8.42 [[ 8.32642173e-01 5.53742191e-01 8.75195684e-03 2.19939811e+02] [-5.53712238e-01 8.32688167e-01 -5.75971422e-03 -5.14943084e+01] [-1.04770477e-02 -5.02846471e-05 9.99945113e-01 -8.41689436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.390385723 meters 0.015214056624539896 Centerline is valid? [True, True] Translation: X:219.99, Y:-51.53, Z:-8.41 [[ 8.29819216e-01 5.57886034e-01 1.27765847e-02 2.19992815e+02] [-5.57822746e-01 8.29917556e-01 -8.40444312e-03 -5.15273551e+01] [-1.52922333e-02 -1.52901133e-04 9.99883055e-01 -8.41224638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.450385723 meters 0.015479106775959834 Centerline is valid? [True, True] Translation: X:220.05, Y:-51.56, Z:-8.41 [[ 8.27541481e-01 5.61160720e-01 1.65452097e-02 2.20045586e+02] [-5.61055061e-01 8.27706816e-01 -1.08924119e-02 -5.15610076e+01] [-1.98069766e-02 -2.68850971e-04 9.99803786e-01 -8.40952908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.510385723 meters 0.015622158914190862 Centerline is valid? [True, True] Translation: X:220.09, Y:-51.60, Z:-8.41 [[ 8.27430068e-01 5.61346833e-01 1.57865902e-02 2.20094448e+02] [-5.61250581e-01 8.27580611e-01 -1.03979902e-02 -5.15991378e+01] [-1.89015548e-02 -2.56623248e-04 9.99821317e-01 -8.40949734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57038572300002 meters 0.015340059725652229 Centerline is valid? [True, True] Translation: X:220.14, Y:-51.64, Z:-8.41 [[ 8.28804146e-01 5.59293487e-01 1.65675251e-02 2.20139852e+02] [-5.59186934e-01 8.28969692e-01 -1.09189502e-02 -5.16414767e+01] [-1.98408739e-02 -2.14672367e-04 9.99803127e-01 -8.40883955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63038572300002 meters 0.015243065115391863 Centerline is valid? [True, True] Translation: X:220.19, Y:-51.68, Z:-8.41 [[ 8.29413935e-01 5.58402456e-01 1.61003635e-02 2.20188156e+02] [-5.58301588e-01 8.29570167e-01 -1.06148238e-02 -5.16827147e+01] [-1.92837249e-02 -1.84775762e-04 9.99814035e-01 -8.41125392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.690385723 meters 0.01517581484734273 Centerline is valid? [True, True] Translation: X:220.23, Y:-51.73, Z:-8.41 [[ 8.28713937e-01 5.59417333e-01 1.68955042e-02 2.20234682e+02] [-5.59306325e-01 8.28886122e-01 -1.11459650e-02 -5.17271812e+01] [-2.02396950e-02 -2.12945802e-04 9.99795134e-01 -8.40986026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.750385723 meters 0.017322396368029565 Centerline is valid? [True, True] Translation: X:220.28, Y:-51.77, Z:-8.41 [[ 8.28078948e-01 5.60331993e-01 1.77006900e-02 2.20282253e+02] [-5.60210188e-01 8.28268073e-01 -1.16852177e-02 -5.17670587e+01] [-2.12085177e-02 -2.39824089e-04 9.99775045e-01 -8.41262954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.810385723 meters 0.015431490805737932 Centerline is valid? [True, True] Translation: X:220.33, Y:-51.81, Z:-8.41 [[ 8.27379714e-01 5.61365975e-01 1.76366283e-02 2.20328019e+02] [-5.61245143e-01 8.27567625e-01 -1.16496860e-02 -5.18100309e+01] [-2.11352399e-02 -2.59758113e-04 9.99776592e-01 -8.41162684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.870385723 meters 0.015495867018643798 Centerline is valid? [True, True] Translation: X:220.37, Y:-51.85, Z:-8.41 [[ 8.27506857e-01 5.61171797e-01 1.78498365e-02 2.20373951e+02] [-5.61047836e-01 8.27699312e-01 -1.17972553e-02 -5.18518277e+01] [-2.13945843e-02 -2.52302450e-04 9.99771078e-01 -8.41352098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.930385723 meters 0.015149643533585944 Centerline is valid? [True, True] Translation: X:220.42, Y:-51.89, Z:-8.41 [[ 8.27650744e-01 5.60920014e-01 1.90521129e-02 2.20421274e+02] [-5.60778578e-01 8.27869961e-01 -1.25982110e-02 -5.18933089e+01] [-2.28392606e-02 -2.57098025e-04 9.99739117e-01 -8.41352161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.990385723 meters 0.014942045874723366 Centerline is valid? [True, True] Translation: X:220.47, Y:-51.93, Z:-8.42 [[ 8.28628717e-01 5.59479517e-01 1.88975982e-02 2.20468545e+02] [-5.59339838e-01 8.28844151e-01 -1.25027715e-02 -5.19334449e+01] [-2.26582083e-02 -2.10023963e-04 9.99743248e-01 -8.41649352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.050385723 meters 0.01491986384460841 Centerline is valid? [True, True] Translation: X:220.52, Y:-51.97, Z:-8.42 [[ 8.29944346e-01 5.57526924e-01 1.88709035e-02 2.20516649e+02] [-5.57386944e-01 8.30158844e-01 -1.24935185e-02 -5.19715481e+01] [-2.26313204e-02 -1.49470195e-04 9.99743868e-01 -8.42046307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.110385723 meters 0.01480938342948461 Centerline is valid? [True, True] Translation: X:220.56, Y:-52.01, Z:-8.42 [[ 8.32163782e-01 5.54163287e-01 2.01616057e-02 2.20563205e+02] [-5.54002441e-01 8.32407981e-01 -1.33509485e-02 -5.20139242e+01] [-2.41812870e-02 -5.94030121e-05 9.99707588e-01 -8.41993936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.170385723 meters 0.014879106969251675 Centerline is valid? [True, True] Translation: X:220.61, Y:-52.05, Z:-8.42 [[ 8.34566164e-01 5.50499005e-01 2.12170615e-02 2.20609726e+02] [-5.50319477e-01 8.34835818e-01 -1.40581312e-02 -5.20535717e+01] [-2.54517502e-02 5.62784216e-05 9.99676050e-01 -8.42173445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.230385723 meters 0.015417975406989904 Centerline is valid? [True, True] Translation: X:220.66, Y:-52.09, Z:-8.42 [[ 8.35856756e-01 5.48531663e-01 2.13658078e-02 2.20658023e+02] [-5.48348802e-01 8.36129775e-01 -1.41630196e-02 -5.20938363e+01] [-2.56334527e-02 1.22340526e-04 9.99671402e-01 -8.42442213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.290385723 meters 0.015193535048398621 Centerline is valid? [True, True] Translation: X:220.71, Y:-52.13, Z:-8.43 [[ 8.36403747e-01 5.47672159e-01 2.19995053e-02 2.20705730e+02] [-5.47477750e-01 8.36693002e-01 -1.45922393e-02 -5.21331158e+01] [-2.63985953e-02 1.60763982e-04 9.99651483e-01 -8.42620080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35038572300002 meters 0.014918835695455983 Centerline is valid? [True, True] Translation: X:220.76, Y:-52.17, Z:-8.43 [[ 8.35549040e-01 5.48951843e-01 2.25759938e-02 2.20757355e+02] [-5.48747346e-01 8.35853969e-01 -1.49831271e-02 -5.21676531e+01] [-2.70952492e-02 1.30620840e-04 9.99632848e-01 -8.42780630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41038572300002 meters 0.014754259444893397 Centerline is valid? [True, True] Translation: X:220.81, Y:-52.20, Z:-8.43 [[ 8.33434282e-01 5.52194294e-01 2.16508418e-02 2.20808962e+02] [-5.52007133e-01 8.33715456e-01 -1.43758231e-02 -5.22035936e+01] [-2.59888890e-02 2.98846805e-05 9.99662231e-01 -8.43179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.470385723 meters 0.01467699912838529 Centerline is valid? [True, True] Translation: X:220.86, Y:-52.24, Z:-8.43 [[ 8.33210268e-01 5.52476784e-01 2.30228483e-02 2.20859890e+02] [-5.52264970e-01 8.33528285e-01 -1.52970733e-02 -5.22398385e+01] [-2.76414731e-02 3.09658821e-05 9.99617901e-01 -8.43488261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.530385723 meters 0.014768745158792973 Centerline is valid? [True, True] Translation: X:220.91, Y:-52.28, Z:-8.44 [[ 8.33644319e-01 5.51824145e-01 2.29622228e-02 2.20911539e+02] [-5.51612989e-01 8.33960497e-01 -1.52643506e-02 -5.22759171e+01] [-2.75728239e-02 5.87788313e-05 9.99619796e-01 -8.43724862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.590385723 meters 0.014947029266303109 Centerline is valid? [True, True] Translation: X:220.96, Y:-52.31, Z:-8.44 [[ 8.35443189e-01 5.49117833e-01 2.24562646e-02 2.20960832e+02] [-5.48914664e-01 8.35744926e-01 -1.49368416e-02 -5.23143832e+01] [-2.69697953e-02 1.52309692e-04 9.99636237e-01 -8.43866166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.650385723 meters 0.015053693767243583 Centerline is valid? [True, True] Translation: X:221.01, Y:-52.35, Z:-8.44 [[ 8.37282785e-01 5.46269398e-01 2.33940808e-02 2.21011374e+02] [-5.46047521e-01 8.37609501e-01 -1.55701452e-02 -5.23497051e+01] [-2.81005982e-02 2.62334694e-04 9.99605066e-01 -8.44000601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.710385723 meters 0.015712286225687946 Centerline is valid? [True, True] Translation: X:221.06, Y:-52.39, Z:-8.44 [[ 8.38683263e-01 5.44169884e-01 2.21251436e-02 2.21058859e+02] [-5.43970617e-01 8.38974992e-01 -1.47285729e-02 -5.23879680e+01] [-2.65772880e-02 3.17179598e-04 9.99646711e-01 -8.44298335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.770385723 meters 0.015533231904722637 Centerline is valid? [True, True] Translation: X:221.11, Y:-52.42, Z:-8.45 [[ 8.37938873e-01 5.45408333e-01 1.97026867e-02 2.21111039e+02] [-5.45250539e-01 8.38170440e-01 -1.31210766e-02 -5.24209276e+01] [-2.36705541e-02 2.51759559e-04 9.99719781e-01 -8.44708869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.830385723 meters 0.015309553481470981 Centerline is valid? [True, True] Translation: X:221.16, Y:-52.45, Z:-8.45 [[ 8.36993248e-01 5.46858320e-01 1.97048416e-02 2.21164255e+02] [-5.46700692e-01 8.37225137e-01 -1.31309980e-02 -5.24538076e+01] [-2.36781842e-02 2.17906126e-04 9.99719609e-01 -8.45045958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.890385723 meters 0.015146442364255991 Centerline is valid? [True, True] Translation: X:221.22, Y:-52.49, Z:-8.45 [[ 8.36893583e-01 5.46961825e-01 2.10212382e-02 2.21215394e+02] [-5.46782391e-01 8.37157517e-01 -1.40110170e-02 -5.24885164e+01] [-2.52615790e-02 2.31687334e-04 9.99680849e-01 -8.45080320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.950385723 meters 0.015017887380765899 Centerline is valid? [True, True] Translation: X:221.27, Y:-52.52, Z:-8.45 [[ 8.37622554e-01 5.45796066e-01 2.22511059e-02 2.21268495e+02] [-5.45594395e-01 8.37917998e-01 -1.48386370e-02 -5.25225243e+01] [-2.67434718e-02 2.89098377e-04 9.99642288e-01 -8.45258657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.010385723 meters 0.015596658911488183 Centerline is valid? [True, True] Translation: X:221.32, Y:-52.56, Z:-8.45 [[ 8.38782899e-01 5.43961402e-01 2.34358889e-02 2.21318447e+02] [-5.43736663e-01 8.39110155e-01 -1.56393527e-02 -5.25585548e+01] [-2.81724966e-02 3.75069556e-04 9.99603006e-01 -8.45350434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07038572300002 meters 0.01542972586137961 Centerline is valid? [True, True] Translation: X:221.37, Y:-52.59, Z:-8.45 [[ 8.38707030e-01 5.44063936e-01 2.37687319e-02 2.21370893e+02] [-5.43832598e-01 8.39043674e-01 -1.58687777e-02 -5.25924766e+01] [-2.85766338e-02 3.83044177e-04 9.99591531e-01 -8.45490043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13038572300002 meters 0.015043019210953938 Centerline is valid? [True, True] Translation: X:221.43, Y:-52.62, Z:-8.46 [[ 8.37352914e-01 5.46064505e-01 2.55666695e-02 2.21425363e+02] [-5.45797399e-01 8.37743060e-01 -1.70811032e-02 -5.26215424e+01] [-3.07456842e-02 3.48689796e-04 9.99527179e-01 -8.45720131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.190385723 meters 0.014531456885613645 Centerline is valid? [True, True] Translation: X:221.48, Y:-52.65, Z:-8.46 [[ 8.34929794e-01 5.49862656e-01 2.33087441e-02 2.21479149e+02] [-5.49642045e-01 8.35255064e-01 -1.55756208e-02 -5.26530152e+01] [-2.80331988e-02 1.93084112e-04 9.99606974e-01 -8.46005661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.250385723 meters 0.014273552736920365 Centerline is valid? [True, True] Translation: X:221.53, Y:-52.68, Z:-8.46 [[ 8.32044271e-01 5.54266019e-01 2.21700615e-02 2.21532548e+02] [-5.54067803e-01 8.32339581e-01 -1.48220163e-02 -5.26845725e+01] [-2.66683597e-02 4.88564741e-05 9.99644335e-01 -8.46396797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.310385723 meters 0.014158420652544391 Centerline is valid? [True, True] Translation: X:221.59, Y:-52.72, Z:-8.47 [[ 8.29678054e-01 5.57729984e-01 2.39079766e-02 2.21585752e+02] [-5.57500639e-01 8.30022447e-01 -1.59929922e-02 -5.27163099e+01] [-2.87639285e-02 -5.96775704e-05 9.99586231e-01 -8.46564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.370385723 meters 0.014224252597667126 Centerline is valid? [True, True] Translation: X:221.64, Y:-52.75, Z:-8.47 [[ 8.28230413e-01 5.59880004e-01 2.38487870e-02 2.21637913e+02] [-5.59652456e-01 8.28573693e-01 -1.59613149e-02 -5.27518488e+01] [-2.86968985e-02 -1.27385744e-04 9.99588151e-01 -8.46898822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.430385723 meters 0.014525703634151817 Centerline is valid? [True, True] Translation: X:221.69, Y:-52.79, Z:-8.47 [[ 8.27014633e-01 5.61677753e-01 2.37675735e-02 2.21687517e+02] [-5.61452188e-01 8.27356071e-01 -1.59176688e-02 -5.27866970e+01] [-2.86048467e-02 -1.80211175e-04 9.99590781e-01 -8.47132542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.490385723 meters 0.015094254212604352 Centerline is valid? [True, True] Translation: X:221.74, Y:-52.82, Z:-8.48 [[ 8.24892934e-01 5.64829745e-01 2.27817281e-02 2.21738400e+02] [-5.64623634e-01 8.25207419e-01 -1.52600089e-02 -5.28212185e+01] [-2.74189580e-02 -2.75228626e-04 9.99623992e-01 -8.47525484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.550385723 meters 0.015527090018379396 Centerline is valid? [True, True] Translation: X:221.79, Y:-52.86, Z:-8.48 [[ 8.22079974e-01 5.68990417e-01 2.08427848e-02 2.21789521e+02] [-5.68819046e-01 8.22344068e-01 -1.39687551e-02 -5.28566058e+01] [-2.50880282e-02 -3.72339180e-04 9.99685177e-01 -8.47954705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.610385723 meters 0.016525337259650916 Centerline is valid? [True, True] Translation: X:221.84, Y:-52.89, Z:-8.48 [[ 8.19772834e-01 5.72295252e-01 2.12284153e-02 2.21839817e+02] [-5.72118583e-01 8.20047506e-01 -1.42272522e-02 -5.28937649e+01] [-2.55504979e-02 -4.82055975e-04 9.99673417e-01 -8.48086165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.670385723 meters 0.01726820716724606 Centerline is valid? [True, True] Translation: X:221.89, Y:-52.93, Z:-8.49 [[ 8.17673376e-01 5.75284708e-01 2.13952137e-02 2.21891477e+02] [-5.75106076e-01 8.17953040e-01 -1.43466227e-02 -5.29277240e+01] [-2.57536727e-02 -5.73665918e-04 9.99668155e-01 -8.48516259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.730385723 meters 0.018907416200734415 Centerline is valid? [True, True] Translation: X:221.94, Y:-52.96, Z:-8.49 [[ 8.15202106e-01 5.78783914e-01 2.13238484e-02 2.21939986e+02] [-5.78607424e-01 8.15480672e-01 -1.43081337e-02 -5.29645329e+01] [-2.56705038e-02 -6.74116297e-04 9.99670231e-01 -8.48605691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.790385723 meters 0.019118238200613008 Centerline is valid? [True, True] Translation: X:221.99, Y:-53.00, Z:-8.49 [[ 8.11785854e-01 5.83600657e-01 2.03469949e-02 2.21987849e+02] [-5.83441402e-01 8.12040428e-01 -1.36555622e-02 -5.30042589e+01] [-2.44919775e-02 -7.85887029e-04 9.99699718e-01 -8.48707637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85038572300002 meters 0.02161349443659878 Centerline is valid? [True, True] Translation: X:222.04, Y:-53.04, Z:-8.49 [[ 8.10336943e-01 5.85614557e-01 2.02393163e-02 2.22039724e+02] [-5.85457627e-01 8.10589218e-01 -1.35826141e-02 -5.30359667e+01] [-2.43599481e-02 -8.42768124e-04 9.99702897e-01 -8.49213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91038572300002 meters 0.021471184166572593 Centerline is valid? [True, True] Translation: X:222.09, Y:-53.08, Z:-8.49 [[ 8.08608538e-01 5.88041158e-01 1.89691700e-02 2.22086512e+02] [-5.87903796e-01 8.08830558e-01 -1.27379800e-02 -5.30765035e+01] [-2.28333008e-02 -8.52007628e-04 9.99738923e-01 -8.49311052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.970385723 meters 0.021464195694549215 Centerline is valid? [True, True] Translation: X:222.14, Y:-53.11, Z:-8.50 [[ 8.09828550e-01 5.86368538e-01 1.86991497e-02 2.22136543e+02] [-5.86234610e-01 8.10044017e-01 -1.25568005e-02 -5.31137213e+01] [-2.25100471e-02 -7.93233176e-04 9.99746302e-01 -8.49684765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.030385723 meters 0.02004144394132023 Centerline is valid? [True, True] Translation: X:222.18, Y:-53.15, Z:-8.50 [[ 8.12821159e-01 5.82172296e-01 1.99294090e-02 2.22184036e+02] [-5.82018654e-01 8.13065132e-01 -1.33931589e-02 -5.31531324e+01] [-2.40010336e-02 -7.13044890e-04 9.99711679e-01 -8.49758415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.090385723 meters 0.019002037535526706 Centerline is valid? [True, True] Translation: X:222.23, Y:-53.19, Z:-8.50 [[ 8.15329908e-01 5.78622870e-01 2.08018064e-02 2.22229953e+02] [-5.78454260e-01 8.15594981e-01 -1.39819750e-02 -5.31928546e+01] [-2.50561394e-02 -6.32971092e-04 9.99685845e-01 -8.49635558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.150385723 meters 0.017176329818219423 Centerline is valid? [True, True] Translation: X:222.28, Y:-53.23, Z:-8.50 [[ 8.17183033e-01 5.76023201e-01 2.02277918e-02 2.22277761e+02] [-5.75863023e-01 8.17433166e-01 -1.35940053e-02 -5.32331849e+01] [-2.43653303e-02 -5.39646905e-04 9.99702976e-01 -8.49878832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.210385723 meters 0.017982117965390895 Centerline is valid? [True, True] Translation: X:222.33, Y:-53.27, Z:-8.50 [[ 8.18483423e-01 5.74225692e-01 1.87013327e-02 2.22327237e+02] [-5.74088140e-01 8.18696927e-01 -1.25757522e-02 -5.32689084e+01] [-2.25320437e-02 -4.43168585e-04 9.99746023e-01 -8.50381532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.270385723 meters 0.016812292678684494 Centerline is valid? [True, True] Translation: X:222.38, Y:-53.31, Z:-8.50 [[ 8.19549537e-01 5.72692888e-01 1.90108298e-02 2.22375889e+02] [-5.72550280e-01 8.19769901e-01 -1.27861480e-02 -5.33083410e+01] [-2.29070421e-02 -4.05774195e-04 9.99737517e-01 -8.50396387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.330385723 meters 0.016170911729812724 Centerline is valid? [True, True] Translation: X:222.43, Y:-53.35, Z:-8.50 [[ 8.20854236e-01 5.70774738e-01 2.03598047e-02 2.22425543e+02] [-5.70610387e-01 8.21106607e-01 -1.37012900e-02 -5.33457376e+01] [-2.45379204e-02 -3.70754088e-04 9.99698831e-01 -8.50390550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.390385723 meters 0.016225155659959696 Centerline is valid? [True, True] Translation: X:222.48, Y:-53.38, Z:-8.51 [[ 8.20443718e-01 5.71387957e-01 1.96953511e-02 2.22477319e+02] [-5.71234141e-01 8.20680002e-01 -1.32623966e-02 -5.33790219e+01] [-2.37415545e-02 -3.69606969e-04 9.99718061e-01 -8.50672316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.450385723 meters 0.016527546911730123 Centerline is valid? [True, True] Translation: X:222.53, Y:-53.41, Z:-8.51 [[ 8.19376133e-01 5.72942356e-01 1.89686608e-02 2.22529921e+02] [-5.72800052e-01 8.19595570e-01 -1.27750348e-02 -5.34109610e+01] [-2.28659889e-02 -3.97691324e-04 9.99738460e-01 -8.51101138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.510385723 meters 0.017541535754695685 Centerline is valid? [True, True] Translation: X:222.58, Y:-53.44, Z:-8.51 [[ 8.17360710e-01 5.75885430e-01 1.66565511e-02 2.22582449e+02] [-5.75776171e-01 8.17530305e-01 -1.12250560e-02 -5.34433835e+01] [-2.00815815e-02 -4.15525494e-04 9.99798258e-01 -8.51456455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57038572300002 meters 0.017729971736103554 Centerline is valid? [True, True] Translation: X:222.64, Y:-53.47, Z:-8.52 [[ 8.15414901e-01 5.78640635e-01 1.65394977e-02 2.22636891e+02] [-5.78533508e-01 8.15582481e-01 -1.11443510e-02 -5.34742573e+01] [-1.99378990e-02 -4.81383743e-04 9.99801104e-01 -8.51725887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63038572300002 meters 0.01835553038645592 Centerline is valid? [True, True] Translation: X:222.69, Y:-53.51, Z:-8.52 [[ 8.14017554e-01 5.80578894e-01 1.74232637e-02 2.22690366e+02] [-5.80460308e-01 8.14203810e-01 -1.17467731e-02 -5.35064408e+01] [-2.10060162e-02 -5.51433492e-04 9.99779197e-01 -8.51818876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.690385723 meters 0.018544006159853216 Centerline is valid? [True, True] Translation: X:222.74, Y:-53.54, Z:-8.52 [[ 8.15232783e-01 5.78838628e-01 1.84757065e-02 2.22741600e+02] [-5.78704674e-01 8.15441942e-01 -1.24635354e-02 -5.35404221e+01] [-2.22802417e-02 -5.31295026e-04 9.99751623e-01 -8.51882888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.750385723 meters 0.017094997132527434 Centerline is valid? [True, True] Translation: X:222.79, Y:-53.58, Z:-8.52 [[ 8.17218915e-01 5.76039478e-01 1.82144211e-02 2.22791016e+02] [-5.75908454e-01 8.17421754e-01 -1.22934480e-02 -5.35779300e+01] [-2.19703754e-02 -4.43400849e-04 9.99758524e-01 -8.51994423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.810385723 meters 0.016296900341792993 Centerline is valid? [True, True] Translation: X:222.84, Y:-53.62, Z:-8.52 [[ 8.19298605e-01 5.73106429e-01 1.72863072e-02 2.22840210e+02] [-5.72987652e-01 8.19480875e-01 -1.16724756e-02 -5.36159179e+01] [-2.08553689e-02 -3.41597582e-04 9.99782445e-01 -8.52207714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.870385723 meters 0.015736226703709267 Centerline is valid? [True, True] Translation: X:222.89, Y:-53.65, Z:-8.52 [[ 8.21777517e-01 5.69518875e-01 1.81648972e-02 2.22889636e+02] [-5.69386682e-01 8.21978214e-01 -1.22727924e-02 -5.36531235e+01] [-2.19207367e-02 -2.57345660e-04 9.99759679e-01 -8.52246225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.930385723 meters 0.015503684007255403 Centerline is valid? [True, True] Translation: X:222.94, Y:-53.69, Z:-8.52 [[ 8.23369153e-01 5.67237923e-01 1.74463777e-02 2.22939738e+02] [-5.67115349e-01 8.23553948e-01 -1.17930446e-02 -5.36897129e+01] [-2.10574953e-02 -1.84079442e-04 9.99778249e-01 -8.52445530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.990385723 meters 0.015807522458790503 Centerline is valid? [True, True] Translation: X:222.99, Y:-53.72, Z:-8.53 [[ 8.22921393e-01 5.67924842e-01 1.61788369e-02 2.22989724e+02] [-5.67819450e-01 8.23080397e-01 -1.09422032e-02 -5.37237735e+01] [-1.95308325e-02 -1.82085156e-04 9.99809239e-01 -8.52741446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.050385723 meters 0.016749189491194312 Centerline is valid? [True, True] Translation: X:223.04, Y:-53.75, Z:-8.53 [[ 8.19270331e-01 5.73239192e-01 1.38907977e-02 2.23044068e+02] [-5.73162228e-01 8.19388040e-01 -9.39681212e-03 -5.37527341e+01] [-1.67685745e-02 -2.63151193e-04 9.99859363e-01 -8.52996776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.110385723 meters 0.017064586671144393 Centerline is valid? [True, True] Translation: X:223.10, Y:-53.79, Z:-8.53 [[ 8.17672321e-01 5.75531639e-01 1.32403553e-02 2.23097146e+02] [-5.75461967e-01 8.17779461e-01 -8.95979196e-03 -5.37850223e+01] [-1.59843344e-02 -2.93147011e-04 9.99872199e-01 -8.53181868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.170385723 meters 0.018378429364057768 Centerline is valid? [True, True] Translation: X:223.15, Y:-53.82, Z:-8.54 [[ 8.17464174e-01 5.75862445e-01 1.16089989e-02 2.23148731e+02] [-5.75808834e-01 8.17546560e-01 -7.86183525e-03 -5.38166637e+01] [-1.40182328e-02 -2.57795454e-04 9.99901707e-01 -8.53665597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.230385723 meters 0.01754482241834278 Centerline is valid? [True, True] Translation: X:223.20, Y:-53.85, Z:-8.54 [[ 8.16958290e-01 5.76600457e-01 1.05387774e-02 2.23198718e+02] [-5.76556356e-01 8.17026225e-01 -7.13553198e-03 -5.38528208e+01] [-1.27248086e-02 -2.46767122e-04 9.99919006e-01 -8.53673323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.290385723 meters 0.01796824895988949 Centerline is valid? [True, True] Translation: X:223.25, Y:-53.89, Z:-8.54 [[ 8.16511337e-01 5.77260979e-01 8.88812840e-03 2.23250643e+02] [-5.77229635e-01 8.16559683e-01 -6.01937024e-03 -5.38857218e+01] [-1.07324349e-02 -2.15607078e-04 9.99942383e-01 -8.54047744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35038572300002 meters 0.018667403012924095 Centerline is valid? [True, True] Translation: X:223.30, Y:-53.92, Z:-8.54 [[ 8.14708370e-01 5.79819499e-01 7.72141055e-03 2.23302670e+02] [-5.79795902e-01 8.14744932e-01 -5.23525205e-03 -5.39195813e+01] [-9.32648133e-03 -2.11638532e-04 9.99956485e-01 -8.54186264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.410385723 meters 0.023673436881127757 Centerline is valid? [True, True] Translation: X:223.36, Y:-53.95, Z:-8.55 [[ 8.11187221e-01 5.84715952e-01 9.08553056e-03 2.23358929e+02] [-5.84683621e-01 8.11238038e-01 -6.15704672e-03 -5.39457936e+01] [-1.09706514e-02 -3.17643290e-04 9.99939770e-01 -8.54552606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.470385723 meters 0.0222721149268846 Centerline is valid? [True, True] Translation: X:223.41, Y:-53.98, Z:-8.54 [[ 8.07695078e-01 5.89492070e-01 1.13031095e-02 2.23411284e+02] [-5.89442416e-01 8.07774026e-01 -7.66560956e-03 -5.39782476e+01] [-1.36491743e-02 -4.71057061e-04 9.99906735e-01 -8.54395441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.530385723 meters 0.024324358844116833 Centerline is valid? [True, True] Translation: X:223.46, Y:-54.01, Z:-8.55 [[ 8.06176790e-01 5.91553540e-01 1.19747081e-02 2.23463799e+02] [-5.91497969e-01 8.06265543e-01 -8.12562395e-03 -5.40107133e+01] [-1.44615362e-02 -5.32326114e-04 9.99895285e-01 -8.54603977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.590385723 meters 0.025192003461995734 Centerline is valid? [True, True] Translation: X:223.52, Y:-54.04, Z:-8.55 [[ 8.05449298e-01 5.92533499e-01 1.24691618e-02 2.23515075e+02] [-5.92473296e-01 8.05545609e-01 -8.46553319e-03 -5.40437416e+01] [-1.50605905e-02 -5.69087617e-04 9.99886421e-01 -8.54708212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.650385723 meters 0.02298561379388037 Centerline is valid? [True, True] Translation: X:223.57, Y:-54.08, Z:-8.55 [[ 8.04244582e-01 5.94172905e-01 1.22151611e-02 2.23566138e+02] [-5.94115209e-01 8.04337131e-01 -8.30049020e-03 -5.40798909e+01] [-1.47570340e-02 -5.81588698e-04 9.99890940e-01 -8.54721994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.710385723 meters 0.023731288157845497 Centerline is valid? [True, True] Translation: X:223.62, Y:-54.11, Z:-8.55 [[ 8.03433505e-01 5.95264827e-01 1.24253482e-02 2.23618172e+02] [-5.95205304e-01 8.03529345e-01 -8.44026238e-03 -5.41130725e+01] [-1.50083232e-02 -6.14443562e-04 9.99887180e-01 -8.55036161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.770385723 meters 0.024777496708839178 Centerline is valid? [True, True] Translation: X:223.67, Y:-54.15, Z:-8.55 [[ 8.02984795e-01 5.95857757e-01 1.29981868e-02 2.23671535e+02] [-5.95792628e-01 8.03089727e-01 -8.83371464e-03 -5.41464835e+01] [-1.57023477e-02 -6.50885322e-04 9.99876499e-01 -8.55259219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.830385723 meters 0.025614553068243423 Centerline is valid? [True, True] Translation: X:223.73, Y:-54.18, Z:-8.56 [[ 8.02369490e-01 5.96658877e-01 1.41910532e-02 2.23725913e+02] [-5.96581253e-01 8.02494649e-01 -9.65124760e-03 -5.41780976e+01] [-1.71467468e-02 -7.22249677e-04 9.99852723e-01 -8.55532362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.890385723 meters 0.02341852242295602 Centerline is valid? [True, True] Translation: X:223.78, Y:-54.21, Z:-8.56 [[ 8.03370691e-01 5.95262266e-01 1.60738210e-02 2.23776511e+02] [-5.95162155e-01 8.03531104e-01 -1.09441136e-02 -5.42133739e+01] [-1.94304330e-02 -7.74349863e-04 9.99810911e-01 -8.55576090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.950385723 meters 0.021747120632581367 Centerline is valid? [True, True] Translation: X:223.83, Y:-54.25, Z:-8.56 [[ 8.05706646e-01 5.92039509e-01 1.80560228e-02 2.23826479e+02] [-5.91912341e-01 8.05908561e-01 -1.22951432e-02 -5.42492471e+01] [-2.18307139e-02 -7.81304109e-04 9.99761376e-01 -8.55647712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.010385723 meters 0.02003573040609527 Centerline is valid? [True, True] Translation: X:223.88, Y:-54.29, Z:-8.56 [[ 8.08379364e-01 5.88383010e-01 1.81173130e-02 2.23876693e+02] [-5.88254014e-01 8.08582072e-01 -1.23389085e-02 -5.42855442e+01] [-2.19093386e-02 -6.83063030e-04 9.99759728e-01 -8.55937347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07038572300002 meters 0.01910026387259329 Centerline is valid? [True, True] Translation: X:223.93, Y:-54.32, Z:-8.56 [[ 8.10547236e-01 5.85434880e-01 1.67086414e-02 2.23927897e+02] [-5.85324591e-01 8.10719242e-01 -1.13769326e-02 -5.43204164e+01] [-2.02064702e-02 -5.58437410e-04 9.99795672e-01 -8.56429587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13038572300002 meters 0.01878916577033682 Centerline is valid? [True, True] Translation: X:223.98, Y:-54.35, Z:-8.57 [[ 8.11756117e-01 5.83746427e-01 1.70914014e-02 2.23979170e+02] [-5.83630517e-01 8.11935857e-01 -1.16440594e-02 -5.43542401e+01] [-2.06742997e-02 -5.22926973e-04 9.99786127e-01 -8.56707311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.190385723 meters 0.018345303168154754 Centerline is valid? [True, True] Translation: X:224.03, Y:-54.39, Z:-8.57 [[ 8.13190561e-01 5.81701361e-01 1.85644308e-02 2.24030087e+02] [-5.81563833e-01 8.13402283e-01 -1.26583550e-02 -5.43892157e+01] [-2.24637327e-02 -5.02746754e-04 9.99747532e-01 -8.56844878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.250385723 meters 0.01789153354667101 Centerline is valid? [True, True] Translation: X:224.08, Y:-54.42, Z:-8.57 [[ 8.14278949e-01 5.80170893e-01 1.87491139e-02 2.24081549e+02] [-5.80030244e-01 8.14494640e-01 -1.27827141e-02 -5.44237869e+01] [-2.26872114e-02 -4.66358159e-04 9.99742503e-01 -8.57128665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.310385723 meters 0.017656287086640732 Centerline is valid? [True, True] Translation: X:224.13, Y:-54.46, Z:-8.57 [[ 8.14108353e-01 5.80382990e-01 1.95748551e-02 2.24133468e+02] [-5.80229568e-01 8.14343507e-01 -1.33529306e-02 -5.44582758e+01] [-2.36904700e-02 -4.87177387e-04 9.99719223e-01 -8.57298339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.370385723 meters 0.019154687659313482 Centerline is valid? [True, True] Translation: X:224.19, Y:-54.49, Z:-8.58 [[ 8.12931789e-01 5.81993719e-01 2.06208064e-02 2.24188455e+02] [-5.81823743e-01 8.13193091e-01 -1.40758453e-02 -5.44863335e+01] [-2.49607508e-02 -5.54972702e-04 9.99688278e-01 -8.57727514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.430385723 meters 0.0195040278770825 Centerline is valid? [True, True] Translation: X:224.24, Y:-54.52, Z:-8.58 [[ 8.12045398e-01 5.83228583e-01 2.06565075e-02 2.24242312e+02] [-5.83058350e-01 8.12307866e-01 -1.41028841e-02 -5.45180583e+01] [-2.50046486e-02 -5.91767087e-04 9.99687160e-01 -8.58027810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.490385723 meters 0.020610530648752293 Centerline is valid? [True, True] Translation: X:224.30, Y:-54.55, Z:-8.58 [[ 8.11237970e-01 5.84373963e-01 2.00006748e-02 2.24296572e+02] [-5.84214525e-01 8.11484264e-01 -1.36630305e-02 -5.45475709e+01] [-2.42145521e-02 -6.00715534e-04 9.99706604e-01 -8.58426898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.550385723 meters 0.018926369816640976 Centerline is valid? [True, True] Translation: X:224.35, Y:-54.58, Z:-8.58 [[ 8.11870198e-01 5.83406214e-01 2.24492930e-02 2.24348613e+02] [-5.83204879e-01 8.12180264e-01 -1.53391027e-02 -5.45817122e+01] [-2.71818006e-02 -6.39176834e-04 9.99630302e-01 -8.58412279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.610385723 meters 0.017370876489877313 Centerline is valid? [True, True] Translation: X:224.40, Y:-54.62, Z:-8.58 [[ 8.12260658e-01 5.82787717e-01 2.43125595e-02 2.24399017e+02] [-5.82551031e-01 8.12624167e-01 -1.66210457e-02 -5.46174432e+01] [-2.94435147e-02 -6.62685091e-04 9.99566226e-01 -8.58356271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.670385723 meters 0.01866270576692298 Centerline is valid? [True, True] Translation: X:224.45, Y:-54.65, Z:-8.59 [[ 8.12603073e-01 5.82313953e-01 2.42220192e-02 2.24451697e+02] [-5.82078555e-01 8.12963748e-01 -1.65680203e-02 -5.46477773e+01] [-2.93394129e-02 -6.35893717e-04 9.99569304e-01 -8.58678038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.730385723 meters 0.017469428376846497 Centerline is valid? [True, True] Translation: X:224.50, Y:-54.68, Z:-8.59 [[ 8.13104898e-01 5.81701508e-01 2.19950319e-02 2.24503426e+02] [-5.81507033e-01 8.13402146e-01 -1.50505887e-02 -5.46829732e+01] [-2.66457563e-02 -5.52558373e-04 9.99644786e-01 -8.59098814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.790385723 meters 0.01661893100705219 Centerline is valid? [True, True] Translation: X:224.55, Y:-54.72, Z:-8.59 [[ 8.12428321e-01 5.82626488e-01 2.25077671e-02 2.24554693e+02] [-5.82422950e-01 8.12739828e-01 -1.54103481e-02 -5.47192586e+01] [-2.72714357e-02 -5.89236892e-04 9.99627892e-01 -8.59087982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85038572300002 meters 0.017414031392559995 Centerline is valid? [True, True] Translation: X:224.61, Y:-54.75, Z:-8.59 [[ 8.11480164e-01 5.83883503e-01 2.40831616e-02 2.24605624e+02] [-5.83650690e-01 8.11837182e-01 -1.65003455e-02 -5.47524608e+01] [-2.91858856e-02 -6.66450833e-04 9.99573779e-01 -8.59047103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.910385723 meters 0.018039117086949837 Centerline is valid? [True, True] Translation: X:224.66, Y:-54.78, Z:-8.59 [[ 8.10134234e-01 5.85778238e-01 2.33747449e-02 2.24658931e+02] [-5.85559500e-01 8.10471071e-01 -1.60223419e-02 -5.47837847e+01] [-2.83300937e-02 -7.07056265e-04 9.99598372e-01 -8.59461203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.970385723 meters 0.01832741435485055 Centerline is valid? [True, True] Translation: X:224.71, Y:-54.82, Z:-8.60 [[ 8.09011776e-01 5.87411251e-01 2.11652736e-02 2.24710502e+02] [-5.87232252e-01 8.09288301e-01 -1.45164919e-02 -5.48179231e+01] [-2.56559589e-02 -6.84918406e-04 9.99670597e-01 -8.59844518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.030385723 meters 0.01866594239607891 Centerline is valid? [True, True] Translation: X:224.76, Y:-54.85, Z:-8.60 [[ 8.08362170e-01 5.88321778e-01 2.06902894e-02 2.24762416e+02] [-5.88151029e-01 8.08626612e-01 -1.41904619e-02 -5.48521255e+01] [-2.50792764e-02 -6.97982459e-04 9.99685222e-01 -8.60095261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.090385723 meters 0.01977364079850684 Centerline is valid? [True, True] Translation: X:224.82, Y:-54.88, Z:-8.60 [[ 8.08148696e-01 5.88599200e-01 2.11344814e-02 2.24815413e+02] [-5.88420940e-01 8.08424684e-01 -1.45026923e-02 -5.48839168e+01] [-2.56219095e-02 -7.15639552e-04 9.99671449e-01 -8.60406719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.150385723 meters 0.02002502018200593 Centerline is valid? [True, True] Translation: X:224.87, Y:-54.92, Z:-8.60 [[ 8.07296394e-01 5.89754020e-01 2.15111286e-02 2.24866159e+02] [-5.89569533e-01 8.07582578e-01 -1.47697355e-02 -5.49200400e+01] [-2.60825236e-02 -7.58751881e-04 9.99659505e-01 -8.60376461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.210385723 meters 0.02120526923380354 Centerline is valid? [True, True] Translation: X:224.92, Y:-54.95, Z:-8.61 [[ 8.06615923e-01 5.90708575e-01 2.08358280e-02 2.24917178e+02] [-5.90535629e-01 8.06884628e-01 -1.43131783e-02 -5.49531588e+01] [-2.52670265e-02 -7.59061267e-04 9.99680450e-01 -8.60714188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.270385723 meters 0.019801968230303373 Centerline is valid? [True, True] Translation: X:224.97, Y:-54.99, Z:-8.61 [[ 8.06009847e-01 5.91562949e-01 2.00350775e-02 2.24966599e+02] [-5.91403170e-01 8.06258466e-01 -1.37686915e-02 -5.49907159e+01] [-2.42984985e-02 -7.51107404e-04 9.99704466e-01 -8.60838229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.330385723 meters 0.02207543237859569 Centerline is valid? [True, True] Translation: X:225.02, Y:-55.03, Z:-8.61 [[ 8.06531680e-01 5.90753395e-01 2.27392964e-02 2.25016545e+02] [-5.90546978e-01 8.06851758e-01 -1.56367609e-02 -5.50256064e+01] [-2.75847109e-02 -8.17079758e-04 9.99619136e-01 -8.60753159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.390385723 meters 0.02018691861283215 Centerline is valid? [True, True] Translation: X:225.07, Y:-55.06, Z:-8.61 [[ 8.06521724e-01 5.90689824e-01 2.46625287e-02 2.25065265e+02] [-5.90446718e-01 8.06898236e-01 -1.69679392e-02 -5.50649727e+01] [-2.99229399e-02 -8.76897580e-04 9.99551824e-01 -8.60708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.450385723 meters 0.019971760032070626 Centerline is valid? [True, True] Translation: X:225.11, Y:-55.10, Z:-8.61 [[ 8.04173770e-01 5.93974011e-01 2.23477543e-02 2.25112911e+02] [-5.93775428e-01 8.04483728e-01 -1.53841821e-02 -5.51047029e+01] [-2.71162091e-02 -8.97991676e-04 9.99631885e-01 -8.60976924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.510385723 meters 0.0234114552109737 Centerline is valid? [True, True] Translation: X:225.17, Y:-55.13, Z:-8.61 [[ 8.00407607e-01 5.99080497e-01 2.12184321e-02 2.25165878e+02] [-5.98903238e-01 8.00688158e-01 -1.46076936e-02 -5.51335259e+01] [-2.57405317e-02 -1.01567860e-03 9.99668142e-01 -8.61476966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57038572300002 meters 0.022199156029464793 Centerline is valid? [True, True] Translation: X:225.21, Y:-55.17, Z:-8.62 [[ 8.00354966e-01 5.99211146e-01 1.94404474e-02 2.25213872e+02] [-5.99062401e-01 8.00590488e-01 -1.33832311e-02 -5.51737308e+01] [-2.35832185e-02 -9.34705644e-04 9.99721440e-01 -8.61923453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63038572300002 meters 0.02186733201883633 Centerline is valid? [True, True] Translation: X:225.26, Y:-55.21, Z:-8.62 [[ 8.01821863e-01 5.97257178e-01 1.91197000e-02 2.25260539e+02] [-5.97112567e-01 8.02049331e-01 -1.31701313e-02 -5.52142256e+01] [-2.32008980e-02 -8.56513890e-04 9.99730456e-01 -8.62044579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.690385723 meters 0.020243748701108347 Centerline is valid? [True, True] Translation: X:225.30, Y:-55.26, Z:-8.62 [[ 8.05413252e-01 5.92308723e-01 2.19059283e-02 2.25304475e+02] [-5.92116834e-01 8.05710692e-01 -1.50975700e-02 -5.52593104e+01] [-2.65922630e-02 -8.11085915e-04 9.99646034e-01 -8.61870957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.750385723 meters 0.019801386740320878 Centerline is valid? [True, True] Translation: X:225.35, Y:-55.30, Z:-8.62 [[ 8.04751047e-01 5.93127990e-01 2.39778916e-02 2.25352954e+02] [-5.92898424e-01 8.05107661e-01 -1.65261047e-02 -5.53002411e+01] [-2.91068795e-02 -9.17054088e-04 9.99575884e-01 -8.61889609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.810385723 meters 0.021443413426900697 Centerline is valid? [True, True] Translation: X:225.40, Y:-55.34, Z:-8.62 [[ 8.03436663e-01 5.94870558e-01 2.48706475e-02 2.25403141e+02] [-5.94624074e-01 8.03820878e-01 -1.71524484e-02 -5.53356176e+01] [-3.01950322e-02 -1.00777989e-03 9.99543518e-01 -8.62051851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.870385723 meters 0.022616426477644783 Centerline is valid? [True, True] Translation: X:225.45, Y:-55.37, Z:-8.62 [[ 8.01839422e-01 5.97074586e-01 2.35686053e-02 2.25451256e+02] [-5.96853981e-01 8.02185067e-01 -1.62617005e-02 -5.53742523e+01] [-2.86158313e-02 -1.02774340e-03 9.99589955e-01 -8.62460901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.930385723 meters 0.023356950585961538 Centerline is valid? [True, True] Translation: X:225.50, Y:-55.41, Z:-8.63 [[ 8.01218673e-01 5.98011601e-01 2.07548334e-02 2.25500409e+02] [-5.97840712e-01 8.01486905e-01 -1.43256072e-02 -5.54119655e+01] [-2.52016066e-02 -9.30140389e-04 9.99681956e-01 -8.63057625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.990385723 meters 0.021947970277717107 Centerline is valid? [True, True] Translation: X:225.55, Y:-55.45, Z:-8.63 [[ 8.02549386e-01 5.96259740e-01 1.97181354e-02 2.25548011e+02] [-5.96104820e-01 8.02791156e-01 -1.36163005e-02 -5.54522702e+01] [-2.39483965e-02 -8.26321964e-04 9.99712855e-01 -8.63337527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.050385723 meters 0.02135225129786979 Centerline is valid? [True, True] Translation: X:225.60, Y:-55.49, Z:-8.63 [[ 8.04543632e-01 5.93477231e-01 2.22333146e-02 2.25596425e+02] [-5.93278901e-01 8.04850351e-01 -1.53641836e-02 -5.54895783e+01] [-2.70127842e-02 -8.29400434e-04 9.99634744e-01 -8.63429132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.110385723 meters 0.02043213690849524 Centerline is valid? [True, True] Translation: X:225.64, Y:-55.53, Z:-8.63 [[ 8.06818979e-01 5.90305338e-01 2.41400678e-02 2.25643258e+02] [-5.90069997e-01 8.07179655e-01 -1.66854051e-02 -5.55285120e+01] [-2.93348553e-02 -7.82228268e-04 9.99569334e-01 -8.63416023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.170385723 meters 0.01796125239425427 Centerline is valid? [True, True] Translation: X:225.69, Y:-55.57, Z:-8.63 [[ 8.09486354e-01 5.86607370e-01 2.49727042e-02 2.25689032e+02] [-5.86353651e-01 8.09871192e-01 -1.72640689e-02 -5.55711835e+01] [-3.03519037e-02 -6.67808096e-04 9.99539052e-01 -8.63375914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.230385723 meters 0.01776550981095666 Centerline is valid? [True, True] Translation: X:225.74, Y:-55.61, Z:-8.64 [[ 8.10010549e-01 5.85883733e-01 2.49632133e-02 2.25739299e+02] [-5.85629845e-01 8.10394868e-01 -1.72581049e-02 -5.56069654e+01] [-3.03413029e-02 -6.39955699e-04 9.99539392e-01 -8.63603786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.290385723 meters 0.017541936067347576 Centerline is valid? [True, True] Translation: X:225.79, Y:-55.64, Z:-8.64 [[ 8.10660212e-01 5.85011715e-01 2.43169530e-02 2.25789928e+02] [-5.84770168e-01 8.11024631e-01 -1.68196275e-02 -5.56424637e+01] [-2.95613269e-02 -5.84825893e-04 9.99562797e-01 -8.63943626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35038572300002 meters 0.016799675413077968 Centerline is valid? [True, True] Translation: X:225.84, Y:-55.68, Z:-8.64 [[ 8.11139975e-01 5.84377384e-01 2.35587380e-02 2.25839357e+02] [-5.84150175e-01 8.11481844e-01 -1.63030645e-02 -5.56791218e+01] [-2.86446303e-02 -5.37773605e-04 9.99589514e-01 -8.64328150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.410385723 meters 0.016655278459183753 Centerline is valid? [True, True] Translation: X:225.89, Y:-55.72, Z:-8.64 [[ 8.11663753e-01 5.83672134e-01 2.29954649e-02 2.25888237e+02] [-5.83455152e-01 8.11989283e-01 -1.59213573e-02 -5.57179458e+01] [-2.79649236e-02 -4.94033808e-04 9.99608783e-01 -8.64363899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.470385723 meters 0.017217759586962224 Centerline is valid? [True, True] Translation: X:225.94, Y:-55.75, Z:-8.65 [[ 8.13023931e-01 5.81699784e-01 2.48485269e-02 2.25939031e+02] [-5.81445196e-01 8.13403440e-01 -1.72141575e-02 -5.57518079e+01] [-3.02253489e-02 -4.52534621e-04 9.99543007e-01 -8.64509296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.530385723 meters 0.015794332947779075 Centerline is valid? [True, True] Translation: X:225.99, Y:-55.79, Z:-8.65 [[ 8.14327433e-01 5.79794542e-01 2.66293376e-02 2.25987919e+02] [-5.79500798e-01 8.14762621e-01 -1.84579682e-02 -5.57908380e+01] [-3.23984181e-02 -4.00892540e-04 9.99474953e-01 -8.64576161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.590385723 meters 0.015465558494153556 Centerline is valid? [True, True] Translation: X:226.04, Y:-55.83, Z:-8.65 [[ 8.15605655e-01 5.77945351e-01 2.76873115e-02 2.26036492e+02] [-5.77626379e-01 8.16075402e-01 -1.92016945e-02 -5.58290672e+01] [-3.36924639e-02 -3.31910852e-04 9.99432193e-01 -8.64648230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.650385723 meters 0.015189317698938973 Centerline is valid? [True, True] Translation: X:226.09, Y:-55.87, Z:-8.65 [[ 8.16050998e-01 5.77328409e-01 2.74349430e-02 2.26087356e+02] [-5.77014569e-01 8.16511984e-01 -1.90359485e-02 -5.58660583e+01] [-3.33909537e-02 -2.96057014e-04 9.99442323e-01 -8.64933144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.710385723 meters 0.017265462492853087 Centerline is valid? [True, True] Translation: X:226.14, Y:-55.90, Z:-8.65 [[ 8.15583725e-01 5.78042850e-01 2.62612270e-02 2.26139004e+02] [-5.77755310e-01 8.16006356e-01 -1.82326402e-02 -5.58984535e+01] [-3.19685754e-02 -3.02318789e-04 9.99488829e-01 -8.65447498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.770385723 meters 0.015505834948548883 Centerline is valid? [True, True] Translation: X:226.19, Y:-55.93, Z:-8.66 [[ 8.14121335e-01 5.80188976e-01 2.42323181e-02 2.26192163e+02] [-5.79945004e-01 8.14481815e-01 -1.68274986e-02 -5.59300746e+01] [-2.94999116e-02 -3.53786215e-04 9.99564720e-01 -8.65886429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.830385723 meters 0.015267065982858655 Centerline is valid? [True, True] Translation: X:226.24, Y:-55.97, Z:-8.66 [[ 8.13865794e-01 5.80610498e-01 2.26697765e-02 2.26242839e+02] [-5.80396945e-01 8.14181389e-01 -1.57496816e-02 -5.59653630e+01] [-2.76017406e-02 -3.39341911e-04 9.99618942e-01 -8.66172157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.890385723 meters 0.016054392507370594 Centerline is valid? [True, True] Translation: X:226.29, Y:-56.00, Z:-8.66 [[ 8.15278259e-01 5.78577745e-01 2.38569277e-02 2.26292438e+02] [-5.78340096e-01 8.15627192e-01 -1.65836436e-02 -5.60028310e+01] [-2.90532861e-02 -2.77133801e-04 9.99577826e-01 -8.66137746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.950385723 meters 0.014541735568551182 Centerline is valid? [True, True] Translation: X:226.34, Y:-56.04, Z:-8.66 [[ 8.17600194e-01 5.75178123e-01 2.64584336e-02 2.26341907e+02] [-5.74883673e-01 8.18028178e-01 -1.84027871e-02 -5.60392304e+01] [-3.22286248e-02 -1.64399175e-04 9.99480509e-01 -8.66054944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.010385723 meters 0.01427692566197811 Centerline is valid? [True, True] Translation: X:226.39, Y:-56.08, Z:-8.66 [[ 8.19705466e-01 5.72206002e-01 2.57534509e-02 2.26392940e+02] [-5.71925320e-01 8.20109925e-01 -1.79203358e-02 -5.60754544e+01] [-3.13747844e-02 -3.96534218e-05 9.99507689e-01 -8.66438027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07038572300002 meters 0.014218717548102186 Centerline is valid? [True, True] Translation: X:226.44, Y:-56.11, Z:-8.67 [[ 8.20755422e-01 5.70800470e-01 2.33957592e-02 2.26442614e+02] [-5.70568004e-01 8.21088804e-01 -1.62889319e-02 -5.61113287e+01] [-2.85077259e-02 2.03575295e-05 9.99593572e-01 -8.66860118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13038572300002 meters 0.014444302708259147 Centerline is valid? [True, True] Translation: X:226.49, Y:-56.15, Z:-8.67 [[ 8.21879591e-01 5.69244249e-01 2.17927433e-02 2.26493594e+02] [-5.69041834e-01 8.22168462e-01 -1.51793093e-02 -5.61469758e+01] [-2.65580407e-02 7.45818762e-05 9.99647270e-01 -8.67125902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.190385723 meters 0.014363538345330733 Centerline is valid? [True, True] Translation: X:226.55, Y:-56.18, Z:-8.67 [[ 8.23022855e-01 5.67527681e-01 2.33604509e-02 2.26547054e+02] [-5.67294154e-01 8.23354304e-01 -1.62798520e-02 -5.61803582e+01] [-2.84731945e-02 1.46443040e-04 9.99594546e-01 -8.67111444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.250385723 meters 0.014635060502476148 Centerline is valid? [True, True] Translation: X:226.60, Y:-56.21, Z:-8.67 [[ 8.23411906e-01 5.66942966e-01 2.38433856e-02 2.26599309e+02] [-5.66699132e-01 8.23757028e-01 -1.66268515e-02 -5.62137369e+01] [-2.90676330e-02 1.78721573e-04 9.99577431e-01 -8.67258403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.310385723 meters 0.014566476724732472 Centerline is valid? [True, True] Translation: X:226.65, Y:-56.25, Z:-8.67 [[ 8.21901423e-01 5.69189176e-01 2.23994131e-02 2.26653094e+02] [-5.68974607e-01 8.22206587e-01 -1.56276685e-02 -5.62457953e+01] [-2.73120447e-02 9.97057268e-05 9.99626952e-01 -8.67379264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.370385723 meters 0.014499480181997476 Centerline is valid? [True, True] Translation: X:226.71, Y:-56.28, Z:-8.68 [[ 8.20113459e-01 5.71765544e-01 2.23176525e-02 2.26707666e+02] [-5.71553241e-01 8.20417066e-01 -1.55798061e-02 -5.62776240e+01] [-2.72177793e-02 2.14820519e-05 9.99629527e-01 -8.67501951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.430385723 meters 0.01458772362349271 Centerline is valid? [True, True] Translation: X:226.76, Y:-56.31, Z:-8.68 [[ 8.16705110e-01 5.76597658e-01 2.29761644e-02 2.26763776e+02] [-5.76374259e-01 8.17028226e-01 -1.60496619e-02 -5.63054143e+01] [-2.80263723e-02 -1.35028811e-04 9.99607175e-01 -8.67555733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.490385723 meters 0.01467177891816816 Centerline is valid? [True, True] Translation: X:226.82, Y:-56.34, Z:-8.68 [[ 8.14984795e-01 5.79037539e-01 2.27004948e-02 2.26817697e+02] [-5.78820170e-01 8.15300855e-01 -1.58658904e-02 -5.63368906e+01] [-2.76946790e-02 -2.09044824e-04 9.99616407e-01 -8.67772538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.550385723 meters 0.015196352066559865 Centerline is valid? [True, True] Translation: X:226.87, Y:-56.36, Z:-8.68 [[ 8.12112724e-01 5.83098646e-01 2.16539315e-02 2.26874078e+02] [-5.82902104e-01 8.12401294e-01 -1.51418113e-02 -5.63646026e+01] [-2.64208516e-02 -3.25264614e-04 9.99650855e-01 -8.68212065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.610385723 meters 0.015499742062666454 Centerline is valid? [True, True] Translation: X:226.93, Y:-56.40, Z:-8.68 [[ 8.10740874e-01 5.85071848e-01 1.97526471e-02 2.26927436e+02] [-5.84908745e-01 8.10981387e-01 -1.38184742e-02 -5.63971997e+01] [-2.41038294e-02 -3.50294222e-04 9.99709399e-01 -8.68433473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.670385723 meters 0.015677045693961455 Centerline is valid? [True, True] Translation: X:226.98, Y:-56.43, Z:-8.69 [[ 8.10350518e-01 5.85636527e-01 1.90235784e-02 2.26981426e+02] [-5.85485246e-01 8.10573709e-01 -1.33150048e-02 -5.64285842e+01] [-2.32177657e-02 -3.48203487e-04 9.99730371e-01 -8.68834652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.730385723 meters 0.01553534908913375 Centerline is valid? [True, True] Translation: X:227.03, Y:-56.46, Z:-8.69 [[ 8.10602388e-01 5.85318481e-01 1.80567103e-02 2.27034749e+02] [-5.85181993e-01 8.10803413e-01 -1.26435674e-02 -5.64612147e+01] [-2.20409561e-02 -3.17555784e-04 9.99757018e-01 -8.69219127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.790385723 meters 0.01488482709650153 Centerline is valid? [True, True] Translation: X:227.08, Y:-56.50, Z:-8.69 [[ 8.13539193e-01 5.81181728e-01 1.95391707e-02 2.27084816e+02] [-5.81020482e-01 8.13773772e-01 -1.36911458e-02 -5.64985371e+01] [-2.38575085e-02 -2.14374640e-04 9.99715346e-01 -8.69207219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85038572300002 meters 0.01712844596150769 Centerline is valid? [True, True] Translation: X:227.13, Y:-56.53, Z:-8.69 [[ 8.16077590e-01 5.77643008e-01 1.85989822e-02 2.27134229e+02] [-5.77495836e-01 8.16289498e-01 -1.30389739e-02 -5.65337315e+01] [-2.27140260e-02 -1.00020422e-04 9.99741998e-01 -8.69447335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.910385723 meters 0.015099519184931827 Centerline is valid? [True, True] Translation: X:227.19, Y:-56.57, Z:-8.70 [[ 8.15541755e-01 5.78393103e-01 1.87899997e-02 2.27187358e+02] [-5.78242963e-01 8.15758177e-01 -1.31784444e-02 -5.65678366e+01] [-2.29504173e-02 -1.17613432e-04 9.99736598e-01 -8.69619451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.970385723 meters 0.01522446679382931 Centerline is valid? [True, True] Translation: X:227.24, Y:-56.60, Z:-8.70 [[ 8.15220826e-01 5.78818913e-01 1.95875042e-02 2.27238834e+02] [-5.78655654e-01 8.15456099e-01 -1.37471817e-02 -5.66008700e+01] [-2.39298785e-02 -1.27431212e-04 9.99713631e-01 -8.69926373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.030385723 meters 0.01510252879215677 Centerline is valid? [True, True] Translation: X:227.29, Y:-56.64, Z:-8.70 [[ 8.15188789e-01 5.78902540e-01 1.84143332e-02 2.27290113e+02] [-5.78758160e-01 8.15396735e-01 -1.29289147e-02 -5.66364482e+01] [-2.24995688e-02 -1.17939245e-04 9.99746846e-01 -8.70141096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.090385723 meters 0.016179465028153147 Centerline is valid? [True, True] Translation: X:227.34, Y:-56.67, Z:-8.70 [[ 8.14923658e-01 5.79338310e-01 1.63264945e-02 2.27340398e+02] [-5.79224812e-01 8.15087179e-01 -1.14676842e-02 -5.66730644e+01] [-1.99511851e-02 -1.11423552e-04 9.99800949e-01 -8.70448744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.150385723 meters 0.01511031610915873 Centerline is valid? [True, True] Translation: X:227.39, Y:-56.71, Z:-8.71 [[ 8.14699417e-01 5.79615437e-01 1.76296834e-02 2.27390903e+02] [-5.79482993e-01 8.14890134e-01 -1.23907521e-02 -5.67072502e+01] [-2.15481262e-02 -1.21363207e-04 9.99767805e-01 -8.70731695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.210385723 meters 0.014976164767578607 Centerline is valid? [True, True] Translation: X:227.44, Y:-56.74, Z:-8.71 [[ 8.14706108e-01 5.79579022e-01 1.84963259e-02 2.27441805e+02] [-5.79433081e-01 8.14916034e-01 -1.30062455e-02 -5.67431932e+01] [-2.26110996e-02 -1.21115488e-04 9.99744329e-01 -8.70908256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.270385723 meters 0.014847953835079105 Centerline is valid? [True, True] Translation: X:227.49, Y:-56.78, Z:-8.71 [[ 8.14920023e-01 5.79185281e-01 2.12077015e-02 2.27491515e+02] [-5.78993028e-01 8.15195925e-01 -1.49224010e-02 -5.67787761e+01] [-2.59312668e-02 -1.18547955e-04 9.99663721e-01 -8.70954951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.330385723 meters 0.016361040010669434 Centerline is valid? [True, True] Translation: X:227.54, Y:-56.82, Z:-8.71 [[ 8.15311334e-01 5.78602111e-01 2.20686811e-02 2.27541877e+02] [-5.78393510e-01 8.15609948e-01 -1.55357738e-02 -5.68155282e+01] [-2.69884673e-02 -9.78894697e-05 9.99635740e-01 -8.71113005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.390385723 meters 0.014810588643368497 Centerline is valid? [True, True] Translation: X:227.59, Y:-56.85, Z:-8.71 [[ 8.14424567e-01 5.79817383e-01 2.29003794e-02 2.27593358e+02] [-5.79593006e-01 8.14746454e-01 -1.61295736e-02 -5.68515745e+01] [-2.80102100e-02 -1.36578761e-04 9.99607628e-01 -8.71263666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.450385723 meters 0.014933355990037308 Centerline is valid? [True, True] Translation: X:227.65, Y:-56.89, Z:-8.72 [[ 8.13380937e-01 5.81287660e-01 2.27180320e-02 2.27645753e+02] [-5.81067156e-01 8.13698117e-01 -1.60104619e-02 -5.68864673e+01] [-2.77923037e-02 -1.78097756e-04 9.99613703e-01 -8.71641242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.510385723 meters 0.015020261463986473 Centerline is valid? [True, True] Translation: X:227.70, Y:-56.92, Z:-8.72 [[ 8.12071525e-01 5.83129476e-01 2.23573747e-02 2.27697007e+02] [-5.82916356e-01 8.12379198e-01 -1.57657939e-02 -5.69206948e+01] [-2.73561652e-02 -2.29527104e-04 9.99625724e-01 -8.72018545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57038572300002 meters 0.014914190214997132 Centerline is valid? [True, True] Translation: X:227.75, Y:-56.96, Z:-8.72 [[ 8.13040055e-01 5.81804054e-01 2.16774675e-02 2.27746207e+02] [-5.81603038e-01 8.13328970e-01 -1.52935737e-02 -5.69591228e+01] [-2.65287755e-02 -1.73392909e-04 9.99648035e-01 -8.72308332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63038572300002 meters 0.0146977765195484 Centerline is valid? [True, True] Translation: X:227.80, Y:-57.00, Z:-8.73 [[ 8.14046371e-01 5.80402266e-01 2.14875500e-02 2.27795390e+02] [-5.80204039e-01 8.14329906e-01 -1.51683140e-02 -5.69976017e+01] [-2.63016784e-02 -1.19452322e-04 9.99654044e-01 -8.72577256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.690385723 meters 0.014620981202683795 Centerline is valid? [True, True] Translation: X:227.84, Y:-57.04, Z:-8.73 [[ 8.16131498e-01 5.77376159e-01 2.37938844e-02 2.27841728e+02] [-5.77131459e-01 8.16478274e-01 -1.68079866e-02 -5.70376227e+01] [-2.91317204e-02 -1.46719458e-05 9.99575581e-01 -8.72739883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.750385723 meters 0.015386891557630953 Centerline is valid? [True, True] Translation: X:227.89, Y:-57.08, Z:-8.73 [[ 8.17853843e-01 5.74858319e-01 2.55539687e-02 2.27889876e+02] [-5.74574556e-01 8.18252959e-01 -1.80603117e-02 -5.70772768e+01] [-3.12917309e-02 8.80350779e-05 9.99510290e-01 -8.73042552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.810385723 meters 0.014804243527841697 Centerline is valid? [True, True] Translation: X:227.94, Y:-57.12, Z:-8.73 [[ 8.18275496e-01 5.74251210e-01 2.57052590e-02 2.27935796e+02] [-5.73963471e-01 8.18679139e-01 -1.81769413e-02 -5.71191990e+01] [-3.14824898e-02 1.19865981e-04 9.99504296e-01 -8.73205227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.870385723 meters 0.016279510370499205 Centerline is valid? [True, True] Translation: X:227.99, Y:-57.16, Z:-8.74 [[ 8.16088276e-01 5.77384069e-01 2.50512124e-02 2.27986366e+02] [-5.77111988e-01 8.16472680e-01 -1.77233057e-02 -5.71552542e+01] [-3.06867849e-02 6.42702819e-06 9.99529050e-01 -8.73651574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.930385723 meters 0.01496005243166451 Centerline is valid? [True, True] Translation: X:228.04, Y:-57.19, Z:-8.74 [[ 8.11856257e-01 5.83306465e-01 2.53571676e-02 2.28038342e+02] [-5.83030277e-01 8.12252130e-01 -1.79491801e-02 -5.71879194e+01] [-3.10662862e-02 -2.11842285e-04 9.99517304e-01 -8.73973262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.990385723 meters 0.015202344167910475 Centerline is valid? [True, True] Translation: X:228.09, Y:-57.22, Z:-8.74 [[ 8.08972481e-01 5.87347925e-01 2.42061843e-02 2.28088753e+02] [-5.87097850e-01 8.09334477e-01 -1.71411435e-02 -5.72241654e+01] [-2.96587146e-02 -3.44685393e-04 9.99560024e-01 -8.74338751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.050385723 meters 0.017607035315958117 Centerline is valid? [True, True] Translation: X:228.14, Y:-57.26, Z:-8.75 [[ 8.06031419e-01 5.91426685e-01 2.29745026e-02 2.28139023e+02] [-5.91202815e-01 8.06358644e-01 -1.62778756e-02 -5.72576789e+01] [-2.81528588e-02 -4.62111426e-04 9.99603523e-01 -8.74822528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.110385723 meters 0.018527029382917174 Centerline is valid? [True, True] Translation: X:228.19, Y:-57.30, Z:-8.75 [[ 8.04585695e-01 5.93383163e-01 2.32008847e-02 2.28188688e+02] [-5.93155575e-01 8.04919957e-01 -1.64415915e-02 -5.72955529e+01] [-2.84310187e-02 -5.33064816e-04 9.99595615e-01 -8.74899052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.170385723 meters 0.016794279828281022 Centerline is valid? [True, True] Translation: X:228.23, Y:-57.34, Z:-8.75 [[ 8.04584193e-01 5.93340908e-01 2.43072556e-02 2.28233818e+02] [-5.93090832e-01 8.04951094e-01 -1.72337366e-02 -5.73388219e+01] [-2.97916329e-02 -5.50418383e-04 9.99555979e-01 -8.74816695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.230385723 meters 0.01563743729459758 Centerline is valid? [True, True] Translation: X:228.28, Y:-57.38, Z:-8.75 [[ 8.05387235e-01 5.92247660e-01 2.43744009e-02 2.28278897e+02] [-5.91995445e-01 8.05755828e-01 -1.72898200e-02 -5.73825676e+01] [-2.98796710e-02 -5.04534018e-04 9.99553376e-01 -8.75012987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.290385723 meters 0.016297139128568776 Centerline is valid? [True, True] Translation: X:228.33, Y:-57.42, Z:-8.75 [[ 8.05823468e-01 5.91646973e-01 2.45438032e-02 2.28327558e+02] [-5.91390675e-01 8.06197018e-01 -1.74194798e-02 -5.74202003e+01] [-3.00933234e-02 -4.77950694e-04 9.99546979e-01 -8.75289792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35038572300002 meters 0.015796146792023427 Centerline is valid? [True, True] Translation: X:228.38, Y:-57.46, Z:-8.76 [[ 8.05394463e-01 5.92203571e-01 2.51930347e-02 2.28376124e+02] [-5.91933540e-01 8.05788232e-01 -1.78887853e-02 -5.74596499e+01] [-3.08940534e-02 -5.05073594e-04 9.99522537e-01 -8.75560719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.410385723 meters 0.01655150068745767 Centerline is valid? [True, True] Translation: X:228.43, Y:-57.50, Z:-8.76 [[ 8.03917041e-01 5.94281073e-01 2.33965279e-02 2.28425018e+02] [-5.94048793e-01 8.04257247e-01 -1.66226324e-02 -5.74961344e+01] [-2.86953430e-02 -5.35461745e-04 9.99588060e-01 -8.76063609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.470385723 meters 0.015831132644592204 Centerline is valid? [True, True] Translation: X:228.47, Y:-57.54, Z:-8.76 [[ 8.06029154e-01 5.91463669e-01 2.20846290e-02 2.28472382e+02] [-5.91255424e-01 8.06331548e-01 -1.56989932e-02 -5.75374056e+01] [-2.70929172e-02 -4.03810494e-04 9.99632838e-01 -8.76420205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.530385723 meters 0.01588623400839952 Centerline is valid? [True, True] Translation: X:228.52, Y:-57.57, Z:-8.77 [[ 8.07512323e-01 5.89378269e-01 2.36030846e-02 2.28521842e+02] [-5.89139446e-01 8.07857123e-01 -1.67804324e-02 -5.75741120e+01] [-2.89579422e-02 -3.55102235e-04 9.99580568e-01 -8.76591929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.590385723 meters 0.015687818279542916 Centerline is valid? [True, True] Translation: X:228.57, Y:-57.61, Z:-8.77 [[ 8.07818007e-01 5.88906064e-01 2.48940732e-02 2.28572189e+02] [-5.88639880e-01 8.08201414e-01 -1.77077916e-02 -5.76111086e+01] [-3.05476510e-02 -3.48971358e-04 9.99533251e-01 -8.76613622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.650385723 meters 0.01582732928324481 Centerline is valid? [True, True] Translation: X:228.62, Y:-57.65, Z:-8.77 [[ 8.07227649e-01 5.89782149e-01 2.32495194e-02 2.28623648e+02] [-5.89550124e-01 8.07562316e-01 -1.65455977e-02 -5.76464723e+01] [-2.85337339e-02 -3.50693101e-04 9.99592769e-01 -8.76926761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.710385723 meters 0.016155057378972174 Centerline is valid? [True, True] Translation: X:228.68, Y:-57.68, Z:-8.77 [[ 8.06595760e-01 5.90648095e-01 2.31971357e-02 2.28675669e+02] [-5.90417237e-01 8.06929171e-01 -1.65166019e-02 -5.76804646e+01] [-2.84739450e-02 -3.73767755e-04 9.99594465e-01 -8.77237478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.770385723 meters 0.015490581686397645 Centerline is valid? [True, True] Translation: X:228.72, Y:-57.72, Z:-8.77 [[ 8.08442898e-01 5.88111162e-01 2.33525681e-02 2.28724440e+02] [-5.87875875e-01 8.08780059e-01 -1.66364858e-02 -5.77185612e+01] [-2.86711944e-02 -2.78762577e-04 9.99588858e-01 -8.77446825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.830385723 meters 0.015155425216598316 Centerline is valid? [True, True] Translation: X:228.77, Y:-57.76, Z:-8.78 [[ 8.10709628e-01 5.84953932e-01 2.40581988e-02 2.28773777e+02] [-5.84702553e-01 8.11066502e-01 -1.71480198e-02 -5.77563602e+01] [-2.95436008e-02 -1.64825528e-04 9.99563479e-01 -8.77621713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.890385723 meters 0.015053130836171663 Centerline is valid? [True, True] Translation: X:228.82, Y:-57.80, Z:-8.78 [[ 8.13698244e-01 5.80845420e-01 2.26664048e-02 2.28820160e+02] [-5.80620457e-01 8.14013881e-01 -1.61643636e-02 -5.77977109e+01] [-2.78397647e-02 -7.66402563e-06 9.99612399e-01 -8.77830927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.950385723 meters 0.015133799445983982 Centerline is valid? [True, True] Translation: X:228.87, Y:-57.83, Z:-8.78 [[ 8.15586906e-01 5.78161537e-01 2.33930951e-02 2.28872467e+02] [-5.77920651e-01 8.15922318e-01 -1.66880729e-02 -5.78330206e+01] [-2.87353502e-02 9.12210287e-05 9.99587050e-01 -8.78350372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.010385723 meters 0.015378670118542473 Centerline is valid? [True, True] Translation: X:228.92, Y:-57.87, Z:-8.78 [[ 8.16942929e-01 5.76211202e-01 2.41847378e-02 2.28922674e+02] [-5.75952578e-01 8.17300814e-01 -1.72628791e-02 -5.78703815e+01] [-2.97132702e-02 1.73524940e-04 9.99558448e-01 -8.78342756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07038572300002 meters 0.015457560075888445 Centerline is valid? [True, True] Translation: X:228.97, Y:-57.91, Z:-8.78 [[ 8.17314322e-01 5.75673880e-01 2.44311837e-02 2.28972923e+02] [-5.75409409e-01 8.17679364e-01 -1.74490356e-02 -5.79074560e+01] [-3.00218288e-02 2.03413706e-04 9.99549223e-01 -8.78474849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13038572300002 meters 0.015701095170971558 Centerline is valid? [True, True] Translation: X:229.02, Y:-57.94, Z:-8.79 [[ 8.17854134e-01 5.74913689e-01 2.42665621e-02 2.29023909e+02] [-5.74652142e-01 8.18214027e-01 -1.73413380e-02 -5.79448613e+01] [-2.98250141e-02 2.37853092e-04 9.99555107e-01 -8.78588633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.190385723 meters 0.015582480551720608 Centerline is valid? [True, True] Translation: X:229.08, Y:-57.98, Z:-8.79 [[ 8.16845350e-01 5.76402643e-01 2.28837885e-02 2.29077059e+02] [-5.76170402e-01 8.17165810e-01 -1.63617715e-02 -5.79784427e+01] [-2.81308179e-02 1.80075330e-04 9.99604234e-01 -8.79046045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.250385723 meters 0.01556789247122891 Centerline is valid? [True, True] Translation: X:229.13, Y:-58.01, Z:-8.79 [[ 8.15580340e-01 5.78203645e-01 2.25666498e-02 2.29128106e+02] [-5.77978227e-01 8.15892474e-01 -1.61443365e-02 -5.80142667e+01] [-2.77466740e-02 1.23971184e-04 9.99614979e-01 -8.79275505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.310385723 meters 0.015175198484817397 Centerline is valid? [True, True] Translation: X:229.18, Y:-58.05, Z:-8.79 [[ 8.11634489e-01 5.83758458e-01 2.18064031e-02 2.29182340e+02] [-5.83549739e-01 8.11927373e-01 -1.56090430e-02 -5.80468828e+01] [-2.68171265e-02 -5.62831728e-05 9.99640355e-01 -8.79420167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.370385723 meters 0.015338237106028139 Centerline is valid? [True, True] Translation: X:229.23, Y:-58.08, Z:-8.80 [[ 8.09372467e-01 5.86896131e-01 2.16596384e-02 2.29233483e+02] [-5.86691084e-01 8.09662218e-01 -1.55133488e-02 -5.80817341e+01] [-2.66417153e-02 -1.51439317e-04 9.99645035e-01 -8.79615538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.430385723 meters 0.015931336824959504 Centerline is valid? [True, True] Translation: X:229.29, Y:-58.11, Z:-8.80 [[ 8.06613527e-01 5.90682561e-01 2.16502002e-02 2.29286765e+02] [-5.90478837e-01 8.06903984e-01 -1.55146106e-02 -5.81142337e+01] [-2.66338427e-02 -2.69690200e-04 9.99645220e-01 -8.79928270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.490385723 meters 0.01660956728459569 Centerline is valid? [True, True] Translation: X:229.34, Y:-58.15, Z:-8.80 [[ 8.04173796e-01 5.93997524e-01 2.17128412e-02 2.29339558e+02] [-5.93793612e-01 8.04466781e-01 -1.55674278e-02 -5.81473208e+01] [-2.67142730e-02 -3.74028953e-04 9.99643040e-01 -8.80143891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.550385723 meters 0.01698190254192039 Centerline is valid? [True, True] Translation: X:229.39, Y:-58.18, Z:-8.80 [[ 8.03403780e-01 5.95041768e-01 2.16254575e-02 2.29389084e+02] [-5.94839630e-01 8.03694678e-01 -1.55138767e-02 -5.81825138e+01] [-2.66116697e-02 -3.99771916e-04 9.99645767e-01 -8.80237260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.610385723 meters 0.017123771081781293 Centerline is valid? [True, True] Translation: X:229.44, Y:-58.22, Z:-8.80 [[ 8.02576219e-01 5.96132740e-01 2.22972864e-02 2.29441768e+02] [-5.95918181e-01 8.02885768e-01 -1.59988876e-02 -5.82167307e+01] [-2.74396346e-02 -4.47031670e-04 9.99623362e-01 -8.80404374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.670385723 meters 0.01707081875584061 Centerline is valid? [True, True] Translation: X:229.49, Y:-58.25, Z:-8.81 [[ 8.02936459e-01 5.95683692e-01 2.13068662e-02 2.29493616e+02] [-5.95487400e-01 8.03219008e-01 -1.52964888e-02 -5.82525678e+01] [-2.62259488e-02 -4.05861774e-04 9.99655958e-01 -8.80876665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.730385723 meters 0.01670093603357685 Centerline is valid? [True, True] Translation: X:229.54, Y:-58.29, Z:-8.81 [[ 8.05243622e-01 5.92581547e-01 2.07320850e-02 2.29542164e+02] [-5.92394442e-01 8.05510414e-01 -1.48929031e-02 -5.82898833e+01] [-2.55251699e-02 -2.89156692e-04 9.99674138e-01 -8.81240516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.790385723 meters 0.01613421932610122 Centerline is valid? [True, True] Translation: X:229.59, Y:-58.33, Z:-8.82 [[ 8.07653732e-01 5.89328876e-01 1.96703900e-02 2.29591867e+02] [-5.89159341e-01 8.07893214e-01 -1.41359386e-02 -5.83274601e+01] [-2.42222914e-02 -1.72050444e-04 9.99706582e-01 -8.81606157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85038572300002 meters 0.01593748045222167 Centerline is valid? [True, True] Translation: X:229.64, Y:-58.37, Z:-8.82 [[ 8.11742262e-01 5.83654433e-01 2.05427159e-02 2.29638843e+02] [-5.83467493e-01 8.12002157e-01 -1.47709562e-02 -5.83677376e+01] [-2.53018637e-02 4.20246373e-06 9.99679857e-01 -8.81668071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.910385723 meters 0.016207166968767128 Centerline is valid? [True, True] Translation: X:229.69, Y:-58.41, Z:-8.82 [[ 8.15846788e-01 5.77814114e-01 2.29100302e-02 2.29687666e+02] [-5.77579019e-01 8.16168367e-01 -1.64825166e-02 -5.84076856e+01] [-2.82222727e-02 2.14855495e-04 9.99601649e-01 -8.81743303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.970385723 meters 0.01636861730966216 Centerline is valid? [True, True] Translation: X:229.74, Y:-58.44, Z:-8.82 [[ 8.17311014e-01 5.75649258e-01 2.51125024e-02 2.29739636e+02] [-5.75365384e-01 8.17696658e-01 -1.80790150e-02 -5.84423850e+01] [-3.09415808e-02 3.27313484e-04 9.99521141e-01 -8.82075715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.030385723 meters 0.01628113869847087 Centerline is valid? [True, True] Translation: X:229.79, Y:-58.48, Z:-8.82 [[ 8.18348415e-01 5.74163790e-01 2.53340361e-02 2.29790150e+02] [-5.73873832e-01 8.18740365e-01 -1.82493831e-02 -5.84781460e+01] [-3.12201329e-02 3.95813376e-04 9.99512454e-01 -8.82207427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.090385723 meters 0.016449047138484336 Centerline is valid? [True, True] Translation: X:229.84, Y:-58.51, Z:-8.82 [[ 8.18684291e-01 5.73607155e-01 2.70344769e-02 2.29839933e+02] [-5.73276281e-01 8.19130408e-01 -1.94853871e-02 -5.85145068e+01] [-3.33217196e-02 4.54155948e-04 9.99444574e-01 -8.82007105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.150385723 meters 0.015708756791606004 Centerline is valid? [True, True] Translation: X:229.90, Y:-58.54, Z:-8.83 [[ 8.17356479e-01 5.75475320e-01 2.75053091e-02 2.29897496e+02] [-5.75133614e-01 8.17819053e-01 -1.98323466e-02 -5.85414702e+01] [-3.39073918e-02 3.90869128e-04 9.99424903e-01 -8.82624353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.210385723 meters 0.015095663565303351 Centerline is valid? [True, True] Translation: X:229.95, Y:-58.57, Z:-8.83 [[ 8.15291446e-01 5.78430095e-01 2.68045296e-02 2.29950913e+02] [-5.78107084e-01 8.15731914e-01 -1.93298599e-02 -5.85727087e+01] [-3.30462829e-02 2.63581027e-04 9.99453788e-01 -8.82893885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.270385723 meters 0.014771892854090599 Centerline is valid? [True, True] Translation: X:230.00, Y:-58.60, Z:-8.83 [[ 8.13789133e-01 5.80538974e-01 2.68653565e-02 2.30003715e+02] [-5.80215320e-01 8.14232439e-01 -1.93834362e-02 -5.86049470e+01] [-3.31274849e-02 1.86338339e-04 9.99451117e-01 -8.82815249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.330385723 meters 0.01456444965771189 Centerline is valid? [True, True] Translation: X:230.06, Y:-58.64, Z:-8.83 [[ 8.12436838e-01 5.82452473e-01 2.63723409e-02 2.30058849e+02] [-5.82141298e-01 8.12864751e-01 -1.90369740e-02 -5.86364295e+01] [-3.25252789e-02 1.13910255e-04 9.99470907e-01 -8.83215962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.390385723 meters 0.014553889275308417 Centerline is valid? [True, True] Translation: X:230.11, Y:-58.67, Z:-8.83 [[ 8.09829444e-01 5.86046336e-01 2.69437307e-02 2.30113065e+02] [-5.85723127e-01 8.10277540e-01 -1.94608898e-02 -5.86670432e+01] [-3.32368830e-02 -2.15647006e-05 9.99447502e-01 -8.83430676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.450385723 meters 0.01469474091490117 Centerline is valid? [True, True] Translation: X:230.17, Y:-58.70, Z:-8.84 [[ 8.07750908e-01 5.88917299e-01 2.67373539e-02 2.30168205e+02] [-5.88600275e-01 8.08193292e-01 -1.93214570e-02 -5.86986249e+01] [-3.29876904e-02 -1.30689409e-04 9.99455749e-01 -8.83727008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.510385723 meters 0.014765710425274864 Centerline is valid? [True, True] Translation: X:230.22, Y:-58.73, Z:-8.84 [[ 8.07126385e-01 5.89757595e-01 2.70735472e-02 2.30222779e+02] [-5.89432636e-01 8.07580308e-01 -1.95758361e-02 -5.87310384e+01] [-3.34090616e-02 -1.57858429e-04 9.99441749e-01 -8.84088596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57038572300002 meters 0.014881892514050832 Centerline is valid? [True, True] Translation: X:230.27, Y:-58.77, Z:-8.84 [[ 8.07245496e-01 5.89612047e-01 2.66897415e-02 2.30273905e+02] [-5.89295799e-01 8.07686581e-01 -1.93092575e-02 -5.87652462e+01] [-3.29419170e-02 -1.40841387e-04 9.99457258e-01 -8.84214803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63038572300002 meters 0.014697649207760568 Centerline is valid? [True, True] Translation: X:230.33, Y:-58.80, Z:-8.84 [[ 8.07992755e-01 5.88562161e-01 2.72450029e-02 2.30329091e+02] [-5.88231658e-01 8.08451962e-01 -1.97216051e-02 -5.87970006e+01] [-3.36336665e-02 -9.14591229e-05 9.99434224e-01 -8.84436567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.690385723 meters 0.01481092864277248 Centerline is valid? [True, True] Translation: X:230.38, Y:-58.83, Z:-8.85 [[ 8.07051927e-01 5.89927336e-01 2.55524183e-02 2.30383077e+02] [-5.89637020e-01 8.07456328e-01 -1.85057876e-02 -5.88262946e+01] [-3.15495318e-02 -1.31520193e-04 9.99502181e-01 -8.85055147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.750385723 meters 0.014793524119181113 Centerline is valid? [True, True] Translation: X:230.44, Y:-58.86, Z:-8.85 [[ 8.06696941e-01 5.90473063e-01 2.41165298e-02 2.30435090e+02] [-5.90214518e-01 8.07057336e-01 -1.74722769e-02 -5.88618665e+01] [-2.97803312e-02 -1.39093698e-04 9.99556458e-01 -8.85229653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.810385723 meters 0.014656129689149481 Centerline is valid? [True, True] Translation: X:230.49, Y:-58.90, Z:-8.85 [[ 8.07532279e-01 5.89272613e-01 2.54834293e-02 2.30488427e+02] [-5.88982946e-01 8.07934267e-01 -1.84745629e-02 -5.88950211e+01] [-3.14754898e-02 -9.04993625e-05 9.99504520e-01 -8.85335258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.870385723 meters 0.014583185237530803 Centerline is valid? [True, True] Translation: X:230.54, Y:-58.93, Z:-8.85 [[ 8.09384423e-01 5.86694037e-01 2.62099784e-02 2.30541038e+02] [-5.86386172e-01 8.09808685e-01 -1.90039805e-02 -5.89304005e+01] [-3.23745902e-02 1.23568868e-05 9.99475805e-01 -8.85358466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.930385723 meters 0.014670509343949298 Centerline is valid? [True, True] Translation: X:230.59, Y:-58.97, Z:-8.85 [[ 8.10459077e-01 5.85206003e-01 2.62681952e-02 2.30592192e+02] [-5.84895624e-01 8.10884657e-01 -1.90573128e-02 -5.89673205e+01] [-3.24529303e-02 8.10197621e-05 9.99473262e-01 -8.85467362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.990385723 meters 0.014662527501353176 Centerline is valid? [True, True] Translation: X:230.65, Y:-59.00, Z:-8.86 [[ 8.11771957e-01 5.83396639e-01 2.59740437e-02 2.30645112e+02] [-5.83091903e-01 8.12187377e-01 -1.88546252e-02 -5.90021956e+01] [-3.20955154e-02 1.60401398e-04 9.99484793e-01 -8.85782333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.050385723 meters 0.015044985333537661 Centerline is valid? [True, True] Translation: X:230.70, Y:-59.03, Z:-8.86 [[ 8.14280589e-01 5.79887918e-01 2.60216322e-02 2.30697140e+02] [-5.79579899e-01 8.14696206e-01 -1.89006262e-02 -5.90342754e+01] [-3.21599698e-02 3.08798072e-04 9.99482687e-01 -8.86137738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.110385723 meters 0.015213837261376198 Centerline is valid? [True, True] Translation: X:230.75, Y:-59.07, Z:-8.86 [[ 8.15472211e-01 5.78133444e-01 2.76910376e-02 2.30747907e+02] [-5.77783265e-01 8.15942126e-01 -2.01232743e-02 -5.90702990e+01] [-3.42282220e-02 4.10552922e-04 9.99413958e-01 -8.85978079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.170385723 meters 0.015190430547538925 Centerline is valid? [True, True] Translation: X:230.80, Y:-59.10, Z:-8.86 [[ 8.15130538e-01 5.78665795e-01 2.66102137e-02 2.30800845e+02] [-5.78342405e-01 8.15564683e-01 -1.93470817e-02 -5.91036913e+01] [-3.28978450e-02 3.80582105e-04 9.99458647e-01 -8.86249800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.230385723 meters 0.014593705288512265 Centerline is valid? [True, True] Translation: X:230.86, Y:-59.13, Z:-8.87 [[ 8.13180558e-01 5.81512239e-01 2.41018053e-02 2.30857758e+02] [-5.81247934e-01 8.13537617e-01 -1.75323851e-02 -5.91314153e+01] [-2.98030218e-02 2.47870173e-04 9.99555761e-01 -8.86883966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.290385723 meters 0.014115561132744765 Centerline is valid? [True, True] Translation: X:230.91, Y:-59.17, Z:-8.87 [[ 8.10348235e-01 5.85437195e-01 2.44750503e-02 2.30909668e+02] [-5.85166140e-01 8.10717754e-01 -1.78132283e-02 -5.91655396e+01] [-3.02708843e-02 1.12947359e-04 9.99541725e-01 -8.86835796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35038572300002 meters 0.014006091023506627 Centerline is valid? [True, True] Translation: X:230.96, Y:-59.20, Z:-8.87 [[ 8.09439953e-01 5.86651906e-01 2.54264250e-02 2.30961569e+02] [-5.86359640e-01 8.09839203e-01 -1.85158886e-02 -5.91987798e+01] [-3.14536971e-02 7.84706109e-05 9.99505207e-01 -8.87017060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.410385723 meters 0.013749450860278416 Centerline is valid? [True, True] Translation: X:231.01, Y:-59.24, Z:-8.87 [[ 8.08896239e-01 5.87405596e-01 2.53286350e-02 2.31012837e+02] [-5.87115677e-01 8.09292693e-01 -1.84531699e-02 -5.92354826e+01] [-3.13377744e-02 5.58610279e-05 9.99508850e-01 -8.87133293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.470385723 meters 0.013660408995775655 Centerline is valid? [True, True] Translation: X:231.06, Y:-59.27, Z:-8.87 [[ 8.07838992e-01 5.88810117e-01 2.64350018e-02 2.31063008e+02] [-5.88494671e-01 8.08271394e-01 -1.92711407e-02 -5.92730115e+01] [-3.27136983e-02 1.11211884e-05 9.99464764e-01 -8.87126548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.530385723 meters 0.013739472145255381 Centerline is valid? [True, True] Translation: X:231.11, Y:-59.31, Z:-8.87 [[ 8.06866161e-01 5.90178626e-01 2.56161473e-02 2.31114043e+02] [-5.89882771e-01 8.07272685e-01 -1.86849798e-02 -5.93099491e+01] [-3.17066917e-02 -3.42459948e-05 9.99497216e-01 -8.87474496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.590385723 meters 0.01380145653682868 Centerline is valid? [True, True] Translation: X:231.17, Y:-59.35, Z:-8.88 [[ 8.04707490e-01 5.93211872e-01 2.33566133e-02 2.31165001e+02] [-5.92966920e-01 8.05046370e-01 -1.70462343e-02 -5.93455598e+01] [-2.89151853e-02 -1.32466691e-04 9.99581860e-01 -8.87919878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.650385723 meters 0.014321633708497657 Centerline is valid? [True, True] Translation: X:231.22, Y:-59.38, Z:-8.88 [[ 8.01177089e-01 5.97995204e-01 2.27378192e-02 2.31215445e+02] [-5.97764738e-01 8.01499627e-01 -1.66032117e-02 -5.93793968e+01] [-2.81529946e-02 -2.89753701e-04 9.99603584e-01 -8.88301575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.710385723 meters 0.014597812357764388 Centerline is valid? [True, True] Translation: X:231.26, Y:-59.42, Z:-8.88 [[ 7.99735201e-01 5.99869951e-01 2.40759158e-02 2.31261873e+02] [-5.99612134e-01 8.00097435e-01 -1.75893057e-02 -5.94204167e+01] [-2.98143744e-02 -3.69424261e-04 9.99555384e-01 -8.88147270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.770385723 meters 0.0151787783947477 Centerline is valid? [True, True] Translation: X:231.31, Y:-59.45, Z:-8.89 [[ 7.97950700e-01 6.02218591e-01 2.46464798e-02 2.31313744e+02] [-6.01949255e-01 7.98331107e-01 -1.80149472e-02 -5.94522450e+01] [-3.05249876e-02 -4.60890400e-04 9.99533898e-01 -8.88656186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.830385723 meters 0.015899892131076235 Centerline is valid? [True, True] Translation: X:231.36, Y:-59.49, Z:-8.89 [[ 7.96551404e-01 6.04152693e-01 2.24807518e-02 2.31361931e+02] [-6.03929198e-01 7.96868427e-01 -1.64387739e-02 -5.94895501e+01] [-2.78457309e-02 -4.82453975e-04 9.99612116e-01 -8.89124557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.890385723 meters 0.01654081703902428 Centerline is valid? [True, True] Translation: X:231.41, Y:-59.53, Z:-8.89 [[ 7.95948850e-01 6.05006669e-01 2.07932354e-02 2.31407490e+02] [-6.04815607e-01 7.96220265e-01 -1.52108648e-02 -5.95327024e+01] [-2.57586701e-02 -4.69002945e-04 9.99668080e-01 -8.89180264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.950385723 meters 0.015829733738268677 Centerline is valid? [True, True] Translation: X:231.46, Y:-59.57, Z:-8.89 [[ 7.96252211e-01 6.04576299e-01 2.16775074e-02 2.31457160e+02] [-6.04368263e-01 7.96547098e-01 -1.58657814e-02 -5.95700254e+01] [-2.68592310e-02 -4.68033981e-04 9.99639116e-01 -8.89470000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.010385723 meters 0.016236134980988248 Centerline is valid? [True, True] Translation: X:231.50, Y:-59.61, Z:-8.90 [[ 7.97508089e-01 6.02974753e-01 2.00573091e-02 2.31500819e+02] [-6.02795979e-01 7.97760180e-01 -1.46868316e-02 -5.96144002e+01] [-2.48567112e-02 -3.77598297e-04 9.99690953e-01 -8.89672412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07038572300002 meters 0.015081294621714562 Centerline is valid? [True, True] Translation: X:231.55, Y:-59.66, Z:-8.90 [[ 7.98883437e-01 6.01173074e-01 1.93955896e-02 2.31545808e+02] [-6.01005232e-01 7.99118791e-01 -1.42080687e-02 -5.96581634e+01] [-2.40408884e-02 -3.06260087e-04 9.99710929e-01 -8.89578546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13038572300002 meters 0.014826053647468073 Centerline is valid? [True, True] Translation: X:231.59, Y:-59.70, Z:-8.90 [[ 8.00292961e-01 5.99302897e-01 1.91628416e-02 2.31593090e+02] [-5.99138346e-01 8.00522317e-01 -1.40450135e-02 -5.96969189e+01] [-2.37574996e-02 -2.41067745e-04 9.99717722e-01 -8.89978480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.190385723 meters 0.014629118731364393 Centerline is valid? [True, True] Translation: X:231.64, Y:-59.74, Z:-8.90 [[ 8.01429598e-01 5.97725839e-01 2.08427756e-02 2.31636310e+02] [-5.97530380e-01 8.01700555e-01 -1.52861199e-02 -5.97441050e+01] [-2.58465736e-02 -2.03442692e-04 9.99665901e-01 -8.89671129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.250385723 meters 0.01465332060436222 Centerline is valid? [True, True] Translation: X:231.68, Y:-59.78, Z:-8.90 [[ 8.02457220e-01 5.96272450e-01 2.28380215e-02 2.31682569e+02] [-5.96037119e-01 8.02782123e-01 -1.67515893e-02 -5.97842015e+01] [-2.83224665e-02 -1.69874798e-04 9.99598824e-01 -8.89702907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.310385723 meters 0.014503646691016447 Centerline is valid? [True, True] Translation: X:231.73, Y:-59.83, Z:-8.90 [[ 8.03153292e-01 5.95358154e-01 2.22139113e-02 2.31729161e+02] [-5.95134974e-01 8.03460424e-01 -1.63006376e-02 -5.98269000e+01] [-2.75527161e-02 -1.28364777e-04 9.99620344e-01 -8.89916291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.370385723 meters 0.014688301363385725 Centerline is valid? [True, True] Translation: X:231.77, Y:-59.87, Z:-8.90 [[ 8.02540487e-01 5.96248502e-01 2.04081333e-02 2.31773063e+02] [-5.96060179e-01 8.02799916e-01 -1.49852643e-02 -5.98698045e+01] [-2.53185891e-02 -1.38194275e-04 9.99679424e-01 -8.90157770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.430385723 meters 0.015191781323675843 Centerline is valid? [True, True] Translation: X:231.82, Y:-59.91, Z:-8.91 [[ 8.01542870e-01 5.97590441e-01 2.03640171e-02 2.31822482e+02] [-5.97403312e-01 8.01801492e-01 -1.49549373e-02 -5.99085496e+01] [-2.52648269e-02 -1.78507887e-04 9.99680777e-01 -8.90552937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.490385723 meters 0.014788114599677018 Centerline is valid? [True, True] Translation: X:231.87, Y:-59.95, Z:-8.91 [[ 8.02043491e-01 5.96915339e-01 2.04528034e-02 2.31867445e+02] [-5.96726128e-01 8.02304216e-01 -1.50290588e-02 -5.99529871e+01] [-2.53804462e-02 -1.50763435e-04 9.99677853e-01 -8.90649055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.550385723 meters 0.014866419557157994 Centerline is valid? [True, True] Translation: X:231.91, Y:-59.99, Z:-8.91 [[ 8.03840579e-01 5.94477739e-01 2.08935582e-02 2.31914055e+02] [-5.94279205e-01 8.04112065e-01 -1.53627173e-02 -5.99934785e+01] [-2.59335556e-02 -6.74315647e-05 9.99663667e-01 -8.90804673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.610385723 meters 0.017040653644526522 Centerline is valid? [True, True] Translation: X:231.96, Y:-60.04, Z:-8.91 [[ 8.06582720e-01 5.90820105e-01 1.88658076e-02 2.31959820e+02] [-5.90657098e-01 8.06803322e-01 -1.38777648e-02 -6.00351899e+01] [-2.34202587e-02 5.03421287e-05 9.99725707e-01 -8.91244569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.670385723 meters 0.014999877233628538 Centerline is valid? [True, True] Translation: X:232.01, Y:-60.08, Z:-8.91 [[ 8.07136669e-01 5.90051483e-01 1.92261884e-02 2.32007104e+02] [-5.89881808e-01 8.07365618e-01 -1.41496011e-02 -6.00778266e+01] [-2.38715566e-02 7.94830959e-05 9.99715031e-01 -8.91369840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.730385723 meters 0.015457081872927981 Centerline is valid? [True, True] Translation: X:232.05, Y:-60.12, Z:-8.92 [[ 8.09432725e-01 5.86847803e-01 2.06958874e-02 2.32052994e+02] [-5.86649891e-01 8.09697238e-01 -1.52409798e-02 -6.01204633e+01] [-2.57015384e-02 1.95307720e-04 9.99669642e-01 -8.91574022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.790385723 meters 0.01585945811188584 Centerline is valid? [True, True] Translation: X:232.10, Y:-60.16, Z:-8.92 [[ 8.10960956e-01 5.84798918e-01 1.87764257e-02 2.32099405e+02] [-5.84635318e-01 8.11178259e-01 -1.38339249e-02 -6.01619666e+01] [-2.33210926e-02 2.41411385e-04 9.99727997e-01 -8.91900698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85038572300002 meters 0.016241518198405115 Centerline is valid? [True, True] Translation: X:232.15, Y:-60.20, Z:-8.92 [[ 8.11639924e-01 5.83883460e-01 1.79091925e-02 2.32146223e+02] [-5.83734268e-01 8.11837446e-01 -1.32010095e-02 -6.02023226e+01] [-2.22472041e-02 2.60256973e-04 9.99752466e-01 -8.92254632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.910385723 meters 0.015170466326318858 Centerline is valid? [True, True] Translation: X:232.20, Y:-60.24, Z:-8.92 [[ 8.08581307e-01 5.88115576e-01 1.77859164e-02 2.32197873e+02] [-5.87969315e-01 8.08776884e-01 -1.31162718e-02 -6.02368775e+01] [-2.20987218e-02 1.47999124e-04 9.99755782e-01 -8.92433152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.970385723 meters 0.014760573899639228 Centerline is valid? [True, True] Translation: X:232.25, Y:-60.27, Z:-8.93 [[ 8.05677340e-01 5.92087707e-01 1.77811762e-02 2.32249993e+02] [-5.91942342e-01 8.05873529e-01 -1.31193818e-02 -6.02703046e+01] [-2.20972039e-02 4.45575237e-05 9.99755826e-01 -8.92799856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.030385723 meters 0.014699146489052987 Centerline is valid? [True, True] Translation: X:232.30, Y:-60.30, Z:-8.93 [[ 8.02817706e-01 5.95906461e-01 1.94735688e-02 2.32300774e+02] [-5.95733013e-01 8.03053850e-01 -1.43767662e-02 -6.03043511e+01] [-2.42055323e-02 -5.91253486e-05 9.99707001e-01 -8.92998028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.090385723 meters 0.014818031499338734 Centerline is valid? [True, True] Translation: X:232.35, Y:-60.34, Z:-8.93 [[ 8.02065510e-01 5.96879669e-01 2.06295363e-02 2.32353352e+02] [-5.96685092e-01 8.02330763e-01 -1.52396817e-02 -6.03384075e+01] [-2.56479677e-02 -8.61137026e-05 9.99671033e-01 -8.93389687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.150385723 meters 0.015019033308789353 Centerline is valid? [True, True] Translation: X:232.40, Y:-60.38, Z:-8.94 [[ 8.02856247e-01 5.95764800e-01 2.20488007e-02 2.32402826e+02] [-5.95542061e-01 8.03158950e-01 -1.62896755e-02 -6.03755924e+01] [-2.74135069e-02 -5.27205092e-05 9.99624178e-01 -8.93528006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.210385723 meters 0.014971850010146124 Centerline is valid? [True, True] Translation: X:232.45, Y:-60.41, Z:-8.94 [[ 8.04082144e-01 5.94033762e-01 2.39957340e-02 2.32452701e+02] [-5.93768884e-01 8.04440109e-01 -1.77376254e-02 -6.04126709e+01] [-2.98398793e-02 1.45876787e-05 9.99554692e-01 -8.93619892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.270385723 meters 0.015056368400043154 Centerline is valid? [True, True] Translation: X:232.50, Y:-60.45, Z:-8.94 [[ 8.04166549e-01 5.93895972e-01 2.45710406e-02 2.32504220e+02] [-5.93617894e-01 8.04541841e-01 -1.81720292e-02 -6.04490424e+01] [-3.05607252e-02 2.75286479e-05 9.99532912e-01 -8.94000643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.330385723 meters 0.015044456154403472 Centerline is valid? [True, True] Translation: X:232.55, Y:-60.49, Z:-8.94 [[ 8.04236765e-01 5.93877209e-01 2.26514395e-02 2.32553877e+02] [-5.93640632e-01 8.04555691e-01 -1.67612744e-02 -6.04859238e+01] [-2.81784834e-02 3.32182197e-05 9.99602907e-01 -8.94463350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.390385723 meters 0.015263371743975249 Centerline is valid? [True, True] Translation: X:232.60, Y:-60.52, Z:-8.95 [[ 8.06135103e-01 5.91270989e-01 2.33412539e-02 2.32602371e+02] [-5.91018425e-01 8.06472938e-01 -1.72806865e-02 -6.05247043e+01] [-2.90416582e-02 1.35456899e-04 9.99578193e-01 -8.94811770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.450385723 meters 0.015542884561355299 Centerline is valid? [True, True] Translation: X:232.65, Y:-60.56, Z:-8.95 [[ 8.08676667e-01 5.87739992e-01 2.45713410e-02 2.32652213e+02] [-5.87458145e-01 8.09049826e-01 -1.82018447e-02 -6.05608663e+01] [-3.05773913e-02 2.84772677e-04 9.99532362e-01 -8.95206477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.510385723 meters 0.016271639562807968 Centerline is valid? [True, True] Translation: X:232.70, Y:-60.60, Z:-8.95 [[ 8.11224344e-01 5.84073464e-01 2.78074265e-02 2.32697422e+02] [-5.83709891e-01 8.11700653e-01 -2.06110067e-02 -6.06035240e+01] [-3.46096484e-02 4.88680469e-04 9.99400787e-01 -8.95065731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57038572300002 meters 0.016999822865597827 Centerline is valid? [True, True] Translation: X:232.74, Y:-60.64, Z:-8.95 [[ 8.12674398e-01 5.82028098e-01 2.83481288e-02 2.32743306e+02] [-5.81648613e-01 8.13168456e-01 -2.10226890e-02 -6.06445486e+01] [-3.52875998e-02 5.95951356e-04 9.99377021e-01 -8.95085167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63038572300002 meters 0.01678750036736267 Centerline is valid? [True, True] Translation: X:232.80, Y:-60.68, Z:-8.96 [[ 8.12548228e-01 5.82173929e-01 2.89636663e-02 2.32796457e+02] [-5.81777659e-01 8.13064049e-01 -2.14850621e-02 -6.06777638e+01] [-3.60573588e-02 6.07235215e-04 9.99349538e-01 -8.95696803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.690385723 meters 0.016110763886233122 Centerline is valid? [True, True] Translation: X:232.85, Y:-60.72, Z:-8.96 [[ 8.10290810e-01 5.85426623e-01 2.65418915e-02 2.32846412e+02] [-5.85095257e-01 8.10725282e-01 -1.96991840e-02 -6.07153171e+01] [-3.30506092e-02 4.32532956e-04 9.99453586e-01 -8.96191366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.750385723 meters 0.01615866916813568 Centerline is valid? [True, True] Translation: X:232.90, Y:-60.75, Z:-8.97 [[ 8.09206421e-01 5.86932703e-01 2.63622870e-02 2.32896609e+02] [-5.86606445e-01 8.09635637e-01 -1.95707673e-02 -6.07502335e+01] [-3.28305704e-02 3.72503166e-04 9.99460862e-01 -8.96606863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.810385723 meters 0.01611743727827729 Centerline is valid? [True, True] Translation: X:232.95, Y:-60.79, Z:-8.97 [[ 8.08774996e-01 5.87437748e-01 2.82824893e-02 2.32946755e+02] [-5.87062161e-01 8.09269265e-01 -2.10065456e-02 -6.07856847e+01] [-3.52281872e-02 3.85989492e-04 9.99379220e-01 -8.96689612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.870385723 meters 0.016381640452645046 Centerline is valid? [True, True] Translation: X:233.00, Y:-60.82, Z:-8.97 [[ 8.08960241e-01 5.87081233e-01 3.03142606e-02 2.32996202e+02] [-5.86649067e-01 8.09527907e-01 -2.25264150e-02 -6.08244717e+01] [-3.77650755e-02 4.39141438e-04 9.99286549e-01 -8.96671173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.930385723 meters 0.016373862817995324 Centerline is valid? [True, True] Translation: X:233.05, Y:-60.86, Z:-8.97 [[ 8.09125038e-01 5.86766941e-01 3.19566897e-02 2.33047221e+02] [-5.86285869e-01 8.09755715e-01 -2.37605310e-02 -6.08600597e+01] [-3.98190062e-02 4.89484966e-04 9.99206789e-01 -8.96944581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.990385723 meters 0.016424295710267225 Centerline is valid? [True, True] Translation: X:233.10, Y:-60.90, Z:-8.97 [[ 8.09641311e-01 5.86078466e-01 3.15115646e-02 2.33096752e+02] [-5.85609728e-01 8.10254130e-01 -2.34412421e-02 -6.08971115e+01] [-3.92707826e-02 5.25519230e-04 9.99228467e-01 -8.97328475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.050385723 meters 0.016553069023230893 Centerline is valid? [True, True] Translation: X:233.15, Y:-60.94, Z:-8.97 [[ 8.09303448e-01 5.86565650e-01 3.11234240e-02 2.33145203e+02] [-5.86108295e-01 8.09901527e-01 -2.31642672e-02 -6.09372487e+01] [-3.87942721e-02 5.05224319e-04 9.99247091e-01 -8.97487770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.110385723 meters 0.01675081861217922 Centerline is valid? [True, True] Translation: X:233.19, Y:-60.98, Z:-8.98 [[ 8.09000204e-01 5.87067475e-01 2.95033814e-02 2.33193182e+02] [-5.86656407e-01 8.09537870e-01 -2.19703802e-02 -6.09757261e+01] [-3.67822002e-02 4.65694330e-04 9.99323197e-01 -8.97752825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.170385723 meters 0.016573747522207617 Centerline is valid? [True, True] Translation: X:233.24, Y:-61.01, Z:-8.98 [[ 8.08395613e-01 5.87899313e-01 2.95115184e-02 2.33244150e+02] [-5.87488341e-01 8.08933996e-01 -2.19826946e-02 -6.10112538e+01] [-3.67964816e-02 4.33040898e-04 9.99322686e-01 -8.98098710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.230385723 meters 0.0161307821382957 Centerline is valid? [True, True] Translation: X:233.30, Y:-61.05, Z:-8.98 [[ 8.06794231e-01 5.90087014e-01 2.96712792e-02 2.33295079e+02] [-5.89672643e-01 8.07339580e-01 -2.21128151e-02 -6.10463433e+01] [-3.70032831e-02 3.44150000e-04 9.99315085e-01 -8.98235570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.290385723 meters 0.016085418759866712 Centerline is valid? [True, True] Translation: X:233.35, Y:-61.08, Z:-8.98 [[ 8.06107170e-01 5.90985687e-01 3.04490937e-02 2.33345708e+02] [-5.90549488e-01 8.06681979e-01 -2.27043402e-02 -6.10834363e+01] [-3.79806752e-02 3.20434717e-04 9.99278422e-01 -8.98240006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35038572300002 meters 0.016046098242862853 Centerline is valid? [True, True] Translation: X:233.40, Y:-61.12, Z:-8.99 [[ 8.06206759e-01 5.90840889e-01 3.06219644e-02 2.33397761e+02] [-5.90399101e-01 8.06788032e-01 -2.28467502e-02 -6.11180128e+01] [-3.82042286e-02 3.40024212e-04 9.99269894e-01 -8.98653327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.410385723 meters 0.016032041137788066 Centerline is valid? [True, True] Translation: X:233.45, Y:-61.15, Z:-8.99 [[ 8.04959717e-01 5.92616104e-01 2.90862200e-02 2.33446754e+02] [-5.92218249e-01 8.05485003e-01 -2.17130244e-02 -6.11538779e+01] [-3.62960019e-02 2.52719702e-04 9.99341051e-01 -8.98917682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.470385723 meters 0.015884197042750223 Centerline is valid? [True, True] Translation: X:233.50, Y:-61.19, Z:-8.99 [[ 8.03487961e-01 5.94683402e-01 2.75453747e-02 2.33499458e+02] [-5.94327498e-01 8.03959965e-01 -2.05717958e-02 -6.11872096e+01] [-3.43790840e-02 1.58216598e-04 9.99408852e-01 -8.99394503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.530385723 meters 0.015863067432126204 Centerline is valid? [True, True] Translation: X:233.55, Y:-61.22, Z:-9.00 [[ 8.00838776e-01 5.98310094e-01 2.61206002e-02 2.33552146e+02] [-5.97991690e-01 8.01264645e-01 -1.95168606e-02 -6.12211907e+01] [-3.26066482e-02 9.95692532e-06 9.99468262e-01 -8.99870348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.590385723 meters 0.016009359273267302 Centerline is valid? [True, True] Translation: X:233.60, Y:-61.26, Z:-9.00 [[ 7.98844212e-01 6.00949617e-01 2.65985717e-02 2.33603454e+02] [-6.00620520e-01 7.99286901e-01 -1.98857011e-02 -6.12574917e+01] [-3.32101944e-02 -9.00706757e-05 9.99448385e-01 -8.99950881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.650385723 meters 0.016215216576488778 Centerline is valid? [True, True] Translation: X:233.66, Y:-61.29, Z:-9.00 [[ 7.96018966e-01 6.04636111e-01 2.77304693e-02 2.33655777e+02] [-6.04280200e-01 7.96501798e-01 -2.07443015e-02 -6.12910671e+01] [-3.46301224e-02 -2.44116111e-04 9.99400168e-01 -8.99998751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.710385723 meters 0.01648562229804101 Centerline is valid? [True, True] Translation: X:233.71, Y:-61.33, Z:-9.00 [[ 7.94084636e-01 6.07096636e-01 2.93813692e-02 2.33706705e+02] [-6.06698323e-01 7.94627927e-01 -2.19909493e-02 -6.13262134e+01] [-3.66978878e-02 -3.62952440e-04 9.99326340e-01 -9.00173994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.770385723 meters 0.016487450616328163 Centerline is valid? [True, True] Translation: X:233.76, Y:-61.36, Z:-9.00 [[ 7.93991699e-01 6.07184936e-01 3.00605203e-02 2.33756248e+02] [-6.06767619e-01 7.94560457e-01 -2.25108298e-02 -6.13645963e+01] [-3.75531375e-02 -3.66338326e-04 9.99294565e-01 -9.00323017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.830385723 meters 0.01652254266384761 Centerline is valid? [True, True] Translation: X:233.80, Y:-61.40, Z:-9.00 [[ 7.94738971e-01 6.06170439e-01 3.07793265e-02 2.33803831e+02] [-6.05731637e-01 7.95334709e-01 -2.30626087e-02 -6.14030706e+01] [-3.84597383e-02 -3.15257878e-04 9.99260101e-01 -9.00457895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.890385723 meters 0.01633676095534519 Centerline is valid? [True, True] Translation: X:233.85, Y:-61.44, Z:-9.01 [[ 7.94850662e-01 6.06063211e-01 2.99968352e-02 2.33854399e+02] [-6.05645984e-01 7.95416431e-01 -2.24865388e-02 -6.14411211e+01] [-3.74882395e-02 -2.94022509e-04 9.99297026e-01 -9.00840472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.950385723 meters 0.01643821449881683 Centerline is valid? [True, True] Translation: X:233.91, Y:-61.48, Z:-9.01 [[ 7.94134893e-01 6.07080337e-01 2.83414091e-02 2.33905062e+02] [-6.06708148e-01 7.94640400e-01 -2.12569308e-02 -6.14786372e+01] [-3.54258934e-02 -3.14093370e-04 9.99372257e-01 -9.01333210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.010385723 meters 0.016664084829711823 Centerline is valid? [True, True] Translation: X:233.96, Y:-61.52, Z:-9.02 [[ 7.93938719e-01 6.07362543e-01 2.77858160e-02 2.33955028e+02] [-6.07004563e-01 7.94424726e-01 -2.08522165e-02 -6.15150801e+01] [-3.47385945e-02 -3.10735039e-04 9.99396385e-01 -9.01657404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07038572300002 meters 0.017291371043217672 Centerline is valid? [True, True] Translation: X:234.00, Y:-61.56, Z:-9.02 [[ 7.94915114e-01 6.06112949e-01 2.71487579e-02 2.34002421e+02] [-6.05770089e-01 7.95378548e-01 -2.03854078e-02 -6.15562267e+01] [-3.39493993e-02 -2.41236718e-04 9.99423524e-01 -9.01883756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13038572300002 meters 0.01617581197427481 Centerline is valid? [True, True] Translation: X:234.05, Y:-61.59, Z:-9.02 [[ 7.96711461e-01 6.03766838e-01 2.67666669e-02 2.34050148e+02] [-6.03432123e-01 7.97160954e-01 -2.01018824e-02 -6.15946123e+01] [-3.34741917e-02 -1.36466534e-04 9.99439573e-01 -9.02000163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.190385723 meters 0.016165532027034465 Centerline is valid? [True, True] Translation: X:234.10, Y:-61.63, Z:-9.02 [[ 7.98342126e-01 6.01638164e-01 2.61030533e-02 2.34099130e+02] [-6.01318550e-01 7.98768752e-01 -1.96082448e-02 -6.16338851e+01] [-3.26473717e-02 -4.21623570e-05 9.99466932e-01 -9.02361678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.250385723 meters 0.01621457196745456 Centerline is valid? [True, True] Translation: X:234.15, Y:-61.67, Z:-9.02 [[ 7.99490803e-01 6.00082854e-01 2.67399410e-02 2.34146993e+02] [-5.99746184e-01 7.99937852e-01 -2.00984396e-02 -6.16736335e+01] [-3.34510200e-02 3.13400748e-05 9.99440358e-01 -9.02484630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.310385723 meters 0.016569962136368258 Centerline is valid? [True, True] Translation: X:234.20, Y:-61.71, Z:-9.02 [[ 8.01625012e-01 5.97133764e-01 2.87855341e-02 2.34195545e+02] [-5.96741252e-01 8.02141656e-01 -2.16481311e-02 -6.17137047e+01] [-3.60169060e-02 1.76167661e-04 9.99351165e-01 -9.02354480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.370385723 meters 0.01657147806020669 Centerline is valid? [True, True] Translation: X:234.25, Y:-61.75, Z:-9.03 [[ 8.00534435e-01 5.98624636e-01 2.81631492e-02 2.34247569e+02] [-5.98249425e-01 8.01029670e-01 -2.11918224e-02 -6.17482587e+01] [-3.52454650e-02 1.16195744e-04 9.99378679e-01 -9.02756346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.430385723 meters 0.016569713904866855 Centerline is valid? [True, True] Translation: X:234.30, Y:-61.79, Z:-9.03 [[ 7.98752992e-01 6.01038928e-01 2.73105327e-02 2.34296507e+02] [-6.00687115e-01 7.99219749e-01 -2.05616852e-02 -6.17855067e+01] [-3.41854903e-02 1.86224478e-05 9.99415505e-01 -9.02848404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.490385723 meters 0.01906621788758047 Centerline is valid? [True, True] Translation: X:234.35, Y:-61.82, Z:-9.03 [[ 7.98980999e-01 6.00741489e-01 2.71850439e-02 2.34347061e+02] [-6.00392367e-01 7.99443345e-01 -2.04778808e-02 -6.18221223e+01] [-3.40348150e-02 3.97448579e-05 9.99420647e-01 -9.03451634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.550385723 meters 0.01664721847769495 Centerline is valid? [True, True] Translation: X:234.40, Y:-61.86, Z:-9.04 [[ 7.96953760e-01 6.03463770e-01 2.63852565e-02 2.34400983e+02] [-6.03136017e-01 7.97390415e-01 -1.98864661e-02 -6.18551167e+01] [-3.30401124e-02 -6.53045370e-05 9.99454024e-01 -9.03535512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.610385723 meters 0.016568589116417266 Centerline is valid? [True, True] Translation: X:234.45, Y:-61.89, Z:-9.04 [[ 7.96349980e-01 6.04331913e-01 2.46910455e-02 2.34450707e+02] [-6.04045023e-01 7.96732660e-01 -1.86193252e-02 -6.18933163e+01] [-3.09244148e-02 -8.70039135e-05 9.99521722e-01 -9.03647804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.670385723 meters 0.016627663488304772 Centerline is valid? [True, True] Translation: X:234.50, Y:-61.93, Z:-9.04 [[ 7.97000487e-01 6.03473587e-01 2.46952140e-02 2.34501208e+02] [-6.03185862e-01 7.97382987e-01 -1.86329637e-02 -6.19315302e+01] [-3.09360449e-02 -4.53227848e-05 9.99521365e-01 -9.03887012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.730385723 meters 0.016536538818411262 Centerline is valid? [True, True] Translation: X:234.55, Y:-61.97, Z:-9.04 [[ 7.99088545e-01 6.00689458e-01 2.50932773e-02 2.34552309e+02] [-6.00390663e-01 7.99482439e-01 -1.89441686e-02 -6.19679163e+01] [-3.14411969e-02 7.22987324e-05 9.99505601e-01 -9.04079278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.790385723 meters 0.01666501243990253 Centerline is valid? [True, True] Translation: X:234.60, Y:-62.01, Z:-9.04 [[ 8.00871630e-01 5.98294794e-01 2.54553015e-02 2.34601282e+02] [-5.97985743e-01 8.01276050e-01 -1.92287095e-02 -6.20063070e+01] [-3.19011602e-02 1.77820561e-04 9.99491013e-01 -9.04027823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85038572300002 meters 0.016805588264021048 Centerline is valid? [True, True] Translation: X:234.65, Y:-62.04, Z:-9.04 [[ 8.01872655e-01 5.96925957e-01 2.60700416e-02 2.34651580e+02] [-5.96600755e-01 8.02296293e-01 -1.97027222e-02 -6.20437244e+01] [-3.26769640e-02 2.45667628e-04 9.99465935e-01 -9.04107884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.910385723 meters 0.016998013008884615 Centerline is valid? [True, True] Translation: X:234.70, Y:-62.08, Z:-9.05 [[ 8.03370193e-01 5.94929608e-01 2.55948191e-02 2.34704030e+02] [-5.94614791e-01 8.03777738e-01 -1.93545236e-02 -6.20763609e+01] [-3.20871250e-02 3.29789349e-04 9.99485021e-01 -9.04659725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.970385723 meters 0.016992168578026493 Centerline is valid? [True, True] Translation: X:234.75, Y:-62.11, Z:-9.05 [[ 8.04268948e-01 5.93832798e-01 2.26730520e-02 2.34754568e+02] [-5.93585127e-01 8.04588401e-01 -1.71523348e-02 -6.21126682e+01] [-2.84280937e-02 3.36703821e-04 9.99595783e-01 -9.04979857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.030385723 meters 0.01970405532553868 Centerline is valid? [True, True] Translation: X:234.81, Y:-62.15, Z:-9.06 [[ 8.06316778e-01 5.91096204e-01 2.14133680e-02 2.34805404e+02] [-5.90874122e-01 8.06600958e-01 -1.62069782e-02 -6.21481285e+01] [-2.68519264e-02 4.15353386e-04 9.99639336e-01 -9.05513703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.090385723 meters 0.017227245267867012 Centerline is valid? [True, True] Translation: X:234.86, Y:-62.18, Z:-9.06 [[ 8.05625249e-01 5.92085512e-01 2.00675048e-02 2.34858497e+02] [-5.91890619e-01 8.05875061e-01 -1.51947658e-02 -6.21823009e+01] [-2.51685024e-02 3.63519148e-04 9.99683157e-01 -9.05541186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.150385723 meters 0.01745090648590337 Centerline is valid? [True, True] Translation: X:234.91, Y:-62.22, Z:-9.06 [[ 8.04527063e-01 5.93595001e-01 1.95238310e-02 2.34909913e+02] [-5.93410757e-01 8.04763863e-01 -1.47918417e-02 -6.22165771e+01] [-2.44924369e-02 3.14785639e-04 9.99699966e-01 -9.05777315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.210385723 meters 0.016618972411395812 Centerline is valid? [True, True] Translation: X:234.96, Y:-62.25, Z:-9.06 [[ 8.02032529e-01 5.96873142e-01 2.20516329e-02 2.34963458e+02] [-5.96639050e-01 8.02335584e-01 -1.67168930e-02 -6.22477810e+01] [-2.76706742e-02 2.50626701e-04 9.99617062e-01 -9.05689107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.270385723 meters 0.016100138057346572 Centerline is valid? [True, True] Translation: X:235.02, Y:-62.28, Z:-9.06 [[ 7.99052620e-01 6.00845433e-01 2.23534595e-02 2.35019524e+02] [-6.00606195e-01 7.99365218e-01 -1.69542707e-02 -6.22759889e+01] [-2.80554742e-02 1.21728194e-04 9.99606360e-01 -9.05856256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.330385723 meters 0.016040829155848105 Centerline is valid? [True, True] Translation: X:235.07, Y:-62.31, Z:-9.06 [[ 7.96712109e-01 6.04002496e-01 2.07557522e-02 2.35074182e+02] [-6.03797135e-01 7.96982425e-01 -1.57491112e-02 -6.23076361e+01] [-2.60544722e-02 1.52438173e-05 9.99660524e-01 -9.06085444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.390385723 meters 0.016008383394860264 Centerline is valid? [True, True] Translation: X:235.13, Y:-62.34, Z:-9.06 [[ 7.97041377e-01 6.03601229e-01 1.97635880e-02 2.35126112e+02] [-6.03414694e-01 7.97286370e-01 -1.50050469e-02 -6.23406619e+01] [-2.48143041e-02 3.40038376e-05 9.99692077e-01 -9.06299115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.450385723 meters 0.015888602551792242 Centerline is valid? [True, True] Translation: X:235.18, Y:-62.38, Z:-9.06 [[ 7.98227589e-01 6.02016143e-01 2.02306649e-02 2.35178420e+02] [-6.01820012e-01 7.98483910e-01 -1.53661477e-02 -6.23762800e+01] [-2.54045294e-02 9.04640018e-05 9.99677249e-01 -9.06305473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.510385723 meters 0.018625672312779867 Centerline is valid? [True, True] Translation: X:235.23, Y:-62.41, Z:-9.07 [[ 8.01282281e-01 5.97951067e-01 2.00306559e-02 2.35229489e+02] [-5.97757293e-01 8.01532576e-01 -1.52232746e-02 -6.24109739e+01] [-2.51579965e-02 2.24669570e-04 9.99683462e-01 -9.06784083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57038572300002 meters 0.020695343033150508 Centerline is valid? [True, True] Translation: X:235.28, Y:-62.45, Z:-9.07 [[ 8.04275275e-01 5.93958965e-01 1.88156824e-02 2.35279169e+02] [-5.93786726e-01 8.04495268e-01 -1.43069303e-02 -6.24472669e+01] [-2.36348570e-02 3.34207869e-04 9.99720602e-01 -9.07121601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63038572300002 meters 0.01715694861075166 Centerline is valid? [True, True] Translation: X:235.33, Y:-62.48, Z:-9.07 [[ 8.05392743e-01 5.92411328e-01 1.97825046e-02 2.35328406e+02] [-5.92220269e-01 8.05635559e-01 -1.50498653e-02 -6.24831548e+01] [-2.48531999e-02 4.05452056e-04 9.99691029e-01 -9.06901526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.690385723 meters 0.017238471841176887 Centerline is valid? [True, True] Translation: X:235.38, Y:-62.52, Z:-9.07 [[ 8.07143279e-01 5.89992654e-01 2.06976954e-02 2.35380125e+02] [-5.89782511e-01 8.07408453e-01 -1.57537618e-02 -6.25175974e+01] [-2.60060980e-02 5.08404232e-04 9.99661655e-01 -9.07107994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.750385723 meters 0.019325915787796386 Centerline is valid? [True, True] Translation: X:235.43, Y:-62.55, Z:-9.08 [[ 8.08729866e-01 5.87841316e-01 1.99647514e-02 2.35428975e+02] [-5.87644946e-01 8.08976063e-01 -1.52035422e-02 -6.25541125e+01] [-2.50882763e-02 5.63373410e-04 9.99685081e-01 -9.07636633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.810385723 meters 0.0193580016797522 Centerline is valid? [True, True] Translation: X:235.48, Y:-62.59, Z:-9.08 [[ 8.08952348e-01 5.87580343e-01 1.85860146e-02 2.35480384e+02] [-5.87409961e-01 8.09165652e-01 -1.41592600e-02 -6.25889955e+01] [-2.33588675e-02 5.36556558e-04 9.99727000e-01 -9.07924564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.870385723 meters 0.020533040335587813 Centerline is valid? [True, True] Translation: X:235.53, Y:-62.62, Z:-9.08 [[ 8.08763071e-01 5.87821686e-01 1.91822804e-02 2.35531739e+02] [-5.87640071e-01 8.08990333e-01 -1.46214488e-02 -6.26216471e+01] [-2.41130841e-02 5.53011243e-04 9.99709084e-01 -9.08276103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.930385723 meters 0.021732843986086492 Centerline is valid? [True, True] Translation: X:235.58, Y:-62.66, Z:-9.08 [[ 8.08661974e-01 5.87954420e-01 1.93755588e-02 2.35582932e+02] [-5.87769015e-01 8.08893867e-01 -1.47748978e-02 -6.26575546e+01] [-2.43597371e-02 5.59544927e-04 9.99703101e-01 -9.08451356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.990385723 meters 0.01789049038509577 Centerline is valid? [True, True] Translation: X:235.64, Y:-62.69, Z:-9.08 [[ 8.08544564e-01 5.88112477e-01 1.94782670e-02 2.35635406e+02] [-5.87924947e-01 8.08778954e-01 -1.48613807e-02 -6.26920058e+01] [-2.44937758e-02 5.64329500e-04 9.99699823e-01 -9.08212397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.050385723 meters 0.018386231049035993 Centerline is valid? [True, True] Translation: X:235.69, Y:-62.73, Z:-9.08 [[ 8.09050478e-01 5.87472923e-01 1.76886545e-02 2.35685179e+02] [-5.87317959e-01 8.09243645e-01 -1.35032489e-02 -6.27294033e+01] [-2.22472244e-02 5.35945557e-04 9.99752356e-01 -9.08472452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.110385723 meters 0.0182476946617341 Centerline is valid? [True, True] Translation: X:235.74, Y:-62.76, Z:-9.08 [[ 8.10546041e-01 5.85344559e-01 1.96688398e-02 2.35736104e+02] [-5.85152111e-01 8.10784374e-01 -1.50235114e-02 -6.27648442e+01] [-2.47411186e-02 6.67984555e-04 9.99693669e-01 -9.08405330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.170385723 meters 0.021069569871312574 Centerline is valid? [True, True] Translation: X:235.79, Y:-62.80, Z:-9.09 [[ 8.12053144e-01 5.83284903e-01 1.86658312e-02 2.35785743e+02] [-5.83110819e-01 8.12267339e-01 -1.42668482e-02 -6.28022346e+01] [-2.34832822e-02 7.01190809e-04 9.99723984e-01 -9.08811630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.230385723 meters 0.01902559457011586 Centerline is valid? [True, True] Translation: X:235.83, Y:-62.84, Z:-9.09 [[ 8.11381757e-01 5.84199219e-01 1.92591946e-02 2.35834521e+02] [-5.84014153e-01 8.11609998e-01 -1.47200752e-02 -6.28402035e+01] [-2.42304113e-02 6.95958261e-04 9.99706158e-01 -9.08616036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.290385723 meters 0.01937520636864656 Centerline is valid? [True, True] Translation: X:235.89, Y:-62.87, Z:-9.09 [[ 8.10533157e-01 5.85366410e-01 1.95491040e-02 2.35886225e+02] [-5.85175874e-01 8.10768590e-01 -1.49495643e-02 -6.28736497e+01] [-2.46007722e-02 6.77453515e-04 9.99697126e-01 -9.08836135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35038572300002 meters 0.01787646218380674 Centerline is valid? [True, True] Translation: X:235.94, Y:-62.91, Z:-9.09 [[ 8.08804360e-01 5.87778819e-01 1.87501413e-02 2.35937402e+02] [-5.87604051e-01 8.09021458e-01 -1.43443617e-02 -6.29086039e+01] [-2.36005787e-02 5.84123330e-04 9.99721297e-01 -9.08975128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.410385723 meters 0.01679432102574205 Centerline is valid? [True, True] Translation: X:235.99, Y:-62.94, Z:-9.09 [[ 8.05351767e-01 5.92510679e-01 1.84289530e-02 2.35987933e+02] [-5.92342849e-01 8.05562472e-01 -1.41086118e-02 -6.29443748e+01] [-2.32051761e-02 4.46136937e-04 9.99730624e-01 -9.09111910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.470385723 meters 0.016075150928545737 Centerline is valid? [True, True] Translation: X:236.04, Y:-62.98, Z:-9.10 [[ 8.01783007e-01 5.97330591e-01 1.84438357e-02 2.36040701e+02] [-5.97163717e-01 8.01995056e-01 -1.41218206e-02 -6.29755087e+01] [-2.32272605e-02 3.08646302e-04 9.99730163e-01 -9.09571510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.530385723 meters 0.01761160080941407 Centerline is valid? [True, True] Translation: X:236.09, Y:-63.01, Z:-9.10 [[ 7.98214973e-01 6.02088710e-01 1.84943590e-02 2.36091336e+02] [-6.01922245e-01 7.98429180e-01 -1.41581862e-02 -6.30116904e+01] [-2.32909200e-02 1.69110157e-04 9.99728715e-01 -9.09937909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.590385723 meters 0.014864052920378403 Centerline is valid? [True, True] Translation: X:236.14, Y:-63.05, Z:-9.10 [[ 7.96315891e-01 6.04539226e-01 2.03304190e-02 2.36139685e+02] [-6.04338579e-01 7.96575365e-01 -1.55746692e-02 -6.30518883e+01] [-2.56102094e-02 1.15900008e-04 9.99671998e-01 -9.09686606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.650385723 meters 0.015039391092970457 Centerline is valid? [True, True] Translation: X:236.19, Y:-63.09, Z:-9.10 [[ 7.96092164e-01 6.04852412e-01 1.97693386e-02 2.36191409e+02] [-6.04662780e-01 7.96337585e-01 -1.51450781e-02 -6.30864622e+01] [-2.49036043e-02 1.03094772e-04 9.99689852e-01 -9.10339571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.710385723 meters 0.01482347316199504 Centerline is valid? [True, True] Translation: X:236.24, Y:-63.13, Z:-9.11 [[ 7.95858211e-01 6.05184832e-01 1.90007075e-02 2.36240270e+02] [-6.05009589e-01 7.96084990e-01 -1.45631898e-02 -6.31260963e+01] [-2.39395996e-02 9.46239354e-05 9.99713402e-01 -9.10525698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.770385723 meters 0.014674847300231676 Centerline is valid? [True, True] Translation: X:236.29, Y:-63.17, Z:-9.10 [[ 7.95303150e-01 6.05858144e-01 2.07076811e-02 2.36286720e+02] [-6.05649932e-01 7.95572687e-01 -1.58826742e-02 -6.31681774e+01] [-2.60971130e-02 8.99352121e-05 9.99659408e-01 -9.10452381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.830385723 meters 0.014619199015713017 Centerline is valid? [True, True] Translation: X:236.34, Y:-63.20, Z:-9.11 [[ 7.93752413e-01 6.07816915e-01 2.27091294e-02 2.36336851e+02] [-6.07567005e-01 7.94077198e-01 -1.74280665e-02 -6.32028460e+01] [-2.86258754e-02 3.62521101e-05 9.99590195e-01 -9.10774465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.890385723 meters 0.016763663185016365 Centerline is valid? [True, True] Translation: X:236.39, Y:-63.24, Z:-9.11 [[ 7.92844911e-01 6.09060968e-01 2.10162937e-02 2.36385495e+02] [-6.08847196e-01 7.93123406e-01 -1.61354879e-02 -6.32407619e+01] [-2.64960103e-02 -2.77204753e-06 9.99648919e-01 -9.11190120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.950385723 meters 0.01449119110776044 Centerline is valid? [True, True] Translation: X:236.43, Y:-63.28, Z:-9.11 [[ 7.91567294e-01 6.10729981e-01 2.07390936e-02 2.36430736e+02] [-6.10522179e-01 7.91838928e-01 -1.59305208e-02 -6.32830075e+01] [-2.61512683e-02 -5.15973377e-05 9.99657996e-01 -9.11235521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.010385723 meters 0.014444820095740133 Centerline is valid? [True, True] Translation: X:236.48, Y:-63.32, Z:-9.11 [[ 7.91780402e-01 6.10401100e-01 2.22326872e-02 2.36478800e+02] [-6.10161863e-01 7.92092480e-01 -1.70881467e-02 -6.33218763e+01] [-2.80409678e-02 -3.54781839e-05 9.99606774e-01 -9.11436375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07038572300002 meters 0.014405121106759084 Centerline is valid? [True, True] Translation: X:236.53, Y:-63.36, Z:-9.12 [[ 7.92229590e-01 6.09785936e-01 2.30952151e-02 2.36526186e+02] [-6.09527238e-01 7.92566157e-01 -1.77604483e-02 -6.33624134e+01] [-2.91345574e-02 -6.81004791e-06 9.99575499e-01 -9.11635051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13038572300002 meters 0.014500259446249912 Centerline is valid? [True, True] Translation: X:236.57, Y:-63.41, Z:-9.12 [[ 7.93519049e-01 6.08136405e-01 2.23076409e-02 2.36569664e+02] [-6.07894183e-01 7.93832545e-01 -1.71625548e-02 -6.34089060e+01] [-2.81457057e-02 5.81290439e-05 9.99603829e-01 -9.11804385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.190385723 meters 0.014757643790399266 Centerline is valid? [True, True] Translation: X:236.61, Y:-63.45, Z:-9.12 [[ 7.94418641e-01 6.06999346e-01 2.12324286e-02 2.36614315e+02] [-6.06779261e-01 7.94702324e-01 -1.63445523e-02 -6.34505956e+01] [-2.67945929e-02 1.01019697e-04 9.99640955e-01 -9.12265854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.250385723 meters 0.014993595849380727 Centerline is valid? [True, True] Translation: X:236.66, Y:-63.49, Z:-9.12 [[ 7.96052048e-01 6.04828237e-01 2.19986574e-02 2.36661019e+02] [-6.04590943e-01 7.96355931e-01 -1.69417475e-02 -6.34936494e+01] [-2.77656086e-02 1.86323743e-04 9.99614444e-01 -9.12426083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.310385723 meters 0.01555456914091808 Centerline is valid? [True, True] Translation: X:236.70, Y:-63.54, Z:-9.13 [[ 7.98110933e-01 6.02134911e-01 2.12717572e-02 2.36704735e+02] [-6.01911833e-01 7.98394308e-01 -1.63912722e-02 -6.35383333e+01] [-2.68530071e-02 2.78331135e-04 9.99639354e-01 -9.12719881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.370385723 meters 0.016748271808825085 Centerline is valid? [True, True] Translation: X:236.75, Y:-63.58, Z:-9.13 [[ 7.99672670e-01 6.00033873e-01 2.19766137e-02 2.36750324e+02] [-5.99794728e-01 7.99974509e-01 -1.69431104e-02 -6.35807064e+01] [-2.77471709e-02 3.67485273e-04 9.99614906e-01 -9.12919304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.430385723 meters 0.01806294806478007 Centerline is valid? [True, True] Translation: X:236.80, Y:-63.62, Z:-9.13 [[ 8.01660228e-01 5.97339261e-01 2.29496399e-02 2.36797863e+02] [-5.97077097e-01 8.01988509e-01 -1.77023115e-02 -6.36212372e+01] [-2.89796332e-02 4.88534659e-04 9.99579883e-01 -9.13123973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.490385723 meters 0.016202881580648153 Centerline is valid? [True, True] Translation: X:236.85, Y:-63.66, Z:-9.13 [[ 8.01185881e-01 5.97962387e-01 2.32845069e-02 2.36845474e+02] [-5.97692506e-01 8.01524019e-01 -1.79698535e-02 -6.36608263e+01] [-2.94083880e-02 4.80217569e-04 9.99567364e-01 -9.13290580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.550385723 meters 0.01788005366558732 Centerline is valid? [True, True] Translation: X:236.89, Y:-63.70, Z:-9.14 [[ 8.00973960e-01 5.98204138e-01 2.43418217e-02 2.36893550e+02] [-5.97908993e-01 8.01343596e-01 -1.87956737e-02 -6.36998998e+01] [-3.07498127e-02 5.00651161e-04 9.99526987e-01 -9.13590925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.610385723 meters 0.018084702082470584 Centerline is valid? [True, True] Translation: X:236.94, Y:-63.74, Z:-9.14 [[ 8.00960330e-01 5.98197949e-01 2.49352075e-02 2.36943093e+02] [-5.97887933e-01 8.01348203e-01 -1.92633452e-02 -6.37390557e+01] [-3.15050773e-02 5.20715680e-04 9.99503456e-01 -9.13802051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.670385723 meters 0.016558831656751996 Centerline is valid? [True, True] Translation: X:236.99, Y:-63.78, Z:-9.14 [[ 8.01474010e-01 5.97457588e-01 2.61503717e-02 2.36991757e+02] [-5.97115814e-01 8.01900297e-01 -2.02142946e-02 -6.37783797e+01] [-3.30471746e-02 5.86431251e-04 9.99453621e-01 -9.13794048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.730385723 meters 0.016790115576746575 Centerline is valid? [True, True] Translation: X:237.04, Y:-63.82, Z:-9.14 [[ 8.02103486e-01 5.96598776e-01 2.64555808e-02 2.37039161e+02] [-5.96248170e-01 8.02539404e-01 -2.04603317e-02 -6.38182338e+01] [-3.34382549e-02 6.37211723e-04 9.99440582e-01 -9.13984409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.790385723 meters 0.016224566114578332 Centerline is valid? [True, True] Translation: X:237.09, Y:-63.86, Z:-9.14 [[ 8.00203394e-01 5.99152110e-01 2.62921488e-02 2.37089287e+02] [-5.98806873e-01 8.00635037e-01 -2.03436947e-02 -6.38550142e+01] [-3.32393831e-02 5.35174130e-04 9.99447276e-01 -9.14224294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85038572300002 meters 0.015676136972174383 Centerline is valid? [True, True] Translation: X:237.14, Y:-63.89, Z:-9.14 [[ 7.97842842e-01 6.02268347e-01 2.68260734e-02 2.37139071e+02] [-6.01910339e-01 7.98293593e-01 -2.07673677e-02 -6.38913382e+01] [-3.39226107e-02 4.22204774e-04 9.99424373e-01 -9.14458419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.910385723 meters 0.017533294542981085 Centerline is valid? [True, True] Translation: X:237.19, Y:-63.93, Z:-9.15 [[ 7.95565034e-01 6.05268326e-01 2.69542168e-02 2.37188282e+02] [-6.04908245e-01 7.96021458e-01 -2.08770981e-02 -6.39270670e+01] [-3.40923811e-02 3.04261251e-04 9.99418639e-01 -9.15059021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.970385723 meters 0.017006401084463954 Centerline is valid? [True, True] Translation: X:237.24, Y:-63.96, Z:-9.15 [[ 7.94995717e-01 6.06070394e-01 2.56999630e-02 2.37237716e+02] [-6.05743324e-01 7.95410969e-01 -1.99101820e-02 -6.39646125e+01] [-3.25090043e-02 2.60928343e-04 9.99471409e-01 -9.15339036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.030385723 meters 0.015948086296810132 Centerline is valid? [True, True] Translation: X:237.28, Y:-64.00, Z:-9.15 [[ 7.96550728e-01 6.03997947e-01 2.63328331e-02 2.37284722e+02] [-6.03653083e-01 7.96985789e-01 -2.04109465e-02 -6.40030235e+01] [-3.33150636e-02 3.62458420e-04 9.99444833e-01 -9.15413867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.090385723 meters 0.015435782556466358 Centerline is valid? [True, True] Translation: X:237.33, Y:-64.04, Z:-9.16 [[ 7.98097878e-01 6.01967956e-01 2.59684008e-02 2.37332907e+02] [-6.01631277e-01 7.98520119e-01 -2.01351915e-02 -6.40417754e+01] [-3.28570306e-02 4.46451471e-04 9.99459962e-01 -9.15529819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.150385723 meters 0.020647084120024035 Centerline is valid? [True, True] Translation: X:237.38, Y:-64.09, Z:-9.16 [[ 8.00078429e-01 5.99307747e-01 2.65467857e-02 2.37375989e+02] [-5.98954071e-01 8.00518515e-01 -2.05943744e-02 -6.40856302e+01] [-3.35935616e-02 5.76809374e-04 9.99435411e-01 -9.16139632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.210385723 meters 0.016871068922021518 Centerline is valid? [True, True] Translation: X:237.43, Y:-64.12, Z:-9.16 [[ 8.01391274e-01 5.97514941e-01 2.73481659e-02 2.37428422e+02] [-5.97138190e-01 8.01857490e-01 -2.12261370e-02 -6.41198166e+01] [-3.46122657e-02 6.79806684e-04 9.99400585e-01 -9.16092942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.270385723 meters 0.019029208555943256 Centerline is valid? [True, True] Translation: X:237.48, Y:-64.16, Z:-9.16 [[ 8.00331851e-01 5.98956655e-01 2.68300798e-02 2.37476064e+02] [-5.98594517e-01 8.00781211e-01 -2.08340062e-02 -6.41601108e+01] [-3.39636904e-02 6.13780068e-04 9.99422879e-01 -9.16499498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.330385723 meters 0.017142629677672817 Centerline is valid? [True, True] Translation: X:237.53, Y:-64.20, Z:-9.17 [[ 7.98636682e-01 6.01198392e-01 2.72019156e-02 2.37525732e+02] [-6.00827080e-01 7.99099623e-01 -2.11331785e-02 -6.41967611e+01] [-3.44422734e-02 5.34083987e-04 9.99406546e-01 -9.16580723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.390385723 meters 0.016130188769197754 Centerline is valid? [True, True] Translation: X:237.58, Y:-64.23, Z:-9.17 [[ 7.95818759e-01 6.04920087e-01 2.72798683e-02 2.37577043e+02] [-6.04548467e-01 7.96286093e-01 -2.12039890e-02 -6.42308607e+01] [-3.45492986e-02 3.82529659e-04 9.99402922e-01 -9.16929075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.450385723 meters 0.015358233955329901 Centerline is valid? [True, True] Translation: X:237.63, Y:-64.27, Z:-9.17 [[ 7.93417009e-01 6.08093325e-01 2.66825501e-02 2.37627221e+02] [-6.07739270e-01 7.93865509e-01 -2.07492928e-02 -6.42673417e+01] [-3.37998627e-02 2.46808333e-04 9.99428591e-01 -9.17199778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.510385723 meters 0.01462987846682357 Centerline is valid? [True, True] Translation: X:237.68, Y:-64.31, Z:-9.17 [[ 7.89725861e-01 6.12915679e-01 2.58347651e-02 2.37675434e+02] [-6.12586022e-01 7.90148321e-01 -2.00996625e-02 -6.43066120e+01] [-3.27326945e-02 4.72072989e-05 9.99464141e-01 -9.17194407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57038572300002 meters 0.014628462893212808 Centerline is valid? [True, True] Translation: X:237.73, Y:-64.34, Z:-9.18 [[ 7.86860559e-01 6.16567671e-01 2.63584284e-02 2.37727512e+02] [-6.16226209e-01 7.87301910e-01 -2.05173802e-02 -6.43426220e+01] [-3.34023944e-02 -9.84371069e-05 9.99441979e-01 -9.17619894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63038572300002 meters 0.015416964253265414 Centerline is valid? [True, True] Translation: X:237.77, Y:-64.38, Z:-9.18 [[ 7.85964162e-01 6.17690558e-01 2.68087887e-02 2.37773543e+02] [-6.17337554e-01 7.86421233e-01 -2.08803570e-02 -6.43838473e+01] [-3.39806000e-02 -1.38859689e-04 9.99422483e-01 -9.17933734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.690385723 meters 0.01465721353067931 Centerline is valid? [True, True] Translation: X:237.82, Y:-64.43, Z:-9.18 [[ 7.85567156e-01 6.18271621e-01 2.49889163e-02 2.37820470e+02] [-6.17965040e-01 7.85964490e-01 -1.94686798e-02 -6.44256886e+01] [-3.16773331e-02 -1.48321301e-04 9.99498136e-01 -9.18150293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.750385723 meters 0.017390794781352695 Centerline is valid? [True, True] Translation: X:237.87, Y:-64.47, Z:-9.19 [[ 7.86123235e-01 6.17611056e-01 2.38084520e-02 2.37866217e+02] [-6.17332157e-01 7.86483676e-01 -1.85589847e-02 -6.44685050e+01] [-3.01871930e-02 -1.08073964e-04 9.99544257e-01 -9.18780822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.810385723 meters 0.014631474241178201 Centerline is valid? [True, True] Translation: X:237.91, Y:-64.51, Z:-9.19 [[ 7.85334306e-01 6.18529698e-01 2.59044430e-02 2.37912378e+02] [-6.18199600e-01 7.85761409e-01 -2.02055014e-02 -6.45111333e+01] [-3.28524143e-02 -1.46042853e-04 9.99460203e-01 -9.18508340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.870385723 meters 0.014580800049073356 Centerline is valid? [True, True] Translation: X:237.96, Y:-64.55, Z:-9.19 [[ 7.85340850e-01 6.18494913e-01 2.65290643e-02 2.37959645e+02] [-6.18148272e-01 7.85788790e-01 -2.07048407e-02 -6.45529800e+01] [-3.36520799e-02 -1.38538062e-04 9.99433599e-01 -9.18681714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.930385723 meters 0.014682610757649133 Centerline is valid? [True, True] Translation: X:238.00, Y:-64.60, Z:-9.19 [[ 7.85624970e-01 6.18129900e-01 2.66239185e-02 2.38003649e+02] [-6.17780164e-01 7.86075959e-01 -2.07907694e-02 -6.45990635e+01] [-3.37798185e-02 -1.13981183e-04 9.99429293e-01 -9.18809899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.990385723 meters 0.014676784544343877 Centerline is valid? [True, True] Translation: X:238.05, Y:-64.64, Z:-9.19 [[ 7.86550207e-01 6.16975093e-01 2.60865078e-02 2.38049822e+02] [-6.16638330e-01 7.86982676e-01 -2.03823001e-02 -6.46419344e+01] [-3.31050012e-02 -5.42382107e-05 9.99451878e-01 -9.19186694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.050385723 meters 0.014722693408226396 Centerline is valid? [True, True] Translation: X:238.10, Y:-64.68, Z:-9.19 [[ 7.86427843e-01 6.17163585e-01 2.53052647e-02 2.38095847e+02] [-6.16846432e-01 7.86834866e-01 -1.97831572e-02 -6.46841970e+01] [-3.21205088e-02 -5.14365829e-05 9.99484002e-01 -9.19426803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.110385723 meters 0.014783789454939767 Centerline is valid? [True, True] Translation: X:238.14, Y:-64.73, Z:-9.20 [[ 7.85845620e-01 6.17917446e-01 2.49938281e-02 2.38141699e+02] [-6.17608106e-01 7.86242980e-01 -1.95500111e-02 -6.47271583e+01] [-3.17315148e-02 -7.31003016e-05 9.99496426e-01 -9.19686136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.170385723 meters 0.014758920645096596 Centerline is valid? [True, True] Translation: X:238.19, Y:-64.77, Z:-9.20 [[ 7.84805022e-01 6.19239261e-01 2.49763029e-02 2.38189654e+02] [-6.18930677e-01 7.85202346e-01 -1.95472087e-02 -6.47683651e+01] [-3.17158507e-02 -1.17852499e-04 9.99496919e-01 -9.20018758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.230385723 meters 0.014771869739967537 Centerline is valid? [True, True] Translation: X:238.24, Y:-64.81, Z:-9.20 [[ 7.83648161e-01 6.20772053e-01 2.31865885e-02 2.38235914e+02] [-6.20506492e-01 7.83991092e-01 -1.81565786e-02 -6.48089932e+01] [-2.94491754e-02 -1.59059228e-04 9.99566266e-01 -9.20428716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.290385723 meters 0.014755982838871333 Centerline is valid? [True, True] Translation: X:238.28, Y:-64.85, Z:-9.21 [[ 7.82761475e-01 6.21901842e-01 2.28598275e-02 2.38282774e+02] [-6.21643974e-01 7.83095181e-01 -1.79083175e-02 -6.48506142e+01] [-2.90386364e-02 -1.92732954e-04 9.99578271e-01 -9.20573877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35038572300002 meters 0.014758027475529647 Centerline is valid? [True, True] Translation: X:238.33, Y:-64.89, Z:-9.21 [[ 7.83854996e-01 6.20497486e-01 2.35417535e-02 2.38327376e+02] [-6.20223024e-01 7.84208423e-01 -1.84539950e-02 -6.48932914e+01] [-2.99122989e-02 -1.35881297e-04 9.99552518e-01 -9.20829326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.410385723 meters 0.014716987485912231 Centerline is valid? [True, True] Translation: X:238.37, Y:-64.94, Z:-9.21 [[ 7.84568578e-01 6.19592739e-01 2.36004907e-02 2.38373919e+02] [-6.19316251e-01 7.84923454e-01 -1.85081797e-02 -6.49353910e+01] [-2.99921124e-02 -9.52311560e-05 9.99550131e-01 -9.21228595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.470385723 meters 0.01473878515746804 Centerline is valid? [True, True] Translation: X:238.42, Y:-64.98, Z:-9.21 [[ 7.84339215e-01 6.19886218e-01 2.35174975e-02 2.38422113e+02] [-6.19611488e-01 7.84691702e-01 -1.84536388e-02 -6.49762972e+01] [-2.98931415e-02 -9.77990512e-05 9.99553095e-01 -9.21417177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.530385723 meters 0.015021140279398432 Centerline is valid? [True, True] Translation: X:238.47, Y:-65.02, Z:-9.21 [[ 7.82289850e-01 6.22451374e-01 2.40182688e-02 2.38470024e+02] [-6.22165688e-01 7.82658450e-01 -1.88575400e-02 -6.50165913e+01] [-3.05360028e-02 -1.91280623e-04 9.99533649e-01 -9.21382913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.590385723 meters 0.015331591753553872 Centerline is valid? [True, True] Translation: X:238.52, Y:-65.05, Z:-9.22 [[ 7.80331285e-01 6.24918984e-01 2.36505851e-02 2.38520731e+02] [-6.24642784e-01 7.80689560e-01 -1.85796524e-02 -6.50515612e+01] [-3.00745424e-02 -2.74883344e-04 9.99547621e-01 -9.21777850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.650385723 meters 0.015424845988927247 Centerline is valid? [True, True] Translation: X:238.57, Y:-65.09, Z:-9.22 [[ 7.79339573e-01 6.26193846e-01 2.26074830e-02 2.38572140e+02] [-6.25941796e-01 7.79667349e-01 -1.77677478e-02 -6.50870102e+01] [-2.87523707e-02 -3.03859544e-04 9.99586519e-01 -9.22303727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.710385723 meters 0.015349008751294321 Centerline is valid? [True, True] Translation: X:238.62, Y:-65.13, Z:-9.22 [[ 7.80376334e-01 6.24919922e-01 2.20877469e-02 2.38618828e+02] [-6.24678578e-01 7.80688818e-01 -1.73678637e-02 -6.51261913e+01] [-2.80971810e-02 -2.44272537e-04 9.99605166e-01 -9.22424375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.770385723 meters 0.01487831889044857 Centerline is valid? [True, True] Translation: X:238.67, Y:-65.16, Z:-9.23 [[ 7.83026369e-01 6.21602594e-01 2.19070918e-02 2.38667730e+02] [-6.21363667e-01 7.83332753e-01 -1.72334428e-02 -6.51647066e+01] [-2.78728952e-02 -1.18030784e-04 9.99611468e-01 -9.22923454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.830385723 meters 0.014743873616302205 Centerline is valid? [True, True] Translation: X:238.71, Y:-65.21, Z:-9.23 [[ 7.85036118e-01 6.19059618e-01 2.19882557e-02 2.38714587e+02] [-6.18817684e-01 7.85343994e-01 -1.73056426e-02 -6.52058152e+01] [-2.79815691e-02 -2.11670314e-05 9.99608439e-01 -9.23102746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.890385723 meters 0.015096994360565033 Centerline is valid? [True, True] Translation: X:238.76, Y:-65.25, Z:-9.23 [[ 7.88257921e-01 6.14954076e-01 2.19302301e-02 2.38760265e+02] [-6.14711589e-01 7.88562913e-01 -1.72683302e-02 -6.52459437e+01] [-2.79125962e-02 1.31131439e-04 9.99610359e-01 -9.23392790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.950385723 meters 0.01554444721577687 Centerline is valid? [True, True] Translation: X:238.81, Y:-65.28, Z:-9.24 [[ 7.89480824e-01 6.13408591e-01 2.12115450e-02 2.38807758e+02] [-6.13180994e-01 7.89765703e-01 -1.67093665e-02 -6.52837497e+01] [-2.70018197e-02 1.85208192e-04 9.99635367e-01 -9.23803090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.010385723 meters 0.015371118765588658 Centerline is valid? [True, True] Translation: X:238.86, Y:-65.32, Z:-9.24 [[ 7.89194152e-01 6.13809208e-01 2.02693527e-02 2.38858415e+02] [-6.13601375e-01 7.89454386e-01 -1.59726322e-02 -6.53203927e+01] [-2.58058781e-02 1.68205303e-04 9.99666959e-01 -9.23918674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07038572300002 meters 0.015577713596827096 Centerline is valid? [True, True] Translation: X:238.91, Y:-65.36, Z:-9.24 [[ 7.88553987e-01 6.14571838e-01 2.20014601e-02 2.38908276e+02] [-6.14326942e-01 7.88860842e-01 -1.73487587e-02 -6.53571779e+01] [-2.80181489e-02 1.64343133e-04 9.99607401e-01 -9.23811271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13038572300002 meters 0.015841862652880782 Centerline is valid? [True, True] Translation: X:238.96, Y:-65.39, Z:-9.24 [[ 7.89084395e-01 6.13887103e-01 2.21007249e-02 2.38958361e+02] [-6.13639496e-01 7.89393809e-01 -1.74350998e-02 -6.53946837e+01] [-2.81493583e-02 1.95887488e-04 9.99603709e-01 -9.23869640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.190385723 meters 0.016191574375342316 Centerline is valid? [True, True] Translation: X:239.01, Y:-65.43, Z:-9.24 [[ 7.89316833e-01 6.13599149e-01 2.17950030e-02 2.39007066e+02] [-6.13357968e-01 7.89617654e-01 -1.72035874e-02 -6.54345303e+01] [-2.77658257e-02 2.10942370e-04 9.99614433e-01 -9.24040357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.250385723 meters 0.018372271485337096 Centerline is valid? [True, True] Translation: X:239.06, Y:-65.47, Z:-9.25 [[ 7.89688688e-01 6.13130806e-01 2.15032719e-02 2.39056668e+02] [-6.12895609e-01 7.89981368e-01 -1.69826553e-02 -6.54727162e+01] [-2.73997733e-02 2.31749805e-04 9.99624529e-01 -9.24518797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.310385723 meters 0.017702910992205504 Centerline is valid? [True, True] Translation: X:239.11, Y:-65.51, Z:-9.25 [[ 7.87721274e-01 6.15651334e-01 2.16478435e-02 2.39106293e+02] [-6.15413622e-01 7.88018662e-01 -1.71073577e-02 -6.55079852e+01] [-2.75910722e-02 1.53451874e-04 9.99619282e-01 -9.24719725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.370385723 meters 0.01926089986714856 Centerline is valid? [True, True] Translation: X:239.16, Y:-65.55, Z:-9.25 [[ 7.86073119e-01 6.17759428e-01 2.15020940e-02 2.39156120e+02] [-6.17525489e-01 7.86367142e-01 -1.69996738e-02 -6.55450964e+01] [-2.74102489e-02 8.48955008e-05 9.99624265e-01 -9.25028931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.430385723 meters 0.016679664998448238 Centerline is valid? [True, True] Translation: X:239.21, Y:-65.58, Z:-9.25 [[ 7.83350084e-01 6.21253940e-01 2.01541004e-02 2.39206320e+02] [-6.21049388e-01 7.83609304e-01 -1.59410434e-02 -6.55819771e+01] [-2.56963766e-02 -2.92740200e-05 9.99669793e-01 -9.25066129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.490385723 meters 0.018488233805054915 Centerline is valid? [True, True] Translation: X:239.26, Y:-65.62, Z:-9.25 [[ 7.81794759e-01 6.23216223e-01 1.99623373e-02 2.39256200e+02] [-6.23015979e-01 7.82049572e-01 -1.57973707e-02 -6.56209654e+01] [-2.54567150e-02 -8.65535193e-05 9.99675922e-01 -9.25359231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.550385723 meters 0.019104429782915756 Centerline is valid? [True, True] Translation: X:239.31, Y:-65.66, Z:-9.26 [[ 7.81949562e-01 6.22986874e-01 2.10294505e-02 2.39306299e+02] [-6.22764281e-01 7.82232286e-01 -1.66523500e-02 -6.56580792e+01] [-2.68241106e-02 -7.50928153e-05 9.99640166e-01 -9.25670290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.610385723 meters 0.016810886652554244 Centerline is valid? [True, True] Translation: X:239.36, Y:-65.70, Z:-9.26 [[ 7.81932684e-01 6.23013557e-01 2.08658970e-02 2.39355401e+02] [-6.22794219e-01 7.82211034e-01 -1.65305314e-02 -6.56971664e+01] [-2.66202801e-02 -6.93972752e-05 9.99645615e-01 -9.25577697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.670385723 meters 0.019051217017281512 Centerline is valid? [True, True] Translation: X:239.40, Y:-65.74, Z:-9.26 [[ 7.82183912e-01 6.22751963e-01 1.91916505e-02 2.39402625e+02] [-6.22566140e-01 7.82419318e-01 -1.52122234e-02 -6.57380168e+01] [-2.44893601e-02 -4.93153586e-05 9.99700089e-01 -9.25901519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.730385723 meters 0.017274111907885636 Centerline is valid? [True, True] Translation: X:239.45, Y:-65.77, Z:-9.26 [[ 7.82319157e-01 6.22620943e-01 1.78856975e-02 2.39453358e+02] [-6.22459374e-01 7.82523584e-01 -1.41833670e-02 -6.57743216e+01] [-2.28268415e-02 -3.72004194e-05 9.99739433e-01 -9.26143336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.790385723 meters 0.01766614996593667 Centerline is valid? [True, True] Translation: X:239.50, Y:-65.81, Z:-9.26 [[ 7.83523053e-01 6.21169422e-01 1.54975714e-02 2.39500021e+02] [-6.21047740e-01 7.83676304e-01 -1.22945591e-02 -6.58141809e+01] [-1.97820837e-02 8.33881062e-06 9.99804315e-01 -9.26397920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85038572300002 meters 0.019820409115099358 Centerline is valid? [True, True] Translation: X:239.55, Y:-65.86, Z:-9.27 [[ 7.85100087e-01 6.19202708e-01 1.43478038e-02 2.39545201e+02] [-6.19097964e-01 7.85231178e-01 -1.13889499e-02 -6.58555857e+01] [-1.83184114e-02 5.87694521e-05 9.99832202e-01 -9.26693490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.910385723 meters 0.019889158781227042 Centerline is valid? [True, True] Translation: X:239.59, Y:-65.90, Z:-9.27 [[ 7.87689900e-01 6.15889805e-01 1.49789535e-02 2.39593182e+02] [-6.15775039e-01 7.87832297e-01 -1.18900508e-02 -6.58966876e+01] [-1.91238644e-02 1.42007250e-04 9.99817112e-01 -9.26650540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.970385723 meters 0.02059682984466984 Centerline is valid? [True, True] Translation: X:239.64, Y:-65.94, Z:-9.27 [[ 7.88949364e-01 6.14282812e-01 1.46808348e-02 2.39640255e+02] [-6.14172158e-01 7.89085922e-01 -1.16605135e-02 -6.59371087e+01] [-1.87472931e-02 1.82994728e-04 9.99824237e-01 -9.26802316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.030385723 meters 0.018616936129098118 Centerline is valid? [True, True] Translation: X:239.69, Y:-65.98, Z:-9.27 [[ 7.89610448e-01 6.13400946e-01 1.59568207e-02 2.39687768e+02] [-6.13269893e-01 7.89771630e-01 -1.26811049e-02 -6.59775551e+01] [-2.03808460e-02 2.27295233e-04 9.99792263e-01 -9.26668208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.090385723 meters 0.021583719144219988 Centerline is valid? [True, True] Translation: X:239.73, Y:-66.02, Z:-9.27 [[ 7.91153895e-01 6.11481731e-01 1.28688212e-02 2.39734745e+02] [-6.11396146e-01 7.91258517e-01 -1.02328947e-02 -6.60174705e+01] [-1.64397926e-02 2.27846831e-04 9.99864832e-01 -9.27078251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.150385723 meters 0.020319695835321037 Centerline is valid? [True, True] Translation: X:239.78, Y:-66.06, Z:-9.27 [[ 7.92199845e-01 6.10131567e-01 1.26046155e-02 2.39782585e+02] [-6.10049305e-01 7.92300075e-01 -1.00218131e-02 -6.60573994e+01] [-1.61012623e-02 2.49841835e-04 9.99870335e-01 -9.26899016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.210385723 meters 0.019930387555279334 Centerline is valid? [True, True] Translation: X:239.83, Y:-66.10, Z:-9.27 [[ 7.92491255e-01 6.09757026e-01 1.24088494e-02 2.39831103e+02] [-6.09677180e-01 7.92588356e-01 -9.87083481e-03 -6.60954644e+01] [-1.58539204e-02 2.57157958e-04 9.99874286e-01 -9.27055187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.270385723 meters 0.019734328119939217 Centerline is valid? [True, True] Translation: X:239.88, Y:-66.13, Z:-9.27 [[ 7.92381414e-01 6.09916180e-01 1.15735775e-02 2.39880335e+02] [-6.09846683e-01 7.92465895e-01 -9.21023718e-03 -6.61328263e+01] [-1.47891381e-02 2.39912913e-04 9.99890606e-01 -9.27249262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.330385723 meters 0.020997661174115258 Centerline is valid? [True, True] Translation: X:239.93, Y:-66.17, Z:-9.27 [[ 7.91965516e-01 6.10475552e-01 1.04986185e-02 2.39930083e+02] [-6.10418376e-01 7.92035072e-01 -8.35768382e-03 -6.61704986e+01] [-1.34174357e-02 2.10447712e-04 9.99909960e-01 -9.27321679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.390385723 meters 0.021604168182820425 Centerline is valid? [True, True] Translation: X:239.98, Y:-66.21, Z:-9.28 [[ 7.91730270e-01 6.10793778e-01 9.70254537e-03 2.39979509e+02] [-6.10744932e-01 7.91789697e-01 -7.72682253e-03 -6.62086718e+01] [-1.24018706e-02 1.91778875e-04 9.99923075e-01 -9.27517787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.450385723 meters 0.01952019535877423 Centerline is valid? [True, True] Translation: X:240.03, Y:-66.24, Z:-9.28 [[ 7.91474373e-01 6.11052611e-01 1.35286226e-02 2.40029540e+02] [-6.10957439e-01 7.91589939e-01 -1.07877622e-02 -6.62448144e+01] [-1.73010118e-02 2.72824738e-04 9.99850289e-01 -9.27685698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.510385723 meters 0.019409964074040525 Centerline is valid? [True, True] Translation: X:240.08, Y:-66.28, Z:-9.28 [[ 7.90132083e-01 6.12762361e-01 1.46143721e-02 2.40078673e+02] [-6.12651613e-01 7.90267185e-01 -1.16523205e-02 -6.62806571e+01] [-1.86893621e-02 2.53353662e-04 9.99825307e-01 -9.27889805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57038572300002 meters 0.020263815408168854 Centerline is valid? [True, True] Translation: X:240.13, Y:-66.32, Z:-9.28 [[ 7.88476476e-01 6.14893002e-01 1.45410579e-02 2.40129471e+02] [-6.14783637e-01 7.88610521e-01 -1.15985664e-02 -6.63159121e+01] [-1.85991086e-02 2.05592281e-04 9.99827000e-01 -9.28070449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63038572300002 meters 0.018354857808812984 Centerline is valid? [True, True] Translation: X:240.18, Y:-66.35, Z:-9.28 [[ 7.86697584e-01 6.17110697e-01 1.67719730e-02 2.40181424e+02] [-6.16965515e-01 7.86876327e-01 -1.33865451e-02 -6.63505624e+01] [-2.14584487e-02 1.83433753e-04 9.99769724e-01 -9.28377905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.690385723 meters 0.018394855526865882 Centerline is valid? [True, True] Translation: X:240.23, Y:-66.39, Z:-9.29 [[ 7.86657728e-01 6.17138013e-01 1.76151054e-02 2.40231126e+02] [-6.16977700e-01 7.86854900e-01 -1.40671423e-02 -6.63882596e+01] [-2.25419003e-02 1.97898986e-04 9.99745879e-01 -9.28572251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.750385723 meters 0.018354710263539034 Centerline is valid? [True, True] Translation: X:240.28, Y:-66.42, Z:-9.29 [[ 7.86693336e-01 6.17086520e-01 1.78275552e-02 2.40283105e+02] [-6.16922151e-01 7.86895282e-01 -1.42434143e-02 -6.64234121e+01] [-2.28178380e-02 2.06985456e-04 9.99739618e-01 -9.28926251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.810385723 meters 0.01851073125868705 Centerline is valid? [True, True] Translation: X:240.33, Y:-66.46, Z:-9.29 [[ 7.87392257e-01 6.16176951e-01 1.84227910e-02 2.40332117e+02] [-6.16000958e-01 7.87607709e-01 -1.47280806e-02 -6.64617660e+01] [-2.35850360e-02 2.48319754e-04 9.99721804e-01 -9.29169444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.870385723 meters 0.019119090598287276 Centerline is valid? [True, True] Translation: X:240.38, Y:-66.50, Z:-9.29 [[ 7.89925449e-01 6.12899787e-01 1.92778833e-02 2.40377521e+02] [-6.12705870e-01 7.90160562e-01 -1.54208651e-02 -6.65022151e+01] [-2.46840680e-02 3.69661518e-04 9.99695234e-01 -9.29245320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.930385723 meters 0.019239585455027443 Centerline is valid? [True, True] Translation: X:240.43, Y:-66.54, Z:-9.30 [[ 7.91109229e-01 6.11336010e-01 2.03585660e-02 2.40428241e+02] [-6.11119023e-01 7.91371014e-01 -1.62928659e-02 -6.65382240e+01] [-2.60715946e-02 4.47929648e-04 9.99659978e-01 -9.29538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.990385723 meters 0.018785384955199026 Centerline is valid? [True, True] Translation: X:240.48, Y:-66.58, Z:-9.30 [[ 7.89864007e-01 6.12887353e-01 2.19987316e-02 2.40478182e+02] [-6.12634326e-01 7.90170173e-01 -1.76147716e-02 -6.65757938e+01] [-2.81786123e-02 4.36095973e-04 9.99602809e-01 -9.29583863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.050385723 meters 0.01859385353153225 Centerline is valid? [True, True] Translation: X:240.53, Y:-66.61, Z:-9.30 [[ 7.88761485e-01 6.14286989e-01 2.25125587e-02 2.40528512e+02] [-6.14022273e-01 7.89082589e-01 -1.80365106e-02 -6.66131281e+01] [-2.88438619e-02 4.03292414e-04 9.99583848e-01 -9.29798731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.110385723 meters 0.018346232315939546 Centerline is valid? [True, True] Translation: X:240.58, Y:-66.65, Z:-9.30 [[ 7.87342926e-01 6.16077899e-01 2.32193501e-02 2.40579926e+02] [-6.15797011e-01 7.87685152e-01 -1.86048807e-02 -6.66472922e+01] [-2.97515931e-02 3.50014774e-04 9.99557262e-01 -9.30306556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.170385723 meters 0.0181912837766729 Centerline is valid? [True, True] Translation: X:240.63, Y:-66.68, Z:-9.31 [[ 7.86378139e-01 6.17328278e-01 2.26984686e-02 2.40629949e+02] [-6.17060130e-01 7.86705603e-01 -1.81958660e-02 -6.66846780e+01] [-2.90898350e-02 3.02511206e-04 9.99576755e-01 -9.30650650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.230385723 meters 0.017667738142596014 Centerline is valid? [True, True] Translation: X:240.68, Y:-66.72, Z:-9.31 [[ 7.86558376e-01 6.17079277e-01 2.32182446e-02 2.40682351e+02] [-6.16798347e-01 7.86900921e-01 -1.86209225e-02 -6.67202996e+01] [-2.97610435e-02 3.25467698e-04 9.99556989e-01 -9.30814390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.290385723 meters 0.017952744200366508 Centerline is valid? [True, True] Translation: X:240.73, Y:-66.76, Z:-9.31 [[ 7.86884588e-01 6.16659051e-01 2.33293518e-02 2.40731254e+02] [-6.16374908e-01 7.87230265e-01 -1.87211720e-02 -6.67573880e+01] [-2.99101520e-02 3.51774608e-04 9.99552529e-01 -9.31210232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35038572300002 meters 0.01782692534701166 Centerline is valid? [True, True] Translation: X:240.78, Y:-66.79, Z:-9.32 [[ 7.87563209e-01 6.15783040e-01 2.35677611e-02 2.40781436e+02] [-6.15492350e-01 7.87915662e-01 -1.89229391e-02 -6.67944694e+01] [-3.02218331e-02 3.97234004e-04 9.99543137e-01 -9.31521226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.410385723 meters 0.01846580277429774 Centerline is valid? [True, True] Translation: X:240.83, Y:-66.83, Z:-9.32 [[ 7.90190290e-01 6.12333846e-01 2.54276873e-02 2.40829155e+02] [-6.11993302e-01 7.90599092e-01 -2.04272773e-02 -6.68343379e+01] [-3.26114197e-02 5.79861830e-04 9.99467938e-01 -9.31711527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.470385723 meters 0.018866083828236627 Centerline is valid? [True, True] Translation: X:240.88, Y:-66.87, Z:-9.32 [[ 7.91670887e-01 6.10354157e-01 2.69260216e-02 2.40878241e+02] [-6.09970747e-01 7.92128336e-01 -2.16422573e-02 -6.68715175e+01] [-3.45383064e-02 7.09459509e-04 9.99403123e-01 -9.32050100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.530385723 meters 0.018681932100975393 Centerline is valid? [True, True] Translation: X:240.93, Y:-66.91, Z:-9.32 [[ 7.90248605e-01 6.12114215e-01 2.86937349e-02 2.40928248e+02] [-6.11679536e-01 7.90769070e-01 -2.30743146e-02 -6.69071332e+01] [-3.68142340e-02 6.83074451e-04 9.99321893e-01 -9.32251744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.590385723 meters 0.017874680244418496 Centerline is valid? [True, True] Translation: X:240.98, Y:-66.94, Z:-9.33 [[ 7.88429702e-01 6.14481077e-01 2.81355848e-02 2.40980429e+02] [-6.14064291e-01 7.88931354e-01 -2.26354676e-02 -6.69411963e+01] [-3.61061116e-02 5.69417038e-04 9.99347800e-01 -9.32678331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.650385723 meters 0.01794751604899918 Centerline is valid? [True, True] Translation: X:241.03, Y:-66.98, Z:-9.33 [[ 7.86575835e-01 6.16834351e-01 2.85278908e-02 2.41029639e+02] [-6.16406977e-01 7.87092851e-01 -2.29626302e-02 -6.69777508e+01] [-3.66182379e-02 4.77059083e-04 9.99329214e-01 -9.32995796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.710385723 meters 0.01735891913587343 Centerline is valid? [True, True] Translation: X:241.08, Y:-67.01, Z:-9.33 [[ 7.84256108e-01 6.19735296e-01 2.95045601e-02 2.41081713e+02] [-6.19279770e-01 7.84810825e-01 -2.37599535e-02 -6.70124216e+01] [-3.78803800e-02 3.62311439e-04 9.99282215e-01 -9.33320195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.770385723 meters 0.017215110070042925 Centerline is valid? [True, True] Translation: X:241.13, Y:-67.05, Z:-9.34 [[ 7.83346255e-01 6.20863888e-01 2.99445529e-02 2.41133884e+02] [-6.20395031e-01 7.83918317e-01 -2.41262671e-02 -6.70467077e+01] [-3.84532115e-02 3.21769146e-04 9.99260350e-01 -9.33751258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.830385723 meters 0.01706135139682504 Centerline is valid? [True, True] Translation: X:241.18, Y:-67.09, Z:-9.34 [[ 7.82366542e-01 6.22083868e-01 3.02366499e-02 2.41181952e+02] [-6.21606248e-01 7.82950564e-01 -2.43738788e-02 -6.70867261e+01] [-3.88363989e-02 2.74016791e-04 9.99245545e-01 -9.33888005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.890385723 meters 0.01683643154760525 Centerline is valid? [True, True] Translation: X:241.23, Y:-67.12, Z:-9.34 [[ 7.81427274e-01 6.23244252e-01 3.06270778e-02 2.41232159e+02] [-6.22754629e-01 7.82027205e-01 -2.47006547e-02 -6.71222282e+01] [-3.93457491e-02 2.28610834e-04 9.99225630e-01 -9.34265839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.950385723 meters 0.016591450792160095 Centerline is valid? [True, True] Translation: X:241.28, Y:-67.16, Z:-9.35 [[ 7.80370976e-01 6.24597259e-01 2.99900635e-02 2.41281654e+02] [-6.24128529e-01 7.80947013e-01 -2.41938525e-02 -6.71596770e+01] [-3.85320645e-02 1.62526025e-04 9.99257351e-01 -9.34630980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.010385723 meters 0.016291021304403377 Centerline is valid? [True, True] Translation: X:241.33, Y:-67.20, Z:-9.35 [[ 7.77727771e-01 6.27918296e-01 2.92938383e-02 2.41328669e+02] [-6.27472996e-01 7.78279265e-01 -2.36437081e-02 -6.71993132e+01] [-3.76451038e-02 7.27590602e-06 9.99291172e-01 -9.34860711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07038572300002 meters 0.016607818727084077 Centerline is valid? [True, True] Translation: X:241.38, Y:-67.23, Z:-9.35 [[ 7.73905760e-01 6.32591662e-01 2.99610429e-02 2.41380357e+02] [-6.32128885e-01 7.74485470e-01 -2.41935975e-02 -6.72340323e+01] [-3.85090604e-02 -2.15676205e-04 9.99258228e-01 -9.35288416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13038572300002 meters 0.017053329777529738 Centerline is valid? [True, True] Translation: X:241.43, Y:-67.27, Z:-9.35 [[ 7.70568757e-01 6.36654864e-01 2.99060826e-02 2.41426858e+02] [-6.36196373e-01 7.71148764e-01 -2.41610769e-02 -6.72746277e+01] [-3.84443058e-02 -4.08370270e-04 9.99260661e-01 -9.35427631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.190385723 meters 0.017485684957922996 Centerline is valid? [True, True] Translation: X:241.47, Y:-67.31, Z:-9.36 [[ 7.69226080e-01 6.38224101e-01 3.10037786e-02 2.41474273e+02] [-6.37732123e-01 7.69850473e-01 -2.50596893e-02 -6.73144735e+01] [-3.98619713e-02 -4.95538931e-04 9.99205073e-01 -9.35548414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.250385723 meters 0.018153894216140127 Centerline is valid? [True, True] Translation: X:241.52, Y:-67.35, Z:-9.36 [[ 7.68064715e-01 6.39609013e-01 3.12554640e-02 2.41522237e+02] [-6.39109686e-01 7.68700197e-01 -2.52748217e-02 -6.73515298e+01] [-4.01920851e-02 -5.62971098e-04 9.99191813e-01 -9.35834887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.310385723 meters 0.017715553706948085 Centerline is valid? [True, True] Translation: X:241.57, Y:-67.40, Z:-9.36 [[ 7.67075894e-01 6.40827654e-01 3.05694416e-02 2.41566366e+02] [-6.40350730e-01 7.67684537e-01 -2.47263894e-02 -6.73957131e+01] [-3.93130417e-02 -6.08146951e-04 9.99226758e-01 -9.36044183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.370385723 meters 0.018042860393067288 Centerline is valid? [True, True] Translation: X:241.61, Y:-67.44, Z:-9.36 [[ 7.66492618e-01 6.41491140e-01 3.12759261e-02 2.41610698e+02] [-6.40991942e-01 7.67130170e-01 -2.53107023e-02 -6.74404056e+01] [-4.02292978e-02 -6.47150134e-04 9.99190265e-01 -9.36156869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.430385723 meters 0.018839630158020128 Centerline is valid? [True, True] Translation: X:241.66, Y:-67.48, Z:-9.37 [[ 7.66548039e-01 6.41429295e-01 3.11859409e-02 2.41656615e+02] [-6.40932411e-01 7.67181895e-01 -2.52504460e-02 -6.74818567e+01] [-4.01216650e-02 -6.32400386e-04 9.99194602e-01 -9.36512794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.490385723 meters 0.01805067073090842 Centerline is valid? [True, True] Translation: X:241.70, Y:-67.53, Z:-9.37 [[ 7.66888033e-01 6.41119341e-01 2.91330591e-02 2.41697128e+02] [-6.40685086e-01 7.67440987e-01 -2.35998365e-02 -6.75303501e+01] [-3.74882153e-02 -5.66684238e-04 9.99296909e-01 -9.36922435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.550385723 meters 0.017741313902274295 Centerline is valid? [True, True] Translation: X:241.74, Y:-67.58, Z:-9.37 [[ 7.68070354e-01 6.39696637e-01 2.92599311e-02 2.41739638e+02] [-6.39257117e-01 7.68627330e-01 -2.37142682e-02 -6.75760786e+01] [-3.76599203e-02 -4.90392765e-04 9.99290493e-01 -9.37004499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.610385723 meters 0.01755530673786109 Centerline is valid? [True, True] Translation: X:241.78, Y:-67.62, Z:-9.37 [[ 7.70219197e-01 6.37106880e-01 2.92781973e-02 2.41784023e+02] [-6.36664499e-01 7.70775387e-01 -2.37406268e-02 -6.76188909e+01] [-3.76922306e-02 -3.54902317e-04 9.99289332e-01 -9.37450430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.670385723 meters 0.017011661954011135 Centerline is valid? [True, True] Translation: X:241.83, Y:-67.67, Z:-9.38 [[ 7.71454243e-01 6.35640515e-01 2.86266674e-02 2.41826448e+02] [-6.35216198e-01 7.71985145e-01 -2.32232286e-02 -6.76655099e+01] [-3.68609869e-02 -2.68464617e-04 9.99320367e-01 -9.37686732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.730385723 meters 0.016672456869707915 Centerline is valid? [True, True] Translation: X:241.87, Y:-67.72, Z:-9.38 [[ 7.74180846e-01 6.32374239e-01 2.73283540e-02 2.41865922e+02] [-6.31985138e-01 7.74663031e-01 -2.21804588e-02 -6.77159025e+01] [-3.51966163e-02 -9.94272509e-05 9.99380402e-01 -9.37802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.790385723 meters 0.016613469817844843 Centerline is valid? [True, True] Translation: X:241.91, Y:-67.76, Z:-9.38 [[ 7.77448836e-01 6.28347492e-01 2.74360451e-02 2.41908654e+02] [-6.27952415e-01 7.77932787e-01 -2.22787554e-02 -6.77609441e+01] [-3.53421991e-02 9.20616559e-05 9.99375265e-01 -9.38244425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85038572300002 meters 0.016821725704358494 Centerline is valid? [True, True] Translation: X:241.95, Y:-67.81, Z:-9.38 [[ 7.79468517e-01 6.25830599e-01 2.76566848e-02 2.41951226e+02] [-6.25427134e-01 7.79958982e-01 -2.24696639e-02 -6.78063969e+01] [-3.56332830e-02 2.17154485e-04 9.99364909e-01 -9.38325097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.910385723 meters 0.016828742807602708 Centerline is valid? [True, True] Translation: X:241.99, Y:-67.85, Z:-9.38 [[ 7.80044102e-01 6.25092286e-01 2.81217358e-02 2.41994742e+02] [-6.24674258e-01 7.80550808e-01 -2.28584316e-02 -6.78522669e+01] [-3.62390729e-02 2.63660312e-04 9.99343114e-01 -9.38259942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.970385723 meters 0.016623708785886742 Centerline is valid? [True, True] Translation: X:242.05, Y:-67.89, Z:-9.39 [[ 7.75535032e-01 6.30729403e-01 2.69413201e-02 2.42047717e+02] [-6.30348711e-01 7.76002848e-01 -2.19107705e-02 -6.78861348e+01] [-3.47263084e-02 1.01437065e-05 9.99396860e-01 -9.38820828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.030385723 meters 0.01691588648529439 Centerline is valid? [True, True] Translation: X:242.10, Y:-67.92, Z:-9.39 [[ 7.71587026e-01 6.35563900e-01 2.66831313e-02 2.42098074e+02] [-6.35193233e-01 7.72048242e-01 -2.17041156e-02 -6.79221114e+01] [-3.43950169e-02 -2.02330432e-04 9.99408296e-01 -9.39024863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.090385723 meters 0.017453006918356006 Centerline is valid? [True, True] Translation: X:242.15, Y:-67.96, Z:-9.39 [[ 7.69110930e-01 6.38500476e-01 2.80271198e-02 2.42147685e+02] [-6.38093050e-01 7.69621352e-01 -2.28086332e-02 -6.79583216e+01] [-3.61335929e-02 -3.41541249e-04 9.99346910e-01 -9.38981286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.150385723 meters 0.017648940526735914 Centerline is valid? [True, True] Translation: X:242.20, Y:-68.00, Z:-9.39 [[ 7.68508703e-01 6.39216031e-01 2.82354340e-02 2.42197092e+02] [-6.38802790e-01 7.69027130e-01 -2.29840904e-02 -6.79956346e+01] [-3.64056138e-02 -3.73400481e-04 9.99337026e-01 -9.39206393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.210385723 meters 0.017090714621058725 Centerline is valid? [True, True] Translation: X:242.24, Y:-68.04, Z:-9.39 [[ 7.69752929e-01 6.37726112e-01 2.80327302e-02 2.42243824e+02] [-6.37317393e-01 7.70263150e-01 -2.28302436e-02 -6.80359019e+01] [-3.61520216e-02 -2.92099626e-04 9.99346259e-01 -9.39497379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.270385723 meters 0.01686033382153137 Centerline is valid? [True, True] Translation: X:242.29, Y:-68.07, Z:-9.40 [[ 7.71246922e-01 6.35962805e-01 2.70091827e-02 2.42292402e+02] [-6.35581947e-01 7.71719686e-01 -2.20071638e-02 -6.80733596e+01] [-3.48392556e-02 -1.93591571e-04 9.99392910e-01 -9.40052443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.330385723 meters 0.01660223921122603 Centerline is valid? [True, True] Translation: X:242.34, Y:-68.12, Z:-9.40 [[ 7.74449286e-01 6.32101387e-01 2.60026884e-02 2.42337221e+02] [-6.31745903e-01 7.74885692e-01 -2.11961898e-02 -6.81168670e+01] [-3.35472522e-02 -1.17177756e-05 9.99437132e-01 -9.40387147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.390385723 meters 0.016826523103158696 Centerline is valid? [True, True] Translation: X:242.38, Y:-68.16, Z:-9.40 [[ 7.78139726e-01 6.27560694e-01 2.58097192e-02 2.42380600e+02] [-6.27207611e-01 7.78567620e-01 -2.10493191e-02 -6.81613012e+01] [-3.33043370e-02 1.91259090e-04 9.99445238e-01 -9.40381422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.450385723 meters 0.016956107476493756 Centerline is valid? [True, True] Translation: X:242.43, Y:-68.20, Z:-9.41 [[ 7.78994528e-01 6.26527776e-01 2.51091904e-02 2.42428152e+02] [-6.26192912e-01 7.79399058e-01 -2.04828016e-02 -6.81988118e+01] [-3.24031235e-02 2.32793319e-04 9.99474854e-01 -9.40770441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.510385723 meters 0.01683978063316446 Centerline is valid? [True, True] Translation: X:242.48, Y:-68.24, Z:-9.41 [[ 7.78392812e-01 6.27291480e-01 2.46987874e-02 2.42478191e+02] [-6.26967594e-01 7.78784539e-01 -2.01563447e-02 -6.82365894e+01] [-3.18789371e-02 2.04214534e-04 9.99491717e-01 -9.41207822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57038572300002 meters 0.01699268386414083 Centerline is valid? [True, True] Translation: X:242.53, Y:-68.28, Z:-9.41 [[ 7.78663812e-01 6.26959143e-01 2.45947307e-02 2.42525888e+02] [-6.26637462e-01 7.79052105e-01 -2.00825608e-02 -6.82764949e+01] [-3.17515218e-02 2.25583726e-04 9.99495768e-01 -9.41364220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63038572300002 meters 0.0169516645914374 Centerline is valid? [True, True] Translation: X:242.58, Y:-68.32, Z:-9.42 [[ 7.79230060e-01 6.26263217e-01 2.43904779e-02 2.42575153e+02] [-6.25946334e-01 7.79611645e-01 -1.99215866e-02 -6.83157972e+01] [-3.14912575e-02 2.56368861e-04 9.99503994e-01 -9.41529901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.690385723 meters 0.01690708291612927 Centerline is valid? [True, True] Translation: X:242.62, Y:-68.36, Z:-9.42 [[ 7.79293746e-01 6.26187120e-01 2.43094339e-02 2.42621966e+02] [-6.25871964e-01 7.79672765e-01 -1.98661667e-02 -6.83556621e+01] [-3.13933412e-02 2.66986302e-04 9.99507072e-01 -9.41607157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.750385723 meters 0.016750978002836897 Centerline is valid? [True, True] Translation: X:242.67, Y:-68.39, Z:-9.42 [[ 7.78559496e-01 6.27032021e-01 2.59991652e-02 2.42670165e+02] [-6.26671602e-01 7.78993439e-01 -2.12585235e-02 -6.83931040e+01] [-3.35829541e-02 2.58086877e-04 9.99435900e-01 -9.41637075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.810385723 meters 0.016438297342846003 Centerline is valid? [True, True] Translation: X:242.72, Y:-68.43, Z:-9.42 [[ 7.77110840e-01 6.28861956e-01 2.51273346e-02 2.42719907e+02] [-6.28525991e-01 7.77516950e-01 -2.05540862e-02 -6.84292099e+01] [-3.24626115e-02 1.79620299e-04 9.99472934e-01 -9.42129419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.870385723 meters 0.01624877932005371 Centerline is valid? [True, True] Translation: X:242.77, Y:-68.47, Z:-9.42 [[ 7.75771250e-01 6.30521097e-01 2.49422183e-02 2.42768986e+02] [-6.30190659e-01 7.76172103e-01 -2.04107944e-02 -6.84690348e+01] [-3.22288904e-02 1.15754495e-04 9.99480508e-01 -9.42227070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.930385723 meters 0.016086644619786632 Centerline is valid? [True, True] Translation: X:242.82, Y:-68.51, Z:-9.42 [[ 7.75416748e-01 6.30913483e-01 2.60200508e-02 2.42816810e+02] [-6.30553671e-01 7.75853184e-01 -2.13050275e-02 -6.85096190e+01] [-3.36293684e-02 1.13236534e-04 9.99434366e-01 -9.42232314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.990385723 meters 0.016087462822212156 Centerline is valid? [True, True] Translation: X:242.87, Y:-68.55, Z:-9.42 [[ 7.76390419e-01 6.29671293e-01 2.70551452e-02 2.42865729e+02] [-6.29281079e-01 7.76861654e-01 -2.21651486e-02 -6.85491970e+01] [-3.49748626e-02 1.83518031e-04 9.99388175e-01 -9.42386024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.050385723 meters 0.016177865301946637 Centerline is valid? [True, True] Translation: X:242.91, Y:-68.59, Z:-9.43 [[ 7.77033855e-01 6.28882945e-01 2.69189374e-02 2.42913688e+02] [-6.28495765e-01 7.77499961e-01 -2.20654266e-02 -6.85898680e+01] [-3.48060433e-02 2.27145284e-04 9.99394060e-01 -9.42556369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.110385723 meters 0.0162519220292003 Centerline is valid? [True, True] Translation: X:242.96, Y:-68.63, Z:-9.43 [[ 7.77277823e-01 6.28614572e-01 2.61324653e-02 2.42960756e+02] [-6.28249162e-01 7.77716955e-01 -2.14319542e-02 -6.86302489e+01] [-3.37961001e-02 2.40883284e-04 9.99428720e-01 -9.42763493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.170385723 meters 0.016005792870702203 Centerline is valid? [True, True] Translation: X:243.01, Y:-68.67, Z:-9.43 [[ 7.78201540e-01 6.27468334e-01 2.61887997e-02 2.43010266e+02] [-6.27100335e-01 7.78642023e-01 -2.14888310e-02 -6.86675228e+01] [-3.38752610e-02 2.99636336e-04 9.99426024e-01 -9.43046103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.230385723 meters 0.016089526678046695 Centerline is valid? [True, True] Translation: X:243.06, Y:-68.71, Z:-9.43 [[ 7.78726724e-01 6.26806755e-01 2.64193465e-02 2.43059345e+02] [-6.26431496e-01 7.79174677e-01 -2.16888122e-02 -6.87068102e+01] [-3.41799797e-02 3.39746920e-04 9.99415636e-01 -9.43219735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.290385723 meters 0.01611716882026034 Centerline is valid? [True, True] Translation: X:243.11, Y:-68.75, Z:-9.43 [[ 7.78584484e-01 6.26997368e-01 2.60864239e-02 2.43106366e+02] [-6.26631206e-01 7.79021301e-01 -2.14276698e-02 -6.87468889e+01] [-3.37569724e-02 3.36683980e-04 9.99430014e-01 -9.43406642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35038572300002 meters 0.016013540270072766 Centerline is valid? [True, True] Translation: X:243.16, Y:-68.78, Z:-9.44 [[ 7.78095238e-01 6.27695743e-01 2.37876851e-02 2.43157012e+02] [-6.27391445e-01 7.78458717e-01 -1.95448595e-02 -6.87848442e+01] [-3.07859559e-02 2.83571967e-04 9.99525960e-01 -9.43848326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.410385723 meters 0.01566115091487926 Centerline is valid? [True, True] Translation: X:243.21, Y:-68.82, Z:-9.44 [[ 7.77621429e-01 6.28314558e-01 2.29287885e-02 2.43207755e+02] [-6.28031823e-01 7.77959350e-01 -1.88488521e-02 -6.88218213e+01] [-2.96806736e-02 2.57262474e-04 9.99559399e-01 -9.44232415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.470385723 meters 0.015864109283473076 Centerline is valid? [True, True] Translation: X:243.25, Y:-68.86, Z:-9.44 [[ 7.78029529e-01 6.27790132e-01 2.34436208e-02 2.43254781e+02] [-6.27493971e-01 7.78382596e-01 -1.92834288e-02 -6.88622691e+01] [-3.03540527e-02 2.92346257e-04 9.99539167e-01 -9.44214031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.530385723 meters 0.016225580088453373 Centerline is valid? [True, True] Translation: X:243.30, Y:-68.90, Z:-9.44 [[ 7.78857306e-01 6.26764877e-01 2.33898699e-02 2.43303618e+02] [-6.26469303e-01 7.79208363e-01 -1.92493891e-02 -6.89009178e+01] [-3.02904232e-02 3.39491828e-04 9.99541082e-01 -9.44374731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.590385723 meters 0.016211526729322006 Centerline is valid? [True, True] Translation: X:243.35, Y:-68.94, Z:-9.45 [[ 7.78170381e-01 6.27645327e-01 2.26318778e-02 2.43354308e+02] [-6.27368733e-01 7.78499359e-01 -1.86338417e-02 -6.89377035e+01] [-2.93143460e-02 3.01771213e-04 9.99570197e-01 -9.44680431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.650385723 meters 0.015904908146130586 Centerline is valid? [True, True] Translation: X:243.41, Y:-68.98, Z:-9.45 [[ 7.77731802e-01 6.28218770e-01 2.17812211e-02 2.43405042e+02] [-6.27962550e-01 7.78036696e-01 -1.79425458e-02 -6.89751336e+01] [-2.82184334e-02 2.76697365e-04 9.99601742e-01 -9.44799170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.710385723 meters 0.016092927598593532 Centerline is valid? [True, True] Translation: X:243.45, Y:-69.01, Z:-9.45 [[ 7.77299579e-01 6.28811244e-01 2.00445456e-02 2.43453570e+02] [-6.28594226e-01 7.77557947e-01 -1.65208405e-02 -6.90120800e+01] [-2.59742860e-02 2.41756725e-04 9.99662582e-01 -9.45046302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.770385723 meters 0.015886382003381428 Centerline is valid? [True, True] Translation: X:243.50, Y:-69.05, Z:-9.45 [[ 7.77224092e-01 6.28938777e-01 1.89400541e-02 2.43504735e+02] [-6.28744910e-01 7.77454797e-01 -1.56165609e-02 -6.90478884e+01] [-2.45468966e-02 2.29104755e-04 9.99698653e-01 -9.45053905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.830385723 meters 0.016398003426824157 Centerline is valid? [True, True] Translation: X:243.55, Y:-69.09, Z:-9.46 [[ 7.76316956e-01 6.30105949e-01 1.72764742e-02 2.43552884e+02] [-6.29944790e-01 7.76509150e-01 -1.42513560e-02 -6.90854189e+01] [-2.23952045e-02 1.80344385e-04 9.99749180e-01 -9.45504236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.890385723 meters 0.015756894563857027 Centerline is valid? [True, True] Translation: X:243.61, Y:-69.12, Z:-9.46 [[ 7.75449925e-01 6.31213004e-01 1.57339764e-02 2.43606618e+02] [-6.31079474e-01 7.75609518e-01 -1.29835800e-02 -6.91186080e+01] [-2.03988264e-02 1.38726612e-04 9.99791913e-01 -9.45524899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.950385723 meters 0.015994073505205576 Centerline is valid? [True, True] Translation: X:243.66, Y:-69.16, Z:-9.45 [[ 7.76263644e-01 6.30221363e-01 1.53554314e-02 2.43656598e+02] [-6.30093869e-01 7.76415486e-01 -1.26771404e-02 -6.91560643e+01] [-1.99115994e-02 1.65440002e-04 9.99801731e-01 -9.45430286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.010385723 meters 0.01634943566499393 Centerline is valid? [True, True] Translation: X:243.70, Y:-69.20, Z:-9.45 [[ 7.77803245e-01 6.28311143e-01 1.57232201e-02 2.43704836e+02] [-6.28176940e-01 7.77962118e-01 -1.29874920e-02 -6.91957736e+01] [-2.03922556e-02 2.24749119e-04 9.99792031e-01 -9.45387593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07038572300002 meters 0.0168727382767398 Centerline is valid? [True, True] Translation: X:243.76, Y:-69.23, Z:-9.46 [[ 7.79383805e-01 6.26373874e-01 1.47191821e-02 2.43756686e+02] [-6.26255811e-01 7.79522740e-01 -1.21638008e-02 -6.92295974e+01] [-1.90930242e-02 2.62296049e-04 9.99817677e-01 -9.45707220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13038572300002 meters 0.017000187060337776 Centerline is valid? [True, True] Translation: X:243.81, Y:-69.27, Z:-9.46 [[ 7.79629687e-01 6.26078843e-01 1.42419730e-02 2.43807246e+02] [-6.25968179e-01 7.79759715e-01 -1.17739648e-02 -6.92657425e+01] [-1.84767470e-02 2.64310555e-04 9.99829255e-01 -9.45886405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.190385723 meters 0.01739368172453458 Centerline is valid? [True, True] Translation: X:243.86, Y:-69.30, Z:-9.46 [[ 7.80576689e-01 6.24909985e-01 1.36946165e-02 2.43858689e+02] [-6.24807387e-01 7.80696759e-01 -1.13269770e-02 -6.93002079e+01] [-1.77696837e-02 2.85076656e-04 9.99842066e-01 -9.46110355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.250385723 meters 0.018448723143630205 Centerline is valid? [True, True] Translation: X:243.91, Y:-69.33, Z:-9.47 [[ 7.81988654e-01 6.23176615e-01 1.20271361e-02 2.43909877e+02] [-6.23097225e-01 7.82081085e-01 -9.95106689e-03 -6.93339447e+01] [-1.56074678e-02 2.87546300e-04 9.99878155e-01 -9.46538499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.310385723 meters 0.01896579508721732 Centerline is valid? [True, True] Translation: X:243.96, Y:-69.37, Z:-9.47 [[ 7.82224256e-01 6.22883861e-01 1.18704896e-02 2.43962595e+02] [-6.22806433e-01 7.82314266e-01 -9.82531744e-03 -6.93681319e+01] [-1.54064850e-02 2.92584348e-04 9.99881270e-01 -9.46742721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.370385723 meters 0.01756739874044704 Centerline is valid? [True, True] Translation: X:244.02, Y:-69.40, Z:-9.47 [[ 7.82506517e-01 6.22525408e-01 1.20692728e-02 2.44015479e+02] [-6.22445267e-01 7.82599528e-01 -9.99337019e-03 -6.94035753e+01] [-1.56665341e-02 3.07415539e-04 9.99877225e-01 -9.46620656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.430385723 meters 0.017562355259686666 Centerline is valid? [True, True] Translation: X:244.07, Y:-69.44, Z:-9.47 [[ 7.83150257e-01 6.21681084e-01 1.37223855e-02 2.44068685e+02] [-6.21577196e-01 7.83270380e-01 -1.13710808e-02 -6.94373540e+01] [-1.78175239e-02 3.75742920e-04 9.99841185e-01 -9.46741036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.490385723 meters 0.018734846284122017 Centerline is valid? [True, True] Translation: X:244.12, Y:-69.47, Z:-9.47 [[ 7.82767716e-01 6.22157227e-01 1.39673550e-02 2.44121266e+02] [-6.22049565e-01 7.82892230e-01 -1.15799339e-02 -6.94708346e+01] [-1.81394733e-02 3.76011339e-04 9.99835396e-01 -9.46972571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.550385723 meters 0.017048114442520253 Centerline is valid? [True, True] Translation: X:244.17, Y:-69.51, Z:-9.47 [[ 7.80656655e-01 6.24784819e-01 1.48026175e-02 2.44171716e+02] [-6.24664226e-01 7.80796910e-01 -1.22796514e-02 -6.95059340e+01] [-1.92299778e-02 3.39525996e-04 9.99815029e-01 -9.47190232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.610385723 meters 0.0162897638109418 Centerline is valid? [True, True] Translation: X:244.23, Y:-69.54, Z:-9.48 [[ 7.77396409e-01 6.28847896e-01 1.43229607e-02 2.44225123e+02] [-6.28735592e-01 7.77528307e-01 -1.18863886e-02 -6.95384637e+01] [-1.86112378e-02 2.35080658e-04 9.99826768e-01 -9.47551058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.670385723 meters 0.016061907914194103 Centerline is valid? [True, True] Translation: X:244.28, Y:-69.57, Z:-9.48 [[ 7.75917934e-01 6.30664187e-01 1.46301772e-02 2.44276394e+02] [-6.30547217e-01 7.76055824e-01 -1.21476055e-02 -6.95740390e+01] [-1.90148940e-02 2.00527483e-04 9.99819180e-01 -9.47925154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.730385723 meters 0.01595756169795067 Centerline is valid? [True, True] Translation: X:244.33, Y:-69.61, Z:-9.48 [[ 7.75676519e-01 6.30948237e-01 1.51743235e-02 2.44327308e+02] [-6.30822331e-01 7.75824903e-01 -1.26058343e-02 -6.96096344e+01] [-1.97262470e-02 2.05747512e-04 9.99805397e-01 -9.48210244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.790385723 meters 0.016364518858290274 Centerline is valid? [True, True] Translation: X:244.37, Y:-69.65, Z:-9.48 [[ 7.75582983e-01 6.31058058e-01 1.53871350e-02 2.44374157e+02] [-6.30928494e-01 7.75735576e-01 -1.27887412e-02 -6.96496921e+01] [-2.00067862e-02 2.10548190e-04 9.99799822e-01 -9.48374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85038572300002 meters 0.016207146000495876 Centerline is valid? [True, True] Translation: X:244.43, Y:-69.69, Z:-9.49 [[ 7.74613723e-01 6.32245178e-01 1.54795187e-02 2.44425001e+02] [-6.32114147e-01 7.74768352e-01 -1.28726605e-02 -6.96856336e+01] [-2.01317187e-02 1.86516730e-04 9.99797319e-01 -9.48750624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.910385723 meters 0.015408856568277082 Centerline is valid? [True, True] Translation: X:244.48, Y:-69.72, Z:-9.49 [[ 7.72043197e-01 6.35342747e-01 1.69969303e-02 2.44476284e+02] [-6.35185346e-01 7.72230263e-01 -1.41420445e-02 -6.97213860e+01] [-2.21105894e-02 1.22068194e-04 9.99755524e-01 -9.48800562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.970385723 meters 0.015318792489548105 Centerline is valid? [True, True] Translation: X:244.52, Y:-69.76, Z:-9.49 [[ 7.69969515e-01 6.37829752e-01 1.78928624e-02 2.44524800e+02] [-6.37655798e-01 7.70177385e-01 -1.48955928e-02 -6.97598847e+01] [-2.32815302e-02 5.96648998e-05 9.99728947e-01 -9.48963278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.030385723 meters 0.015374033421322457 Centerline is valid? [True, True] Translation: X:244.57, Y:-69.80, Z:-9.49 [[ 7.68781420e-01 6.39262954e-01 1.78326650e-02 2.44574076e+02] [-6.39090397e-01 7.68988215e-01 -1.48522420e-02 -6.97982751e+01] [-2.32075973e-02 2.14427229e-05 9.99730667e-01 -9.49246179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.090385723 meters 0.015538833424686186 Centerline is valid? [True, True] Translation: X:244.62, Y:-69.84, Z:-9.50 [[ 7.67870390e-01 6.40356748e-01 1.78409283e-02 2.44621843e+02] [-6.40184122e-01 7.68077623e-01 -1.48679371e-02 -6.98368382e+01] [-2.32240016e-02 -4.83036182e-06 9.99730286e-01 -9.49718743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.150385723 meters 0.015381390137965079 Centerline is valid? [True, True] Translation: X:244.67, Y:-69.88, Z:-9.50 [[ 7.67551008e-01 6.40715219e-01 1.86938043e-02 2.44669028e+02] [-6.40525579e-01 7.67778619e-01 -1.55876604e-02 -6.98771567e+01] [-2.43399546e-02 -9.53537879e-06 9.99703739e-01 -9.49730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.210385723 meters 0.015362648994943131 Centerline is valid? [True, True] Translation: X:244.72, Y:-69.92, Z:-9.50 [[ 7.65995799e-01 6.42520848e-01 2.04302623e-02 2.44716187e+02] [-6.42294721e-01 7.66268201e-01 -1.70451276e-02 -6.99173525e+01] [-2.66069102e-02 -6.57535188e-05 9.99645971e-01 -9.49820444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.270385723 meters 0.01578714753689009 Centerline is valid? [True, True] Translation: X:244.77, Y:-69.95, Z:-9.50 [[ 7.62600366e-01 6.46530605e-01 2.09489297e-02 2.44765357e+02] [-6.46294109e-01 7.62888023e-01 -1.74868562e-02 -6.99547938e+01] [-2.72874753e-02 -2.03686905e-04 9.99627607e-01 -9.50196017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.330385723 meters 0.01619385127371866 Centerline is valid? [True, True] Translation: X:244.81, Y:-69.99, Z:-9.50 [[ 7.60338742e-01 6.49132969e-01 2.26138501e-02 2.44813885e+02] [-6.48858235e-01 7.60674892e-01 -1.88864952e-02 -6.99945795e+01] [-2.94616347e-02 -3.13048906e-04 9.99565863e-01 -9.50338388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.390385723 meters 0.01693099948769248 Centerline is valid? [True, True] Translation: X:244.86, Y:-70.04, Z:-9.51 [[ 7.58860906e-01 6.50849766e-01 2.29064747e-02 2.44859022e+02] [-6.50568321e-01 7.59206454e-01 -1.91420889e-02 -7.00355825e+01] [-2.98493675e-02 -3.76043815e-04 9.99554338e-01 -9.50607690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.450385723 meters 0.01675459289575086 Centerline is valid? [True, True] Translation: X:244.90, Y:-70.08, Z:-9.51 [[ 7.57884598e-01 6.51984262e-01 2.29664394e-02 2.44902344e+02] [-6.51701608e-01 7.58232385e-01 -1.92006415e-02 -7.00797300e+01] [-2.99324142e-02 -4.15395015e-04 9.99551839e-01 -9.50836402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.510385723 meters 0.01706382097844982 Centerline is valid? [True, True] Translation: X:244.95, Y:-70.12, Z:-9.51 [[ 7.56828650e-01 6.53164981e-01 2.42054290e-02 2.44948863e+02] [-6.52851297e-01 7.57215477e-01 -2.02461407e-02 -7.01222376e+01] [-3.15527956e-02 -4.79686346e-04 9.99501971e-01 -9.50983637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.570385723 meters 0.017316659563702548 Centerline is valid? [True, True] Translation: X:244.99, Y:-70.16, Z:-9.51 [[ 7.55316498e-01 6.54899766e-01 2.45618583e-02 2.44994431e+02] [-6.54577301e-01 7.55715550e-01 -2.05563511e-02 -7.01642198e+01] [-3.20241279e-02 -5.51083796e-04 9.99486944e-01 -9.51264123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.630385723 meters 0.017291484076698962 Centerline is valid? [True, True] Translation: X:245.04, Y:-70.21, Z:-9.51 [[ 7.56837899e-01 6.53141603e-01 2.45446720e-02 2.45036824e+02] [-6.52818328e-01 7.57235648e-01 -2.05524758e-02 -7.02090283e+01] [-3.20097776e-02 -4.68319137e-04 9.99487446e-01 -9.51489938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.690385723 meters 0.016891672448823346 Centerline is valid? [True, True] Translation: X:245.08, Y:-70.25, Z:-9.52 [[ 7.59058988e-01 6.50549297e-01 2.48004856e-02 2.45080082e+02] [-6.50217530e-01 7.59463946e-01 -2.07768707e-02 -7.02549962e+01] [-3.23514533e-02 -3.54840036e-04 9.99476492e-01 -9.51583969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.750385723 meters 0.016458098603241638 Centerline is valid? [True, True] Translation: X:245.12, Y:-70.30, Z:-9.52 [[ 7.62517443e-01 6.46492820e-01 2.47827025e-02 2.45122649e+02] [-6.46159191e-01 7.62920049e-01 -2.07677116e-02 -7.03016524e+01] [-3.23333971e-02 -1.77828701e-04 9.99477123e-01 -9.51846515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.810385723 meters 0.017458450049777724 Centerline is valid? [True, True] Translation: X:245.16, Y:-70.35, Z:-9.52 [[ 7.65285621e-01 6.43218057e-01 2.46667596e-02 2.45163360e+02] [-6.42885748e-01 7.65683048e-01 -2.06733033e-02 -7.03494599e+01] [-3.21843617e-02 -3.69263885e-05 9.99481949e-01 -9.52091191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.870385723 meters 0.01637176073110439 Centerline is valid? [True, True] Translation: X:245.21, Y:-70.39, Z:-9.52 [[ 7.66374018e-01 6.41934504e-01 2.43096004e-02 2.45208373e+02] [-6.41610792e-01 7.66759475e-01 -2.03837908e-02 -7.03941237e+01] [-3.17246751e-02 2.43056472e-05 9.99496646e-01 -9.52149184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93038572300003 meters 0.01648627526644308 Centerline is valid? [True, True] Translation: X:245.25, Y:-70.44, Z:-9.53 [[ 7.65875343e-01 6.42557663e-01 2.35501397e-02 2.45254230e+02] [-6.42253822e-01 7.66237332e-01 -1.97580148e-02 -7.04371674e+01] [-3.07406600e-02 7.00913486e-06 9.99527394e-01 -9.52578939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99038572300003 meters 0.016949425198317547 Centerline is valid? [True, True] Translation: X:245.30, Y:-70.48, Z:-9.53 [[ 7.64845437e-01 6.43812227e-01 2.27436601e-02 2.45299404e+02] [-6.43529081e-01 7.65183518e-01 -1.90920631e-02 -7.04810932e+01] [-2.96947775e-02 -3.37292867e-05 9.99559012e-01 -9.52748263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.050385723 meters 0.01658083868273067 Centerline is valid? [True, True] Translation: X:245.35, Y:-70.52, Z:-9.53 [[ 7.64274411e-01 6.44478571e-01 2.30650230e-02 2.45345887e+02] [-6.44187326e-01 7.64622370e-01 -1.93731992e-02 -7.05239736e+01] [-3.01216443e-02 -5.17550909e-05 9.99546239e-01 -9.52919997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.110385723 meters 0.016714160734500324 Centerline is valid? [True, True] Translation: X:245.39, Y:-70.57, Z:-9.53 [[ 7.63709621e-01 6.45107184e-01 2.41730603e-02 2.45390580e+02] [-6.44787203e-01 7.64092086e-01 -2.03161585e-02 -7.05664568e+01] [-3.15765439e-02 -7.08341916e-05 9.99501334e-01 -9.52953061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.170385723 meters 0.01687022073614089 Centerline is valid? [True, True] Translation: X:245.43, Y:-70.61, Z:-9.53 [[ 7.63459916e-01 6.45359447e-01 2.53010072e-02 2.45434975e+02] [-6.45008653e-01 7.63879034e-01 -2.12757766e-02 -7.06108332e+01] [-3.30574323e-02 -7.61659323e-05 9.99453451e-01 -9.52810511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.230385723 meters 0.016915070934304426 Centerline is valid? [True, True] Translation: X:245.48, Y:-70.65, Z:-9.53 [[ 7.62000409e-01 6.47155197e-01 2.33565395e-02 2.45483417e+02] [-6.46856795e-01 7.62358271e-01 -1.96507800e-02 -7.06496969e+01] [-3.05231554e-02 -1.34433877e-04 9.99534051e-01 -9.53268240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.290385723 meters 0.01713250379783991 Centerline is valid? [True, True] Translation: X:245.53, Y:-70.69, Z:-9.54 [[ 7.58629764e-01 6.51189110e-01 2.08236370e-02 2.45530174e+02] [-6.50953244e-01 7.58915460e-01 -1.75270757e-02 -7.06895554e+01] [-2.72168209e-02 -2.58652802e-04 9.99629520e-01 -9.53617052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.350385723 meters 0.01729725282238072 Centerline is valid? [True, True] Translation: X:245.58, Y:-70.73, Z:-9.54 [[ 7.57197193e-01 6.52847246e-01 2.10447962e-02 2.45577117e+02] [-6.52606759e-01 7.57489520e-01 -1.77213089e-02 -7.07308222e+01] [-2.75105203e-02 -3.15450884e-04 9.99621464e-01 -9.53818247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.410385723 meters 0.017677135282661204 Centerline is valid? [True, True] Translation: X:245.62, Y:-70.77, Z:-9.54 [[ 7.56584761e-01 6.53568780e-01 2.06724314e-02 2.45624324e+02] [-6.53336766e-01 7.56867057e-01 -1.74163218e-02 -7.07700580e+01] [-2.70290465e-02 -3.29135870e-04 9.99634594e-01 -9.54306057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.470385723 meters 0.017177506479950453 Centerline is valid? [True, True] Translation: X:245.67, Y:-70.82, Z:-9.54 [[ 7.56625748e-01 6.53555605e-01 1.95588698e-02 2.45667706e+02] [-6.53347760e-01 7.56878443e-01 -1.64841384e-02 -7.08164509e+01] [-2.55769880e-02 -3.06420222e-04 9.99672808e-01 -9.54312873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.530385723 meters 0.01738669508427965 Centerline is valid? [True, True] Translation: X:245.71, Y:-70.86, Z:-9.55 [[ 7.57225390e-01 6.52825721e-01 2.06950898e-02 2.45712160e+02] [-6.52592439e-01 7.57508082e-01 -1.74531744e-02 -7.08579000e+01] [-2.70705789e-02 -2.89472288e-04 9.99633483e-01 -9.54551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.590385723 meters 0.017432549391718625 Centerline is valid? [True, True] Translation: X:245.76, Y:-70.90, Z:-9.55 [[ 7.56792984e-01 6.53326330e-01 2.07143903e-02 2.45760472e+02] [-6.53092596e-01 7.57076360e-01 -1.74770251e-02 -7.08980903e+01] [-2.71005759e-02 -3.01924957e-04 9.99632666e-01 -9.54928990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.650385723 meters 0.01731205396615813 Centerline is valid? [True, True] Translation: X:245.80, Y:-70.94, Z:-9.55 [[ 7.56198274e-01 6.54025676e-01 2.03613739e-02 2.45804184e+02] [-6.53799858e-01 7.56472284e-01 -1.71880825e-02 -7.09441094e+01] [-2.66442623e-02 -3.14665016e-04 9.99644929e-01 -9.55036057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.710385723 meters 0.01748911788212821 Centerline is valid? [True, True] Translation: X:245.85, Y:-70.98, Z:-9.55 [[ 7.56430107e-01 6.53783395e-01 1.95132384e-02 2.45850643e+02] [-6.53575687e-01 7.56681697e-01 -1.64812195e-02 -7.09849351e+01] [-2.55404580e-02 -2.86487548e-04 9.99673748e-01 -9.55496963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.770385723 meters 0.017200529475453193 Centerline is valid? [True, True] Translation: X:245.90, Y:-71.03, Z:-9.56 [[ 7.56894757e-01 6.53243636e-01 1.95723938e-02 2.45895977e+02] [-6.53034259e-01 7.57147729e-01 -1.65400561e-02 -7.10272041e+01] [-2.56238799e-02 -2.62361906e-04 9.99671620e-01 -9.55825373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.830385723 meters 0.01724157031656225 Centerline is valid? [True, True] Translation: X:245.94, Y:-71.07, Z:-9.56 [[ 7.57944504e-01 6.52022182e-01 1.96774791e-02 2.45938373e+02] [-6.51809924e-01 7.58199860e-01 -1.66371846e-02 -7.10710196e+01] [-2.57672753e-02 -2.15913527e-04 9.99667945e-01 -9.55919554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.890385723 meters 0.01715979760656883 Centerline is valid? [True, True] Translation: X:245.98, Y:-71.11, Z:-9.56 [[ 7.58763601e-01 6.51042177e-01 2.05397623e-02 2.45983033e+02] [-6.50810332e-01 7.59041534e-01 -1.73741787e-02 -7.11147009e+01] [-2.69018558e-02 -1.84595158e-04 9.99638063e-01 -9.56111643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.950385723 meters 0.017197193932042523 Centerline is valid? [True, True] Translation: X:246.03, Y:-71.16, Z:-9.56 [[ 7.59294732e-01 6.50406506e-01 2.10448684e-02 2.46029082e+02] [-6.50162636e-01 7.59586303e-01 -1.78099993e-02 -7.11569945e+01] [-2.75691332e-02 -1.59548456e-04 9.99619886e-01 -9.56345077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.010385723 meters 0.017088623777983064 Centerline is valid? [True, True] Translation: X:246.07, Y:-71.20, Z:-9.56 [[ 7.59750492e-01 6.49850515e-01 2.17600118e-02 2.46074967e+02] [-6.49589303e-01 7.60062030e-01 -1.84241081e-02 -7.11986977e+01] [-2.85118748e-02 -1.37345677e-04 9.99593444e-01 -9.56498346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.070385723 meters 0.017041312317769144 Centerline is valid? [True, True] Translation: X:246.12, Y:-71.25, Z:-9.57 [[ 7.61462167e-01 6.47804462e-01 2.29073549e-02 2.46116615e+02] [-6.47513759e-01 7.61806652e-01 -1.94050464e-02 -7.12450900e+01] [-3.00216510e-02 -5.66187529e-05 9.99549247e-01 -9.56556502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.130385723 meters 0.017129185305295707 Centerline is valid? [True, True] Translation: X:246.16, Y:-71.29, Z:-9.57 [[ 7.61412161e-01 6.47902243e-01 2.17762146e-02 2.46161598e+02] [-6.47639367e-01 7.61723493e-01 -1.84545525e-02 -7.12879382e+01] [-2.85442002e-02 -5.16131249e-05 9.99592530e-01 -9.57058708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.190385723 meters 0.01728671966796073 Centerline is valid? [True, True] Translation: X:246.21, Y:-71.33, Z:-9.57 [[ 7.59873819e-01 6.49721155e-01 2.13119855e-02 2.46207404e+02] [-6.49469858e-01 7.60172618e-01 -1.80691619e-02 -7.13314865e+01] [-2.79407045e-02 -1.11209166e-04 9.99609576e-01 -9.57137123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.250385723 meters 0.017314908731325136 Centerline is valid? [True, True] Translation: X:246.25, Y:-71.37, Z:-9.57 [[ 7.59501316e-01 6.50149257e-01 2.15335910e-02 2.46253840e+02] [-6.49892585e-01 7.59806508e-01 -1.82674344e-02 -7.13720080e+01] [-2.82379215e-02 -1.20380643e-04 9.99601223e-01 -9.57490200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.310385723 meters 0.01733538221144809 Centerline is valid? [True, True] Translation: X:246.30, Y:-71.42, Z:-9.57 [[ 7.59261954e-01 6.50424741e-01 2.16550800e-02 2.46298745e+02] [-6.50165018e-01 7.59570695e-01 -1.83795636e-02 -7.14159521e+01] [-2.84030870e-02 -1.24472061e-04 9.99596543e-01 -9.57496503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.370385723 meters 0.01740189704645371 Centerline is valid? [True, True] Translation: X:246.34, Y:-71.46, Z:-9.58 [[ 7.59562553e-01 6.50066771e-01 2.18614130e-02 2.46344757e+02] [-6.49801614e-01 7.59877083e-01 -1.85655726e-02 -7.14578590e+01] [-2.86808486e-02 -1.03867682e-04 9.99588614e-01 -9.57729463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43038572300003 meters 0.01734522212454283 Centerline is valid? [True, True] Translation: X:246.39, Y:-71.50, Z:-9.58 [[ 7.59720635e-01 6.49889597e-01 2.16348888e-02 2.46390643e+02] [-6.49629565e-01 7.60028620e-01 -1.83827171e-02 -7.14996762e+01] [-2.83898713e-02 -8.89338751e-05 9.99596922e-01 -9.57972934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49038572300003 meters 0.01734858637033993 Centerline is valid? [True, True] Translation: X:246.44, Y:-71.54, Z:-9.58 [[ 7.59875298e-01 6.49693638e-01 2.20841188e-02 2.46437779e+02] [-6.49422324e-01 7.60196140e-01 -1.87742705e-02 -7.15420173e+01] [-2.89857860e-02 -7.58154218e-05 9.99579821e-01 -9.58207657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.550385723 meters 0.01741111469448483 Centerline is valid? [True, True] Translation: X:246.48, Y:-71.58, Z:-9.58 [[ 7.59880108e-01 6.49703457e-01 2.16249770e-02 2.46483115e+02] [-6.49443025e-01 7.60187749e-01 -1.83941130e-02 -7.15837110e+01] [-2.83897614e-02 -6.68698651e-05 9.99596927e-01 -9.58427760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.610385723 meters 0.017433047853326514 Centerline is valid? [True, True] Translation: X:246.53, Y:-71.62, Z:-9.59 [[ 7.58249963e-01 6.51653351e-01 2.01222081e-02 2.46531569e+02] [-6.51428333e-01 7.58516904e-01 -1.71240549e-02 -7.16218429e+01] [-2.64219827e-02 -1.23862526e-04 9.99650871e-01 -9.58908085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.670385723 meters 0.017426990638016344 Centerline is valid? [True, True] Translation: X:246.58, Y:-71.66, Z:-9.59 [[ 7.57168450e-01 6.52918623e-01 1.98295252e-02 2.46580286e+02] [-6.52700344e-01 7.57428047e-01 -1.68823746e-02 -7.16610919e+01] [-2.60422554e-02 -1.59936517e-04 9.99660830e-01 -9.59156310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.730385723 meters 0.01723581876468722 Centerline is valid? [True, True] Translation: X:246.63, Y:-71.70, Z:-9.59 [[ 7.57955175e-01 6.51976728e-01 2.07436538e-02 2.46626867e+02] [-6.51737213e-01 7.58238967e-01 -1.76713063e-02 -7.17019152e+01] [-2.72499270e-02 -1.25353047e-04 9.99628644e-01 -9.59177854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.790385723 meters 0.017135647452158523 Centerline is valid? [True, True] Translation: X:246.67, Y:-71.74, Z:-9.59 [[ 7.59551625e-01 6.50117762e-01 2.06935781e-02 2.46672659e+02] [-6.49878483e-01 7.59833464e-01 -1.76370270e-02 -7.17440288e+01] [-2.71898176e-02 -5.20786324e-05 9.99630287e-01 -9.59406124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.850385723 meters 0.01700665257635705 Centerline is valid? [True, True] Translation: X:246.72, Y:-71.79, Z:-9.59 [[ 7.62301780e-01 6.46883333e-01 2.09272601e-02 2.46718172e+02] [-6.46637144e-01 7.62588977e-01 -1.78453148e-02 -7.17881205e+01] [-2.75027346e-02 7.11715390e-05 9.99621726e-01 -9.59421965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.910385723 meters 0.017128020368477267 Centerline is valid? [True, True] Translation: X:246.76, Y:-71.83, Z:-9.60 [[ 7.64962592e-01 6.43728544e-01 2.11138580e-02 2.46763671e+02] [-6.43476452e-01 7.65253895e-01 -1.80147499e-02 -7.18297606e+01] [-2.77540708e-02 1.94339315e-04 9.99614763e-01 -9.59584827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.970385723 meters 0.01744355157266825 Centerline is valid? [True, True] Translation: X:246.81, Y:-71.87, Z:-9.60 [[ 7.66339911e-01 6.42093010e-01 2.09692195e-02 2.46810844e+02] [-6.41843512e-01 7.66626702e-01 -1.78998965e-02 -7.18697298e+01] [-2.75689620e-02 2.58447584e-04 9.99619871e-01 -9.59884975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.030385723 meters 0.017589745803006745 Centerline is valid? [True, True] Translation: X:246.86, Y:-71.91, Z:-9.60 [[ 7.67386251e-01 6.40883658e-01 1.96590730e-02 2.46856869e+02] [-6.40663780e-01 7.67637971e-01 -1.67889050e-02 -7.19107148e+01] [-2.58507857e-02 2.88718827e-04 9.99665771e-01 -9.60211671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.090385723 meters 0.017622641801955687 Centerline is valid? [True, True] Translation: X:246.90, Y:-71.95, Z:-9.60 [[ 7.66999010e-01 6.41377498e-01 1.86393254e-02 2.46904561e+02] [-6.41179831e-01 7.67225414e-01 -1.59244412e-02 -7.19516626e+01] [-2.45141424e-02 2.62871130e-04 9.99699449e-01 -9.60439996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.150385723 meters 0.016903747273879874 Centerline is valid? [True, True] Translation: X:246.96, Y:-71.99, Z:-9.61 [[ 7.64803361e-01 6.43983915e-01 1.89877791e-02 2.46955978e+02] [-6.43779359e-01 7.65039007e-01 -1.62313107e-02 -7.19868913e+01] [-2.49790947e-02 1.89820702e-04 9.99687956e-01 -9.60712064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.210385723 meters 0.01672745192095185 Centerline is valid? [True, True] Translation: X:247.00, Y:-72.03, Z:-9.61 [[ 7.62942738e-01 6.46153483e-01 2.01011256e-02 2.47002768e+02] [-6.45924742e-01 7.63207481e-01 -1.71921254e-02 -7.20257891e+01] [-2.64500811e-02 1.32792834e-04 9.99650127e-01 -9.60843442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.270385723 meters 0.016333946515565943 Centerline is valid? [True, True] Translation: X:247.05, Y:-72.06, Z:-9.61 [[ 7.61447713e-01 6.47878368e-01 2.12368017e-02 2.47051435e+02] [-6.47623480e-01 7.61743798e-01 -1.81717907e-02 -7.20647761e+01] [-2.79501121e-02 8.34170741e-05 9.99609316e-01 -9.60726012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.330385723 meters 0.016256273136896076 Centerline is valid? [True, True] Translation: X:247.10, Y:-72.10, Z:-9.61 [[ 7.59928076e-01 6.49668750e-01 2.09722453e-02 2.47100385e+02] [-6.49420646e-01 7.60217413e-01 -1.79529879e-02 -7.21041908e+01] [-2.76069612e-02 2.31704547e-05 9.99618855e-01 -9.60767034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.390385723 meters 0.016303174627492097 Centerline is valid? [True, True] Translation: X:247.15, Y:-72.14, Z:-9.61 [[ 7.57899230e-01 6.52063117e-01 2.00611461e-02 2.47149488e+02] [-6.51836694e-01 7.58164685e-01 -1.71824206e-02 -7.21425119e+01] [-2.64136752e-02 -5.40478411e-05 9.99651097e-01 -9.61091639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.450385723 meters 0.016247333986455084 Centerline is valid? [True, True] Translation: X:247.20, Y:-72.18, Z:-9.61 [[ 7.57309508e-01 6.52765465e-01 1.94822070e-02 2.47198750e+02] [-6.52551948e-01 7.57560059e-01 -1.66946934e-02 -7.21819120e+01] [-2.56566612e-02 -7.01020491e-05 9.99670811e-01 -9.61444496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.510385723 meters 0.016217643943315627 Centerline is valid? [True, True] Translation: X:247.25, Y:-72.22, Z:-9.62 [[ 7.57154170e-01 6.52954831e-01 1.91716293e-02 2.47247391e+02] [-6.52747869e-01 7.57396847e-01 -1.64388276e-02 -7.22203357e+01] [-2.52543435e-02 -6.75132714e-05 9.99681056e-01 -9.61763133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.570385723 meters 0.016297814963726197 Centerline is valid? [True, True] Translation: X:247.30, Y:-72.26, Z:-9.62 [[ 7.57044216e-01 6.53089277e-01 1.89327979e-02 2.47295069e+02] [-6.52887386e-01 7.57280920e-01 -1.62379236e-02 -7.22607127e+01] [-2.49422604e-02 -6.81587572e-05 9.99688891e-01 -9.61848701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.630385723 meters 0.01648775327265427 Centerline is valid? [True, True] Translation: X:247.34, Y:-72.30, Z:-9.62 [[ 7.58516724e-01 6.51402170e-01 1.80995129e-02 2.47341850e+02] [-6.51216986e-01 7.58732636e-01 -1.55314105e-02 -7.23011990e+01] [-2.38498856e-02 -5.87563146e-06 9.99715551e-01 -9.62050663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.690385723 meters 0.016534189976719196 Centerline is valid? [True, True] Translation: X:247.39, Y:-72.34, Z:-9.62 [[ 7.60020976e-01 6.49659952e-01 1.76086357e-02 2.47390180e+02] [-6.49484034e-01 7.60224930e-01 -1.51176881e-02 -7.23404944e+01] [-2.32078804e-02 5.32323128e-05 9.99730659e-01 -9.62335993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.750385723 meters 0.0167576051925892 Centerline is valid? [True, True] Translation: X:247.44, Y:-72.38, Z:-9.62 [[ 7.60908664e-01 6.48601458e-01 1.82798763e-02 2.47437383e+02] [-6.48411391e-01 7.61128202e-01 -1.57012206e-02 -7.23813933e+01] [-2.40971640e-02 9.43147724e-05 9.99709617e-01 -9.62388753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.810385723 meters 0.016526217026182396 Centerline is valid? [True, True] Translation: X:247.49, Y:-72.42, Z:-9.62 [[ 7.61219367e-01 6.48212223e-01 1.91308507e-02 2.47485448e+02] [-6.48003685e-01 7.61459717e-01 -1.64415349e-02 -7.24204368e+01] [-2.52249761e-02 1.18753016e-04 9.99681793e-01 -9.62285001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.870385723 meters 0.016776542156494052 Centerline is valid? [True, True] Translation: X:247.53, Y:-72.46, Z:-9.62 [[ 7.61994339e-01 6.47284882e-01 1.96699775e-02 2.47533134e+02] [-6.47063893e-01 7.62248159e-01 -1.69133958e-02 -7.24602344e+01] [-2.59411895e-02 1.60179646e-04 9.99663458e-01 -9.62381380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93038572300003 meters 0.01687104462305105 Centerline is valid? [True, True] Translation: X:247.58, Y:-72.50, Z:-9.63 [[ 7.61928344e-01 6.47378316e-01 1.91445756e-02 2.47581775e+02] [-6.47168802e-01 7.62168807e-01 -1.64696935e-02 -7.25003013e+01] [-2.52535208e-02 1.58954197e-04 9.99681066e-01 -9.62702901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99038572300003 meters 0.017081116012808848 Centerline is valid? [True, True] Translation: X:247.63, Y:-72.54, Z:-9.63 [[ 7.61781861e-01 6.47623946e-01 1.64809162e-02 2.47629248e+02] [-6.47468586e-01 7.61960108e-01 -1.41853634e-02 -7.25392339e+01] [-2.17445817e-02 1.35276990e-04 9.99763549e-01 -9.63144503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.050385723 meters 0.017092298727927665 Centerline is valid? [True, True] Translation: X:247.68, Y:-72.58, Z:-9.63 [[ 7.62465439e-01 6.46802525e-01 1.71157371e-02 2.47678832e+02] [-6.46634622e-01 7.62657502e-01 -1.47377380e-02 -7.25781487e+01] [-2.25858514e-02 1.69387656e-04 9.99744893e-01 -9.63229696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.110385723 meters 0.017325630840259582 Centerline is valid? [True, True] Translation: X:247.73, Y:-72.62, Z:-9.63 [[ 7.63794891e-01 6.45186732e-01 1.87468950e-02 2.47727874e+02] [-6.44984556e-01 7.64024882e-01 -1.61524568e-02 -7.26170713e+01] [-2.47444450e-02 2.45706197e-04 9.99693779e-01 -9.63278620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.170385723 meters 0.01732869161610119 Centerline is valid? [True, True] Translation: X:247.78, Y:-72.66, Z:-9.63 [[ 7.64415382e-01 6.44439911e-01 1.91396288e-02 2.47776174e+02] [-6.44228705e-01 7.64654904e-01 -1.65001205e-02 -7.26577080e+01] [-2.52685472e-02 2.82647647e-04 9.99680659e-01 -9.63296895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.230385723 meters 0.017524957860337614 Centerline is valid? [True, True] Translation: X:247.83, Y:-72.69, Z:-9.64 [[ 7.64679315e-01 6.44129126e-01 1.90581749e-02 2.47826497e+02] [-6.43919385e-01 7.64916714e-01 -1.64391798e-02 -7.26942508e+01] [-2.51668711e-02 2.98772536e-04 9.99683219e-01 -9.63570601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.290385723 meters 0.016787067036519086 Centerline is valid? [True, True] Translation: X:247.88, Y:-72.73, Z:-9.64 [[ 7.63754963e-01 6.45248284e-01 1.82485016e-02 2.47879350e+02] [-6.45056140e-01 7.63972896e-01 -1.57477095e-02 -7.27295687e+01] [-2.41025432e-02 2.56083285e-04 9.99709459e-01 -9.63892024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.350385723 meters 0.01650179057266154 Centerline is valid? [True, True] Translation: X:247.93, Y:-72.77, Z:-9.64 [[ 7.61680523e-01 6.47699441e-01 1.81166990e-02 2.47927513e+02] [-6.47510518e-01 7.61895925e-01 -1.56438233e-02 -7.27669059e+01] [-2.39355348e-02 1.84842378e-04 9.99713487e-01 -9.64074958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.410385723 meters 0.01597748495984659 Centerline is valid? [True, True] Translation: X:247.98, Y:-72.80, Z:-9.64 [[ 7.60013994e-01 6.49598064e-01 2.00270994e-02 2.47979592e+02] [-6.49367609e-01 7.60277801e-01 -1.73024123e-02 -7.28010542e+01] [-2.64657727e-02 1.45125811e-04 9.99649710e-01 -9.64215788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.470385723 meters 0.015777313814857925 Centerline is valid? [True, True] Translation: X:248.03, Y:-72.84, Z:-9.64 [[ 7.57871493e-01 6.52065591e-01 2.10063200e-02 2.48030836e+02] [-6.51812729e-01 7.58162556e-01 -1.81577954e-02 -7.28367721e+01] [-2.77662789e-02 6.90887816e-05 9.99614440e-01 -9.64464212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.530385723 meters 0.0174466971402542 Centerline is valid? [True, True] Translation: X:248.08, Y:-72.87, Z:-9.65 [[ 7.56103145e-01 6.54092355e-01 2.17077405e-02 2.48079277e+02] [-6.53822875e-01 7.56414695e-01 -1.87738454e-02 -7.28742574e+01] [-2.86998827e-02 1.94626615e-06 9.99588074e-01 -9.64728238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.590385723 meters 0.015413349890974471 Centerline is valid? [True, True] Translation: X:248.13, Y:-72.91, Z:-9.65 [[ 7.54307998e-01 6.56135083e-01 2.24988067e-02 2.48131417e+02] [-6.55846251e-01 7.54643457e-01 -1.94665948e-02 -7.29099388e+01] [-2.97512931e-02 -7.19498520e-05 9.99557330e-01 -9.64849530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.650385723 meters 0.015452449208964021 Centerline is valid? [True, True] Translation: X:248.18, Y:-72.95, Z:-9.65 [[ 7.53429246e-01 6.57122647e-01 2.31127205e-02 2.48180637e+02] [-6.56817942e-01 7.53783666e-01 -2.00093636e-02 -7.29487202e+01] [-3.05705972e-02 -1.05209776e-04 9.99532605e-01 -9.65089675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.710385723 meters 0.015282084860703144 Centerline is valid? [True, True] Translation: X:248.23, Y:-72.99, Z:-9.65 [[ 7.53267178e-01 6.57252566e-01 2.46500041e-02 2.48229828e+02] [-6.56905619e-01 7.53670387e-01 -2.13530975e-02 -7.29863120e+01] [-3.26123563e-02 -1.08138737e-04 9.99468070e-01 -9.65237199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.770385723 meters 0.015330233147099555 Centerline is valid? [True, True] Translation: X:248.28, Y:-73.03, Z:-9.66 [[ 7.53915677e-01 6.56525126e-01 2.42056003e-02 2.48277715e+02] [-6.56189886e-01 7.54304153e-01 -2.09780468e-02 -7.30258526e+01] [-3.20309997e-02 -6.77917198e-05 9.99486874e-01 -9.65566179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.830385723 meters 0.01553903343234805 Centerline is valid? [True, True] Translation: X:248.33, Y:-73.07, Z:-9.66 [[ 7.55758729e-01 6.54448443e-01 2.29342387e-02 2.48325775e+02] [-6.54146258e-01 7.56106630e-01 -1.98856185e-02 -7.30669757e+01] [-3.03548420e-02 2.63833601e-05 9.99539185e-01 -9.65921101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.890385723 meters 0.015204188382560645 Centerline is valid? [True, True] Translation: X:248.37, Y:-73.10, Z:-9.66 [[ 7.57913633e-01 6.51970027e-01 2.24055462e-02 2.48373528e+02] [-6.51680205e-01 7.58244727e-01 -1.94382042e-02 -7.31048367e+01] [-2.96620138e-02 1.31229071e-04 9.99559977e-01 -9.66359320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.950385723 meters 0.016788613347022915 Centerline is valid? [True, True] Translation: X:248.42, Y:-73.15, Z:-9.67 [[ 7.59598710e-01 6.49988398e-01 2.29103113e-02 2.48419648e+02] [-6.49684193e-01 7.59944099e-01 -1.98850559e-02 -7.31461965e+01] [-3.03356115e-02 2.20195714e-04 9.99539745e-01 -9.66604080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.010385723 meters 0.015419450829573645 Centerline is valid? [True, True] Translation: X:248.47, Y:-73.19, Z:-9.67 [[ 7.61342354e-01 6.47849256e-01 2.54786469e-02 2.48467458e+02] [-6.47471392e-01 7.61768481e-01 -2.21264019e-02 -7.31861489e+01] [-3.37434032e-02 3.49071930e-04 9.99430468e-01 -9.66566187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.070385723 meters 0.015401627146928382 Centerline is valid? [True, True] Translation: X:248.52, Y:-73.23, Z:-9.67 [[ 7.62788423e-01 6.46132404e-01 2.58212627e-02 2.48515739e+02] [-6.45742945e-01 7.63225211e-01 -2.24349146e-02 -7.32254691e+01] [-3.42033640e-02 4.39194880e-04 9.99414797e-01 -9.66819623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.130385723 meters 0.015157629901606615 Centerline is valid? [True, True] Translation: X:248.56, Y:-73.27, Z:-9.67 [[ 7.62110094e-01 6.46938961e-01 2.56551213e-02 2.48564034e+02] [-6.46554589e-01 7.62541680e-01 -2.23013349e-02 -7.32651741e+01] [-3.39907017e-02 4.08636029e-04 9.99422066e-01 -9.67046030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.190385723 meters 0.014927814594605177 Centerline is valid? [True, True] Translation: X:248.61, Y:-73.30, Z:-9.67 [[ 7.59900559e-01 6.49501197e-01 2.64449732e-02 2.48614279e+02] [-6.49093913e-01 7.60360505e-01 -2.29998726e-02 -7.33009845e+01] [-3.50461580e-02 3.12344911e-04 9.99385646e-01 -9.67391220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.250385723 meters 0.01786439339918678 Centerline is valid? [True, True] Translation: X:248.66, Y:-73.34, Z:-9.68 [[ 7.59014119e-01 6.50509513e-01 2.71097910e-02 2.48663633e+02] [-6.50081886e-01 7.59498055e-01 -2.35848532e-02 -7.33390607e+01] [-3.59320049e-02 2.77652484e-04 9.99354198e-01 -9.67943588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.310385723 meters 0.014485100860412308 Centerline is valid? [True, True] Translation: X:248.71, Y:-73.38, Z:-9.68 [[ 7.57840695e-01 6.51859967e-01 2.74966230e-02 2.48712582e+02] [-6.51420496e-01 7.58339325e-01 -2.39333398e-02 -7.33772793e+01] [-3.64529567e-02 2.25795074e-04 9.99335345e-01 -9.68001323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.370385723 meters 0.01419151005033268 Centerline is valid? [True, True] Translation: X:248.76, Y:-73.42, Z:-9.68 [[ 7.56693270e-01 6.53184459e-01 2.76650891e-02 2.48761381e+02] [-6.52740036e-01 7.57198806e-01 -2.40917736e-02 -7.34162496e+01] [-3.66843446e-02 1.71971702e-04 9.99326888e-01 -9.68277827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43038572300003 meters 0.014046600488203618 Centerline is valid? [True, True] Translation: X:248.81, Y:-73.46, Z:-9.68 [[ 7.55495000e-01 6.54542042e-01 2.83199574e-02 2.48809750e+02] [-6.54076744e-01 7.56025596e-01 -2.46761210e-02 -7.34558630e+01] [-3.75621713e-02 1.19260492e-04 9.99294286e-01 -9.68491628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49038572300003 meters 0.014044847892170807 Centerline is valid? [True, True] Translation: X:248.86, Y:-73.49, Z:-9.69 [[ 7.53882168e-01 6.56391779e-01 2.84869969e-02 2.48857804e+02] [-6.55921750e-01 7.54420195e-01 -2.48360043e-02 -7.34947110e+01] [-3.77933148e-02 3.81799074e-05 9.99285577e-01 -9.68763027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.550385723 meters 0.014043934217817636 Centerline is valid? [True, True] Translation: X:248.91, Y:-73.54, Z:-9.69 [[ 7.52113948e-01 6.58410053e-01 2.86498040e-02 2.48906217e+02] [-6.57935584e-01 7.52659418e-01 -2.49913555e-02 -7.35354870e+01] [-3.80181045e-02 -5.33784486e-05 9.99277049e-01 -9.69058123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.610385723 meters 0.014169108476046119 Centerline is valid? [True, True] Translation: X:248.95, Y:-73.57, Z:-9.69 [[ 7.49259629e-01 6.61650435e-01 2.87873208e-02 2.48954274e+02] [-6.61173241e-01 7.49812416e-01 -2.51254153e-02 -7.35726956e+01] [-3.82093325e-02 -2.07946863e-04 9.99269735e-01 -9.69486397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.670385723 meters 0.01451790731131041 Centerline is valid? [True, True] Translation: X:249.00, Y:-73.61, Z:-9.70 [[ 7.47182206e-01 6.63942509e-01 2.99849080e-02 2.48999802e+02] [-6.63426122e-01 7.47783549e-01 -2.61829132e-02 -7.36142402e+01] [-3.98061700e-02 -3.29364416e-04 9.99207366e-01 -9.69589447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.730385723 meters 0.014854868796615458 Centerline is valid? [True, True] Translation: X:249.05, Y:-73.65, Z:-9.70 [[ 7.46219618e-01 6.64981660e-01 3.09139651e-02 2.49046276e+02] [-6.64433151e-01 7.46859586e-01 -2.70064128e-02 -7.36537810e+01] [-4.10471604e-02 -3.87548238e-04 9.99157135e-01 -9.69764177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.790385723 meters 0.014707503718649196 Centerline is valid? [True, True] Translation: X:249.09, Y:-73.70, Z:-9.70 [[ 7.44791627e-01 6.66614856e-01 3.01673081e-02 2.49092345e+02] [-6.66093411e-01 7.45402190e-01 -2.63655711e-02 -7.36950350e+01] [-4.00624589e-02 -4.57388539e-04 9.99197073e-01 -9.70188385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.850385723 meters 0.01525549774646936 Centerline is valid? [True, True] Translation: X:249.14, Y:-73.74, Z:-9.71 [[ 7.43431587e-01 6.68174845e-01 2.91865128e-02 2.49138359e+02] [-6.67687484e-01 7.44004108e-01 -2.55208140e-02 -7.37354521e+01] [-3.87672514e-02 -5.14490043e-04 9.99248135e-01 -9.70533504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.910385723 meters 0.015383512170661466 Centerline is valid? [True, True] Translation: X:249.18, Y:-73.78, Z:-9.71 [[ 7.42480001e-01 6.69245954e-01 2.88669513e-02 2.49183304e+02] [-6.68769574e-01 7.43040742e-01 -2.52529762e-02 -7.37789208e+01] [-3.83497731e-02 -5.55508952e-04 9.99264222e-01 -9.70855172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.970385723 meters 0.017052939006712935 Centerline is valid? [True, True] Translation: X:249.23, Y:-73.82, Z:-9.72 [[ 7.42291279e-01 6.69518608e-01 2.73585615e-02 2.49229091e+02] [-6.69090507e-01 7.42795094e-01 -2.39445524e-02 -7.38218061e+01] [-3.63531286e-02 -5.31521326e-04 9.99338865e-01 -9.71548421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.030385723 meters 0.015445399617080793 Centerline is valid? [True, True] Translation: X:249.27, Y:-73.87, Z:-9.71 [[ 7.41705376e-01 6.70129127e-01 2.82858372e-02 2.49273876e+02] [-6.69671409e-01 7.42244319e-01 -2.47704394e-02 -7.38656786e+01] [-3.75943949e-02 -5.69848403e-04 9.99292918e-01 -9.71494045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.090385723 meters 0.015266693112473572 Centerline is valid? [True, True] Translation: X:249.32, Y:-73.91, Z:-9.72 [[ 7.42721875e-01 6.68996009e-01 2.84351353e-02 2.49316864e+02] [-6.68532082e-01 7.43265824e-01 -2.49152598e-02 -7.39110746e+01] [-3.78030737e-02 -5.04691696e-04 9.99285081e-01 -9.71698573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.150385723 meters 0.015269826604342193 Centerline is valid? [True, True] Translation: X:249.36, Y:-73.95, Z:-9.72 [[ 7.43486201e-01 6.68187092e-01 2.74641536e-02 2.49361214e+02] [-6.67753350e-01 7.43993157e-01 -2.40758273e-02 -7.39548238e+01] [-3.65202994e-02 -4.39235230e-04 9.99332815e-01 -9.72160295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.210385723 meters 0.01605002432998857 Centerline is valid? [True, True] Translation: X:249.40, Y:-74.00, Z:-9.73 [[ 7.43956481e-01 6.67656687e-01 2.76279497e-02 2.49404774e+02] [-6.67216957e-01 7.44469196e-01 -2.42311639e-02 -7.39983699e+01] [-3.67462561e-02 -4.06905122e-04 9.99324545e-01 -9.72500149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.270385723 meters 0.015349513849289221 Centerline is valid? [True, True] Translation: X:249.45, Y:-74.04, Z:-9.72 [[ 7.44316796e-01 6.67176942e-01 2.94522597e-02 2.49448849e+02] [-6.66676346e-01 7.44899167e-01 -2.58433984e-02 -7.40422770e+01] [-3.91810833e-02 -3.99449358e-04 9.99232047e-01 -9.72396369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.330385723 meters 0.01538096882265388 Centerline is valid? [True, True] Translation: X:249.49, Y:-74.09, Z:-9.73 [[ 7.44491054e-01 6.67017592e-01 2.86461541e-02 2.49494508e+02] [-6.66543446e-01 7.45041874e-01 -2.51483730e-02 -7.40861196e+01] [-3.81169916e-02 -3.71167568e-04 9.99273214e-01 -9.72736314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.390385723 meters 0.015606663075794166 Centerline is valid? [True, True] Translation: X:249.54, Y:-74.13, Z:-9.73 [[ 7.45308532e-01 6.66115649e-01 2.83749095e-02 2.49536833e+02] [-6.65649298e-01 7.45848406e-01 -2.49232306e-02 -7.41322630e+01] [-3.77651349e-02 -3.12242133e-04 9.99286594e-01 -9.73153448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.450385723 meters 0.014751924673905473 Centerline is valid? [True, True] Translation: X:249.58, Y:-74.18, Z:-9.73 [[ 7.46606358e-01 6.64646638e-01 2.87017825e-02 2.49580937e+02] [-6.64167909e-01 7.47157810e-01 -2.52229165e-02 -7.41758274e+01] [-3.82090876e-02 -2.31212983e-04 9.99269739e-01 -9.73350616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.510385723 meters 0.014601093355421436 Centerline is valid? [True, True] Translation: X:249.62, Y:-74.22, Z:-9.74 [[ 7.47892471e-01 6.63208744e-01 2.84782994e-02 2.49624941e+02] [-6.62735928e-01 7.48434460e-01 -2.50389588e-02 -7.42197529e+01] [-3.79201971e-02 -1.47143417e-04 9.99280760e-01 -9.73586028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.570385723 meters 0.01461189070407311 Centerline is valid? [True, True] Translation: X:249.67, Y:-74.26, Z:-9.74 [[ 7.49081716e-01 6.61884583e-01 2.80246390e-02 2.49668342e+02] [-6.61425340e-01 7.49605759e-01 -2.46521133e-02 -7.42645191e+01] [-3.73242845e-02 -6.97590045e-05 9.99303204e-01 -9.73854569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.630385723 meters 0.014683549486500878 Centerline is valid? [True, True] Translation: X:249.72, Y:-74.31, Z:-9.74 [[ 7.49315689e-01 6.61596522e-01 2.85664028e-02 2.49715596e+02] [-6.61118624e-01 7.49860013e-01 -2.51421048e-02 -7.43054246e+01] [-3.80547322e-02 -4.64073323e-05 9.99275655e-01 -9.74276981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.690385723 meters 0.014648888892242138 Centerline is valid? [True, True] Translation: X:249.76, Y:-74.35, Z:-9.75 [[ 7.49212173e-01 6.61743281e-01 2.78738417e-02 2.49761280e+02] [-6.61287893e-01 7.49730504e-01 -2.45457480e-02 -7.43483034e+01] [-3.71408532e-02 -4.26608488e-05 9.99310040e-01 -9.74574275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.750385723 meters 0.014740135423402499 Centerline is valid? [True, True] Translation: X:249.81, Y:-74.39, Z:-9.75 [[ 7.48040697e-01 6.63071075e-01 2.77824412e-02 2.49806272e+02] [-6.62619078e-01 7.48556437e-01 -2.44789352e-02 -7.43928207e+01] [-3.70279991e-02 -9.79357746e-05 9.99314224e-01 -9.74619394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.810385723 meters 0.014927287591284479 Centerline is valid? [True, True] Translation: X:249.86, Y:-74.43, Z:-9.75 [[ 7.44937783e-01 6.66574064e-01 2.73261199e-02 2.49857186e+02] [-6.66138661e-01 7.45438764e-01 -2.40901018e-02 -7.44283561e+01] [-3.64277861e-02 -2.57357856e-04 9.99336255e-01 -9.75156248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.870385723 meters 0.01520305678913636 Centerline is valid? [True, True] Translation: X:249.90, Y:-74.47, Z:-9.75 [[ 7.42495044e-01 6.69343621e-01 2.60811564e-02 2.49904503e+02] [-6.68948328e-01 7.42952880e-01 -2.30032891e-02 -7.44686757e+01] [-3.47741751e-02 -3.67117788e-04 9.99395128e-01 -9.75441901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93038572300003 meters 0.015625909108210878 Centerline is valid? [True, True] Translation: X:249.95, Y:-74.51, Z:-9.76 [[ 7.40263876e-01 6.71843411e-01 2.52155878e-02 2.49949208e+02] [-6.71475016e-01 7.40693067e-01 -2.22504794e-02 -7.45124740e+01] [-3.36258490e-02 -4.60411156e-04 9.99434385e-01 -9.75606270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99038572300003 meters 0.01545379398855624 Centerline is valid? [True, True] Translation: X:250.00, Y:-74.55, Z:-9.76 [[ 7.41091962e-01 6.70944795e-01 2.48150130e-02 2.49995515e+02] [-6.70587161e-01 7.41507193e-01 -2.19075836e-02 -7.45529964e+01] [-3.30992898e-02 -4.05094957e-04 9.99451986e-01 -9.76107654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.050385723 meters 0.015304942266800028 Centerline is valid? [True, True] Translation: X:250.04, Y:-74.60, Z:-9.76 [[ 7.41754310e-01 6.70241674e-01 2.40133833e-02 2.50039061e+02] [-6.69906089e-01 7.42142826e-01 -2.12098696e-02 -7.45971645e+01] [-3.20370986e-02 -3.54199503e-04 9.99486618e-01 -9.76321866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.110385723 meters 0.015181005968524359 Centerline is valid? [True, True] Translation: X:250.08, Y:-74.64, Z:-9.76 [[ 7.42611472e-01 6.69275157e-01 2.44737724e-02 2.50080581e+02] [-6.68925705e-01 7.43014581e-01 -2.16271464e-02 -7.46446624e+01] [-3.26588816e-02 -3.10568499e-04 9.99466508e-01 -9.76287933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.170385723 meters 0.015054937256315945 Centerline is valid? [True, True] Translation: X:250.13, Y:-74.69, Z:-9.77 [[ 7.43087067e-01 6.68747534e-01 2.44611211e-02 2.50125092e+02] [-6.68397812e-01 7.43489514e-01 -2.16265383e-02 -7.46863779e+01] [-3.26492812e-02 -2.79358934e-04 9.99466831e-01 -9.76652984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.230385723 meters 0.015049229056475955 Centerline is valid? [True, True] Translation: X:250.17, Y:-74.73, Z:-9.77 [[ 7.43277744e-01 6.68552994e-01 2.39810231e-02 2.50169448e+02] [-6.68216479e-01 7.43664459e-01 -2.12110627e-02 -7.47310796e+01] [-3.20145541e-02 -2.58803995e-04 9.99487369e-01 -9.76887012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.290385723 meters 0.014721703251387048 Centerline is valid? [True, True] Translation: X:250.21, Y:-74.78, Z:-9.77 [[ 7.44716431e-01 6.66945044e-01 2.41193831e-02 2.50209712e+02] [-6.66603421e-01 7.45106888e-01 -2.13448843e-02 -7.47796371e+01] [-3.22073833e-02 -1.82177224e-04 9.99481191e-01 -9.76873113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.350385723 meters 0.014727977787714059 Centerline is valid? [True, True] Translation: X:250.25, Y:-74.82, Z:-9.77 [[ 7.45677757e-01 6.65902397e-01 2.32094775e-02 2.50252405e+02] [-6.65585268e-01 7.46038861e-01 -2.05491778e-02 -7.48245526e+01] [-3.09989189e-02 -1.24821508e-04 9.99519410e-01 -9.77209323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.410385723 meters 0.014654497871902601 Centerline is valid? [True, True] Translation: X:250.30, Y:-74.87, Z:-9.78 [[ 7.45740531e-01 6.65857314e-01 2.24743889e-02 2.50298023e+02] [-6.65559643e-01 7.46079101e-01 -1.99082191e-02 -7.48681156e+01] [-3.00237051e-02 -1.11680407e-04 9.99549181e-01 -9.77541611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.470385723 meters 0.014600683729424229 Centerline is valid? [True, True] Translation: X:250.34, Y:-74.91, Z:-9.78 [[ 7.45422551e-01 6.66213336e-01 2.24724842e-02 2.50341246e+02] [-6.65915578e-01 7.45761207e-01 -1.99164610e-02 -7.49142080e+01] [-3.00277189e-02 -1.18598205e-04 9.99549059e-01 -9.77668986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.530385723 meters 0.014539882185105915 Centerline is valid? [True, True] Translation: X:250.38, Y:-74.96, Z:-9.78 [[ 7.46836907e-01 6.64643402e-01 2.19950491e-02 2.50383740e+02] [-6.64357178e-01 7.47160723e-01 -1.95036923e-02 -7.49614333e+01] [-2.93968372e-02 -4.64914838e-05 9.99567819e-01 -9.77887619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.590385723 meters 0.014578836590045144 Centerline is valid? [True, True] Translation: X:250.43, Y:-75.01, Z:-9.78 [[ 7.47380498e-01 6.64033334e-01 2.19572727e-02 2.50427531e+02] [-6.63747490e-01 7.47702969e-01 -1.94817497e-02 -7.50059613e+01] [-2.93540492e-02 -1.38048442e-05 9.99569077e-01 -9.78057770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.650385723 meters 0.014523588873877238 Centerline is valid? [True, True] Translation: X:250.47, Y:-75.05, Z:-9.78 [[ 7.47551078e-01 6.63827109e-01 2.23820348e-02 2.50469772e+02] [-6.63529818e-01 7.47886067e-01 -1.98648049e-02 -7.50513163e+01] [-2.99260080e-02 -1.19115302e-06 9.99552117e-01 -9.78074206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.710385723 meters 0.014526086861356776 Centerline is valid? [True, True] Translation: X:250.52, Y:-75.09, Z:-9.78 [[ 7.47415934e-01 6.63981645e-01 2.23113714e-02 2.50515484e+02] [-6.63686008e-01 7.47748872e-01 -1.98117984e-02 -7.50938218e+01] [-2.98379733e-02 -9.11969270e-08 9.99554749e-01 -9.78289118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.770385723 meters 0.01457985731601495 Centerline is valid? [True, True] Translation: X:250.56, Y:-75.14, Z:-9.79 [[ 7.46914949e-01 6.64565462e-01 2.16980667e-02 2.50560269e+02] [-6.64285824e-01 7.47230050e-01 -1.92768718e-02 -7.51382539e+01] [-2.90241906e-02 -1.55344021e-05 9.99578709e-01 -9.78624336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.830385723 meters 0.01461729304271876 Centerline is valid? [True, True] Translation: X:250.61, Y:-75.18, Z:-9.79 [[ 7.46845207e-01 6.64659135e-01 2.12243169e-02 2.50605468e+02] [-6.64391342e-01 7.47146729e-01 -1.88655691e-02 -7.51824890e+01] [-2.83968518e-02 -1.15925557e-05 9.99596728e-01 -9.78918447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.890385723 meters 0.014373107779320663 Centerline is valid? [True, True] Translation: X:250.65, Y:-75.23, Z:-9.79 [[ 7.47160730e-01 6.64287603e-01 2.17445098e-02 2.50651861e+02] [-6.64006062e-01 7.47477077e-01 -1.93382806e-02 -7.52256977e+01] [-2.90997027e-02 1.03174831e-05 9.99576514e-01 -9.78936790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.950385723 meters 0.014502261723194862 Centerline is valid? [True, True] Translation: X:250.70, Y:-75.27, Z:-9.79 [[ 7.48304517e-01 6.63001774e-01 2.16563487e-02 2.50697736e+02] [-6.62721666e-01 7.48617822e-01 -1.92704470e-02 -7.52682075e+01] [-2.89886691e-02 6.80310760e-05 9.99579738e-01 -9.79032229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.010385723 meters 0.014502266091848976 Centerline is valid? [True, True] Translation: X:250.74, Y:-75.31, Z:-9.79 [[ 7.48596804e-01 6.62675802e-01 2.15315552e-02 2.50744742e+02] [-6.62398471e-01 7.48906386e-01 -1.91700637e-02 -7.53099411e+01] [-2.88286565e-02 8.81792250e-05 9.99584364e-01 -9.79237970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.070385723 meters 0.014620592512821357 Centerline is valid? [True, True] Translation: X:250.79, Y:-75.35, Z:-9.79 [[ 7.49657545e-01 6.61470301e-01 2.16934559e-02 2.50792596e+02] [-6.61187963e-01 7.49971346e-01 -1.93250413e-02 -7.53510872e+01] [-2.90524112e-02 1.43711092e-04 9.99577879e-01 -9.79414962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.130385723 meters 0.014958960931051903 Centerline is valid? [True, True] Translation: X:250.84, Y:-75.39, Z:-9.80 [[ 7.51751723e-01 6.59100037e-01 2.13655674e-02 2.50838840e+02] [-6.58824902e-01 7.52055239e-01 -1.90437777e-02 -7.53917631e+01] [-2.86198415e-02 2.40024846e-04 9.99590340e-01 -9.79672909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.190385723 meters 0.015220515100239251 Centerline is valid? [True, True] Translation: X:250.89, Y:-75.43, Z:-9.80 [[ 7.52357100e-01 6.58434458e-01 2.05635349e-02 2.50885450e+02] [-6.58179134e-01 7.52638025e-01 -1.83366234e-02 -7.54315970e+01] [-2.75503630e-02 2.61199274e-04 9.99620383e-01 -9.80034467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.250385723 meters 0.015329853344596448 Centerline is valid? [True, True] Translation: X:250.93, Y:-75.47, Z:-9.80 [[ 7.53080916e-01 6.57639464e-01 1.94799663e-02 2.50932551e+02] [-6.57409902e-01 7.53332767e-01 -1.73770883e-02 -7.54720816e+01] [-2.61027560e-02 2.80030809e-04 9.99659226e-01 -9.80275042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.310385723 meters 0.01536501811088429 Centerline is valid? [True, True] Translation: X:250.98, Y:-75.51, Z:-9.81 [[ 7.53666228e-01 6.56971212e-01 1.93918401e-02 2.50980853e+02] [-6.56743290e-01 7.53915600e-01 -1.73066441e-02 -7.55112188e+01] [-2.59897777e-02 3.07972321e-04 9.99662161e-01 -9.80604066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.370385723 meters 0.015505823419990385 Centerline is valid? [True, True] Translation: X:251.03, Y:-75.55, Z:-9.81 [[ 7.53974151e-01 6.56626131e-01 1.91076969e-02 2.51027087e+02] [-6.56404522e-01 7.54216163e-01 -1.70611429e-02 -7.55527755e+01] [-2.56141261e-02 3.21282086e-04 9.99671853e-01 -9.80787407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43038572300003 meters 0.015829136835769097 Centerline is valid? [True, True] Translation: X:251.07, Y:-75.59, Z:-9.81 [[ 7.53658365e-01 6.57017206e-01 1.80958516e-02 2.51072218e+02] [-6.56818382e-01 7.53875522e-01 -1.61650977e-02 -7.55938417e+01] [-2.42627669e-02 2.97273120e-04 9.99705572e-01 -9.81087096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49038572300003 meters 0.015761131141338487 Centerline is valid? [True, True] Translation: X:251.12, Y:-75.64, Z:-9.81 [[ 7.53050725e-01 6.57705935e-01 1.83713870e-02 2.51118701e+02] [-6.57501038e-01 7.53274732e-01 -1.64183829e-02 -7.56352288e+01] [-2.46371695e-02 2.84669115e-04 9.99696418e-01 -9.81188913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.550385723 meters 0.015496661763416176 Centerline is valid? [True, True] Translation: X:251.17, Y:-75.68, Z:-9.81 [[ 7.52710562e-01 6.58082262e-01 1.88294085e-02 2.51165876e+02] [-6.57866936e-01 7.52945984e-01 -1.68356616e-02 -7.56761980e+01] [-2.52567777e-02 2.85135024e-04 9.99680956e-01 -9.81336162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.610385723 meters 0.015293942536114427 Centerline is valid? [True, True] Translation: X:251.21, Y:-75.72, Z:-9.81 [[ 7.52109834e-01 6.58773355e-01 1.86672019e-02 2.51211351e+02] [-6.58561757e-01 7.52341410e-01 -1.66977771e-02 -7.57191474e+01] [-2.50441596e-02 2.65057113e-04 9.99686311e-01 -9.81363331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.670385723 meters 0.015669748208367983 Centerline is valid? [True, True] Translation: X:251.26, Y:-75.76, Z:-9.82 [[ 7.51771341e-01 6.59157266e-01 1.87496475e-02 2.51256390e+02] [-6.58943641e-01 7.52005074e-01 -1.67823333e-02 -7.57623344e+01] [-2.51620270e-02 2.61516220e-04 9.99683352e-01 -9.81607817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.730385723 meters 0.015621535182995566 Centerline is valid? [True, True] Translation: X:251.30, Y:-75.80, Z:-9.82 [[ 7.50688564e-01 6.60409489e-01 1.80551332e-02 2.51303234e+02] [-6.60211633e-01 7.50905627e-01 -1.61659819e-02 -7.58023068e+01] [-2.42338690e-02 2.15408709e-04 9.99706293e-01 -9.82035850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.790385723 meters 0.015028206602474253 Centerline is valid? [True, True] Translation: X:251.35, Y:-75.84, Z:-9.82 [[ 7.49752554e-01 6.61501809e-01 1.69252615e-02 2.51350730e+02] [-6.61328172e-01 7.49943549e-01 -1.51565855e-02 -7.58437480e+01] [-2.27190995e-02 1.70536442e-04 9.99741873e-01 -9.82079360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.850385723 meters 0.015185719730113898 Centerline is valid? [True, True] Translation: X:251.40, Y:-75.89, Z:-9.82 [[ 7.49718596e-01 6.61515272e-01 1.78765424e-02 2.51397082e+02] [-6.61321319e-01 7.49931670e-01 -1.60188537e-02 -7.58856876e+01] [-2.40029017e-02 1.87493869e-04 9.99711871e-01 -9.82224624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.910385723 meters 0.015647457961737308 Centerline is valid? [True, True] Translation: X:251.44, Y:-75.93, Z:-9.83 [[ 7.49240219e-01 6.62074528e-01 1.72166590e-02 2.51443942e+02] [-6.61894621e-01 7.49437983e-01 -1.54343833e-02 -7.59259990e+01] [-2.31215303e-02 1.68446727e-04 9.99732647e-01 -9.82663050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.970385723 meters 0.015451758682101777 Centerline is valid? [True, True] Translation: X:251.49, Y:-75.97, Z:-9.83 [[ 7.48976216e-01 6.62370192e-01 1.73307952e-02 2.51490627e+02] [-6.62187790e-01 7.49176682e-01 -1.55444437e-02 -7.59679702e+01] [-2.32800038e-02 1.66177654e-04 9.99728970e-01 -9.82635974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.030385723 meters 0.015505700311324432 Centerline is valid? [True, True] Translation: X:251.54, Y:-76.01, Z:-9.83 [[ 7.49289615e-01 6.61994410e-01 1.81238637e-02 2.51538126e+02] [-6.61794590e-01 7.49508748e-01 -1.62652244e-02 -7.60087925e+01] [-2.43514821e-02 1.93088738e-04 9.99703440e-01 -9.82593700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.090385723 meters 0.015821892540088277 Centerline is valid? [True, True] Translation: X:251.59, Y:-76.05, Z:-9.83 [[ 7.50075550e-01 6.61115738e-01 1.76819455e-02 2.51587359e+02] [-6.60925084e-01 7.50283901e-01 -1.58776994e-02 -7.60469687e+01] [-2.37634759e-02 2.23032793e-04 9.99717584e-01 -9.83138083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.150385723 meters 0.015700313442823677 Centerline is valid? [True, True] Translation: X:251.63, Y:-76.09, Z:-9.83 [[ 7.50072360e-01 6.61117450e-01 1.77530574e-02 2.51632832e+02] [-6.60925094e-01 7.50282390e-01 -1.59485527e-02 -7.60901884e+01] [-2.38636729e-02 2.29127432e-04 9.99715196e-01 -9.83092887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.210385723 meters 0.01584991280945559 Centerline is valid? [True, True] Translation: X:251.68, Y:-76.13, Z:-9.83 [[ 7.50550534e-01 6.60551968e-01 1.85739750e-02 2.51678927e+02] [-6.60340978e-01 7.50780278e-01 -1.66962895e-02 -7.61312810e+01] [-2.49737411e-02 2.66252203e-04 9.99688072e-01 -9.83132650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.270385723 meters 0.015582830732861637 Centerline is valid? [True, True] Translation: X:251.73, Y:-76.17, Z:-9.83 [[ 7.50037817e-01 6.61116578e-01 1.91870642e-02 2.51727414e+02] [-6.60891367e-01 7.50283148e-01 -1.72568665e-02 -7.61698485e+01] [-2.58045314e-02 2.62737408e-04 9.99666973e-01 -9.83317312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.330385723 meters 0.015251963555616128 Centerline is valid? [True, True] Translation: X:251.78, Y:-76.21, Z:-9.84 [[ 7.48283888e-01 6.63108222e-01 1.89396046e-02 2.51775261e+02] [-6.62889211e-01 7.48523511e-01 -1.70425287e-02 -7.62094604e+01] [-2.54777803e-02 1.97790075e-04 9.99675369e-01 -9.83706220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.390385723 meters 0.015017840708029048 Centerline is valid? [True, True] Translation: X:251.82, Y:-76.25, Z:-9.84 [[ 7.46306949e-01 6.65363329e-01 1.78207205e-02 2.51823456e+02] [-6.65169861e-01 7.46519675e-01 -1.60446515e-02 -7.62506389e+01] [-2.39790413e-02 1.20428741e-04 9.99712454e-01 -9.84054870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.450385723 meters 0.01617812654763247 Centerline is valid? [True, True] Translation: X:251.87, Y:-76.29, Z:-9.84 [[ 7.45327114e-01 6.66451944e-01 1.81466352e-02 2.51871292e+02] [-6.66251601e-01 7.45547986e-01 -1.63402752e-02 -7.62898593e+01] [-2.44191954e-02 8.86253902e-05 9.99701803e-01 -9.84457459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.510385723 meters 0.014898308844603575 Centerline is valid? [True, True] Translation: X:251.92, Y:-76.33, Z:-9.85 [[ 7.43867625e-01 6.68038976e-01 1.96184271e-02 2.51917940e+02] [-6.67805119e-01 7.44126283e-01 -1.76748104e-02 -7.63307675e+01] [-2.64060494e-02 4.64331682e-05 9.99651298e-01 -9.84606448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.570385723 meters 0.01671811769831828 Centerline is valid? [True, True] Translation: X:251.96, Y:-76.37, Z:-9.85 [[ 7.43769933e-01 6.68143315e-01 1.97685884e-02 2.51962823e+02] [-6.67905683e-01 7.44032599e-01 -1.78182861e-02 -7.63736451e+01] [-2.66136429e-02 4.91529744e-05 9.99645793e-01 -9.84987561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.630385723 meters 0.015909274202273165 Centerline is valid? [True, True] Translation: X:252.01, Y:-76.42, Z:-9.85 [[ 7.44674527e-01 6.67106707e-01 2.07000049e-02 2.52007482e+02] [-6.66845482e-01 7.44962168e-01 -1.86674012e-02 -7.64182311e+01] [-2.78738691e-02 9.74334679e-05 9.99611443e-01 -9.85075871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.690385723 meters 0.01663159682469983 Centerline is valid? [True, True] Translation: X:252.05, Y:-76.46, Z:-9.85 [[ 7.45788335e-01 6.65824098e-01 2.18638766e-02 2.52054165e+02] [-6.65531796e-01 7.46108735e-01 -1.97277492e-02 -7.64609853e+01] [-2.94480401e-02 1.61620209e-04 9.99566299e-01 -9.85265061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.750385723 meters 0.016876980354636095 Centerline is valid? [True, True] Translation: X:252.10, Y:-76.50, Z:-9.86 [[ 7.46283026e-01 6.65284506e-01 2.14049330e-02 2.52100953e+02] [-6.65003827e-01 7.46589908e-01 -1.93240331e-02 -7.65029387e+01] [-2.88366868e-02 1.86835522e-04 9.99584119e-01 -9.85697782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.810385723 meters 0.01833626008680876 Centerline is valid? [True, True] Translation: X:252.14, Y:-76.55, Z:-9.86 [[ 7.47827086e-01 6.63576734e-01 2.05077266e-02 2.52144803e+02] [-6.63318179e-01 7.48108184e-01 -1.85240012e-02 -7.65464159e+01] [-2.76340943e-02 2.49601923e-04 9.99618074e-01 -9.85933889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.870385723 meters 0.017804739678382336 Centerline is valid? [True, True] Translation: X:252.19, Y:-76.59, Z:-9.86 [[ 7.49565731e-01 6.61621866e-01 2.01920956e-02 2.52189672e+02] [-6.61370266e-01 7.49837583e-01 -1.82474518e-02 -7.65897212e+01] [-2.72137052e-02 3.23212881e-04 9.99629586e-01 -9.86137458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93038572300003 meters 0.020212486066247447 Centerline is valid? [True, True] Translation: X:252.23, Y:-76.63, Z:-9.86 [[ 7.52810119e-01 6.57966951e-01 1.88789647e-02 2.52233575e+02] [-6.57745618e-01 7.53046681e-01 -1.70704173e-02 -7.66337947e+01] [-2.54485121e-02 4.33226617e-04 9.99676040e-01 -9.86411361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99038572300003 meters 0.019841375719491947 Centerline is valid? [True, True] Translation: X:252.28, Y:-76.68, Z:-9.86 [[ 7.54245324e-01 6.56311591e-01 1.92116043e-02 2.52278095e+02] [-6.56081841e-01 7.54489793e-01 -1.73715700e-02 -7.66759819e+01] [-2.58961221e-02 4.98040752e-04 9.99664515e-01 -9.86410004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.050385723 meters 0.018857884565508683 Centerline is valid? [True, True] Translation: X:252.33, Y:-76.72, Z:-9.86 [[ 7.54512489e-01 6.55998684e-01 1.94069704e-02 2.52327139e+02] [-6.55763960e-01 7.54761854e-01 -1.75548338e-02 -7.67153133e+01] [-2.61635889e-02 5.18949601e-04 9.99657540e-01 -9.86462494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.110385723 meters 0.01893408570586429 Centerline is valid? [True, True] Translation: X:252.37, Y:-76.76, Z:-9.87 [[ 7.54379404e-01 6.56121063e-01 2.04172639e-02 2.52373704e+02] [-6.55860982e-01 7.54655450e-01 -1.84803836e-02 -7.67554399e+01] [-2.75333684e-02 5.50334066e-04 9.99620733e-01 -9.86686295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.170385723 meters 0.0184078529112504 Centerline is valid? [True, True] Translation: X:252.42, Y:-76.79, Z:-9.87 [[ 7.53587173e-01 6.57009154e-01 2.11031897e-02 2.52422438e+02] [-6.56731369e-01 7.53882403e-01 -1.91110507e-02 -7.67948409e+01] [-2.84654586e-02 5.42715963e-04 9.99594629e-01 -9.86829297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.230385723 meters 0.017990992098263308 Centerline is valid? [True, True] Translation: X:252.47, Y:-76.83, Z:-9.87 [[ 7.49977404e-01 6.61102216e-01 2.18575844e-02 2.52471799e+02] [-6.60805780e-01 7.50295738e-01 -1.97996467e-02 -7.68297186e+01] [-2.94892428e-02 4.05669529e-04 9.99565015e-01 -9.87137138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.290385723 meters 0.016910367056284202 Centerline is valid? [True, True] Translation: X:252.52, Y:-76.86, Z:-9.87 [[ 7.45968704e-01 6.65626475e-01 2.17276139e-02 2.52524135e+02] [-6.65335327e-01 7.46285029e-01 -1.96865256e-02 -7.68644712e+01] [-2.93188656e-02 2.29382939e-04 9.99570083e-01 -9.87478337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.350385723 meters 0.016773301799887994 Centerline is valid? [True, True] Translation: X:252.57, Y:-76.90, Z:-9.88 [[ 7.43653012e-01 6.68178729e-01 2.27460799e-02 2.52574912e+02] [-6.67860506e-01 7.44000784e-01 -2.06198478e-02 -7.69009055e+01] [-3.07008449e-02 1.42803508e-04 9.99528608e-01 -9.87758421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.410385723 meters 0.016819899861926325 Centerline is valid? [True, True] Translation: X:252.62, Y:-76.94, Z:-9.88 [[ 7.43772429e-01 6.68000946e-01 2.40272692e-02 2.52623522e+02] [-6.67645377e-01 7.44160405e-01 -2.17931712e-02 -7.69381000e+01] [-3.24380013e-02 1.67464673e-04 9.99473736e-01 -9.88047188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.470385723 meters 0.017196652431669048 Centerline is valid? [True, True] Translation: X:252.67, Y:-76.98, Z:-9.88 [[ 7.44419059e-01 6.67290801e-01 2.37329016e-02 2.52671914e+02] [-6.66943372e-01 7.44797252e-01 -2.15311946e-02 -7.69789611e+01] [-3.20437680e-02 1.99730217e-04 9.99486447e-01 -9.88426593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.530385723 meters 0.016636248881770406 Centerline is valid? [True, True] Translation: X:252.72, Y:-77.02, Z:-9.89 [[ 7.45117077e-01 6.66508998e-01 2.37970013e-02 2.52718814e+02] [-6.66158904e-01 7.45496946e-01 -2.16013572e-02 -7.70209079e+01] [-3.21380907e-02 2.42955843e-04 9.99483409e-01 -9.88683707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.590385723 meters 0.01664695667639863 Centerline is valid? [True, True] Translation: X:252.77, Y:-77.06, Z:-9.89 [[ 7.46020844e-01 6.65436569e-01 2.54376199e-02 2.52768044e+02] [-6.65035429e-01 7.46454332e-01 -2.31042848e-02 -7.70602145e+01] [-3.43624576e-02 3.19359598e-04 9.99409385e-01 -9.88963730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.650385723 meters 0.016997687206040578 Centerline is valid? [True, True] Translation: X:252.82, Y:-77.10, Z:-9.89 [[ 7.46359631e-01 6.65061242e-01 2.53149191e-02 2.52816504e+02] [-6.64663313e-01 7.46788742e-01 -2.30055572e-02 -7.70997874e+01] [-3.42050010e-02 3.44521203e-04 9.99414778e-01 -9.89335118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.710385723 meters 0.019551235594569637 Centerline is valid? [True, True] Translation: X:252.86, Y:-77.14, Z:-9.90 [[ 7.47423379e-01 6.63873223e-01 2.51124700e-02 2.52861843e+02] [-6.63480530e-01 7.47845023e-01 -2.28343531e-02 -7.71405729e+01] [-3.39393513e-02 4.05294425e-04 9.99423812e-01 -9.89701204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.770385723 meters 0.017321481958529356 Centerline is valid? [True, True] Translation: X:252.91, Y:-77.18, Z:-9.90 [[ 7.48339717e-01 6.62835241e-01 2.52410654e-02 2.52908840e+02] [-6.62437573e-01 7.48765136e-01 -2.29615375e-02 -7.71813312e+01] [-3.41193460e-02 4.62400388e-04 9.99417659e-01 -9.89947376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.830385723 meters 0.017369285607356243 Centerline is valid? [True, True] Translation: X:252.96, Y:-77.22, Z:-9.90 [[ 7.50196479e-01 6.60735632e-01 2.51727686e-02 2.52955952e+02] [-6.60338570e-01 7.50618482e-01 -2.29099850e-02 -7.72220169e+01] [-3.40325888e-02 5.64440073e-04 9.99420564e-01 -9.90134317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.890385723 meters 0.0173913552854735 Centerline is valid? [True, True] Translation: X:253.00, Y:-77.26, Z:-9.90 [[ 7.50118461e-01 6.60807993e-01 2.55947304e-02 2.53004643e+02] [-6.60397151e-01 7.50554769e-01 -2.33053966e-02 -7.72612618e+01] [-3.46106393e-02 5.79121240e-04 9.99400705e-01 -9.90317742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.950385723 meters 0.018622333567066756 Centerline is valid? [True, True] Translation: X:253.05, Y:-77.30, Z:-9.91 [[ 7.49245138e-01 6.61803640e-01 2.54492704e-02 2.53053031e+02] [-6.61397595e-01 7.49677031e-01 -2.31855735e-02 -7.73005140e+01] [-3.44230304e-02 5.39592030e-04 9.99407206e-01 -9.90578649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.010385723 meters 0.01830254388813953 Centerline is valid? [True, True] Translation: X:253.10, Y:-77.34, Z:-9.91 [[ 7.48237090e-01 6.62937969e-01 2.55833263e-02 2.53099426e+02] [-6.62527887e-01 7.48674161e-01 -2.33194957e-02 -7.73396195e+01] [-3.46129545e-02 4.98844482e-04 9.99400668e-01 -9.90783440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.070385723 meters 0.018308947283463772 Centerline is valid? [True, True] Translation: X:253.15, Y:-77.38, Z:-9.91 [[ 7.46181422e-01 6.65244358e-01 2.57532326e-02 2.53149234e+02] [-6.64829955e-01 7.46625599e-01 -2.34807740e-02 -7.73775597e+01] [-3.48484752e-02 3.99396912e-04 9.99392528e-01 -9.91111389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.130385723 meters 0.015581139446616177 Centerline is valid? [True, True] Translation: X:253.20, Y:-77.42, Z:-9.91 [[ 7.44527667e-01 6.67090526e-01 2.58608356e-02 2.53195573e+02] [-6.66673364e-01 7.44976594e-01 -2.35902476e-02 -7.74184553e+01] [-3.50025479e-02 3.22861758e-04 9.99387171e-01 -9.91051393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.190385723 meters 0.015289217583431172 Centerline is valid? [True, True] Translation: X:253.24, Y:-77.46, Z:-9.91 [[ 7.43667358e-01 6.68031531e-01 2.63198322e-02 2.53243696e+02] [-6.67599597e-01 7.44132910e-01 -2.40206313e-02 -7.74571092e+01] [-3.56319925e-02 2.92250070e-04 9.99364936e-01 -9.91364045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.250385723 meters 0.014886017547026583 Centerline is valid? [True, True] Translation: X:253.29, Y:-77.50, Z:-9.92 [[ 7.42568978e-01 6.69263898e-01 2.60220611e-02 2.53289711e+02] [-6.68842026e-01 7.43024749e-01 -2.37606152e-02 -7.74968045e+01] [-3.52371573e-02 2.39247695e-04 9.99378950e-01 -9.91671949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.310385723 meters 0.014980361557096516 Centerline is valid? [True, True] Translation: X:253.34, Y:-77.54, Z:-9.92 [[ 7.41721018e-01 6.70217727e-01 2.56540442e-02 2.53336460e+02] [-6.69807913e-01 7.42164509e-01 -2.34350370e-02 -7.75383427e+01] [-3.47460983e-02 1.98977686e-04 9.99396152e-01 -9.91893293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.370385723 meters 0.014223290561319366 Centerline is valid? [True, True] Translation: X:253.38, Y:-77.58, Z:-9.92 [[ 7.40697927e-01 6.71318253e-01 2.64269704e-02 2.53384489e+02] [-6.70883561e-01 7.41169196e-01 -2.41551478e-02 -7.75786967e+01] [-3.58026480e-02 1.62247929e-04 9.99358867e-01 -9.92105348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43038572300003 meters 0.01441137903876762 Centerline is valid? [True, True] Translation: X:253.43, Y:-77.62, Z:-9.92 [[ 7.40442588e-01 6.71634805e-01 2.55237681e-02 2.53430882e+02] [-6.71229082e-01 7.40882357e-01 -2.33420787e-02 -7.76216935e+01] [-3.45874619e-02 1.51173755e-04 9.99401663e-01 -9.92450892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49038572300003 meters 0.014070693694815182 Centerline is valid? [True, True] Translation: X:253.48, Y:-77.66, Z:-9.93 [[ 7.40387478e-01 6.71682468e-01 2.58658865e-02 2.53476944e+02] [-6.71265357e-01 7.40839143e-01 -2.36682109e-02 -7.76643277e+01] [-3.50599835e-02 1.60773410e-04 9.99385197e-01 -9.92660472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.550385723 meters 0.014037349250398033 Centerline is valid? [True, True] Translation: X:253.52, Y:-77.71, Z:-9.93 [[ 7.40390397e-01 6.71668291e-01 2.61489400e-02 2.53523437e+02] [-6.71241516e-01 7.40851994e-01 -2.39405589e-02 -7.77071499e+01] [-3.54526086e-02 1.73105837e-04 9.99371344e-01 -9.92897277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.610385723 meters 0.014164471269418546 Centerline is valid? [True, True] Translation: X:253.57, Y:-77.75, Z:-9.93 [[ 7.41361705e-01 6.70681422e-01 2.38590026e-02 2.53566236e+02] [-6.70325254e-01 7.41745499e-01 -2.18556250e-02 -7.77500507e+01] [-3.23554695e-02 2.09631448e-04 9.99476403e-01 -9.93383195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.670385723 meters 0.014143470240867583 Centerline is valid? [True, True] Translation: X:253.61, Y:-77.79, Z:-9.93 [[ 7.41019849e-01 6.71046326e-01 2.42159249e-02 2.53611080e+02] [-6.70679440e-01 7.41415395e-01 -2.21878457e-02 -7.77948082e+01] [-3.28431319e-02 2.00511181e-04 9.99460499e-01 -9.93488727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.730385723 meters 0.013801060663254799 Centerline is valid? [True, True] Translation: X:253.66, Y:-77.83, Z:-9.94 [[ 7.38056899e-01 6.74286695e-01 2.46873897e-02 2.53657726e+02] [-6.73906757e-01 7.38469667e-01 -2.26326026e-02 -7.78345234e+01] [-3.34917512e-02 6.71497709e-05 9.99438992e-01 -9.93774089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.790385723 meters 0.01377673421680104 Centerline is valid? [True, True] Translation: X:253.71, Y:-77.88, Z:-9.94 [[ 7.35100613e-01 6.77507629e-01 2.47083378e-02 2.53706054e+02] [-6.77128532e-01 7.35515743e-01 -2.26615006e-02 -7.78754878e+01] [-3.35267110e-02 -7.22375115e-05 9.99437819e-01 -9.94013884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.850385723 meters 0.014082339572969362 Centerline is valid? [True, True] Translation: X:253.75, Y:-77.92, Z:-9.94 [[ 7.32246925e-01 6.80582196e-01 2.49462335e-02 2.53751350e+02] [-6.80197112e-01 7.32671708e-01 -2.28922748e-02 -7.79180244e+01] [-3.38574742e-02 -2.05558156e-04 9.99426650e-01 -9.94090295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.910385723 meters 0.014181512206103811 Centerline is valid? [True, True] Translation: X:253.80, Y:-77.96, Z:-9.94 [[ 7.31488329e-01 6.81417240e-01 2.44001952e-02 2.53795942e+02] [-6.81048958e-01 7.31895137e-01 -2.24014521e-02 -7.79602831e+01] [-3.31231198e-02 -2.31326756e-04 9.99451252e-01 -9.94289351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.970385723 meters 0.014168370305004684 Centerline is valid? [True, True] Translation: X:253.84, Y:-78.00, Z:-9.95 [[ 7.31783147e-01 6.81144313e-01 2.31484723e-02 2.53840358e+02] [-6.80812408e-01 7.32149155e-01 -2.12621632e-02 -7.80049077e+01] [-3.14307359e-02 -2.00474492e-04 9.99505912e-01 -9.94616877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.030385723 meters 0.014269753340756947 Centerline is valid? [True, True] Translation: X:253.89, Y:-78.05, Z:-9.95 [[ 7.31802230e-01 6.81145018e-01 2.25157915e-02 2.53885183e+02] [-6.80830690e-01 7.32148502e-01 -2.06915906e-02 -7.80496403e+01] [-3.05788768e-02 -1.87289737e-04 9.99532339e-01 -9.94905894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.090385723 meters 0.014179379763832605 Centerline is valid? [True, True] Translation: X:253.93, Y:-78.10, Z:-9.95 [[ 7.32092514e-01 6.80858325e-01 2.17368856e-02 2.53928352e+02] [-6.80564958e-01 7.32415124e-01 -1.99855726e-02 -7.80953573e+01] [-2.95277673e-02 -1.62074562e-04 9.99563947e-01 -9.95198282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.150385723 meters 0.01422760229119004 Centerline is valid? [True, True] Translation: X:253.97, Y:-78.14, Z:-9.95 [[ 7.32437371e-01 6.80534266e-01 2.02140953e-02 2.53970662e+02] [-6.80280179e-01 7.32716245e-01 -1.85952243e-02 -7.81411469e+01] [-2.74658834e-02 -1.31411181e-04 9.99622733e-01 -9.95457070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.210385723 meters 0.014249242150951757 Centerline is valid? [True, True] Translation: X:254.01, Y:-78.19, Z:-9.95 [[ 7.32468720e-01 6.80472112e-01 2.11489449e-02 2.54013116e+02] [-6.80193658e-01 7.32773968e-01 -1.94653602e-02 -7.81869055e+01] [-2.87430310e-02 -1.27610719e-04 9.99586826e-01 -9.95476062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.270385723 meters 0.014147521016982868 Centerline is valid? [True, True] Translation: X:254.06, Y:-78.23, Z:-9.96 [[ 7.32202089e-01 6.80755095e-01 2.12744172e-02 2.54056449e+02] [-6.80473175e-01 7.32511080e-01 -1.95901769e-02 -7.82320301e+01] [-2.89198590e-02 -1.32701738e-04 9.99581725e-01 -9.95586851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.330385723 meters 0.014250329031382137 Centerline is valid? [True, True] Translation: X:254.10, Y:-78.28, Z:-9.96 [[ 7.32284549e-01 6.80704154e-01 2.00298565e-02 2.54099652e+02] [-6.80453970e-01 7.32558422e-01 -1.84540683e-02 -7.82770227e+01] [-2.72348011e-02 -1.15766285e-04 9.99629057e-01 -9.95820970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.390385723 meters 0.014223098685530285 Centerline is valid? [True, True] Translation: X:254.14, Y:-78.32, Z:-9.96 [[ 7.33051057e-01 6.79861097e-01 2.06164104e-02 2.54142109e+02] [-6.79595444e-01 7.33340905e-01 -1.90039597e-02 -7.83224384e+01] [-2.80389100e-02 -7.99457817e-05 9.99606829e-01 -9.95971566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.450385723 meters 0.014284510780548109 Centerline is valid? [True, True] Translation: X:254.19, Y:-78.37, Z:-9.96 [[ 7.33737543e-01 6.79131918e-01 2.02251245e-02 2.54185774e+02] [-6.78875748e-01 7.34016237e-01 -1.86516267e-02 -7.83674046e+01] [-2.75124848e-02 -4.49477638e-05 9.99621459e-01 -9.96267749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.510385723 meters 0.014521577623734011 Centerline is valid? [True, True] Translation: X:254.23, Y:-78.41, Z:-9.97 [[ 7.34265578e-01 6.78575880e-01 1.97189103e-02 2.54229228e+02] [-6.78331918e-01 7.34530309e-01 -1.81943600e-02 -7.84124252e+01] [-2.68303911e-02 -1.64740224e-05 9.99640000e-01 -9.96585173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.570385723 meters 0.014429082430590733 Centerline is valid? [True, True] Translation: X:254.27, Y:-78.46, Z:-9.97 [[ 7.34537091e-01 6.78267635e-01 2.02058555e-02 2.54273789e+02] [-6.78011072e-01 7.34814953e-01 -1.86539727e-02 -7.84564086e+01] [-2.74999507e-02 2.24111524e-06 9.99621805e-01 -9.96760357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.630385723 meters 0.014704566155885558 Centerline is valid? [True, True] Translation: X:254.32, Y:-78.50, Z:-9.97 [[ 7.35601638e-01 6.77117643e-01 2.00481145e-02 2.54316144e+02] [-6.76864365e-01 7.35874782e-01 -1.85185611e-02 -7.85013704e+01] [-2.72921463e-02 5.24295592e-05 9.99627499e-01 -9.97006588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.690385723 meters 0.014687985075352432 Centerline is valid? [True, True] Translation: X:254.36, Y:-78.55, Z:-9.97 [[ 7.35551368e-01 6.77180686e-01 1.97611506e-02 2.54360884e+02] [-6.76934395e-01 7.35816768e-01 -1.82622525e-02 -7.85461203e+01] [-2.69074307e-02 5.58222880e-05 9.99637928e-01 -9.97304232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.750385723 meters 0.014792043283923478 Centerline is valid? [True, True] Translation: X:254.40, Y:-78.59, Z:-9.97 [[ 7.35458758e-01 6.77270535e-01 2.01255611e-02 2.54402980e+02] [-6.77014820e-01 7.35734068e-01 -1.86095317e-02 -7.85917066e+01] [-2.74107484e-02 6.12398894e-05 9.99624253e-01 -9.97393382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.810385723 meters 0.01474487686266669 Centerline is valid? [True, True] Translation: X:254.45, Y:-78.64, Z:-9.98 [[ 7.36198447e-01 6.76454620e-01 2.05181291e-02 2.54448700e+02] [-6.76188252e-01 7.36484309e-01 -1.89818345e-02 -7.86355715e+01] [-2.79516298e-02 1.00279256e-04 9.99609272e-01 -9.97584924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.870385723 meters 0.014784640853505735 Centerline is valid? [True, True] Translation: X:254.49, Y:-78.68, Z:-9.98 [[ 7.36471436e-01 6.76158860e-01 2.04699919e-02 2.54491626e+02] [-6.75893327e-01 7.36755850e-01 -1.89480567e-02 -7.86821444e+01] [-2.78932827e-02 1.19171578e-04 9.99610900e-01 -9.97744394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93038572300003 meters 0.014987884400980565 Centerline is valid? [True, True] Translation: X:254.54, Y:-78.73, Z:-9.98 [[ 7.36694823e-01 6.75920783e-01 2.02936819e-02 2.54535200e+02] [-6.75659423e-01 7.36974272e-01 -1.87953983e-02 -7.87281601e+01] [-2.76601217e-02 1.34855205e-04 9.99617377e-01 -9.98010133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99038572300003 meters 0.015046066802853225 Centerline is valid? [True, True] Translation: X:254.58, Y:-78.77, Z:-9.98 [[ 7.36963078e-01 6.75621317e-01 2.05245779e-02 2.54580001e+02] [-6.75353558e-01 7.37248813e-01 -1.90199836e-02 -7.87722805e+01] [-2.79820270e-02 1.55678999e-04 9.99608414e-01 -9.98337404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.050385723 meters 0.015209035361198785 Centerline is valid? [True, True] Translation: X:254.62, Y:-78.82, Z:-9.98 [[ 7.36924134e-01 6.75668367e-01 2.03734655e-02 2.54621477e+02] [-6.75404261e-01 7.37205692e-01 -1.88905295e-02 -7.88190837e+01] [-2.77831680e-02 1.60561678e-04 9.99613960e-01 -9.98386579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.110385723 meters 0.015197523693763359 Centerline is valid? [True, True] Translation: X:254.67, Y:-78.86, Z:-9.98 [[ 7.35550013e-01 6.77162652e-01 2.04186674e-02 2.54667448e+02] [-6.76897671e-01 7.35833358e-01 -1.89423209e-02 -7.88601556e+01] [-2.78517688e-02 1.11675989e-04 9.99612058e-01 -9.98478873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.170385723 meters 0.015255965679353565 Centerline is valid? [True, True] Translation: X:254.72, Y:-78.90, Z:-9.99 [[ 7.33995034e-01 6.78902182e-01 1.85234165e-02 2.54716028e+02] [-6.78684489e-01 7.34228728e-01 -1.71912660e-02 -7.88994928e+01] [-2.52716125e-02 4.67483520e-05 9.99680621e-01 -9.98918719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.230385723 meters 0.01552430675303835 Centerline is valid? [True, True] Translation: X:254.76, Y:-78.94, Z:-9.99 [[ 7.34578359e-01 6.78289121e-01 1.78466478e-02 2.54761262e+02] [-6.78086683e-01 7.34795117e-01 -1.65706681e-02 -7.89423732e+01] [-2.43533336e-02 7.08800322e-05 9.99703411e-01 -9.98982699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.290385723 meters 0.015972422476029133 Centerline is valid? [True, True] Translation: X:254.81, Y:-78.99, Z:-9.99 [[ 7.37421155e-01 6.75201279e-01 1.76995309e-02 2.54805972e+02] [-6.75001084e-01 7.37633515e-01 -1.64418649e-02 -7.89859667e+01] [-2.41573354e-02 1.77376469e-04 9.99708153e-01 -9.99168840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.350385723 meters 0.01620588219730608 Centerline is valid? [True, True] Translation: X:254.85, Y:-79.03, Z:-9.99 [[ 7.39098652e-01 6.73384050e-01 1.69441533e-02 2.54851946e+02] [-6.73199943e-01 7.39292816e-01 -1.57470473e-02 -7.90273013e+01] [-2.31305013e-02 2.31818418e-04 9.99732427e-01 -9.99451339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.410385723 meters 0.016264532899479742 Centerline is valid? [True, True] Translation: X:254.90, Y:-79.07, Z:-10.00 [[ 7.39178456e-01 6.73306420e-01 1.65431431e-02 2.54898652e+02] [-6.73130760e-01 7.39363517e-01 -1.53808267e-02 -7.90699372e+01] [-2.25874058e-02 2.33477240e-04 9.99744845e-01 -9.99685771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.470385723 meters 0.016575939954557146 Centerline is valid? [True, True] Translation: X:254.94, Y:-79.11, Z:-10.00 [[ 7.39282410e-01 6.73214032e-01 1.56328196e-02 2.54944850e+02] [-6.73056981e-01 7.39447641e-01 -1.45425914e-02 -7.91112975e+01] [-2.13499281e-02 2.29303633e-04 9.99772038e-01 -9.99912876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.530385723 meters 0.01683323108885982 Centerline is valid? [True, True] Translation: X:254.99, Y:-79.15, Z:-10.00 [[ 7.39238557e-01 6.73261697e-01 1.56538292e-02 2.54992121e+02] [-6.73104096e-01 7.39404242e-01 -1.45685597e-02 -7.91529730e+01] [-2.13829610e-02 2.32984451e-04 9.99771331e-01 -9.99987671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.590385723 meters 0.01659295117138123 Centerline is valid? [True, True] Translation: X:255.04, Y:-79.19, Z:-10.00 [[ 7.37839573e-01 6.74809286e-01 1.50063916e-02 2.55040405e+02] [-6.74664631e-01 7.37992136e-01 -1.39729659e-02 -7.91941180e+01] [-2.05036861e-02 1.85525576e-04 9.99789760e-01 -1.00012645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.650385723 meters 0.01621983483555618 Centerline is valid? [True, True] Translation: X:255.09, Y:-79.23, Z:-10.00 [[ 7.36163570e-01 6.76637858e-01 1.49802357e-02 2.55087838e+02] [-6.76493913e-01 7.36315957e-01 -1.39569439e-02 -7.92345744e+01] [-2.04739832e-02 1.40555345e-04 9.99790376e-01 -1.00021884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.710385723 meters 0.01597998194234565 Centerline is valid? [True, True] Translation: X:255.14, Y:-79.27, Z:-10.00 [[ 7.33723794e-01 6.79261158e-01 1.59271130e-02 2.55135917e+02] [-6.79098879e-01 7.33896637e-01 -1.48471979e-02 -7.92742097e+01] [-2.17739795e-02 7.76578293e-05 9.99762916e-01 -1.00029526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.770385723 meters 0.015762389143033694 Centerline is valid? [True, True] Translation: X:255.18, Y:-79.32, Z:-10.00 [[ 7.31029659e-01 6.82115492e-01 1.77226855e-02 2.55182757e+02] [-6.81915166e-01 7.31244457e-01 -1.65303022e-02 -7.93151254e+01] [-2.42351908e-02 -1.22685394e-06 9.99706285e-01 -1.00017632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.830385723 meters 0.01574198162604236 Centerline is valid? [True, True] Translation: X:255.23, Y:-79.36, Z:-10.00 [[ 7.29691535e-01 6.83541934e-01 1.79077489e-02 2.55229210e+02] [-6.83337641e-01 7.29911243e-01 -1.67106437e-02 -7.93572823e+01] [-2.44934929e-02 -4.34236753e-05 9.99699988e-01 -1.00036105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.890385723 meters 0.015688124851287392 Centerline is valid? [True, True] Translation: X:255.28, Y:-79.40, Z:-10.01 [[ 7.29178136e-01 6.84112413e-01 1.70132966e-02 2.55275347e+02] [-6.83927976e-01 7.29376586e-01 -1.58845685e-02 -7.93986223e+01] [-2.32759306e-02 -5.31894473e-05 9.99729077e-01 -1.00065905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.950385723 meters 0.015638824395016234 Centerline is valid? [True, True] Translation: X:255.32, Y:-79.44, Z:-10.01 [[ 7.29197426e-01 6.84084530e-01 1.73051944e-02 2.55322800e+02] [-6.83893519e-01 7.29402737e-01 -1.61648466e-02 -7.94398721e+01] [-2.36805777e-02 -4.75457077e-05 9.99719575e-01 -1.00110707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.010385723 meters 0.015509030451462017 Centerline is valid? [True, True] Translation: X:255.37, Y:-79.48, Z:-10.01 [[ 7.32220003e-01 6.80810459e-01 1.87346279e-02 2.55368776e+02] [-6.80585155e-01 7.32459633e-01 -1.75138285e-02 -7.94823102e+01] [-2.56459563e-02 7.34659110e-05 9.99671086e-01 -1.00133965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.070385723 meters 0.015980886984129323 Centerline is valid? [True, True] Translation: X:255.41, Y:-79.53, Z:-10.02 [[ 7.36224871e-01 6.76472404e-01 1.89215518e-02 2.55412539e+02] [-6.76241114e-01 7.36467945e-01 -1.76895727e-02 -7.95270159e+01] [-2.59016242e-02 2.27972094e-04 9.99664471e-01 -1.00152519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.130385723 meters 0.016197417731656224 Centerline is valid? [True, True] Translation: X:255.46, Y:-79.57, Z:-10.02 [[ 7.37509366e-01 6.75037633e-01 2.01029558e-02 2.55458566e+02] [-6.74775764e-01 7.37783235e-01 -1.88033591e-02 -7.95691935e+01] [-2.75245988e-02 3.02666056e-04 9.99621081e-01 -1.00169948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.190385723 meters 0.015868886308840754 Centerline is valid? [True, True] Translation: X:255.51, Y:-79.60, Z:-10.02 [[ 7.37762334e-01 6.74744964e-01 2.06390858e-02 2.55510917e+02] [-6.74468522e-01 7.38050896e-01 -1.93154922e-02 -7.96049232e+01] [-2.82657268e-02 3.29828922e-04 9.99600390e-01 -1.00220290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.250385723 meters 0.015716106757622077 Centerline is valid? [True, True] Translation: X:255.56, Y:-79.64, Z:-10.02 [[ 7.36958257e-01 6.75628371e-01 2.04654097e-02 2.55559112e+02] [-6.75356594e-01 7.37242303e-01 -1.91639496e-02 -7.96445955e+01] [-2.80356738e-02 3.01581453e-04 9.99606878e-01 -1.00239910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.310385723 meters 0.015712782069581818 Centerline is valid? [True, True] Translation: X:255.61, Y:-79.68, Z:-10.03 [[ 7.37244995e-01 6.75322409e-01 2.02351705e-02 2.55607783e+02] [-6.75056358e-01 7.37522572e-01 -1.89570227e-02 -7.96848473e+01] [-2.77259973e-02 3.16089617e-04 9.99615511e-01 -1.00270441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.370385723 meters 0.015971793492817386 Centerline is valid? [True, True] Translation: X:255.66, Y:-79.72, Z:-10.03 [[ 7.38915695e-01 6.73509960e-01 1.96959122e-02 2.55656659e+02] [-6.73256945e-01 7.39178049e-01 -1.84634341e-02 -7.97227048e+01] [-2.69940927e-02 3.82511628e-04 9.99635520e-01 -1.00312058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43038572300003 meters 0.01659094434664411 Centerline is valid? [True, True] Translation: X:255.70, Y:-79.76, Z:-10.03 [[ 7.41529297e-01 6.70611507e-01 2.03594981e-02 2.55704057e+02] [-6.70339948e-01 7.41808566e-01 -1.90893857e-02 -7.97633315e+01] [-2.79044119e-02 5.07553849e-04 9.99610467e-01 -1.00333859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49038572300003 meters 0.016864045617345554 Centerline is valid? [True, True] Translation: X:255.75, Y:-79.80, Z:-10.04 [[ 7.43060682e-01 6.68867002e-01 2.18576543e-02 2.55754221e+02] [-6.68552916e-01 7.43381830e-01 -2.05049495e-02 -7.97999067e+01] [-2.99636672e-02 6.23423257e-04 9.99550794e-01 -1.00354987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.550385723 meters 0.017271586354007138 Centerline is valid? [True, True] Translation: X:255.80, Y:-79.84, Z:-10.04 [[ 7.43726315e-01 6.68124817e-01 2.19179677e-02 2.55802352e+02] [-6.67808393e-01 7.44048916e-01 -2.05708475e-02 -7.98388238e+01] [-3.00519338e-02 6.62077837e-04 9.99548119e-01 -1.00389962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.610385723 meters 0.018151484914115005 Centerline is valid? [True, True] Translation: X:255.85, Y:-79.88, Z:-10.04 [[ 7.45195509e-01 6.66500491e-01 2.14650588e-02 2.55850018e+02] [-6.66196050e-01 7.45504244e-01 -2.01555239e-02 -7.98773583e+01] [-2.94359590e-02 7.19868533e-04 9.99566409e-01 -1.00415039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.670385723 meters 0.01941040003138506 Centerline is valid? [True, True] Translation: X:255.90, Y:-79.92, Z:-10.05 [[ 7.47460396e-01 6.63971368e-01 2.10945301e-02 2.55898479e+02] [-6.63676060e-01 7.47757556e-01 -1.98173019e-02 -7.99155749e+01] [-2.89317154e-02 8.12713710e-04 9.99581060e-01 -1.00450868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.730385723 meters 0.018507284689797173 Centerline is valid? [True, True] Translation: X:255.95, Y:-79.95, Z:-10.05 [[ 7.47522636e-01 6.63887319e-01 2.15298871e-02 2.55949746e+02] [-6.63579564e-01 7.47832154e-01 -2.02294873e-02 -7.99525825e+01] [-2.95308419e-02 8.35206564e-04 9.99563521e-01 -1.00480918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.790385723 meters 0.01808771114562031 Centerline is valid? [True, True] Translation: X:256.00, Y:-79.99, Z:-10.05 [[ 7.45747091e-01 6.65874830e-01 2.17252604e-02 2.55999810e+02] [-6.65561952e-01 7.46063077e-01 -2.04248372e-02 -7.99896108e+01] [-2.98087996e-02 7.72256238e-04 9.99555321e-01 -1.00505621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.850385723 meters 0.017593940779116198 Centerline is valid? [True, True] Translation: X:256.05, Y:-80.03, Z:-10.05 [[ 7.43553175e-01 6.68330840e-01 2.15072979e-02 2.56049595e+02] [-6.68024950e-01 7.43863854e-01 -2.02295280e-02 -8.00274360e+01] [-2.95185190e-02 6.74318175e-04 9.99564006e-01 -1.00530442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.910385723 meters 0.017928347734627603 Centerline is valid? [True, True] Translation: X:256.10, Y:-80.07, Z:-10.06 [[ 7.43083137e-01 6.68866804e-01 2.10867346e-02 2.56097557e+02] [-6.68572719e-01 7.43381988e-01 -1.98428726e-02 -8.00674335e+01] [-2.89477375e-02 6.46888496e-04 9.99580717e-01 -1.00564722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.970385723 meters 0.018354549136600975 Centerline is valid? [True, True] Translation: X:256.14, Y:-80.11, Z:-10.06 [[ 7.43444571e-01 6.68449468e-01 2.15749551e-02 2.56142173e+02] [-6.68141081e-01 7.43757243e-01 -2.03140101e-02 -8.01098370e+01] [-2.96254184e-02 6.87226647e-04 9.99560835e-01 -1.00570953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.030385723 meters 0.017390260341900873 Centerline is valid? [True, True] Translation: X:256.19, Y:-80.15, Z:-10.06 [[ 7.42853114e-01 6.69102273e-01 2.17117269e-02 2.56190918e+02] [-6.68789986e-01 7.43170032e-01 -2.04513642e-02 -8.01487997e+01] [-2.98195590e-02 6.71774025e-04 9.99555072e-01 -1.00589175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.090385723 meters 0.016131580373290582 Centerline is valid? [True, True] Translation: X:256.24, Y:-80.19, Z:-10.06 [[ 7.40506546e-01 6.71672934e-01 2.24838597e-02 2.56240351e+02] [-6.71338863e-01 7.40847564e-01 -2.11900587e-02 -8.01875208e+01] [-3.08899016e-02 5.97088367e-04 9.99522615e-01 -1.00606185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.150385723 meters 0.015469569736313608 Centerline is valid? [True, True] Translation: X:256.29, Y:-80.23, Z:-10.06 [[ 7.38759391e-01 6.73590138e-01 2.26028481e-02 2.56287745e+02] [-6.73253334e-01 7.39104900e-01 -2.13047894e-02 -8.02279579e+01] [-3.10565718e-02 5.21670360e-04 9.99517492e-01 -1.00632753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.210385723 meters 0.015147902107284814 Centerline is valid? [True, True] Translation: X:256.33, Y:-80.27, Z:-10.06 [[ 7.36553870e-01 6.75989823e-01 2.29381029e-02 2.56332975e+02] [-6.75643767e-01 7.36910829e-01 -2.16316966e-02 -8.02685588e+01] [-3.15261432e-02 4.34923576e-04 9.99502833e-01 -1.00648718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.270385723 meters 0.0156684729050182 Centerline is valid? [True, True] Translation: X:256.38, Y:-80.31, Z:-10.07 [[ 7.34614353e-01 6.78115883e-01 2.23741124e-02 2.56379372e+02] [-6.77787319e-01 7.34954918e-01 -2.11096789e-02 -8.03106037e+01] [-3.07587725e-02 3.42583420e-04 9.99526778e-01 -1.00677412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.330385723 meters 0.014432795705339984 Centerline is valid? [True, True] Translation: X:256.43, Y:-80.35, Z:-10.07 [[ 7.33062134e-01 6.79792848e-01 2.23962388e-02 2.56425929e+02] [-6.79464266e-01 7.33404123e-01 -2.11353393e-02 -8.03523891e+01] [-3.07931464e-02 2.76072993e-04 9.99525740e-01 -1.00694967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.390385723 meters 0.01425305262253315 Centerline is valid? [True, True] Translation: X:256.47, Y:-80.39, Z:-10.07 [[ 7.29658338e-01 6.83423063e-01 2.30570463e-02 2.56472146e+02] [-6.83076252e-01 7.30022533e-01 -2.17700339e-02 -8.03933982e+01] [-3.17103066e-02 1.34965950e-04 9.99497093e-01 -1.00723605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.450385723 meters 0.014387402870294792 Centerline is valid? [True, True] Translation: X:256.52, Y:-80.44, Z:-10.08 [[ 7.30190063e-01 6.82831312e-01 2.37459863e-02 2.56516850e+02] [-6.82462783e-01 7.30576053e-01 -2.24316935e-02 -8.04380571e+01] [-3.26653116e-02 1.73647817e-04 9.99466331e-01 -1.00752850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.510385723 meters 0.014567529639591001 Centerline is valid? [True, True] Translation: X:256.56, Y:-80.48, Z:-10.08 [[ 7.31029090e-01 6.81913101e-01 2.43103389e-02 2.56561370e+02] [-6.81525894e-01 7.31433162e-01 -2.29779386e-02 -8.04826289e+01] [-3.34503455e-02 2.29416093e-04 9.99440354e-01 -1.00781156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.570385723 meters 0.015005039872116122 Centerline is valid? [True, True] Translation: X:256.60, Y:-80.53, Z:-10.08 [[ 7.31932369e-01 6.80927224e-01 2.47613191e-02 2.56604834e+02] [-6.80524485e-01 7.32351030e-01 -2.34177974e-02 -8.05264008e+01] [-3.40797934e-02 2.89559954e-04 9.99419073e-01 -1.00800905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.630385723 meters 0.015004811229657973 Centerline is valid? [True, True] Translation: X:256.65, Y:-80.57, Z:-10.08 [[ 7.31221276e-01 6.81680207e-01 2.50507647e-02 2.56650854e+02] [-6.81268004e-01 7.31650206e-01 -2.37040556e-02 -8.05689470e+01] [-3.44869827e-02 2.66625292e-04 9.99405112e-01 -1.00832332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.690385723 meters 0.014887030149301726 Centerline is valid? [True, True] Translation: X:256.70, Y:-80.61, Z:-10.09 [[ 7.29669344e-01 6.83375837e-01 2.40855719e-02 2.56697936e+02] [-6.82995311e-01 7.30066730e-01 -2.28029498e-02 -8.06098539e+01] [-3.31670597e-02 1.88280767e-04 9.99449804e-01 -1.00875473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.750385723 meters 0.014904729015070341 Centerline is valid? [True, True] Translation: X:256.74, Y:-80.65, Z:-10.09 [[ 7.27821809e-01 6.85362937e-01 2.35172107e-02 2.56743726e+02] [-6.85000853e-01 7.28201644e-01 -2.22754923e-02 -8.06519310e+01] [-3.23920683e-02 1.03279666e-04 9.99475234e-01 -1.00899531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.810385723 meters 0.015052165413667412 Centerline is valid? [True, True] Translation: X:256.79, Y:-80.69, Z:-10.09 [[ 7.28914416e-01 6.84211477e-01 2.32040683e-02 2.56787773e+02] [-6.83858030e-01 7.29283641e-01 -2.19901326e-02 -8.06936571e+01] [-3.19682485e-02 1.60636259e-04 9.99488872e-01 -1.00931969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.870385723 meters 0.015285572354517128 Centerline is valid? [True, True] Translation: X:256.83, Y:-80.74, Z:-10.10 [[ 7.30547569e-01 6.82466411e-01 2.32346102e-02 2.56831656e+02] [-6.82110978e-01 7.30916917e-01 -2.20243849e-02 -8.07381539e+01] [-3.20134726e-02 2.41278209e-04 9.99487408e-01 -1.00951587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93038572300003 meters 0.01540256522932076 Centerline is valid? [True, True] Translation: X:256.88, Y:-80.78, Z:-10.10 [[ 7.30172582e-01 6.82866657e-01 2.32621799e-02 2.56876470e+02] [-6.82510243e-01 7.30543000e-01 -2.20611156e-02 -8.07805396e+01] [-3.20588229e-02 2.31745699e-04 9.99485957e-01 -1.00977478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99038572300003 meters 0.015188658057481009 Centerline is valid? [True, True] Translation: X:256.92, Y:-80.82, Z:-10.10 [[ 7.28798230e-01 6.84335401e-01 2.31991061e-02 2.56922460e+02] [-6.83981298e-01 7.29167352e-01 -2.20126457e-02 -8.08225452e+01] [-3.19800635e-02 1.75022516e-04 9.99488492e-01 -1.00995266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.050385723 meters 0.01512561645250834 Centerline is valid? [True, True] Translation: X:256.97, Y:-80.86, Z:-10.10 [[ 7.27714349e-01 6.85504142e-01 2.27134017e-02 2.56969004e+02] [-6.85164982e-01 7.28068716e-01 -2.15613412e-02 -8.08649933e+01] [-3.13173059e-02 1.28069846e-04 9.99509485e-01 -1.01035683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.110385723 meters 0.015035132838068578 Centerline is valid? [True, True] Translation: X:257.01, Y:-80.91, Z:-10.11 [[ 7.26271055e-01 6.87041870e-01 2.24460330e-02 2.57014470e+02] [-6.86711041e-01 7.26617826e-01 -2.13185689e-02 -8.09084118e+01] [-3.09564372e-02 6.91207992e-05 9.99520732e-01 -1.01054164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.170385723 meters 0.014965616661889378 Centerline is valid? [True, True] Translation: X:257.06, Y:-80.95, Z:-10.11 [[ 7.25216850e-01 6.88128082e-01 2.32435691e-02 2.57059819e+02] [-6.87773492e-01 7.25589237e-01 -2.20880424e-02 -8.09508659e+01] [-3.20646858e-02 3.23098623e-05 9.99485795e-01 -1.01063464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.230385723 meters 0.01495307052009668 Centerline is valid? [True, True] Translation: X:257.11, Y:-80.99, Z:-10.11 [[ 7.23658653e-01 6.89785582e-01 2.26716580e-02 2.57105473e+02] [-6.89448738e-01 7.24013708e-01 -2.15542994e-02 -8.09944688e+01] [-3.12824361e-02 -3.29907331e-05 9.99510584e-01 -1.01082563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.290385723 meters 0.015088164505950396 Centerline is valid? [True, True] Translation: X:257.15, Y:-81.04, Z:-10.11 [[ 7.22829631e-01 6.90709918e-01 2.09077414e-02 2.57147495e+02] [-6.90423529e-01 7.23131942e-01 -1.98883060e-02 -8.10381529e+01] [-2.88561058e-02 -5.93397433e-05 9.99583574e-01 -1.01120889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.350385723 meters 0.015033090085397334 Centerline is valid? [True, True] Translation: X:257.19, Y:-81.08, Z:-10.11 [[ 7.21675259e-01 6.91918209e-01 2.08329692e-02 2.57190766e+02] [-6.91634178e-01 7.21975887e-01 -1.98237904e-02 -8.10844281e+01] [-2.87573430e-02 -1.02454483e-04 9.99586417e-01 -1.01139651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.410385723 meters 0.01518103751736744 Centerline is valid? [True, True] Translation: X:257.23, Y:-81.13, Z:-10.12 [[ 7.19063279e-01 6.94639285e-01 2.05976875e-02 2.57234557e+02] [-6.94362422e-01 7.19358203e-01 -1.96112832e-02 -8.11281789e+01] [-2.84398832e-02 -2.00506583e-04 9.99595485e-01 -1.01170264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.470385723 meters 0.015653660577070138 Centerline is valid? [True, True] Translation: X:257.28, Y:-81.17, Z:-10.12 [[ 7.15664812e-01 6.98122538e-01 2.11848861e-02 2.57276215e+02] [-6.97830879e-01 7.15978216e-01 -2.01806599e-02 -8.11744833e+01] [-2.92564904e-02 -3.40879534e-04 9.99571879e-01 -1.01175059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.530385723 meters 0.0159451116527178 Centerline is valid? [True, True] Translation: X:257.32, Y:-81.22, Z:-10.12 [[ 7.13982188e-01 6.99828736e-01 2.16604374e-02 2.57318480e+02] [-6.99524290e-01 7.14310556e-01 -2.06445710e-02 -8.12180419e+01] [-2.99199431e-02 -4.12146120e-04 9.99552213e-01 -1.01188074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.590385723 meters 0.01598925265050868 Centerline is valid? [True, True] Translation: X:257.36, Y:-81.26, Z:-10.12 [[ 7.12563985e-01 7.01286965e-01 2.11933835e-02 2.57360053e+02] [-7.00995947e-01 7.12878940e-01 -2.02064487e-02 -8.12642257e+01] [-2.92788358e-02 -4.58088290e-04 9.99571178e-01 -1.01227440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.650385723 meters 0.017350728594592323 Centerline is valid? [True, True] Translation: X:257.40, Y:-81.31, Z:-10.13 [[ 7.13391012e-01 7.00460576e-01 2.06940901e-02 2.57400555e+02] [-7.00182492e-01 7.13690980e-01 -1.97398694e-02 -8.13114693e+01] [-2.85961857e-02 -4.07394162e-04 9.99590962e-01 -1.01270758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.710385723 meters 0.01555830777504031 Centerline is valid? [True, True] Translation: X:257.44, Y:-81.36, Z:-10.12 [[ 7.14251092e-01 6.99504374e-01 2.32165504e-02 2.57438558e+02] [-6.99153443e-01 7.14628202e-01 -2.21584388e-02 -8.13604489e+01] [-3.20911266e-02 -4.05242003e-04 9.99484865e-01 -1.01246041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.770385723 meters 0.015255171673585595 Centerline is valid? [True, True] Translation: X:257.48, Y:-81.41, Z:-10.13 [[ 7.14887149e-01 6.98807217e-01 2.45934692e-02 2.57480284e+02] [-6.98412624e-01 7.15309949e-01 -2.34836786e-02 -8.14059573e+01] [-3.40025173e-02 -3.88209307e-04 9.99421672e-01 -1.01274110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.830385723 meters 0.014986691997132961 Centerline is valid? [True, True] Translation: X:257.52, Y:-81.46, Z:-10.13 [[ 7.15737581e-01 6.97961868e-01 2.38526053e-02 2.57518315e+02] [-6.97589876e-01 7.16134849e-01 -2.27868965e-02 -8.14561534e+01] [-3.29860667e-02 -3.29897797e-04 9.99455757e-01 -1.01296600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.890385723 meters 0.014587257131982521 Centerline is valid? [True, True] Translation: X:257.56, Y:-81.50, Z:-10.13 [[ 7.16693002e-01 6.96984837e-01 2.37334599e-02 2.57558561e+02] [-6.96615666e-01 7.17085811e-01 -2.26837723e-02 -8.15045384e+01] [-3.28291727e-02 -2.75799149e-04 9.99460939e-01 -1.01315285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.950385723 meters 0.014228089700549182 Centerline is valid? [True, True] Translation: X:257.60, Y:-81.55, Z:-10.14 [[ 7.18199484e-01 6.95440226e-01 2.35030649e-02 2.57600662e+02] [-6.95076997e-01 7.18583923e-01 -2.24747318e-02 -8.15490055e+01] [-3.25187572e-02 -1.95099015e-04 9.99471106e-01 -1.01371244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.010385723 meters 0.014152312950082778 Centerline is valid? [True, True] Translation: X:257.64, Y:-81.60, Z:-10.14 [[ 7.18807790e-01 6.94832759e-01 2.28647755e-02 2.57641169e+02] [-6.94488390e-01 7.19171337e-01 -2.18738226e-02 -8.15963218e+01] [-3.16423397e-02 -1.56247069e-04 9.99499244e-01 -1.01402021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.070385723 meters 0.013835842817636806 Centerline is valid? [True, True] Translation: X:257.68, Y:-81.65, Z:-10.14 [[ 7.19470477e-01 6.94172697e-01 2.20567238e-02 2.57680674e+02] [-6.93851620e-01 7.19808484e-01 -2.11110442e-02 -8.16461269e+01] [-3.05313274e-02 -1.15320523e-04 9.99533804e-01 -1.01425281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.130385723 meters 0.013627875611113961 Centerline is valid? [True, True] Translation: X:257.72, Y:-81.69, Z:-10.15 [[ 7.19984199e-01 6.93650949e-01 2.17051619e-02 2.57722163e+02] [-6.93339441e-01 7.20311290e-01 -2.07861883e-02 -8.16915387e+01] [-3.00528324e-02 -8.33176481e-05 9.99548308e-01 -1.01469446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.190385723 meters 0.01350962501361243 Centerline is valid? [True, True] Translation: X:257.76, Y:-81.74, Z:-10.15 [[ 7.20868949e-01 6.92736266e-01 2.15505121e-02 2.57761975e+02] [-6.92428459e-01 7.21191004e-01 -2.06486166e-02 -8.17411370e+01] [-2.98460810e-02 -3.72413709e-05 9.99554506e-01 -1.01487179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.250385723 meters 0.01351312558248385 Centerline is valid? [True, True] Translation: X:257.81, Y:-81.79, Z:-10.15 [[ 7.21082552e-01 6.92505422e-01 2.18218701e-02 2.57805022e+02] [-6.92189362e-01 7.21412670e-01 -2.09200139e-02 -8.17867842e+01] [-3.02297966e-02 -1.98093164e-05 9.99542975e-01 -1.01500249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.310385723 meters 0.013556030345532634 Centerline is valid? [True, True] Translation: X:257.85, Y:-81.84, Z:-10.15 [[ 7.21487284e-01 6.92084256e-01 2.18055544e-02 2.57845605e+02] [-6.91768130e-01 7.21816724e-01 -2.09158206e-02 -8.18350206e+01] [-3.02151239e-02 6.11099536e-06 9.99543419e-01 -1.01524229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.370385723 meters 0.013410159832098692 Centerline is valid? [True, True] Translation: X:257.89, Y:-81.88, Z:-10.16 [[ 7.20531499e-01 6.93084662e-01 2.16335604e-02 2.57889667e+02] [-6.92773596e-01 7.20856193e-01 -2.07627921e-02 -8.18781814e+01] [-2.99850587e-02 -2.69137812e-05 9.99550347e-01 -1.01563578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43038572300003 meters 0.013346942982986285 Centerline is valid? [True, True] Translation: X:257.93, Y:-81.93, Z:-10.16 [[ 7.18810146e-01 6.94853336e-01 2.21543448e-02 2.57931867e+02] [-6.94527750e-01 7.19151467e-01 -2.12690400e-02 -8.19251268e+01] [-3.07111930e-02 -9.84055131e-05 9.99528295e-01 -1.01566034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49038572300003 meters 0.013420549448235142 Centerline is valid? [True, True] Translation: X:257.97, Y:-81.97, Z:-10.16 [[ 7.18509361e-01 6.95174538e-01 2.18325635e-02 2.57974427e+02] [-6.94858117e-01 7.18840978e-01 -2.09724800e-02 -8.19703164e+01] [-3.02736754e-02 -1.01610821e-04 9.99541642e-01 -1.01596255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.550385723 meters 0.013311056763413305 Centerline is valid? [True, True] Translation: X:258.02, Y:-82.02, Z:-10.16 [[ 7.18960762e-01 6.94744689e-01 2.06213278e-02 2.58016222e+02] [-6.94462080e-01 7.19256429e-01 -1.98143505e-02 -8.20167380e+01] [-2.85979374e-02 -7.49896289e-05 9.99590993e-01 -1.01636380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.610385723 meters 0.01326542522624238 Centerline is valid? [True, True] Translation: X:258.06, Y:-82.06, Z:-10.17 [[ 7.19950218e-01 6.93690859e-01 2.15563334e-02 2.58056760e+02] [-6.93381215e-01 7.20272859e-01 -2.07243757e-02 -8.20636374e+01] [-2.99027519e-02 -2.62379061e-05 9.99552812e-01 -1.01651096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.670385723 meters 0.013236157519473381 Centerline is valid? [True, True] Translation: X:258.10, Y:-82.11, Z:-10.17 [[ 7.19948191e-01 6.93679245e-01 2.19933426e-02 2.58100447e+02] [-6.93356601e-01 7.20284044e-01 -2.11546485e-02 -8.21083114e+01] [-3.05159944e-02 -1.89783349e-05 9.99534278e-01 -1.01669066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.730385723 meters 0.01328151906687527 Centerline is valid? [True, True] Translation: X:258.15, Y:-82.15, Z:-10.17 [[ 7.18475234e-01 6.95209654e-01 2.18374568e-02 2.58146692e+02] [-6.94891932e-01 7.18807019e-01 -2.10160129e-02 -8.21513253e+01] [-3.03074523e-02 -7.51877700e-05 9.99540621e-01 -1.01699187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.790385723 meters 0.013413414012963797 Centerline is valid? [True, True] Translation: X:258.19, Y:-82.20, Z:-10.17 [[ 7.17644577e-01 6.96070058e-01 2.17424723e-02 2.58190243e+02] [-6.95755129e-01 7.17973860e-01 -2.09364846e-02 -8.21954091e+01] [-3.01837868e-02 -1.02481979e-04 9.99544360e-01 -1.01722304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.850385723 meters 0.013340445970129114 Centerline is valid? [True, True] Translation: X:258.24, Y:-82.24, Z:-10.17 [[ 7.18050859e-01 6.95646760e-01 2.18757613e-02 2.58235138e+02] [-6.95327431e-01 7.18384005e-01 -2.10756912e-02 -8.22399143e+01] [-3.03764333e-02 -7.73987072e-05 9.99538527e-01 -1.01745706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.910385723 meters 0.013415370919491028 Centerline is valid? [True, True] Translation: X:258.28, Y:-82.28, Z:-10.18 [[ 7.17543227e-01 6.96151268e-01 2.24750854e-02 2.58282043e+02] [-6.95814042e-01 7.17895121e-01 -2.16659927e-02 -8.22802734e+01] [-3.12175624e-02 -9.21936997e-05 9.99512609e-01 -1.01783137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.970385723 meters 0.013465373885106428 Centerline is valid? [True, True] Translation: X:258.33, Y:-82.32, Z:-10.18 [[ 7.16393677e-01 6.97341996e-01 2.22315344e-02 2.58327396e+02] [-6.97012274e-01 7.16738532e-01 -2.14421556e-02 -8.23241365e+01] [-3.08867129e-02 -1.34627618e-04 9.99522883e-01 -1.01800564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.030385723 meters 0.013418895613780861 Centerline is valid? [True, True] Translation: X:258.37, Y:-82.37, Z:-10.18 [[ 7.15833186e-01 6.97904749e-01 2.26232330e-02 2.58372926e+02] [-6.97563205e-01 7.16190574e-01 -2.18320334e-02 -8.23675607e+01] [-3.14392260e-02 -1.53040858e-04 9.99505654e-01 -1.01816970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.090385723 meters 0.013400920844869345 Centerline is valid? [True, True] Translation: X:258.42, Y:-82.41, Z:-10.19 [[ 7.15593897e-01 6.98186115e-01 2.14831050e-02 2.58419709e+02] [-6.97877948e-01 7.15916285e-01 -2.07422885e-02 -8.24101711e+01] [-2.98620826e-02 -1.49530173e-04 9.99554017e-01 -1.01865132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.150385723 meters 0.013385379530714222 Centerline is valid? [True, True] Translation: X:258.46, Y:-82.46, Z:-10.19 [[ 7.15225941e-01 6.98587038e-01 2.06882478e-02 2.58464239e+02] [-6.98301133e-01 7.15525071e-01 -1.99850370e-02 -8.24552150e+01] [-2.87642478e-02 -1.52809924e-04 9.99586212e-01 -1.01887646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.210385723 meters 0.013275728017543136 Centerline is valid? [True, True] Translation: X:258.51, Y:-82.50, Z:-10.19 [[ 7.16275145e-01 6.97487461e-01 2.14745959e-02 2.58507834e+02] [-6.97178543e-01 7.16596980e-01 -2.07568717e-02 -8.24993138e+01] [-2.98662883e-02 -1.03996243e-04 9.99553897e-01 -1.01900234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.270385723 meters 0.013276925368733088 Centerline is valid? [True, True] Translation: X:258.55, Y:-82.55, Z:-10.19 [[ 7.18942450e-01 6.94735096e-01 2.15615508e-02 2.58550223e+02] [-6.94422135e-01 7.19265699e-01 -2.08507164e-02 -8.25457630e+01] [-2.99942084e-02 1.76469916e-05 9.99550072e-01 -1.01919034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.330385723 meters 0.015914994149232697 Centerline is valid? [True, True] Translation: X:258.59, Y:-82.59, Z:-10.19 [[ 7.20471852e-01 6.93143624e-01 2.17307545e-02 2.58594045e+02] [-6.92824657e-01 7.20799492e-01 -2.10258754e-02 -8.25903123e+01] [-3.02374683e-02 9.29489045e-05 9.99542739e-01 -1.01947616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.390385723 meters 0.013506199555537718 Centerline is valid? [True, True] Translation: X:258.64, Y:-82.63, Z:-10.19 [[ 7.19975776e-01 6.93659394e-01 2.17146697e-02 2.58638963e+02] [-6.93340788e-01 7.20303157e-01 -2.10217400e-02 -8.26338118e+01] [-3.02230726e-02 7.94773025e-05 9.99543175e-01 -1.01941750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.450385723 meters 0.013744073371357399 Centerline is valid? [True, True] Translation: X:258.69, Y:-82.68, Z:-10.20 [[ 7.18694485e-01 6.95024726e-01 2.04662488e-02 2.58685252e+02] [-6.94741977e-01 7.18985834e-01 -1.98231109e-02 -8.26757524e+01] [-2.84924952e-02 2.79983042e-05 9.99594006e-01 -1.01975176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.510385723 meters 0.01390515774997146 Centerline is valid? [True, True] Translation: X:258.73, Y:-82.72, Z:-10.20 [[ 7.17959458e-01 6.95828442e-01 1.88943411e-02 2.58731105e+02] [-6.95587499e-01 7.18208034e-01 -1.83098773e-02 -8.27181707e+01] [-2.63106009e-02 3.08213860e-06 9.99653816e-01 -1.02001810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.570385723 meters 0.014156218855138215 Centerline is valid? [True, True] Translation: X:258.78, Y:-82.76, Z:-10.20 [[ 7.18919965e-01 6.94868636e-01 1.76539571e-02 2.58776357e+02] [-6.94657824e-01 7.19136689e-01 -1.71151991e-02 -8.27603747e+01] [-2.45884233e-02 4.09988793e-05 9.99697658e-01 -1.02021623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.630385723 meters 0.014770995602757936 Centerline is valid? [True, True] Translation: X:258.82, Y:-82.80, Z:-10.20 [[ 7.21371760e-01 6.92354647e-01 1.63653724e-02 2.58818742e+02] [-6.92172680e-01 7.21557362e-01 -1.58730476e-02 -8.28043723e+01] [-2.27983332e-02 1.22704638e-04 9.99740077e-01 -1.02030735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.690385723 meters 0.015522187852456978 Centerline is valid? [True, True] Translation: X:258.86, Y:-82.85, Z:-10.21 [[ 7.24016849e-01 6.89602354e-01 1.57542209e-02 2.58862628e+02] [-6.89432934e-01 7.24188201e-01 -1.52865621e-02 -8.28462827e+01] [-2.19506701e-02 2.06249747e-04 9.99759034e-01 -1.02074137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.750385723 meters 0.016000378269733995 Centerline is valid? [True, True] Translation: X:258.91, Y:-82.89, Z:-10.21 [[ 7.28092677e-01 6.85297983e-01 1.57394070e-02 2.58907431e+02] [-6.85127683e-01 7.28262698e-01 -1.52807431e-02 -8.28893080e+01] [-2.19342855e-02 3.42293683e-04 9.99759356e-01 -1.02074697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.810385723 meters 0.01742650530433119 Centerline is valid? [True, True] Translation: X:258.95, Y:-82.93, Z:-10.21 [[ 7.32107037e-01 6.80998915e-01 1.61171910e-02 2.58952107e+02] [-6.80819192e-01 7.32284263e-01 -1.56520251e-02 -8.29328371e+01] [-2.24613774e-02 4.86064769e-04 9.99747593e-01 -1.02097650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.870385723 meters 0.017482584165056065 Centerline is valid? [True, True] Translation: X:259.00, Y:-82.97, Z:-10.21 [[ 7.32371227e-01 6.80741328e-01 1.49542600e-02 2.58998808e+02] [-6.80586594e-01 7.32523744e-01 -1.45207600e-02 -8.29737982e+01] [-2.08392320e-02 4.56917913e-04 9.99782735e-01 -1.02118339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93038572300003 meters 0.01635181148286383 Centerline is valid? [True, True] Translation: X:259.05, Y:-83.01, Z:-10.21 [[ 7.30610995e-01 6.82636662e-01 1.46547692e-02 2.59046747e+02] [-6.82488313e-01 7.30757845e-01 -1.42363721e-02 -8.30132162e+01] [-2.04273571e-02 3.99541284e-04 9.99791260e-01 -1.02126539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99038572300003 meters 0.015772367360234508 Centerline is valid? [True, True] Translation: X:259.10, Y:-83.05, Z:-10.21 [[ 7.27137748e-01 6.86323615e-01 1.51852474e-02 2.59096994e+02] [-6.86164881e-01 7.27296223e-01 -1.47634441e-02 -8.30503132e+01] [-2.11766734e-02 3.15473991e-04 9.99775699e-01 -1.02141125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.050385723 meters 0.015368529991584046 Centerline is valid? [True, True] Translation: X:259.15, Y:-83.09, Z:-10.22 [[ 7.23603432e-01 6.90048283e-01 1.52131544e-02 2.59145226e+02] [-6.89889827e-01 7.23763307e-01 -1.47886059e-02 -8.30887268e+01] [-2.12155751e-02 2.05685559e-04 9.99774903e-01 -1.02158645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.110385723 meters 0.015241998141511547 Centerline is valid? [True, True] Translation: X:259.19, Y:-83.13, Z:-10.22 [[ 7.22928850e-01 6.90756573e-01 1.51404826e-02 2.59191461e+02] [-6.90599667e-01 7.23087354e-01 -1.47234144e-02 -8.31318034e+01] [-2.11181867e-02 1.87968787e-04 9.99776969e-01 -1.02172284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.170385723 meters 0.014884412431149368 Centerline is valid? [True, True] Translation: X:259.24, Y:-83.17, Z:-10.22 [[ 7.21785012e-01 6.91917200e-01 1.66428830e-02 2.59241021e+02] [-6.91727597e-01 7.21976839e-01 -1.61980090e-02 -8.31707003e+01] [-2.32234571e-02 1.79138650e-04 9.99730283e-01 -1.02180169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.230385723 meters 0.01480879963743658 Centerline is valid? [True, True] Translation: X:259.29, Y:-83.21, Z:-10.22 [[ 7.21162302e-01 6.92548715e-01 1.73554738e-02 2.59287970e+02] [-6.92342694e-01 7.21371091e-01 -1.68921235e-02 -8.32119120e+01] [-2.42183555e-02 1.66027122e-04 9.99706679e-01 -1.02209126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.290385723 meters 0.015139804161111926 Centerline is valid? [True, True] Translation: X:259.33, Y:-83.25, Z:-10.22 [[ 7.22159889e-01 6.91532601e-01 1.63632395e-02 2.59333541e+02] [-6.91349047e-01 7.22345225e-01 -1.59333410e-02 -8.32537087e+01] [-2.28383326e-02 1.93709755e-04 9.99739152e-01 -1.02239855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.350385723 meters 0.015920530818598146 Centerline is valid? [True, True] Translation: X:259.38, Y:-83.29, Z:-10.23 [[ 7.24998593e-01 6.88566631e-01 1.59070684e-02 2.59378500e+02] [-6.88392238e-01 7.25173023e-01 -1.54988134e-02 -8.32944424e+01] [-2.22073426e-02 2.86315527e-04 9.99753346e-01 -1.02285696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.410385723 meters 0.01722278903598494 Centerline is valid? [True, True] Translation: X:259.42, Y:-83.34, Z:-10.23 [[ 7.28180065e-01 6.85201164e-01 1.59109127e-02 2.59422621e+02] [-6.85025785e-01 7.28353767e-01 -1.55068970e-02 -8.33384623e+01] [-2.22141171e-02 3.92427799e-04 9.99753159e-01 -1.02300032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.470385723 meters 0.01918125783745554 Centerline is valid? [True, True] Translation: X:259.47, Y:-83.38, Z:-10.23 [[ 7.30163708e-01 6.83077926e-01 1.62943951e-02 2.59469500e+02] [-6.82893484e-01 7.30345349e-01 -1.58795601e-02 -8.33797674e+01] [-2.27475127e-02 4.67342262e-04 9.99741133e-01 -1.02312820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.530385723 meters 0.01774876757311586 Centerline is valid? [True, True] Translation: X:259.52, Y:-83.42, Z:-10.23 [[ 7.32250608e-01 6.80803440e-01 1.77686194e-02 2.59515733e+02] [-6.80583192e-01 7.32465920e-01 -1.73261313e-02 -8.34205566e+01] [-2.48105979e-02 5.94046429e-04 9.99691993e-01 -1.02329283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.590385723 meters 0.019574347505464836 Centerline is valid? [True, True] Translation: X:259.56, Y:-83.46, Z:-10.23 [[ 7.35304405e-01 6.77471774e-01 1.89585669e-02 2.59561607e+02] [-6.77219630e-01 7.35548377e-01 -1.84975107e-02 -8.34621329e+01] [-2.64764845e-02 7.62187405e-04 9.99649146e-01 -1.02345930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.650385723 meters 0.01851960341504035 Centerline is valid? [True, True] Translation: X:259.61, Y:-83.50, Z:-10.24 [[ 7.36075189e-01 6.76623015e-01 1.93549106e-02 2.59608846e+02] [-6.76359910e-01 7.36329166e-01 -1.88846862e-02 -8.35030054e+01] [-2.70293985e-02 8.09663335e-04 9.99634311e-01 -1.02353945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.710385723 meters 0.017911732314738797 Centerline is valid? [True, True] Translation: X:259.66, Y:-83.54, Z:-10.24 [[ 7.35171364e-01 6.77589327e-01 1.98939501e-02 2.59659466e+02] [-6.77311441e-01 7.35440045e-01 -1.94204077e-02 -8.35403015e+01] [-2.77898685e-02 8.02927619e-04 9.99613465e-01 -1.02382378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.770385723 meters 0.019640339600463325 Centerline is valid? [True, True] Translation: X:259.71, Y:-83.58, Z:-10.24 [[ 7.32638121e-01 6.80346999e-01 1.92183319e-02 2.59706583e+02] [-6.80088327e-01 7.32889824e-01 -1.87716152e-02 -8.35783999e+01] [-2.68561320e-02 6.82637760e-04 9.99639076e-01 -1.02430160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.830385723 meters 0.0170767896226362 Centerline is valid? [True, True] Translation: X:259.76, Y:-83.62, Z:-10.25 [[ 7.30691287e-01 6.82452083e-01 1.86921610e-02 2.59757296e+02] [-6.82207969e-01 7.30930095e-01 -1.82615233e-02 -8.36160686e+01] [-2.61252777e-02 5.91594769e-04 9.99658502e-01 -1.02455261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.890385723 meters 0.017056002312402178 Centerline is valid? [True, True] Translation: X:259.81, Y:-83.65, Z:-10.25 [[ 7.29733511e-01 6.83423707e-01 2.05192473e-02 2.59805905e+02] [-6.83129842e-01 7.30021686e-01 -2.00488898e-02 -8.36548641e+01] [-2.86813821e-02 6.13036584e-04 9.99588417e-01 -1.02468141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.950385723 meters 0.017583127052294034 Centerline is valid? [True, True] Translation: X:259.85, Y:-83.70, Z:-10.25 [[ 7.31530740e-01 6.81450913e-01 2.20778145e-02 2.59853032e+02] [-6.81109448e-01 7.31863436e-01 -2.15831268e-02 -8.36958364e+01] [-3.08657866e-02 7.51312706e-04 9.99523256e-01 -1.02478776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.010385723 meters 0.01855865226046862 Centerline is valid? [True, True] Translation: X:259.90, Y:-83.74, Z:-10.25 [[ 7.32920816e-01 6.79953236e-01 2.21511718e-02 2.59899967e+02] [-6.79608479e-01 7.33255014e-01 -2.16656144e-02 -8.37356357e+01] [-3.09740624e-02 8.25055589e-04 9.99519848e-01 -1.02508878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.070385723 meters 0.02084847494934331 Centerline is valid? [True, True] Translation: X:259.95, Y:-83.77, Z:-10.26 [[ 7.33083502e-01 6.79797342e-01 2.15441875e-02 2.59947990e+02] [-6.79470889e-01 7.33399556e-01 -2.10808723e-02 -8.37746801e+01] [-3.01312185e-02 8.15391453e-04 9.99545619e-01 -1.02559904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.130385723 meters 0.017878727677925255 Centerline is valid? [True, True] Translation: X:260.00, Y:-83.81, Z:-10.26 [[ 7.30859733e-01 6.82200045e-01 2.11459250e-02 2.59997241e+02] [-6.81886262e-01 7.31165230e-01 -2.07010134e-02 -8.38128965e+01] [-2.95833974e-02 7.10421411e-04 9.99562063e-01 -1.02571488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.190385723 meters 0.020041094123298412 Centerline is valid? [True, True] Translation: X:260.04, Y:-83.85, Z:-10.26 [[ 7.29832362e-01 6.83323171e-01 2.03510856e-02 2.60043417e+02] [-6.83032712e-01 7.30115762e-01 -1.99321099e-02 -8.38547781e+01] [-2.84787209e-02 6.46641641e-04 9.99594190e-01 -1.02615768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.250385723 meters 0.017706051382559256 Centerline is valid? [True, True] Translation: X:260.09, Y:-83.89, Z:-10.26 [[ 7.29637632e-01 6.83517126e-01 2.08150006e-02 2.60092647e+02] [-6.83213067e-01 7.29934176e-01 -2.03961617e-02 -8.38941081e+01] [-2.91347061e-02 6.60726741e-04 9.99575276e-01 -1.02629809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.310385723 meters 0.017790146505535915 Centerline is valid? [True, True] Translation: X:260.14, Y:-83.94, Z:-10.26 [[ 7.28988718e-01 6.84214777e-01 2.06297643e-02 2.60137122e+02] [-6.83916050e-01 7.29280285e-01 -2.02262596e-02 -8.39366303e+01] [-2.88839862e-02 6.35688132e-04 9.99582568e-01 -1.02643809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.370385723 meters 0.016960791812720484 Centerline is valid? [True, True] Translation: X:260.18, Y:-83.98, Z:-10.26 [[ 7.26535389e-01 6.86777660e-01 2.19721225e-02 2.60184791e+02] [-6.86439595e-01 7.26867328e-01 -2.15538643e-02 -8.39765167e+01] [-3.07735304e-02 5.77110344e-04 9.99526216e-01 -1.02645765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43038572300003 meters 0.015985980769465443 Centerline is valid? [True, True] Translation: X:260.23, Y:-84.01, Z:-10.27 [[ 7.23141158e-01 6.90347278e-01 2.20794350e-02 2.60233970e+02] [-6.90007530e-01 7.23478025e-01 -2.16599960e-02 -8.40149247e+01] [-3.09269053e-02 4.28258213e-04 9.99521557e-01 -1.02668298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49038572300003 meters 0.015217718422908874 Centerline is valid? [True, True] Translation: X:260.28, Y:-84.06, Z:-10.27 [[ 7.16752510e-01 6.96958938e-01 2.26732919e-02 2.60279185e+02] [-6.96603540e-01 7.17111019e-01 -2.22552065e-02 -8.40550274e+01] [-3.17702326e-02 1.57179734e-04 9.99495186e-01 -1.02671010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.550385723 meters 0.015098043966360275 Centerline is valid? [True, True] Translation: X:260.33, Y:-84.09, Z:-10.27 [[ 7.11922228e-01 7.01888823e-01 2.27776320e-02 2.60327971e+02] [-7.01532668e-01 7.12286512e-01 -2.23571130e-02 -8.40942376e+01] [-3.19164078e-02 -6.27272256e-05 9.99490540e-01 -1.02685928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.610385723 meters 0.015503333727671058 Centerline is valid? [True, True] Translation: X:260.38, Y:-84.14, Z:-10.27 [[ 7.10305433e-01 7.03525520e-01 2.27603579e-02 2.60375238e+02] [-7.03170409e-01 7.10669984e-01 -2.23506169e-02 -8.41360755e+01] [-3.18993326e-02 -1.28645587e-04 9.99491079e-01 -1.02715769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.670385723 meters 0.01543648047911823 Centerline is valid? [True, True] Translation: X:260.42, Y:-84.18, Z:-10.27 [[ 7.10519660e-01 7.03316578e-01 2.25300679e-02 2.60418071e+02] [-7.02968120e-01 7.10876768e-01 -2.21368992e-02 -8.41814703e+01] [-3.15853501e-02 -1.09217357e-04 9.99501052e-01 -1.02721367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.730385723 meters 0.014978251203245127 Centerline is valid? [True, True] Translation: X:260.46, Y:-84.23, Z:-10.27 [[ 7.13595949e-01 7.00242948e-01 2.09913133e-02 2.60460456e+02] [-6.99938854e-01 7.13904625e-01 -2.06346128e-02 -8.42273978e+01] [-2.94350377e-02 3.21403180e-05 9.99566695e-01 -1.02743621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.790385723 meters 0.015012573525772536 Centerline is valid? [True, True] Translation: X:260.50, Y:-84.27, Z:-10.28 [[ 7.16111859e-01 6.97698444e-01 2.00171592e-02 2.60503413e+02] [-6.97420626e-01 7.16391556e-01 -1.96877820e-02 -8.42721429e+01] [-2.80762587e-02 1.38274456e-04 9.99605775e-01 -1.02777542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.850385723 meters 0.0153904389545001 Centerline is valid? [True, True] Translation: X:260.54, Y:-84.32, Z:-10.28 [[ 7.19275803e-01 6.94461087e-01 1.91341921e-02 2.60541816e+02] [-6.94205861e-01 7.19530215e-01 -1.88279681e-02 -8.43217636e+01] [-2.68429206e-02 2.59433572e-04 9.99639630e-01 -1.02784723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.910385723 meters 0.015657011980897858 Centerline is valid? [True, True] Translation: X:260.58, Y:-84.37, Z:-10.28 [[ 7.21206758e-01 6.92450728e-01 1.93080513e-02 2.60584248e+02] [-6.92189871e-01 7.21465086e-01 -1.90082112e-02 -8.43676118e+01] [-2.70923346e-02 3.44012829e-04 9.99632876e-01 -1.02787236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.970385723 meters 0.015565418734563748 Centerline is valid? [True, True] Translation: X:260.63, Y:-84.41, Z:-10.28 [[ 7.21222008e-01 6.92448500e-01 1.88119585e-02 2.60629027e+02] [-6.92200660e-01 7.21467226e-01 -1.85280498e-02 -8.44119564e+01] [-2.64019318e-02 3.41187197e-04 9.99651350e-01 -1.02812051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.030385723 meters 0.01561940116570476 Centerline is valid? [True, True] Translation: X:260.67, Y:-84.46, Z:-10.28 [[ 7.20780695e-01 6.92919513e-01 1.83776549e-02 2.60672693e+02] [-6.92682886e-01 7.21014871e-01 -1.81101100e-02 -8.44568110e+01] [-2.57994111e-02 3.23530619e-04 9.99667087e-01 -1.02833373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.090385723 meters 0.019371260379406417 Centerline is valid? [True, True] Translation: X:260.72, Y:-84.50, Z:-10.29 [[ 7.18468306e-01 6.95362506e-01 1.65613441e-02 2.60717623e+02] [-6.95170814e-01 7.18659124e-01 -1.63279601e-02 -8.45008537e+01] [-2.32558123e-02 2.18158753e-04 9.99729523e-01 -1.02879678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.150385723 meters 0.016229630470818414 Centerline is valid? [True, True] Translation: X:260.77, Y:-84.54, Z:-10.29 [[ 7.14821156e-01 6.99122860e-01 1.60605757e-02 2.60766029e+02] [-6.98943329e-01 7.15001550e-01 -1.58431504e-02 -8.45405701e+01] [-2.25596452e-02 9.95868729e-05 9.99745494e-01 -1.02898566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.210385723 meters 0.014576011266797586 Centerline is valid? [True, True] Translation: X:260.81, Y:-84.58, Z:-10.29 [[ 7.10880275e-01 7.03143043e-01 1.54627087e-02 2.60812874e+02] [-7.02977442e-01 7.11048423e-01 -1.52596215e-02 -8.45832219e+01] [-2.17244313e-02 -2.21714292e-05 9.99763996e-01 -1.02907967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.270385723 meters 0.015214831956146955 Centerline is valid? [True, True] Translation: X:260.86, Y:-84.63, Z:-10.29 [[ 7.10849822e-01 7.03162156e-01 1.59847824e-02 2.60855327e+02] [-7.02984914e-01 7.11029522e-01 -1.57870056e-02 -8.46267484e+01] [-2.24664770e-02 -1.48707670e-05 9.99747597e-01 -1.02932617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.330385723 meters 0.014642029508482032 Centerline is valid? [True, True] Translation: X:260.90, Y:-84.67, Z:-10.29 [[ 7.12295864e-01 7.01704151e-01 1.56807948e-02 2.60899725e+02] [-7.01533204e-01 7.12468444e-01 -1.54880448e-02 -8.46716061e+01] [-2.20400968e-02 3.14720436e-05 9.99757087e-01 -1.02945324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.390385723 meters 0.014887114377293858 Centerline is valid? [True, True] Translation: X:260.94, Y:-84.72, Z:-10.30 [[ 7.14126672e-01 6.99869884e-01 1.43262742e-02 2.60938953e+02] [-6.99726665e-01 7.14270354e-01 -1.41582394e-02 -8.47189799e+01] [-2.01417583e-02 8.63003317e-05 9.99797130e-01 -1.02966917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.450385723 meters 0.014898340176036622 Centerline is valid? [True, True] Translation: X:260.98, Y:-84.76, Z:-10.30 [[ 7.13724407e-01 7.00274715e-01 1.45874780e-02 2.60982421e+02] [-7.00126195e-01 7.13873461e-01 -1.44219956e-02 -8.47642151e+01] [-2.05129723e-02 8.02547667e-05 9.99789584e-01 -1.02992795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.510385723 meters 0.01481086166522633 Centerline is valid? [True, True] Translation: X:261.03, Y:-84.81, Z:-10.30 [[ 7.10477514e-01 7.03570350e-01 1.45074259e-02 2.61027588e+02] [-7.03423978e-01 7.10625614e-01 -1.43507898e-02 -8.48076493e+01] [-2.04061386e-02 -8.95777774e-06 9.99791773e-01 -1.03020735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.570385723 meters 0.015136846356968214 Centerline is valid? [True, True] Translation: X:261.07, Y:-84.85, Z:-10.30 [[ 7.07742410e-01 7.06299709e-01 1.55371129e-02 2.61070579e+02] [-7.06132253e-01 7.07912928e-01 -1.53794619e-02 -8.48528616e+01] [-2.18614325e-02 -8.65591219e-05 9.99761007e-01 -1.03017416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.630385723 meters 0.014713383710143855 Centerline is valid? [True, True] Translation: X:261.11, Y:-84.90, Z:-10.30 [[ 7.06461088e-01 7.07581684e-01 1.55207071e-02 2.61113265e+02] [-7.07414741e-01 7.06631549e-01 -1.53700545e-02 -8.48991719e+01] [-2.18429903e-02 -1.21231616e-04 9.99761406e-01 -1.03035177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.690385723 meters 0.014705977350197108 Centerline is valid? [True, True] Translation: X:261.16, Y:-84.94, Z:-10.31 [[ 7.05966024e-01 7.08074996e-01 1.55490693e-02 2.61157388e+02] [-7.07907375e-01 7.06137227e-01 -1.54066656e-02 -8.49443184e+01] [-2.18888513e-02 -1.30718376e-04 9.99760402e-01 -1.03069624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.750385723 meters 0.015113689469563003 Centerline is valid? [True, True] Translation: X:261.20, Y:-84.99, Z:-10.31 [[ 7.06403349e-01 7.07632053e-01 1.58488500e-02 2.61197371e+02] [-7.07457585e-01 7.06581110e-01 -1.57130807e-02 -8.49922186e+01] [-2.23175776e-02 -1.12616331e-04 9.99750926e-01 -1.03072437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.810385723 meters 0.014658470636006461 Centerline is valid? [True, True] Translation: X:261.24, Y:-85.04, Z:-10.31 [[ 7.06522279e-01 7.07520306e-01 1.55333874e-02 2.61238139e+02] [-7.07352544e-01 7.06693007e-01 -1.54068749e-02 -8.50402569e+01] [-2.18780131e-02 -1.02280747e-04 9.99760642e-01 -1.03094660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.870385723 meters 0.014777222111880007 Centerline is valid? [True, True] Translation: X:261.28, Y:-85.09, Z:-10.31 [[ 7.05629580e-01 7.08419736e-01 1.51120622e-02 2.61279913e+02] [-7.08260980e-01 7.05791374e-01 -1.49973616e-02 -8.50862284e+01] [-2.12903900e-02 -1.20702043e-04 9.99773327e-01 -1.03112095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93038572300003 meters 0.014824145897436039 Centerline is valid? [True, True] Translation: X:261.32, Y:-85.13, Z:-10.31 [[ 7.04703643e-01 7.09352367e-01 1.45600424e-02 2.61320640e+02] [-7.09205061e-01 7.04854028e-01 -1.44561768e-02 -8.51327868e+01] [-2.05172277e-02 -1.38735297e-04 9.99789490e-01 -1.03141516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.990385723 meters 0.0149543638605952 Centerline is valid? [True, True] Translation: X:261.36, Y:-85.18, Z:-10.32 [[ 7.05235918e-01 7.08816860e-01 1.48647209e-02 2.61360111e+02] [-7.08663036e-01 7.05392547e-01 -1.47667332e-02 -8.51795022e+01] [-2.09523728e-02 -1.20047558e-04 9.99780468e-01 -1.03175949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.050385723 meters 0.01516019165627882 Centerline is valid? [True, True] Translation: X:261.40, Y:-85.23, Z:-10.32 [[ 7.05997763e-01 7.08063836e-01 1.45863901e-02 2.61401635e+02] [-7.07915401e-01 7.06148424e-01 -1.44978590e-02 -8.52258895e+01] [-2.05655660e-02 -9.04741718e-05 9.99788502e-01 -1.03215478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.110385723 meters 0.01499983849733906 Centerline is valid? [True, True] Translation: X:261.44, Y:-85.28, Z:-10.32 [[ 7.06811928e-01 7.07261230e-01 1.40872291e-02 2.61441135e+02] [-7.07122581e-01 7.06952295e-01 -1.40038497e-02 -8.52750725e+01] [-1.98633789e-02 -6.33098296e-05 9.99802702e-01 -1.03229871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.170385723 meters 0.015359240837416029 Centerline is valid? [True, True] Translation: X:261.48, Y:-85.32, Z:-10.33 [[ 7.06933662e-01 7.07135167e-01 1.43056581e-02 2.61481909e+02] [-7.06991935e-01 7.07078392e-01 -1.42320399e-02 -8.53206743e+01] [-2.01791976e-02 -5.28767631e-05 9.99796378e-01 -1.03267960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.230385723 meters 0.015038295980035234 Centerline is valid? [True, True] Translation: X:261.52, Y:-85.37, Z:-10.33 [[ 7.05707176e-01 7.08341467e-01 1.51574400e-02 2.61523697e+02] [-7.08180898e-01 7.05869930e-01 -1.50816904e-02 -8.53668839e+01] [-2.13821678e-02 -9.09523028e-05 9.99771371e-01 -1.03272298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.290385723 meters 0.015577779547789479 Centerline is valid? [True, True] Translation: X:261.56, Y:-85.41, Z:-10.33 [[ 7.02369690e-01 7.11625563e-01 1.63057241e-02 2.61564630e+02] [-7.11440432e-01 7.02558907e-01 -1.62325067e-02 -8.54129930e+01] [-2.30071985e-02 -1.99330693e-04 9.99735280e-01 -1.03283592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.350385723 meters 0.016082922726916714 Centerline is valid? [True, True] Translation: X:261.61, Y:-85.46, Z:-10.33 [[ 6.98753301e-01 7.15165800e-01 1.67840280e-02 2.61607873e+02] [-7.14970451e-01 6.98954775e-01 -1.67175578e-02 -8.54571184e+01] [-2.36871021e-02 -3.18635380e-04 9.99719370e-01 -1.03308142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.410385723 meters 0.01735793964538055 Centerline is valid? [True, True] Translation: X:261.65, Y:-85.50, Z:-10.33 [[ 6.96334273e-01 7.17533874e-01 1.62394885e-02 2.61648459e+02] [-7.17351387e-01 6.96523508e-01 -1.61861246e-02 -8.55023649e+01] [-2.29252782e-02 -3.78466340e-04 9.99737110e-01 -1.03331883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.470385723 meters 0.01795525216010142 Centerline is valid? [True, True] Translation: X:261.69, Y:-85.55, Z:-10.33 [[ 6.95195887e-01 7.18626745e-01 1.66817474e-02 2.61690115e+02] [-7.18434548e-01 6.95395872e-01 -1.66247417e-02 -8.55490652e+01] [-2.35474023e-02 -4.27291581e-04 9.99722630e-01 -1.03347834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.530385723 meters 0.01734459575255754 Centerline is valid? [True, True] Translation: X:261.73, Y:-85.60, Z:-10.34 [[ 6.93854380e-01 7.19887120e-01 1.81282456e-02 2.61731332e+02] [-7.19660357e-01 6.94090973e-01 -1.80746172e-02 -8.55971147e+01] [-2.55943358e-02 -5.05027353e-04 9.99672284e-01 -1.03350412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.590385723 meters 0.018275809441027267 Centerline is valid? [True, True] Translation: X:261.77, Y:-85.64, Z:-10.34 [[ 6.93268939e-01 7.20455522e-01 1.79448842e-02 2.61772888e+02] [-7.20233250e-01 6.93500957e-01 -1.79021830e-02 -8.56422753e+01] [-2.53425210e-02 -5.13474855e-04 9.99678695e-01 -1.03388078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.650385723 meters 0.016875077005244415 Centerline is valid? [True, True] Translation: X:261.81, Y:-85.69, Z:-10.34 [[ 6.92802732e-01 7.20938287e-01 1.65033382e-02 2.61810120e+02] [-7.20750300e-01 6.92999099e-01 -1.64698117e-02 -8.56930263e+01] [-2.33105163e-02 -4.84455356e-04 9.99728156e-01 -1.03398022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.710385723 meters 0.016805756396025107 Centerline is valid? [True, True] Translation: X:261.85, Y:-85.74, Z:-10.34 [[ 6.93728575e-01 7.20058663e-01 1.60058418e-02 2.61849695e+02] [-7.19881366e-01 6.93913060e-01 -1.59839115e-02 -8.57419448e+01] [-2.26160166e-02 -4.33811073e-04 9.99744131e-01 -1.03418873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.770385723 meters 0.016734801774659705 Centerline is valid? [True, True] Translation: X:261.89, Y:-85.79, Z:-10.34 [[ 6.95298210e-01 7.18567985e-01 1.48475758e-02 2.61889624e+02] [-7.18415103e-01 6.95456629e-01 -1.48262205e-02 -8.57898142e+01] [-2.09794924e-02 -3.58078146e-04 9.99779842e-01 -1.03448626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.830385723 meters 0.016390265029063288 Centerline is valid? [True, True] Translation: X:261.93, Y:-85.84, Z:-10.35 [[ 6.98728768e-01 7.15280076e-01 1.23499369e-02 2.61926802e+02] [-7.15173721e-01 6.98837869e-01 -1.23361790e-02 -8.58409121e+01] [-1.74544266e-02 -2.12707220e-04 9.99847637e-01 -1.03489282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.890385723 meters 0.016091385072027047 Centerline is valid? [True, True] Translation: X:261.96, Y:-85.89, Z:-10.35 [[ 7.04451574e-01 7.09654430e-01 1.17715421e-02 2.61961252e+02] [-7.09556927e-01 7.04549917e-01 -1.17636031e-02 -8.58937956e+01] [-1.66417321e-02 -6.56905518e-05 9.99861515e-01 -1.03511162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.950385723 meters 0.01608930637879647 Centerline is valid? [True, True] Translation: X:262.62, Y:-85.42, Z:-9.40 [[ 7.58556384e-01 -6.50385745e-01 -3.98822742e-02 2.62623750e+02] [-6.49289950e-01 -7.59598896e-01 3.78427994e-02 -8.54229891e+01] [-5.49069487e-02 -2.81073717e-03 -9.98487520e-01 -9.39573841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.010385723 meters 0.015837929309943332 Centerline is valid? [True, True] Translation: X:262.64, Y:-85.45, Z:-9.40 [[ 8.06905616e-01 -5.89397672e-01 -3.89064405e-02 2.62643611e+02] [-5.88541076e-01 -8.07838069e-01 3.18913258e-02 -8.54497508e+01] [-5.02267769e-02 -2.83525151e-03 -9.98733815e-01 -9.40342228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.070385723 meters 0.01596768339319051 Centerline is valid? [True, True] Translation: X:262.66, Y:-85.48, Z:-9.41 [[ 8.52878917e-01 -5.20479304e-01 -4.12170802e-02 2.62662842e+02] [-5.19696083e-01 -8.53868792e-01 2.87065802e-02 -8.54771778e+01] [-5.01351594e-02 -3.06288191e-03 -9.98737746e-01 -9.40779421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.130385723 meters 0.016142644492805502 Centerline is valid? [True, True] Translation: X:262.68, Y:-85.50, Z:-9.41 [[ 8.91463070e-01 -4.50897619e-01 -4.45525829e-02 2.62684144e+02] [-4.50157515e-01 -8.92570173e-01 2.60134317e-02 -8.55012773e+01] [-5.14957010e-02 -3.13433369e-03 -9.98668298e-01 -9.40903199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.190385723 meters 0.0164595848356239 Centerline is valid? [True, True] Translation: X:262.71, Y:-85.52, Z:-9.41 [[ 9.23879009e-01 -3.79502256e-01 -4.92505347e-02 2.62706650e+02] [-3.78780172e-01 -9.25185417e-01 2.36119957e-02 -8.55210702e+01] [-5.45266821e-02 -3.15950120e-03 -9.98507315e-01 -9.40870881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.250385723 meters 0.016549177087879712 Centerline is valid? [True, True] Translation: X:262.73, Y:-85.54, Z:-9.41 [[ 9.49686405e-01 -3.08962192e-01 -5.13624005e-02 2.62732030e+02] [-3.08340498e-01 -9.51069647e-01 1.98157518e-02 -8.55353691e+01] [-5.49715383e-02 -2.98164193e-03 -9.98483470e-01 -9.41015677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.310385723 meters 0.01629088108916091 Centerline is valid? [True, True] Translation: X:262.76, Y:-85.55, Z:-9.41 [[ 9.70130813e-01 -2.36897755e-01 -5.22078403e-02 2.62759721e+02] [-2.36400279e-01 -9.71530587e-01 1.55957369e-02 -8.55463365e+01] [-5.44161088e-02 -2.78795687e-03 -9.98514454e-01 -9.41432495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.370385723 meters 0.01670913877875487 Centerline is valid? [True, True] Translation: X:262.79, Y:-85.55, Z:-9.42 [[ 9.84604985e-01 -1.67012202e-01 -5.15746857e-02 2.62788590e+02] [-1.66655015e-01 -9.85951875e-01 1.11805907e-02 -8.55497894e+01] [-5.27174531e-02 -2.41328536e-03 -9.98606552e-01 -9.41808337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43038572300003 meters 0.01759713709695902 Centerline is valid? [True, True] Translation: X:262.81, Y:-85.55, Z:-9.42 [[ 9.94104105e-01 -9.52856466e-02 -5.17462515e-02 2.62813763e+02] [-9.50472175e-02 -9.95447767e-01 7.05471500e-03 -8.55509360e+01] [-5.21829036e-02 -2.09478392e-03 -9.98635347e-01 -9.42140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.490385723 meters 0.01811380415134473 Centerline is valid? [True, True] Translation: X:262.84, Y:-85.55, Z:-9.42 [[ 9.98509917e-01 -1.83653425e-02 -5.13873453e-02 2.62837855e+02] [-1.82368544e-02 -9.99829289e-01 2.96818909e-03 -8.55525781e+01] [-5.14330847e-02 -2.02662270e-03 -9.98674387e-01 -9.42331703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.550385723 meters 0.018365039639915363 Centerline is valid? [True, True] Translation: X:262.86, Y:-85.55, Z:-9.43 [[ 9.96943339e-01 5.93737050e-02 -5.07813135e-02 2.62862285e+02] [ 5.93984347e-02 -9.98233830e-01 -1.02335095e-03 -8.55511145e+01] [-5.07523852e-02 -1.99610762e-03 -9.98709272e-01 -9.42781851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.610385723 meters 0.017230579680073185 Centerline is valid? [True, True] Translation: X:262.89, Y:-85.56, Z:-9.43 [[ 9.89111303e-01 1.37810905e-01 -5.16428549e-02 2.62888128e+02] [ 1.37728142e-01 -9.90456550e-01 -5.17500241e-03 -8.55614807e+01] [-5.18631757e-02 -1.99402105e-03 -9.98652209e-01 -9.43162700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.670385723 meters 0.017202727305643543 Centerline is valid? [True, True] Translation: X:262.92, Y:-85.57, Z:-9.43 [[ 9.74976958e-01 2.16141480e-01 -5.19883911e-02 2.62915030e+02] [ 2.15945372e-01 -9.76359933e-01 -9.42746783e-03 -8.55658977e+01] [-5.27970490e-02 -2.03508857e-03 -9.98603189e-01 -9.43232518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.730385723 meters 0.017081448052354162 Centerline is valid? [True, True] Translation: X:262.94, Y:-85.57, Z:-9.43 [[ 9.55057731e-01 2.92045865e-01 -5.07340389e-02 2.62942364e+02] [ 2.91746947e-01 -9.56402147e-01 -1.33660843e-02 -8.55681338e+01] [-5.24256534e-02 -2.03611881e-03 -9.98622754e-01 -9.43439743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.790385723 meters 0.016901077521914637 Centerline is valid? [True, True] Translation: X:262.97, Y:-85.57, Z:-9.44 [[ 9.29751510e-01 3.65048431e-01 -4.79767859e-02 2.62969351e+02] [ 3.64672937e-01 -9.30986394e-01 -1.66728337e-02 -8.55686869e+01] [-5.07521267e-02 -1.99424312e-03 -9.98709289e-01 -9.43861714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.850385723 meters 0.01733835472883689 Centerline is valid? [True, True] Translation: X:262.99, Y:-85.56, Z:-9.44 [[ 8.99210365e-01 4.35125624e-01 -4.56772536e-02 2.62994736e+02] [ 4.34671653e-01 -9.00367739e-01 -1.99621973e-02 -8.55647244e+01] [-4.98123891e-02 -1.90439259e-03 -9.98756777e-01 -9.44069097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.910385723 meters 0.01753873212142705 Centerline is valid? [True, True] Translation: X:263.02, Y:-85.56, Z:-9.44 [[ 8.64348038e-01 5.01114603e-01 -4.22684766e-02 2.63021486e+02] [ 5.00614255e-01 -8.65379160e-01 -2.24561129e-02 -8.55610896e+01] [-4.78313449e-02 -1.75030478e-03 -9.98853893e-01 -9.44362026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.970385723 meters 0.01778499644887593 Centerline is valid? [True, True] Translation: X:263.05, Y:-85.56, Z:-9.45 [[ 8.23469550e-01 5.66022434e-01 -3.89423154e-02 2.63049674e+02] [ 5.65486894e-01 -8.24388080e-01 -2.46752193e-02 -8.55579275e+01] [-4.60703083e-02 -1.70207721e-03 -9.98936750e-01 -9.44584169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.030385723 meters 0.01892004719789779 Centerline is valid? [True, True] Translation: X:263.08, Y:-85.55, Z:-9.44 [[ 7.76088921e-01 6.29588308e-01 -3.61185462e-02 2.63075211e+02] [ 6.29011099e-01 -7.76926944e-01 -2.70103759e-02 -8.55507171e+01] [-4.50668886e-02 -1.75651293e-03 -9.98982427e-01 -9.44498648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.090385723 meters 0.0184386443093596 Centerline is valid? [True, True] Translation: X:263.10, Y:-85.54, Z:-9.44 [[ 7.22948594e-01 6.90084663e-01 -3.35929772e-02 2.63098542e+02] [ 6.89457461e-01 -7.23726277e-01 -2.94734698e-02 -8.55382263e+01] [-4.46513097e-02 -1.85312522e-03 -9.99000914e-01 -9.44418717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.150385723 meters 0.016366742904456496 Centerline is valid? [True, True] Translation: X:263.13, Y:-85.53, Z:-9.45 [[ 6.65079586e-01 7.46163506e-01 -3.01523826e-02 2.63129939e+02] [ 7.45528642e-01 -6.65759821e-01 -3.08367400e-02 -8.55316976e+01] [-4.30834949e-02 -1.97057858e-03 -9.99069532e-01 -9.44815965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.210385723 meters 0.016209761550924653 Centerline is valid? [True, True] Translation: X:263.16, Y:-85.52, Z:-9.45 [[ 6.04502291e-01 7.96176829e-01 -2.60660069e-02 2.63159903e+02] [ 7.95576685e-01 -6.05060658e-01 -3.09731763e-02 -8.55221753e+01] [-4.04316406e-02 -2.01415135e-03 -9.99180277e-01 -9.44970273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.270385723 meters 0.016239686797143025 Centerline is valid? [True, True] Translation: X:263.18, Y:-85.51, Z:-9.45 [[ 5.39723288e-01 8.41522119e-01 -2.32227338e-02 2.63184909e+02] [ 8.40900892e-01 -5.40218792e-01 -3.23936044e-02 -8.55081817e+01] [-3.98052918e-02 -2.04443491e-03 -9.99205364e-01 -9.45181679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.330385723 meters 0.01597550699827918 Centerline is valid? [True, True] Translation: X:263.21, Y:-85.49, Z:-9.45 [[ 4.71638921e-01 8.81556770e-01 -2.03565540e-02 2.63212650e+02] [ 8.80917434e-01 -4.72073484e-01 -3.36318231e-02 -8.54930637e+01] [-3.92581508e-02 -2.07036661e-03 -9.99226957e-01 -9.45225943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.390385723 meters 0.016369278120605877 Centerline is valid? [True, True] Translation: X:263.24, Y:-85.47, Z:-9.45 [[ 4.03217806e-01 9.14946292e-01 -1.69907068e-02 2.63236638e+02] [ 9.14332940e-01 -4.03570643e-01 -3.35560983e-02 -8.54746871e+01] [-3.75589781e-02 -2.00474655e-03 -9.99292402e-01 -9.45307712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.450385723 meters 0.016985415445150826 Centerline is valid? [True, True] Translation: X:263.26, Y:-85.45, Z:-9.45 [[ 3.32302362e-01 9.43065357e-01 -1.42433447e-02 2.63258544e+02] [ 9.42432089e-01 -3.32601917e-01 -3.46081419e-02 -8.54547678e+01] [-3.73751034e-02 -1.92301774e-03 -9.99299456e-01 -9.45260179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.510385723 meters 0.01725165311957185 Centerline is valid? [True, True] Translation: X:263.27, Y:-85.43, Z:-9.46 [[ 2.59031508e-01 9.65805490e-01 -1.10649352e-02 2.63274948e+02] [ 9.65210793e-01 -2.59260851e-01 -3.39401932e-02 -8.54315301e+01] [-3.56483295e-02 -1.88841539e-03 -9.99362612e-01 -9.45546037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.570385723 meters 0.017809077583601833 Centerline is valid? [True, True] Translation: X:263.29, Y:-85.41, Z:-9.46 [[ 1.85633845e-01 9.82582623e-01 -8.45368925e-03 2.63293744e+02] [ 9.81951741e-01 -1.85817921e-01 -3.52487986e-02 -8.54069069e+01] [-3.62057039e-02 -1.75774487e-03 -9.99342813e-01 -9.45502195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.630385723 meters 0.019091252193123485 Centerline is valid? [True, True] Translation: X:263.31, Y:-85.38, Z:-9.46 [[ 1.09399828e-01 9.93981536e-01 -5.69073919e-03 2.63305905e+02] [ 9.93324040e-01 -1.09534641e-01 -3.61872060e-02 -8.53814357e+01] [-3.65927477e-02 -1.69387394e-03 -9.99328826e-01 -9.45537471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.690385723 meters 0.01822527299035009 Centerline is valid? [True, True] Translation: X:263.32, Y:-85.35, Z:-9.46 [[ 3.22987909e-02 9.99474297e-01 -2.81390910e-03 2.63322811e+02] [ 9.98888039e-01 -3.23763299e-02 -3.42703865e-02 -8.53545119e+01] [-3.43434745e-02 -1.70388810e-03 -9.99408636e-01 -9.45896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.750385723 meters 0.018568057067855283 Centerline is valid? [True, True] Translation: X:263.34, Y:-85.33, Z:-9.46 [[-4.60503312e-02 9.98939081e-01 -2.80731565e-04 2.63335736e+02] [ 9.98426540e-01 4.60176981e-02 -3.20439715e-02 -8.53254261e+01] [-3.19970568e-02 -1.75592534e-03 -9.99486421e-01 -9.46118736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.810385723 meters 0.01856333655878546 Centerline is valid? [True, True] Translation: X:263.35, Y:-85.30, Z:-9.46 [[-1.25679338e-01 9.92068417e-01 2.22688482e-03 2.63346752e+02] [ 9.91557284e-01 1.25686175e-01 -3.18926175e-02 -8.52952999e+01] [-3.19195472e-02 -1.80015920e-03 -9.99488820e-01 -9.46091790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.870385723 meters 0.01855487543577196 Centerline is valid? [True, True] Translation: X:263.35, Y:-85.27, Z:-9.46 [[-2.03448734e-01 9.79073505e-01 4.86673188e-03 2.63348875e+02] [ 9.78544844e-01 2.03499038e-01 -3.22200237e-02 -8.52652763e+01] [-3.25361468e-02 -1.79280765e-03 -9.99468951e-01 -9.46204006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93038572300003 meters 0.017988609916483607 Centerline is valid? [True, True] Translation: X:263.35, Y:-85.23, Z:-9.46 [[-2.80616351e-01 9.59794266e-01 7.03064840e-03 2.63354019e+02] [ 9.59307395e-01 2.80698323e-01 -3.06230988e-02 -8.52337032e+01] [-3.13653659e-02 -1.84878926e-03 -9.99506276e-01 -9.46465640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.990385723 meters 0.017208816242652344 Centerline is valid? [True, True] Translation: X:263.36, Y:-85.20, Z:-9.47 [[-3.56749870e-01 9.34157950e-01 8.85745306e-03 2.63361517e+02] [ 9.33722011e-01 3.56854575e-01 -2.86010178e-02 -8.51989363e+01] [-2.98786908e-02 -1.93301047e-03 -9.99551663e-01 -9.46671455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.050385723 meters 0.016404719023171595 Centerline is valid? [True, True] Translation: X:263.37, Y:-85.16, Z:-9.47 [[-4.32818082e-01 9.01416758e-01 1.07859323e-02 2.63366189e+02] [ 9.01007761e-01 4.32947519e-01 -2.72297827e-02 -8.51633153e+01] [-2.92151251e-02 -2.06733359e-03 -9.99571009e-01 -9.46744756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.110385723 meters 0.015892995021079836 Centerline is valid? [True, True] Translation: X:263.37, Y:-85.13, Z:-9.47 [[-5.03515217e-01 8.63883324e-01 1.33427774e-02 2.63366410e+02] [ 8.63462583e-01 5.03687620e-01 -2.70397643e-02 -8.51266140e+01] [-3.00797932e-02 -2.09394375e-03 -9.99545307e-01 -9.46861656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.170385723 meters 0.01602279422740227 Centerline is valid? [True, True] Translation: X:263.36, Y:-85.09, Z:-9.47 [[-5.69717638e-01 8.21683126e-01 1.60826700e-02 2.63362615e+02] [ 8.21247828e-01 5.69940822e-01 -2.68228562e-02 -8.50921708e+01] [-3.12060585e-02 -2.07359654e-03 -9.99510821e-01 -9.46847048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.230385723 meters 0.015678990016151508 Centerline is valid? [True, True] Translation: X:263.35, Y:-85.06, Z:-9.47 [[-6.33719566e-01 7.73341661e-01 1.84983083e-02 2.63353524e+02] [ 7.72910743e-01 6.33985963e-01 -2.58994650e-02 -8.50585133e+01] [-3.17568031e-02 -2.11545648e-03 -9.99493387e-01 -9.46996747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.290385723 meters 0.015614231510575182 Centerline is valid? [True, True] Translation: X:263.34, Y:-85.03, Z:-9.47 [[-6.93325104e-01 7.20338723e-01 2.03082335e-02 2.63339991e+02] [ 7.19935500e-01 6.93619120e-01 -2.41949020e-02 -8.50282052e+01] [-3.15147039e-02 -2.15431470e-03 -9.99500967e-01 -9.47272418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.350385723 meters 0.015558992703986812 Centerline is valid? [True, True] Translation: X:263.33, Y:-85.00, Z:-9.47 [[-7.47735991e-01 6.63626094e-01 2.21651747e-02 2.63325029e+02] [ 6.63246705e-01 7.48061343e-01 -2.25396197e-02 -8.49966809e+01] [-3.15387901e-02 -2.15270577e-03 -9.99500210e-01 -9.47257256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.410385723 meters 0.015766906314130955 Centerline is valid? [True, True] Translation: X:263.34, Y:-84.98, Z:-9.47 [[-7.91780382e-01 6.10316516e-01 2.44453654e-02 2.63337741e+02] [ 6.09952386e-01 7.92155510e-01 -2.11597615e-02 -8.49782861e+01] [-3.22786828e-02 -1.84337514e-03 -9.99477208e-01 -9.47385730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.470385723 meters 0.015902713433834436 Centerline is valid? [True, True] Translation: X:263.35, Y:-84.95, Z:-9.47 [[-8.32351802e-01 5.53678498e-01 2.51117050e-02 2.63350188e+02] [ 5.53359702e-01 8.32728546e-01 -1.88735026e-02 -8.49542005e+01] [-3.13610862e-02 -1.81358833e-03 -9.99506475e-01 -9.47488948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.530385723 meters 0.016526463528113967 Centerline is valid? [True, True] Translation: X:263.36, Y:-84.93, Z:-9.48 [[-8.68892860e-01 4.94389201e-01 2.45868962e-02 2.63362896e+02] [ 4.94131746e-01 8.69238791e-01 -1.60543370e-02 -8.49320394e+01] [-2.93089748e-02 -1.80033284e-03 -9.99568778e-01 -9.47635281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.590385723 meters 0.016156365192959064 Centerline is valid? [True, True] Translation: X:263.37, Y:-84.91, Z:-9.48 [[-9.01560993e-01 4.31831692e-01 2.66301597e-02 2.63371287e+02] [ 4.31584668e-01 9.01952470e-01 -1.47111105e-02 -8.49091391e+01] [-3.03718620e-02 -1.76979473e-03 -9.99537102e-01 -9.47879022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.650385723 meters 0.016311256203996018 Centerline is valid? [True, True] Translation: X:263.66, Y:-84.36, Z:-10.44 [[-8.84689394e-01 -4.65295918e-01 -2.87121144e-02 2.63655673e+02] [ 4.65093477e-01 -8.85154418e-01 1.37736754e-02 -8.43590640e+01] [-3.18234898e-02 -1.16839261e-03 9.99492822e-01 -1.04383523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.710385723 meters 0.01601205285426077 Centerline is valid? [True, True] Translation: X:263.33, Y:-84.89, Z:-9.48 [[-9.03680978e-01 4.27146893e-01 3.01035186e-02 2.63325879e+02] [ 4.26844562e-01 9.04180536e-01 -1.61640814e-02 -8.48891795e+01] [-3.41234527e-02 -1.75764967e-03 -9.99416080e-01 -9.47617612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.770385723 meters 0.018099027930809326 Centerline is valid? [True, True] Translation: X:263.61, Y:-84.34, Z:-10.44 [[-8.86326840e-01 -4.62361671e-01 -2.54247468e-02 2.63611337e+02] [ 4.62210173e-01 -8.86690604e-01 1.18965747e-02 -8.43351061e+01] [-2.80444043e-02 -1.20732319e-03 9.99605949e-01 -1.04434978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.830385723 meters 0.01749133448136937 Centerline is valid? [True, True] Translation: X:263.28, Y:-84.87, Z:-9.48 [[-9.05434236e-01 4.23269523e-01 3.21209297e-02 2.63281986e+02] [ 4.22934481e-01 9.06002139e-01 -1.69277279e-02 -8.48720519e+01] [-3.62666223e-02 -1.74189568e-03 -9.99340632e-01 -9.47545432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.890385723 meters 0.01582099602973061 Centerline is valid? [True, True] Translation: X:263.29, Y:-84.85, Z:-9.48 [[-9.33726179e-01 3.56305738e-01 3.46647338e-02 2.63285689e+02] [ 3.55989151e-01 9.34367730e-01 -1.51218175e-02 -8.48474258e+01] [-3.77775990e-02 -1.77936767e-03 -9.99284588e-01 -9.47777829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.950385723 meters 0.018760810595341668 Centerline is valid? [True, True] Translation: X:263.53, Y:-84.27, Z:-10.45 [[-9.17432657e-01 -3.97221261e-01 -2.30778970e-02 2.63533578e+02] [ 3.97133063e-01 -9.17721831e-01 8.48351489e-03 -8.42653368e+01] [-2.45489224e-02 -1.38194233e-03 9.99697675e-01 -1.04467978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.010385723 meters 0.015602187830700937 Centerline is valid? [True, True] Translation: X:263.24, Y:-84.84, Z:-9.48 [[-9.35093273e-01 3.52706003e-01 3.46272380e-02 2.63240151e+02] [ 3.52393283e-01 9.35732492e-01 -1.49558235e-02 -8.48350105e+01] [-3.76768405e-02 -1.78268386e-03 -9.99288386e-01 -9.48055311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.070385723 meters 0.015644473018393647 Centerline is valid? [True, True] Translation: X:263.25, Y:-84.81, Z:-9.48 [[-9.57038907e-01 2.87634324e-01 3.66473174e-02 2.63250174e+02] [ 2.87336609e-01 9.57737869e-01 -1.32607456e-02 -8.48113980e+01] [-3.89127692e-02 -2.16093359e-03 -9.99240275e-01 -9.48154438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.130385723 meters 0.015809065282555882 Centerline is valid? [True, True] Translation: X:263.25, Y:-84.79, Z:-9.48 [[-9.75272441e-01 2.17854546e-01 3.71895417e-02 2.63251955e+02] [ 2.17623600e-01 9.75979490e-01 -1.01982655e-02 -8.47867213e+01] [-3.85179684e-02 -1.85276533e-03 -9.99256190e-01 -9.48359765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.190385723 meters 0.015494092341430815 Centerline is valid? [True, True] Translation: X:263.25, Y:-84.76, Z:-9.48 [[-9.88209945e-01 1.48389473e-01 3.77050186e-02 2.63250887e+02] [ 1.48210590e-01 9.88927297e-01 -7.51150007e-03 -8.47612988e+01] [-3.84021497e-02 -1.83465600e-03 -9.99260681e-01 -9.48446344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.250385723 meters 0.015424678159924297 Centerline is valid? [True, True] Translation: X:263.25, Y:-84.74, Z:-9.49 [[-9.96206635e-01 7.82246410e-02 3.81214512e-02 2.63249348e+02] [ 7.80977859e-02 9.96934111e-01 -4.80780163e-03 -8.47379120e+01] [-3.83806636e-02 -1.81236295e-03 -9.99261547e-01 -9.48672904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.310385723 meters 0.01559672713519792 Centerline is valid? [True, True] Translation: X:263.33, Y:-84.07, Z:-10.45 [[-9.91945067e-01 -1.24595081e-01 -2.28265374e-02 2.63325591e+02] [ 1.24596434e-01 -9.92206559e-01 1.36850245e-03 -8.40735177e+01] [-2.28191488e-02 -1.48662590e-03 9.99738504e-01 -1.04466872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.370385723 meters 0.01894963589659035 Centerline is valid? [True, True] Translation: X:263.19, Y:-84.74, Z:-9.48 [[-9.96331824e-01 7.58278552e-02 3.96614796e-02 2.63185797e+02] [ 7.56986431e-02 9.97119419e-01 -4.75170851e-03 -8.47418561e+01] [-3.99075434e-02 -1.73195821e-03 -9.99201876e-01 -9.48426656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43038572300003 meters 0.01667001509928634 Centerline is valid? [True, True] Translation: X:263.26, Y:-84.06, Z:-10.45 [[-9.92466098e-01 -1.20651065e-01 -2.13158392e-02 2.63259608e+02] [ 1.20657490e-01 -9.92693705e-01 9.89126553e-04 -8.40646129e+01] [-2.12794385e-02 -1.59024109e-03 9.99772302e-01 -1.04516021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.490385723 meters 0.016965620540549772 Centerline is valid? [True, True] Translation: X:263.12, Y:-84.74, Z:-9.49 [[-9.96812451e-01 6.89252162e-02 4.01777517e-02 2.63118978e+02] [ 6.87956839e-02 9.97620168e-01 -4.59934873e-03 -8.47418094e+01] [-4.03991465e-02 -1.82063218e-03 -9.99181963e-01 -9.48888086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.550385723 meters 0.018196546459614715 Centerline is valid? [True, True] Translation: X:263.11, Y:-84.72, Z:-9.49 [[-9.99166171e-01 -4.21855825e-03 4.06099294e-02 2.63106226e+02] [-4.29139364e-03 9.99989336e-01 -1.70653059e-03 -8.47154965e+01] [-4.06022973e-02 -1.87938082e-03 -9.99173619e-01 -9.48820511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.610385723 meters 0.014783201175756351 Centerline is valid? [True, True] Translation: X:263.14, Y:-84.02, Z:-10.45 [[-9.98389483e-01 -5.32069254e-02 -1.96840690e-02 2.63136229e+02] [ 5.32341734e-02 -9.98581684e-01 -8.62509554e-04 -8.40233658e+01] [-1.96102593e-02 -1.90898561e-03 9.99805878e-01 -1.04524629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.670385723 meters 0.014748544030719107 Centerline is valid? [True, True] Translation: X:263.04, Y:-84.72, Z:-9.49 [[-9.99102813e-01 -1.33880741e-02 4.01787005e-02 2.63040435e+02] [-1.34609531e-02 9.99908205e-01 -1.54387629e-03 -8.47220449e+01] [-4.01543427e-02 -2.08333475e-03 -9.99191317e-01 -9.49344967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.730385723 meters 0.014881671513399215 Centerline is valid? [True, True] Translation: X:263.03, Y:-84.70, Z:-9.49 [[-9.95645194e-01 -8.42090772e-02 3.99934858e-02 2.63034502e+02] [-8.42230139e-02 9.96446030e-01 1.33925999e-03 -8.46974442e+01] [-3.99641280e-02 -2.03494414e-03 -9.99199043e-01 -9.49284642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.790385723 meters 0.01721060679424703 Centerline is valid? [True, True] Translation: X:263.02, Y:-84.68, Z:-9.49 [[-9.87270088e-01 -1.53876970e-01 4.02448870e-02 2.63024653e+02] [-1.53830773e-01 9.88088022e-01 4.26067936e-03 -8.46761827e+01] [-4.04211113e-02 -1.98446079e-03 -9.99180762e-01 -9.49257412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.850385723 meters 0.014456748990707861 Centerline is valid? [True, True] Translation: X:262.94, Y:-83.97, Z:-10.46 [[-9.95333607e-01 9.42344429e-02 -2.07576461e-02 2.62940699e+02] [-9.41735823e-02 -9.95548183e-01 -3.89239650e-03 -8.39662007e+01] [-2.10320347e-02 -1.91941116e-03 9.99776960e-01 -1.04555290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.910385723 meters 0.014186811522496729 Centerline is valid? [True, True] Translation: X:262.91, Y:-84.70, Z:-9.50 [[-9.85859373e-01 -1.63137234e-01 3.83084769e-02 2.62914871e+02] [-1.63099381e-01 9.86600991e-01 4.13232107e-03 -8.46971267e+01] [-3.84693168e-02 -2.17420143e-03 -9.99257417e-01 -9.50105934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.970385723 meters 0.014931358006830384 Centerline is valid? [True, True] Translation: X:262.90, Y:-84.68, Z:-9.50 [[-9.71300097e-01 -2.34915620e-01 3.72930637e-02 2.62896920e+02] [-2.34827755e-01 9.72013343e-01 6.78131893e-03 -8.46758563e+01] [-3.78423932e-02 -2.17075069e-03 -9.99281362e-01 -9.50157353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.030385723 meters 0.014064257185935687 Centerline is valid? [True, True] Translation: X:262.87, Y:-84.66, Z:-9.50 [[-9.51510122e-01 -3.05491980e-01 3.60990116e-02 2.62871300e+02] [-3.05360159e-01 9.52192047e-01 9.24544512e-03 -8.46566163e+01] [-3.71976011e-02 -2.22606532e-03 -9.99305450e-01 -9.50397986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.090385723 meters 0.013984824299462382 Centerline is valid? [True, True] Translation: X:262.82, Y:-84.65, Z:-9.51 [[-9.26784575e-01 -3.73882777e-01 3.58053154e-02 2.62817961e+02] [-3.73696178e-01 9.27473264e-01 1.20212980e-02 -8.46540095e+01] [-3.77030290e-02 -2.23915596e-03 -9.99286479e-01 -9.50740473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.150385723 meters 0.013809945477373176 Centerline is valid? [True, True] Translation: X:262.76, Y:-84.66, Z:-9.51 [[-8.98547472e-01 -4.37587165e-01 3.36141961e-02 2.62755422e+02] [-4.37367699e-01 8.99173528e-01 1.40165134e-02 -8.46586103e+01] [-3.63584417e-02 -2.10726093e-03 -9.99336592e-01 -9.51093059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.210385723 meters 0.01404865802873528 Centerline is valid? [True, True] Translation: X:262.69, Y:-84.67, Z:-9.52 [[-8.66027854e-01 -4.99021864e-01 3.11919013e-02 2.62691227e+02] [-4.98778279e-01 8.66587198e-01 1.57116708e-02 -8.46739712e+01] [-3.48709696e-02 -1.95109833e-03 -9.99389918e-01 -9.51641143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.270385723 meters 0.014444616875514918 Centerline is valid? [True, True] Translation: X:262.61, Y:-84.70, Z:-9.52 [[-8.27822877e-01 -5.60190313e-01 2.99348872e-02 2.62609017e+02] [-5.59903875e-01 8.28361864e-01 1.80075847e-02 -8.46986852e+01] [-3.48845935e-02 -1.85356879e-03 -9.99389628e-01 -9.51870725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.330385723 meters 0.014879325044226595 Centerline is valid? [True, True] Translation: X:262.52, Y:-84.74, Z:-9.52 [[-7.84532075e-01 -6.19412711e-01 2.89364363e-02 2.62520330e+02] [-6.19073846e-01 7.85063514e-01 2.05633562e-02 -8.47365939e+01] [-3.54541446e-02 -1.78117846e-03 -9.99369717e-01 -9.52003703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.390385723 meters 0.014561851958410288 Centerline is valid? [True, True] Translation: X:262.44, Y:-84.78, Z:-9.52 [[-7.35748497e-01 -6.76679402e-01 2.79129975e-02 2.62435537e+02] [-6.76281486e-01 7.36275696e-01 2.32691173e-02 -8.47824733e+01] [-3.62973941e-02 -1.75682533e-03 -9.99339488e-01 -9.52447873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.450385723 meters 0.014662432746477428 Centerline is valid? [True, True] Translation: X:262.34, Y:-84.84, Z:-9.53 [[-6.82339583e-01 -7.30563335e-01 2.62660804e-02 2.62340158e+02] [-7.30118791e-01 6.82842701e-01 2.55420575e-02 -8.48430380e+01] [-3.65956920e-02 -1.74900196e-03 -9.99328623e-01 -9.52743604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.510385723 meters 0.014810626558410716 Centerline is valid? [True, True] Translation: X:262.26, Y:-84.91, Z:-9.53 [[-6.23844715e-01 -7.81144231e-01 2.51288828e-02 2.62255902e+02] [-7.80622354e-01 6.24348101e-01 2.86040286e-02 -8.49086587e+01] [-3.80330421e-02 -1.77169556e-03 -9.99274912e-01 -9.52915461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.570385723 meters 0.014575248164112398 Centerline is valid? [True, True] Translation: X:262.17, Y:-84.98, Z:-9.54 [[-5.60486958e-01 -8.27862378e-01 2.23215638e-02 2.62172123e+02] [-8.27334290e-01 5.60928168e-01 2.96237068e-02 -8.49844178e+01] [-3.70451462e-02 -1.86369383e-03 -9.99311855e-01 -9.53507760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.630385723 meters 0.013929529358911235 Centerline is valid? [True, True] Translation: X:262.08, Y:-85.07, Z:-9.54 [[-4.93127459e-01 -8.69755919e-01 1.87069753e-02 2.62084548e+02] [-8.69275761e-01 4.93478193e-01 2.89641989e-02 -8.50676448e+01] [-3.44232678e-02 -1.97847841e-03 -9.99405385e-01 -9.53971260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.690385723 meters 0.013801305191161387 Centerline is valid? [True, True] Translation: X:262.01, Y:-85.16, Z:-9.54 [[-4.23063305e-01 -9.05949334e-01 1.65300860e-02 2.62006917e+02] [-9.05436715e-01 4.23381172e-01 3.05407773e-02 -8.51598259e+01] [-3.46669241e-02 -2.04626461e-03 -9.99396827e-01 -9.54470127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.750385723 meters 0.013791485445207748 Centerline is valid? [True, True] Translation: X:261.94, Y:-85.26, Z:-9.55 [[-3.52462163e-01 -9.35715489e-01 1.43856677e-02 2.61935610e+02] [-9.35155928e-01 3.52749794e-01 3.24187287e-02 -8.52648205e+01] [-3.54092479e-02 -2.02646721e-03 -9.99370841e-01 -9.55044322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.810385723 meters 0.013978970431923114 Centerline is valid? [True, True] Translation: X:261.87, Y:-85.37, Z:-9.55 [[-2.81691901e-01 -9.59432863e-01 1.17581568e-02 2.61870285e+02] [-9.58862283e-01 2.81930526e-01 3.31406278e-02 -8.53683886e+01] [-3.51111907e-02 -1.93900660e-03 -9.99381531e-01 -9.55317233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.870385723 meters 0.01450364701441826 Centerline is valid? [True, True] Translation: X:261.81, Y:-85.48, Z:-9.56 [[-2.10094162e-01 -9.77639598e-01 9.01441677e-03 2.61814877e+02] [-9.77076459e-01 2.10279528e-01 3.32282142e-02 -8.54846355e+01] [-3.43807653e-02 -1.82672059e-03 -9.99407137e-01 -9.55858160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93038572300003 meters 0.015044969789395981 Centerline is valid? [True, True] Translation: X:261.77, Y:-85.62, Z:-9.56 [[-1.37092410e-01 -9.90537802e-01 6.36660345e-03 2.61766583e+02] [-9.89974974e-01 1.37229390e-01 3.34312139e-02 -8.56176963e+01] [-3.39885663e-02 -1.71961239e-03 -9.99420742e-01 -9.56321249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.990385723 meters 0.01566073163909876 Centerline is valid? [True, True] Translation: X:261.73, Y:-85.71, Z:-9.57 [[-6.43108586e-02 -9.97922751e-01 3.78101499e-03 2.61731362e+02] [-9.97333869e-01 6.44029182e-02 3.43135350e-02 -8.57085543e+01] [-3.44857656e-02 -1.56420141e-03 -9.99403965e-01 -9.56609118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.050385723 meters 0.016000394297416995 Centerline is valid? [True, True] Translation: X:260.91, Y:-85.76, Z:-10.53 [[-9.42950705e-02 9.95543924e-01 -8.56842371e-04 2.60910408e+02] [-9.95308134e-01 -9.42914130e-02 -2.16990478e-02 -8.57628433e+01] [-2.16831481e-02 -1.19329106e-03 9.99764181e-01 -1.05260781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.110385723 meters 0.0157460531451387 Centerline is valid? [True, True] Translation: X:261.71, Y:-86.02, Z:-9.58 [[-5.22724397e-02 -9.98626887e-01 3.45438536e-03 2.61710095e+02] [-9.98019128e-01 5.23612570e-02 3.48729012e-02 -8.60199590e+01] [-3.50058928e-02 -1.62465104e-03 -9.99385785e-01 -9.57537138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.170385723 meters 0.015476555535238808 Centerline is valid? [True, True] Translation: X:261.68, Y:-86.15, Z:-9.58 [[ 2.66894270e-02 -9.99643495e-01 7.46741748e-04 2.61681534e+02] [-9.99046037e-01 -2.66476317e-02 3.45965180e-02 -8.61507067e+01] [-3.45642853e-02 -1.66939063e-03 -9.99401082e-01 -9.58023144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.230385723 meters 0.014879130901008257 Centerline is valid? [True, True] Translation: X:260.88, Y:-86.27, Z:-10.54 [[-1.40942266e-02 9.99900031e-01 1.13198723e-03 2.60881859e+02] [-9.99687249e-01 -1.40678199e-02 -2.06760753e-02 -8.62730200e+01] [-2.06580838e-02 -1.42304650e-03 9.99785586e-01 -1.05384360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.290385723 meters 0.014558462234807527 Centerline is valid? [True, True] Translation: X:261.68, Y:-86.46, Z:-9.59 [[ 4.36404273e-02 -9.99047251e-01 3.21187563e-04 2.61682525e+02] [-9.98390839e-01 -4.36000966e-02 3.62596779e-02 -8.64590387e+01] [-3.62111278e-02 -1.90305856e-03 -9.99342350e-01 -9.58881267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.350385723 meters 0.014528948121635157 Centerline is valid? [True, True] Translation: X:261.67, Y:-86.59, Z:-9.60 [[ 1.22200627e-01 -9.92502082e-01 -2.57374086e-03 2.61668005e+02] [-9.91823522e-01 -1.22212368e-01 3.67455928e-02 -8.65929657e+01] [-3.67846203e-02 -1.93763775e-03 -9.99321338e-01 -9.59562837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.410385723 meters 0.014514304477623207 Centerline is valid? [True, True] Translation: X:260.90, Y:-86.78, Z:-10.55 [[ 6.75756032e-02 9.97710486e-01 2.70611623e-03 2.60895747e+02] [-9.97543627e-01 6.76139503e-02 -1.83047973e-02 -8.67798820e+01] [-1.84458594e-02 -1.46251128e-03 9.99828791e-01 -1.05500173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.470385723 meters 0.015226994184472884 Centerline is valid? [True, True] Translation: X:261.70, Y:-86.89, Z:-9.60 [[ 1.27269152e-01 -9.91863003e-01 -3.21643026e-03 2.61704681e+02] [-9.91108351e-01 -1.27297892e-01 3.87231595e-02 -8.68899342e+01] [-3.88175141e-02 -1.74043279e-03 -9.99244801e-01 -9.60369510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.530385723 meters 0.016950493862041244 Centerline is valid? [True, True] Translation: X:261.71, Y:-87.01, Z:-9.61 [[ 1.95146466e-01 -9.80754047e-01 -6.27339682e-03 2.61706051e+02] [-9.79994704e-01 -1.95242350e-01 3.86109382e-02 -8.70131797e+01] [-3.90926666e-02 -1.38689249e-03 -9.99234627e-01 -9.60826695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.590385723 meters 0.0178505624079273 Centerline is valid? [True, True] Translation: X:261.71, Y:-87.14, Z:-9.61 [[ 2.66097131e-01 -9.63903526e-01 -9.07246661e-03 2.61712205e+02] [-9.63177164e-01 -2.66248940e-01 3.74333206e-02 -8.71376531e+01] [-3.84976443e-02 -1.22250654e-03 -9.99257943e-01 -9.61300076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.650385723 meters 0.017698956621272126 Centerline is valid? [True, True] Translation: X:261.73, Y:-87.26, Z:-9.62 [[ 3.37776876e-01 -9.41151545e-01 -1.18554552e-02 2.61726324e+02] [-9.40448438e-01 -3.37982935e-01 3.63905241e-02 -8.72643026e+01] [-3.82559395e-02 -1.14243322e-03 -9.99267321e-01 -9.61818559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.710385723 meters 0.018859789513664283 Centerline is valid? [True, True] Translation: X:261.75, Y:-87.39, Z:-9.62 [[ 4.10736282e-01 -9.11643813e-01 -1.41867876e-02 2.61751817e+02] [-9.10994085e-01 -4.10979406e-01 3.44340625e-02 -8.73937613e+01] [-3.72220776e-02 -1.21923920e-03 -9.99306275e-01 -9.62128173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.770385723 meters 0.017455824001866585 Centerline is valid? [True, True] Translation: X:261.78, Y:-87.51, Z:-9.63 [[ 4.81861008e-01 -8.76093240e-01 -1.64500418e-02 2.61779147e+02] [-8.75486602e-01 -4.82139914e-01 3.26238127e-02 -8.75129664e+01] [-3.65127235e-02 -1.31835209e-03 -9.99332319e-01 -9.62626336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.830385723 meters 0.017163189708618867 Centerline is valid? [True, True] Translation: X:261.82, Y:-87.63, Z:-9.63 [[ 5.49970810e-01 -8.34987409e-01 -1.81144800e-02 2.61817506e+02] [-8.34446296e-01 -5.50267183e-01 3.00899812e-02 -8.76324943e+01] [-3.50925593e-02 -1.43305062e-03 -9.99383039e-01 -9.63122343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.890385723 meters 0.015980253574291108 Centerline is valid? [True, True] Translation: X:261.86, Y:-87.75, Z:-9.64 [[ 6.14189197e-01 -7.88917424e-01 -1.95173820e-02 2.61859145e+02] [-7.88438033e-01 -6.14497328e-01 2.75408976e-02 -8.77471102e+01] [-3.37208731e-02 -1.52707549e-03 -9.99430123e-01 -9.63543447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.950385723 meters 0.01574095657346672 Centerline is valid? [True, True] Translation: X:261.91, Y:-87.85, Z:-9.64 [[ 6.74608065e-01 -7.37882989e-01 -2.08003387e-02 2.61911912e+02] [-7.37456530e-01 -6.74926722e-01 2.51353611e-02 -8.78526772e+01] [-3.25856598e-02 -1.61717174e-03 -9.99467638e-01 -9.63994746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.010385723 meters 0.015862553440919965 Centerline is valid? [True, True] Translation: X:261.97, Y:-87.95, Z:-9.64 [[ 7.29658369e-01 -6.83469420e-01 -2.16383235e-02 2.61970635e+02] [-6.83100029e-01 -7.29977264e-01 2.25287546e-02 -8.79526468e+01] [-3.11931991e-02 -1.65715493e-03 -9.99512000e-01 -9.64357380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.070385723 meters 0.015457037027042864 Centerline is valid? [True, True] Translation: X:261.99, Y:-87.98, Z:-9.64 [[ 7.82283321e-01 -6.22462050e-01 -2.39541581e-02 2.61987523e+02] [-6.22099771e-01 -7.82647990e-01 2.13072457e-02 -8.79816283e+01] [-3.20106255e-02 -1.76642661e-03 -9.99485968e-01 -9.64459928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.130385723 meters 0.015213859467215974 Centerline is valid? [True, True] Translation: X:262.01, Y:-88.01, Z:-9.64 [[ 8.29581775e-01 -5.57771470e-01 -2.61737583e-02 2.62007164e+02] [-5.57423776e-01 -8.29992587e-01 1.97747339e-02 -8.80089425e+01] [-3.27538078e-02 -1.81488369e-03 -9.99461802e-01 -9.64485868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.190385723 meters 0.015715474853770034 Centerline is valid? [True, True] Translation: X:262.03, Y:-88.04, Z:-9.65 [[ 8.69632293e-01 -4.92932991e-01 -2.75089284e-02 2.62026650e+02] [-4.92622189e-01 -8.70065529e-01 1.75884687e-02 -8.80384388e+01] [-3.26045068e-02 -1.74399185e-03 -9.99466810e-01 -9.64590450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.250385723 meters 0.015647971171647988 Centerline is valid? [True, True] Translation: X:262.05, Y:-88.06, Z:-9.65 [[ 9.04217150e-01 -4.26084269e-01 -2.90438050e-02 2.62050159e+02] [-4.25805849e-01 -9.04681997e-01 1.54875177e-02 -8.80615028e+01] [-3.28743952e-02 -1.63705702e-03 -9.99458150e-01 -9.64721388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.310385723 meters 0.01798955447921308 Centerline is valid? [True, True] Translation: X:262.08, Y:-88.08, Z:-9.65 [[ 9.32728713e-01 -3.59346370e-01 -2.97881573e-02 2.62075039e+02] [-3.59113181e-01 -9.33203129e-01 1.30247011e-02 -8.80803034e+01] [-3.24787806e-02 -1.45119275e-03 -9.99471372e-01 -9.64791665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.370385723 meters 0.019506415451336568 Centerline is valid? [True, True] Translation: X:262.10, Y:-88.10, Z:-9.65 [[ 9.56635182e-01 -2.89786027e-01 -2.95497532e-02 2.62101354e+02] [-2.89604976e-01 -9.57090546e-01 1.03269152e-02 -8.80963557e+01] [-3.12743851e-02 -1.32133479e-03 -9.99509963e-01 -9.65015922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43038572300003 meters 0.018338667763546774 Centerline is valid? [True, True] Translation: X:262.13, Y:-88.12, Z:-9.65 [[ 9.76049950e-01 -2.15384224e-01 -3.05962652e-02 2.62128472e+02] [-2.15237774e-01 -9.76528566e-01 8.04114809e-03 -8.81179047e+01] [-3.16100635e-02 -1.26309018e-03 -9.99499479e-01 -9.65192598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.490385723 meters 0.018271681122539893 Centerline is valid? [True, True] Translation: X:262.15, Y:-88.13, Z:-9.65 [[ 9.89996232e-01 -1.37784249e-01 -3.03802619e-02 2.62154168e+02] [-1.37679224e-01 -9.90461421e-01 5.53222003e-03 -8.81334795e+01] [-3.08527301e-02 -1.29414610e-03 -9.99523103e-01 -9.65395350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.550385723 meters 0.017530561179210376 Centerline is valid? [True, True] Translation: X:262.18, Y:-88.15, Z:-9.65 [[ 9.97869050e-01 -5.74446294e-02 -3.09430713e-02 2.62180646e+02] [-5.73748828e-02 -9.98347773e-01 3.13795733e-03 -8.81540191e+01] [-3.10722051e-02 -1.35591541e-03 -9.99516223e-01 -9.65413330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.610385723 meters 0.01781911720114097 Centerline is valid? [True, True] Translation: X:262.21, Y:-88.17, Z:-9.65 [[ 9.99193703e-01 2.42293409e-02 -3.20137960e-02 2.62208123e+02] [ 2.42628417e-02 -9.99705397e-01 6.58336767e-04 -8.81671551e+01] [-3.19884136e-02 -1.43455162e-03 -9.99487210e-01 -9.65365372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.670385723 meters 0.016786559313958973 Centerline is valid? [True, True] Translation: X:262.24, Y:-88.18, Z:-9.66 [[ 9.93834125e-01 1.06323376e-01 -3.14495004e-02 2.62238066e+02] [ 1.06319698e-01 -9.94330379e-01 -1.79393476e-03 -8.81770827e+01] [-3.14619308e-02 -1.56082780e-03 -9.99503732e-01 -9.65606126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.730385723 meters 0.01596061496885649 Centerline is valid? [True, True] Translation: X:262.27, Y:-88.19, Z:-9.66 [[ 9.81935418e-01 1.86824575e-01 -2.99902215e-02 2.62270374e+02] [ 1.86788994e-01 -9.82391879e-01 -4.00850444e-03 -8.81903204e+01] [-3.02110372e-02 -1.66575082e-03 -9.99542154e-01 -9.65868922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.790385723 meters 0.017120746839129602 Centerline is valid? [True, True] Translation: X:262.30, Y:-88.19, Z:-9.66 [[ 9.64047956e-01 2.64199541e-01 -2.84629814e-02 2.62301295e+02] [ 2.64136215e-01 -9.64466535e-01 -6.03021377e-03 -8.81932839e+01] [-2.90447728e-02 -1.70468892e-03 -9.99576658e-01 -9.66057126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.850385723 meters 0.016634991306283438 Centerline is valid? [True, True] Translation: X:262.33, Y:-88.19, Z:-9.66 [[ 9.40686604e-01 3.38067420e-01 -2.86205026e-02 2.62331534e+02] [ 3.37964259e-01 -9.41120425e-01 -8.51497061e-03 -8.81914567e+01] [-2.98139738e-02 -1.66278819e-03 -9.99554082e-01 -9.66253895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.910385723 meters 0.01739268444723699 Centerline is valid? [True, True] Translation: X:262.36, Y:-88.19, Z:-9.66 [[ 9.13566096e-01 4.05747410e-01 -2.76771996e-02 2.62361744e+02] [ 4.05610416e-01 -9.13984024e-01 -1.06487022e-02 -8.81857076e+01] [-2.96172016e-02 -1.49786709e-03 -9.99560192e-01 -9.66305938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.970385723 meters 0.018738081420989896 Centerline is valid? [True, True] Translation: X:262.39, Y:-88.17, Z:-9.66 [[ 8.81069168e-01 4.72225867e-01 -2.68300703e-02 2.62388647e+02] [ 4.72053491e-01 -8.81476534e-01 -1.28305371e-02 -8.81738836e+01] [-2.97089889e-02 -1.36063767e-03 -9.99557664e-01 -9.66473098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.030385723 meters 0.020510564300177326 Centerline is valid? [True, True] Translation: X:262.41, Y:-88.16, Z:-9.67 [[ 8.43824681e-01 5.35989010e-01 -2.59940107e-02 2.62414699e+02] [ 5.35778525e-01 -8.44224089e-01 -1.50685001e-02 -8.81606857e+01] [-3.00213204e-02 -1.21186045e-03 -9.99548524e-01 -9.66542141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.090385723 meters 0.021806395441863743 Centerline is valid? [True, True] Translation: X:262.44, Y:-88.14, Z:-9.67 [[ 8.00514153e-01 5.98732274e-01 -2.63961212e-02 2.62437120e+02] [ 5.98450956e-01 -8.00948498e-01 -1.83835767e-02 -8.81439985e+01] [-3.21487743e-02 -1.08047063e-03 -9.99482511e-01 -9.66579629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.150385723 meters 0.019117693947679943 Centerline is valid? [True, True] Translation: X:262.47, Y:-88.14, Z:-9.67 [[ 7.51410797e-01 6.59372570e-01 -2.46906415e-02 2.62471492e+02] [ 6.59063025e-01 -7.51815580e-01 -2.02302554e-02 -8.81387540e+01] [-3.19020844e-02 -1.07145650e-03 -9.99490425e-01 -9.66899571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.210385723 meters 0.01912548355386892 Centerline is valid? [True, True] Translation: X:262.50, Y:-88.13, Z:-9.67 [[ 6.96081547e-01 7.17565711e-01 -2.38732185e-02 2.62501249e+02] [ 7.17196928e-01 -6.96489956e-01 -2.30284262e-02 -8.81268539e+01] [-3.31518659e-02 -1.09213642e-03 -9.99449729e-01 -9.66911523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.270385723 meters 0.019014381830720288 Centerline is valid? [True, True] Translation: X:262.53, Y:-88.11, Z:-9.67 [[ 6.35352808e-01 7.71899285e-01 -2.23226793e-02 2.62528307e+02] [ 7.71487012e-01 -6.35743743e-01 -2.52523876e-02 -8.81116905e+01] [-3.36838036e-02 -1.17748182e-03 -9.99431846e-01 -9.67031912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.330385723 meters 0.017873161861866698 Centerline is valid? [True, True] Translation: X:262.56, Y:-88.10, Z:-9.67 [[ 5.71315796e-01 8.20499200e-01 -1.94762233e-02 2.62559856e+02] [ 8.20096716e-01 -5.71646255e-01 -2.57281216e-02 -8.80964627e+01] [-3.22434133e-02 -1.27350453e-03 -9.99479235e-01 -9.67322394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.390385723 meters 0.01792554876025069 Centerline is valid? [True, True] Translation: X:262.59, Y:-88.08, Z:-9.67 [[ 5.04425253e-01 8.63268101e-01 -1.79819361e-02 2.62588731e+02] [ 8.62807369e-01 -5.04744053e-01 -2.82291551e-02 -8.80780022e+01] [-3.34456044e-02 -1.27544832e-03 -9.99439725e-01 -9.67346619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.450385723 meters 0.017920692967529336 Centerline is valid? [True, True] Translation: X:262.61, Y:-88.05, Z:-9.68 [[ 4.34864202e-01 9.00349136e-01 -1.62652682e-02 2.62611619e+02] [ 8.99824209e-01 -4.35166467e-01 -3.07658889e-02 -8.80549718e+01] [-3.47781407e-02 -1.25689834e-03 -9.99394267e-01 -9.67532062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.510385723 meters 0.017216646681392472 Centerline is valid? [True, True] Translation: X:262.64, Y:-88.03, Z:-9.68 [[ 3.61395387e-01 9.32309870e-01 -1.38448749e-02 2.62641391e+02] [ 9.31759097e-01 -3.61658110e-01 -3.20686254e-02 -8.80334372e+01] [-3.49050072e-02 -1.31063484e-03 -9.99389775e-01 -9.67706311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.570385723 meters 0.018155290278912436 Centerline is valid? [True, True] Translation: X:262.66, Y:-88.01, Z:-9.68 [[ 2.86567101e-01 9.57992385e-01 -1.13968005e-02 2.62662076e+02] [ 9.57408760e-01 -2.86790588e-01 -3.34607917e-02 -8.80065975e+01] [-3.53236787e-02 -1.32263453e-03 -9.99375049e-01 -9.67743348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.630385723 meters 0.019746516063686624 Centerline is valid? [True, True] Translation: X:262.67, Y:-87.98, Z:-9.68 [[ 2.10201161e-01 9.77618137e-01 -8.84588399e-03 2.62673331e+02] [ 9.76998818e-01 -2.10383045e-01 -3.48178818e-02 -8.79788938e+01] [-3.58996168e-02 -1.32365903e-03 -9.99354524e-01 -9.68018222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.690385723 meters 0.019079559496464775 Centerline is valid? [True, True] Translation: X:262.69, Y:-87.95, Z:-9.68 [[ 1.31130393e-01 9.91346038e-01 -6.15244873e-03 2.62690273e+02] [ 9.90693458e-01 -1.31267437e-01 -3.59907136e-02 -8.79503038e+01] [-3.64868675e-02 -1.37571429e-03 -9.99333186e-01 -9.68026681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.750385723 meters 0.016712107052474705 Centerline is valid? [True, True] Translation: X:262.70, Y:-87.92, Z:-9.68 [[ 4.94932837e-02 9.98768986e-01 -3.30575299e-03 2.62701971e+02] [ 9.98110597e-01 -4.95807722e-02 -3.62902640e-02 -8.79206320e+01] [-3.64094920e-02 -1.50338276e-03 -9.99335824e-01 -9.68172516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.810385723 meters 0.01601590404465237 Centerline is valid? [True, True] Translation: X:262.71, Y:-87.89, Z:-9.69 [[-3.32191646e-02 9.99447950e-01 -5.30569210e-04 2.62712601e+02] [ 9.98857425e-01 3.31812793e-02 -3.43925446e-02 -8.78893664e+01] [-3.43559532e-02 -1.67245459e-03 -9.99408261e-01 -9.68653951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.870385723 meters 0.015926292873106557 Centerline is valid? [True, True] Translation: X:262.72, Y:-87.86, Z:-9.69 [[-1.16393075e-01 9.93201055e-01 2.07757106e-03 2.62721283e+02] [ 9.92636304e-01 1.16397050e-01 -3.35394519e-02 -8.78574049e+01] [-3.35532421e-02 -1.84148749e-03 -9.99435235e-01 -9.68754354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93038572300003 meters 0.015924860231870095 Centerline is valid? [True, True] Translation: X:262.72, Y:-87.83, Z:-9.69 [[-1.95677445e-01 9.80655958e-01 4.92244687e-03 2.62723480e+02] [ 9.80055660e-01 1.95730135e-01 -3.43601079e-02 -8.78271162e+01] [-3.46589157e-02 -1.89922619e-03 -9.99397395e-01 -9.68654671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.990385723 meters 0.016040978531883552 Centerline is valid? [True, True] Translation: X:262.72, Y:-87.80, Z:-9.69 [[-2.70190838e-01 9.62774906e-01 7.83530702e-03 2.62720329e+02] [ 9.62151910e-01 2.70298221e-01 -3.46781460e-02 -8.77963778e+01] [-3.55051183e-02 -1.83096172e-03 -9.99367817e-01 -9.68826464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.050385723 meters 0.01644548934598169 Centerline is valid? [True, True] Translation: X:262.71, Y:-87.77, Z:-9.69 [[-3.39621045e-01 9.40504605e-01 1.04227186e-02 2.62713122e+02] [ 9.39903706e-01 3.39777015e-01 -3.36541837e-02 -8.77685292e+01] [-3.51933150e-02 -1.63331720e-03 -9.99379189e-01 -9.68947694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.110385723 meters 0.01977800854066886 Centerline is valid? [True, True] Translation: X:262.70, Y:-87.74, Z:-9.69 [[-4.06700293e-01 9.13468982e-01 1.30111603e-02 2.62703048e+02] [ 9.12885164e-01 4.06905906e-01 -3.26842719e-02 -8.77415956e+01] [-3.51503865e-02 -1.41500779e-03 -9.99381032e-01 -9.68952085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.170385723 meters 0.017336765415914262 Centerline is valid? [True, True] Translation: X:262.69, Y:-87.71, Z:-9.69 [[-4.75901719e-01 8.79383264e-01 1.42347303e-02 2.62694272e+02] [ 8.78898072e-01 4.76112486e-01 -2.92417439e-02 -8.77132647e+01] [-3.24920331e-02 -1.40531920e-03 -9.99471007e-01 -9.69241442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.230385723 meters 0.017534092753665298 Centerline is valid? [True, True] Translation: X:262.68, Y:-87.69, Z:-9.69 [[-5.42387301e-01 8.39963212e-01 1.66678834e-02 2.62682731e+02] [ 8.39487371e-01 5.42641648e-01 -2.83018603e-02 -8.76865973e+01] [-3.28172093e-02 -1.35809199e-03 -9.99460448e-01 -9.69151624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.290385723 meters 0.017178596289666812 Centerline is valid? [True, True] Translation: X:262.67, Y:-87.66, Z:-9.69 [[-6.09913449e-01 7.92253946e-01 1.84192487e-02 2.62671298e+02] [ 7.91816260e-01 6.10189668e-01 -2.63738472e-02 -8.76620601e+01] [-3.21340198e-02 -1.50110351e-03 -9.99482442e-01 -9.69156676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.350385723 meters 0.016313498214017712 Centerline is valid? [True, True] Translation: X:262.66, Y:-87.64, Z:-9.69 [[-6.76514146e-01 7.36202383e-01 1.82937596e-02 2.62659682e+02] [ 7.35859537e-01 6.76759092e-01 -2.25360419e-02 -8.76354928e+01] [-2.89715558e-02 -1.78431365e-03 -9.99578644e-01 -9.69362127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.410385723 meters 0.017008643328362407 Centerline is valid? [True, True] Translation: X:262.65, Y:-87.61, Z:-9.69 [[-7.38548113e-01 6.73920358e-01 1.94431152e-02 2.62645630e+02] [ 6.73611326e-01 7.38801156e-01 -2.05093593e-02 -8.76116362e+01] [-2.81862707e-02 -2.05004601e-03 -9.99600586e-01 -9.69336711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.470385723 meters 0.018918386965650034 Centerline is valid? [True, True] Translation: X:262.67, Y:-87.59, Z:-9.69 [[-7.88348616e-01 6.14893847e-01 2.02982067e-02 2.62665261e+02] [ 6.14621738e-01 7.88607269e-01 -1.84036659e-02 -8.75922527e+01] [-2.73236143e-02 -2.03278550e-03 -9.99624573e-01 -9.69122206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.530385723 meters 0.01762649332552564 Centerline is valid? [True, True] Translation: X:262.67, Y:-87.57, Z:-9.69 [[-8.31237971e-01 5.55530471e-01 2.07203074e-02 2.62674531e+02] [ 5.55293918e-01 8.31493580e-01 -1.63428963e-02 -8.75705251e+01] [-2.63077795e-02 -2.07897528e-03 -9.99651729e-01 -9.69319297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.590385723 meters 0.018276859795339703 Centerline is valid? [True, True] Translation: X:262.69, Y:-87.55, Z:-9.69 [[-8.69474238e-01 4.93523108e-01 2.12012068e-02 2.62686876e+02] [ 4.93315654e-01 8.69730108e-01 -1.44639444e-02 -8.75549766e+01] [-2.55776187e-02 -2.11713985e-03 -9.99670597e-01 -9.69467486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.650385723 meters 0.01876295775925154 Centerline is valid? [True, True] Translation: X:262.70, Y:-87.54, Z:-9.69 [[-9.02071611e-01 4.31053963e-01 2.14310331e-02 2.62698189e+02] [ 4.30876207e-01 9.02323730e-01 -1.25530863e-02 -8.75360613e+01] [-2.47487874e-02 -2.08966053e-03 -9.99691518e-01 -9.69255356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.710385723 meters 0.01819497061701551 Centerline is valid? [True, True] Translation: X:262.70, Y:-87.52, Z:-9.69 [[-9.29159013e-01 3.68949067e-01 2.32403473e-02 2.62704483e+02] [ 3.68778398e-01 9.29447412e-01 -1.14018527e-02 -8.75243222e+01] [-2.58073835e-02 -2.02359615e-03 -9.99664886e-01 -9.69239510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.770385723 meters 0.017007157551081144 Centerline is valid? [True, True] Translation: X:262.73, Y:-87.52, Z:-9.69 [[-9.51809644e-01 3.05675709e-01 2.49151237e-02 2.62729324e+02] [ 3.05517222e-01 9.52133718e-01 -1.00305153e-02 -8.75181097e+01] [-2.67886142e-02 -1.93514179e-03 -9.99639248e-01 -9.69049877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.830385723 meters 0.016812986819127112 Centerline is valid? [True, True] Translation: X:262.73, Y:-87.50, Z:-9.69 [[-9.70682299e-01 2.39025706e-01 2.53493015e-02 2.62729890e+02] [ 2.38892949e-01 9.71011398e-01 -8.18674822e-03 -8.74969416e+01] [-2.65713040e-02 -1.89096217e-03 -9.99645132e-01 -9.69134119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.890385723 meters 0.016823562801964186 Centerline is valid? [True, True] Translation: X:262.97, Y:-86.73, Z:-10.67 [[-9.47738359e-01 -3.18269065e-01 -2.22891162e-02 2.62966737e+02] [ 3.18219295e-01 -9.47999143e-01 5.84000246e-03 -8.67263332e+01] [-2.29887551e-02 -1.55803247e-03 9.99734510e-01 -1.06700621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.950385723 meters 0.017050725855805596 Centerline is valid? [True, True] Translation: X:262.69, Y:-87.50, Z:-9.70 [[-9.71274233e-01 2.37046203e-01 2.08677353e-02 2.62688878e+02] [ 2.36951001e-01 9.71496685e-01 -6.95804138e-03 -8.74950862e+01] [-2.19223129e-02 -1.81353555e-03 -9.99758032e-01 -9.69620391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.010385723 meters 0.016815948065269787 Centerline is valid? [True, True] Translation: X:262.67, Y:-87.46, Z:-9.70 [[-9.85139027e-01 1.70371858e-01 2.17836586e-02 2.62669586e+02] [ 1.70290838e-01 9.85378298e-01 -5.53538081e-03 -8.74649314e+01] [-2.24082176e-02 -1.74356218e-03 -9.99747384e-01 -9.69679389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.070385723 meters 0.016820208331108994 Centerline is valid? [True, True] Translation: X:262.70, Y:-87.44, Z:-9.70 [[-9.94500881e-01 1.02181478e-01 2.29552472e-02 2.62702023e+02] [ 1.02114811e-01 9.94764331e-01 -4.06095600e-03 -8.74406555e+01] [-2.32500156e-02 -1.69455360e-03 -9.99728246e-01 -9.69517783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.130385723 meters 0.016850663139580165 Centerline is valid? [True, True] Translation: X:262.71, Y:-87.41, Z:-9.70 [[-9.99114713e-01 3.49575053e-02 2.34043353e-02 2.62705540e+02] [ 3.49102702e-02 9.99387511e-01 -2.42389194e-03 -8.74133045e+01] [-2.34747336e-02 -1.60469443e-03 -9.99723143e-01 -9.69504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.190385723 meters 0.017103250570253702 Centerline is valid? [True, True] Translation: X:262.72, Y:-87.39, Z:-9.70 [[-9.99290664e-01 -3.00751224e-02 2.26639990e-02 2.62715280e+02] [-3.01006041e-02 9.99546567e-01 -7.83940728e-04 -8.73858485e+01] [-2.26301453e-02 -1.46558471e-03 -9.99742831e-01 -9.69638631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.250385723 meters 0.017460232379164255 Centerline is valid? [True, True] Translation: X:262.71, Y:-86.57, Z:-10.67 [[-9.99601995e-01 -1.60585447e-02 -2.31942685e-02 2.62713478e+02] [ 1.60767742e-02 -9.99870580e-01 -5.99680621e-04 -8.65733456e+01] [-2.31816367e-02 -9.72330961e-04 9.99730797e-01 -1.06740185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.310385723 meters 0.01723471585493449 Centerline is valid? [True, True] Translation: X:262.62, Y:-87.38, Z:-9.70 [[-9.99236848e-01 -3.14179285e-02 2.32085137e-02 2.62622569e+02] [-3.14418990e-02 9.99505358e-01 -6.68559905e-04 -8.73840035e+01] [-2.31760290e-02 -1.39776944e-03 -9.99730423e-01 -9.70017494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.370385723 meters 0.01736436593618721 Centerline is valid? [True, True] Translation: X:262.61, Y:-86.59, Z:-10.68 [[-9.99689583e-01 -9.51951781e-03 -2.30242513e-02 2.62612054e+02] [ 9.54067179e-03 -9.99954159e-01 -8.09093835e-04 -8.65859230e+01] [-2.30154937e-02 -1.02850950e-03 9.99734579e-01 -1.06750461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43038572300003 meters 0.01759157495172117 Centerline is valid? [True, True] Translation: X:262.52, Y:-87.38, Z:-9.70 [[-9.99088799e-01 -3.56249654e-02 2.35039234e-02 2.62524494e+02] [-3.56467339e-02 9.99364324e-01 -5.07705857e-04 -8.73807404e+01] [-2.34708955e-02 -1.34508134e-03 -9.99723616e-01 -9.70244864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.490385723 meters 0.017866285728721353 Centerline is valid? [True, True] Translation: X:262.52, Y:-87.35, Z:-9.70 [[-9.94143045e-01 -1.05289671e-01 2.43657991e-02 2.62519265e+02] [-1.05288695e-01 9.94440813e-01 1.32657371e-03 -8.73533500e+01] [-2.43700196e-02 -1.24663916e-03 -9.99702230e-01 -9.70381895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.550385723 meters 0.018686875217729295 Centerline is valid? [True, True] Translation: X:262.50, Y:-87.33, Z:-9.71 [[-9.84424408e-01 -1.73878903e-01 2.59752006e-02 2.62502320e+02] [-1.73849360e-01 9.84766359e-01 3.40868243e-03 -8.73291440e+01] [-2.61722017e-02 -1.16018180e-03 -9.99656776e-01 -9.70646610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.610385723 meters 0.018086984987515018 Centerline is valid? [True, True] Translation: X:262.48, Y:-87.30, Z:-9.71 [[-9.69672491e-01 -2.43136798e-01 2.48949175e-02 2.62483273e+02] [-2.43087043e-01 9.69991324e-01 5.05186943e-03 -8.73000081e+01] [-2.53761493e-02 -1.15297307e-03 -9.99677309e-01 -9.70807283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.670385723 meters 0.01927611873985238 Centerline is valid? [True, True] Translation: X:262.43, Y:-87.29, Z:-9.71 [[-9.50138156e-01 -3.10746546e-01 2.59628174e-02 2.62434413e+02] [-3.10660998e-01 9.50492215e-01 7.36840940e-03 -8.72878131e+01] [-2.69671636e-02 -1.06462785e-03 -9.99635753e-01 -9.70983399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.730385723 meters 0.0196028927254105 Centerline is valid? [True, True] Translation: X:262.37, Y:-87.28, Z:-9.71 [[-9.25440487e-01 -3.77776763e-01 2.90624016e-02 2.62368168e+02] [-3.77621405e-01 9.25896259e-01 1.08716185e-02 -8.72824266e+01] [-3.10158138e-02 -9.13549041e-04 -9.99518476e-01 -9.70929457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.790385723 meters 0.019425277422868262 Centerline is valid? [True, True] Translation: X:262.29, Y:-87.29, Z:-9.71 [[-8.95132273e-01 -4.44768896e-01 3.03124284e-02 2.62292860e+02] [-4.44545549e-01 8.95644978e-01 1.41183238e-02 -8.72855161e+01] [-3.34285656e-02 -8.37487827e-04 -9.99440758e-01 -9.71161013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.850385723 meters 0.01930015111889151 Centerline is valid? [True, True] Translation: X:262.21, Y:-87.30, Z:-9.71 [[-8.59096169e-01 -5.10947107e-01 2.97796210e-02 2.62208555e+02] [-5.10674336e-01 8.59611735e-01 1.67148891e-02 -8.72957498e+01] [-3.41393359e-02 -8.47991021e-04 -9.99416723e-01 -9.71339867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.910385723 meters 0.01902950229798389 Centerline is valid? [True, True] Translation: X:262.12, Y:-87.32, Z:-9.72 [[-8.18244741e-01 -5.74121434e-01 2.93278518e-02 2.62120597e+02] [-5.73789114e-01 8.18769740e-01 1.95490516e-02 -8.73231804e+01] [-3.52362871e-02 -8.32093429e-04 -9.99378663e-01 -9.71839851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.970385723 meters 0.019508610684809205 Centerline is valid? [True, True] Translation: X:262.03, Y:-87.36, Z:-9.72 [[-7.72458081e-01 -6.34431005e-01 2.83868359e-02 2.62031063e+02] [-6.34041898e-01 7.72979055e-01 2.22318028e-02 -8.73561564e+01] [-3.60469745e-02 -8.25307576e-04 -9.99349756e-01 -9.72076234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.030385723 meters 0.019198579665914928 Centerline is valid? [True, True] Translation: X:261.93, Y:-87.40, Z:-9.72 [[-7.19922138e-01 -6.93543303e-01 2.66421311e-02 2.61934216e+02] [-6.93116982e-01 7.20414317e-01 2.43323349e-02 -8.74043939e+01] [-3.60689005e-02 -9.48726939e-04 -9.99348855e-01 -9.72408496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.090385723 meters 0.017716564402256003 Centerline is valid? [True, True] Translation: X:261.84, Y:-87.46, Z:-9.73 [[-6.60667662e-01 -7.50292385e-01 2.40744388e-02 2.61842164e+02] [-7.49859025e-01 6.61105078e-01 2.55248631e-02 -8.74573872e+01] [-3.50668441e-02 -1.18898358e-03 -9.99384262e-01 -9.73128824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.150385723 meters 0.016810303387046196 Centerline is valid? [True, True] Translation: X:261.75, Y:-87.52, Z:-9.73 [[-5.97774450e-01 -8.01358897e-01 2.21274632e-02 2.61750268e+02] [-8.00892677e-01 5.98182296e-01 2.73653145e-02 -8.75212345e+01] [-3.51656950e-02 -1.36343738e-03 -9.99380566e-01 -9.73443802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.210385723 meters 0.01645665619421778 Centerline is valid? [True, True] Translation: X:261.66, Y:-87.60, Z:-9.73 [[-5.29783201e-01 -8.47889231e-01 2.03374327e-02 2.61656491e+02] [-8.47375698e-01 5.30171063e-01 2.95477701e-02 -8.76017603e+01] [-3.58355544e-02 -1.57953394e-03 -9.99356452e-01 -9.73347480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.270385723 meters 0.016062137335700128 Centerline is valid? [True, True] Translation: X:261.58, Y:-87.68, Z:-9.74 [[-4.59859042e-01 -8.87798067e-01 1.85540907e-02 2.61576481e+02] [-8.87221647e-01 4.60229940e-01 3.20335932e-02 -8.76848429e+01] [-3.69785102e-02 -1.73065337e-03 -9.99314562e-01 -9.73859267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.330385723 meters 0.016209315927438607 Centerline is valid? [True, True] Translation: X:261.50, Y:-87.78, Z:-9.74 [[-3.92301984e-01 -9.19699379e-01 1.58809810e-02 2.61504826e+02] [-9.19109868e-01 3.92619771e-01 3.29661497e-02 -8.77791105e+01] [-3.65541345e-02 -1.66368038e-03 -9.99330289e-01 -9.74125396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.390385723 meters 0.016094789911181046 Centerline is valid? [True, True] Translation: X:261.44, Y:-87.87, Z:-9.75 [[-3.25442357e-01 -9.45467120e-01 1.33864357e-02 2.61442763e+02] [-9.44844713e-01 3.25714214e-01 3.43324740e-02 -8.78737645e+01] [-3.68203777e-02 -1.47486177e-03 -9.99320812e-01 -9.74534053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.450385723 meters 0.016723919390319454 Centerline is valid? [True, True] Translation: X:261.39, Y:-87.98, Z:-9.75 [[-2.58453964e-01 -9.65966482e-01 1.05025423e-02 2.61390606e+02] [-9.65352305e-01 2.58664335e-01 3.44628599e-02 -8.79811793e+01] [-3.60066006e-02 -1.23159070e-03 -9.99350793e-01 -9.74979157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.510385723 meters 0.01778778992692997 Centerline is valid? [True, True] Translation: X:261.34, Y:-88.09, Z:-9.75 [[-1.90901982e-01 -9.81578053e-01 7.80764882e-03 2.61344147e+02] [-9.80949908e-01 1.91059197e-01 3.51235142e-02 -8.80905411e+01] [-3.59681938e-02 -9.53763904e-04 -9.99352480e-01 -9.75253871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.570385723 meters 0.01876198502358332 Centerline is valid? [True, True] Translation: X:261.30, Y:-88.21, Z:-9.76 [[-1.17786476e-01 -9.93026359e-01 4.99974244e-03 2.61304624e+02] [-9.92414999e-01 1.17889427e-01 3.48504235e-02 -8.82086248e+01] [-3.51968059e-02 -8.56910829e-04 -9.99380033e-01 -9.75558447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.630385723 meters 0.018727025819235625 Centerline is valid? [True, True] Translation: X:261.27, Y:-88.33, Z:-9.76 [[-3.99213199e-02 -9.99200162e-01 2.30740228e-03 2.61273095e+02] [-9.98553880e-01 3.99784991e-02 3.59425579e-02 -8.83302344e+01] [-3.60060561e-02 -8.69191154e-04 -9.99351194e-01 -9.75924917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.690385723 meters 0.018166925647963992 Centerline is valid? [True, True] Translation: X:261.25, Y:-88.47, Z:-9.76 [[ 4.19684113e-02 -9.99118794e-01 -5.36400957e-04 2.61246490e+02] [-9.98432732e-01 -4.19594753e-02 3.70335340e-02 -8.84663741e+01] [-3.70234070e-02 -1.01867831e-03 -9.99313879e-01 -9.75840915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.750385723 meters 0.017183410725689328 Centerline is valid? [True, True] Translation: X:261.23, Y:-88.59, Z:-9.76 [[ 1.19993859e-01 -9.92769629e-01 -3.15249237e-03 2.61231091e+02] [-9.92149038e-01 -1.20030353e-01 3.51141036e-02 -8.85865449e+01] [-3.52386104e-02 -1.08573454e-03 -9.99378338e-01 -9.76353062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.810385723 meters 0.017344085436480278 Centerline is valid? [True, True] Translation: X:261.23, Y:-88.72, Z:-9.77 [[ 1.95560730e-01 -9.80677777e-01 -5.20571188e-03 2.61229048e+02] [-9.80163638e-01 -1.95626851e-01 3.17707031e-02 -8.87170534e+01] [-3.21751995e-02 -1.11065239e-03 -9.99481627e-01 -9.76820609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.870385723 meters 0.017661051358388465 Centerline is valid? [True, True] Translation: X:261.24, Y:-88.84, Z:-9.77 [[ 2.69166705e-01 -9.63065398e-01 -7.37049358e-03 2.61235977e+02] [-9.62587548e-01 -2.69265451e-01 3.03534185e-02 -8.88414042e+01] [-3.12169463e-02 -1.07538431e-03 -9.99512054e-01 -9.77091613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93038572300003 meters 0.017630345466580447 Centerline is valid? [True, True] Translation: X:261.25, Y:-88.97, Z:-9.78 [[ 3.40139990e-01 -9.40329384e-01 -9.24320268e-03 2.61253112e+02] [-9.39897188e-01 -3.40264044e-01 2.85246627e-02 -8.89672691e+01] [-2.99677080e-02 -1.01471828e-03 -9.99550352e-01 -9.77506318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.990385723 meters 0.017716798208504126 Centerline is valid? [True, True] Translation: X:261.28, Y:-89.09, Z:-9.78 [[ 4.10729701e-01 -9.11698312e-01 -1.03586093e-02 2.61279078e+02] [-9.11341994e-01 -4.10858994e-01 2.55079600e-02 -8.90927366e+01] [-2.75114919e-02 -1.03664112e-03 -9.99620950e-01 -9.77914062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.050385723 meters 0.017453197266654282 Centerline is valid? [True, True] Translation: X:261.31, Y:-89.22, Z:-9.78 [[ 4.79932049e-01 -8.77220233e-01 -1.22430017e-02 2.61313594e+02] [-8.76877572e-01 -4.80087053e-01 2.45386522e-02 -8.92169316e+01] [-2.74035088e-02 -1.04127200e-03 -9.99623911e-01 -9.78127059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.110385723 meters 0.01765449619818569 Centerline is valid? [True, True] Translation: X:261.35, Y:-89.33, Z:-9.78 [[ 5.46820768e-01 -8.37129902e-01 -1.41624309e-02 2.61351078e+02] [-8.36797495e-01 -5.47003109e-01 2.36125080e-02 -8.93267789e+01] [-2.75136303e-02 -1.06072302e-03 -9.99620866e-01 -9.78327838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.170385723 meters 0.016708510839326663 Centerline is valid? [True, True] Translation: X:261.40, Y:-89.44, Z:-9.79 [[ 6.09652363e-01 -7.92516795e-01 -1.55282302e-02 2.61398255e+02] [-7.92213774e-01 -6.09849142e-01 2.19398970e-02 -8.94372987e+01] [-2.68576147e-02 -1.07403221e-03 -9.99638692e-01 -9.78744637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.230385723 meters 0.017812650683701543 Centerline is valid? [True, True] Translation: X:261.45, Y:-89.54, Z:-9.79 [[ 6.67226674e-01 -7.44696015e-01 -1.53756936e-02 2.61449804e+02] [-7.44460229e-01 -6.67402942e-01 1.87691464e-02 -8.95376171e+01] [-2.42390917e-02 -1.07668274e-03 -9.99705610e-01 -9.79065533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.290385723 meters 0.017156803626242032 Centerline is valid? [True, True] Translation: X:261.51, Y:-89.63, Z:-9.79 [[ 7.21833921e-01 -6.91888122e-01 -1.57040702e-02 2.61509215e+02] [-6.91690819e-01 -7.22003906e-01 1.65581124e-02 -8.96344172e+01] [-2.27947613e-02 -1.08984605e-03 -9.99739572e-01 -9.79491659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.350385723 meters 0.017088001937740797 Centerline is valid? [True, True] Translation: X:261.53, Y:-89.66, Z:-9.80 [[ 7.73486976e-01 -6.33589003e-01 -1.68188570e-02 2.61527181e+02] [-6.33407169e-01 -7.73669001e-01 1.52195652e-02 -8.96636762e+01] [-2.26551774e-02 -1.11895084e-03 -9.99742712e-01 -9.79598643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.410385723 meters 0.017402394752832867 Centerline is valid? [True, True] Translation: X:261.54, Y:-89.69, Z:-9.79 [[ 8.21349305e-01 -5.70150216e-01 -1.77214388e-02 2.61544784e+02] [-5.69986801e-01 -8.21539657e-01 1.36981300e-02 -8.96908205e+01] [-2.23688566e-02 -1.14996333e-03 -9.99749124e-01 -9.79407850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.470385723 meters 0.017342425668925476 Centerline is valid? [True, True] Translation: X:261.57, Y:-89.71, Z:-9.80 [[ 8.63920477e-01 -5.03306535e-01 -1.79983739e-02 2.61566451e+02] [-5.03168293e-01 -8.64107126e-01 1.18550908e-02 -8.97112719e+01] [-2.15192679e-02 -1.18564464e-03 -9.99767731e-01 -9.79605765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.530385723 meters 0.0174871010911121 Centerline is valid? [True, True] Translation: X:261.59, Y:-89.73, Z:-9.80 [[ 9.00558230e-01 -4.34394596e-01 -1.72107530e-02 2.61589166e+02] [-4.34289124e-01 -9.00721855e-01 9.64868329e-03 -8.97305594e+01] [-1.96934372e-02 -1.21475830e-03 -9.99805327e-01 -9.79799242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.590385723 meters 0.01764091836012408 Centerline is valid? [True, True] Translation: X:261.61, Y:-89.75, Z:-9.80 [[ 9.31781864e-01 -3.62617141e-01 -1.70694826e-02 2.61613754e+02] [-3.62531836e-01 -9.31937389e-01 7.96053410e-03 -8.97473535e+01] [-1.87943151e-02 -1.22925045e-03 -9.99822616e-01 -9.79885568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.650385723 meters 0.018045563907117566 Centerline is valid? [True, True] Translation: X:261.64, Y:-89.76, Z:-9.80 [[ 9.57236859e-01 -2.88851156e-01 -1.62051014e-02 2.61641099e+02] [-2.88787393e-01 -9.57373199e-01 6.19668733e-03 -8.97591239e+01] [-1.73042500e-02 -1.25186854e-03 -9.99849487e-01 -9.80183777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.710385723 meters 0.017409288893685752 Centerline is valid? [True, True] Translation: X:261.67, Y:-89.78, Z:-9.80 [[ 9.76988592e-01 -2.12808677e-01 -1.43442866e-02 2.61666295e+02] [-2.12765993e-01 -9.77093021e-01 4.45651394e-03 -8.97784601e+01] [-1.49640871e-02 -1.30198690e-03 -9.99887184e-01 -9.80179505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.770385723 meters 0.018656548028072244 Centerline is valid? [True, True] Translation: X:261.69, Y:-89.79, Z:-9.80 [[ 9.90780443e-01 -1.34627383e-01 -1.51519348e-02 2.61690153e+02] [-1.34591389e-01 -9.90895436e-01 3.37539318e-03 -8.97852165e+01] [-1.54684034e-02 -1.30495360e-03 -9.99879506e-01 -9.80386003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.830385723 meters 0.016866520799457614 Centerline is valid? [True, True] Translation: X:261.71, Y:-89.80, Z:-9.81 [[ 9.98489087e-01 -5.30268533e-02 -1.44116521e-02 2.61714926e+02] [-5.30014704e-02 -9.98592146e-01 2.13781266e-03 -8.98009485e+01] [-1.45047240e-02 -1.37074387e-03 -9.99893861e-01 -9.80504382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.890385723 meters 0.01618577569383382 Centerline is valid? [True, True] Translation: X:261.74, Y:-89.82, Z:-9.81 [[ 9.99446816e-01 3.01556572e-02 -1.40249066e-02 2.61740872e+02] [ 3.01729092e-02 -9.99544174e-01 1.02008478e-03 -8.98152620e+01] [-1.39877524e-02 -1.44269272e-03 -9.99901126e-01 -9.80586426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.950385723 meters 0.015911983160622124 Centerline is valid? [True, True] Translation: X:261.77, Y:-89.83, Z:-9.81 [[ 9.93774462e-01 1.10479019e-01 -1.43772440e-02 2.61768884e+02] [ 1.10488664e-01 -9.93877377e-01 -1.24157218e-04 -8.98292151e+01] [-1.43029343e-02 -1.46513821e-03 -9.99896634e-01 -9.80560096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.010385723 meters 0.01619336113960124 Centerline is valid? [True, True] Translation: X:261.80, Y:-89.84, Z:-9.80 [[ 9.82111714e-01 1.87528796e-01 -1.70156327e-02 2.61796280e+02] [ 1.87525616e-01 -9.82258070e-01 -1.79648886e-03 -8.98361255e+01] [-1.70506359e-02 -1.42651426e-03 -9.99853610e-01 -9.80418065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.070385723 meters 0.016664540217370447 Centerline is valid? [True, True] Translation: X:261.82, Y:-89.84, Z:-9.81 [[ 9.65146087e-01 2.61186856e-01 -1.65667148e-02 2.61823794e+02] [ 2.61172609e-01 -9.65287278e-01 -3.05600464e-03 -8.98377437e+01] [-1.67898273e-02 -1.37728121e-03 -9.99858092e-01 -9.80534988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.130385723 meters 0.017119298433617543 Centerline is valid? [True, True] Translation: X:261.85, Y:-89.84, Z:-9.81 [[ 9.42776314e-01 3.32961497e-01 -1.75915724e-02 2.61852932e+02] [ 3.32928904e-01 -9.42939531e-01 -4.83600126e-03 -8.98397633e+01] [-1.81979913e-02 -1.29747548e-03 -9.99833561e-01 -9.80542421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.190385723 meters 0.017396068078965352 Centerline is valid? [True, True] Translation: X:261.88, Y:-89.84, Z:-9.81 [[ 9.13871663e-01 4.05633568e-01 -1.73202854e-02 2.61880212e+02] [ 4.05587021e-01 -9.14034874e-01 -6.27832348e-03 -8.98376277e+01] [-1.83780436e-02 -1.28730102e-03 -9.99830281e-01 -9.80843761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.250385723 meters 0.017300812058305477 Centerline is valid? [True, True] Translation: X:261.91, Y:-89.84, Z:-9.81 [[ 8.79039166e-01 4.76467535e-01 -1.63961365e-02 2.61910091e+02] [ 4.76411718e-01 -8.79191105e-01 -7.40783745e-03 -8.98375363e+01] [-1.79449314e-02 -1.29953229e-03 -9.99838132e-01 -9.80893618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.310385723 meters 0.017210928836925567 Centerline is valid? [True, True] Translation: X:261.94, Y:-89.83, Z:-9.81 [[ 8.38527691e-01 5.44625557e-01 -1.59472242e-02 2.61939561e+02] [ 5.44556087e-01 -8.38678300e-01 -8.79640706e-03 -8.98341106e+01] [-1.81653390e-02 -1.30812711e-03 -9.99834141e-01 -9.80972119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.370385723 meters 0.0174762202208166 Centerline is valid? [True, True] Translation: X:261.96, Y:-89.82, Z:-9.81 [[ 7.93074358e-01 6.08915791e-01 -1.59569104e-02 2.61963971e+02] [ 6.08824664e-01 -7.93233810e-01 -1.06137713e-02 -8.98239527e+01] [-1.91204537e-02 -1.29745078e-03 -9.99816346e-01 -9.81284523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43038572300003 meters 0.01723354600741673 Centerline is valid? [True, True] Translation: X:261.99, Y:-89.81, Z:-9.81 [[ 7.42184090e-01 6.70014053e-01 -1.56187632e-02 2.61991734e+02] [ 6.69901710e-01 -7.42347266e-01 -1.23383585e-02 -8.98144912e+01] [-1.98614198e-02 -1.30570280e-03 -9.99801890e-01 -9.81250725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.490385723 meters 0.017328991338939715 Centerline is valid? [True, True] Translation: X:262.02, Y:-89.80, Z:-9.81 [[ 6.86960650e-01 7.26506832e-01 -1.65193367e-02 2.62015125e+02] [ 7.26340318e-01 -6.87158053e-01 -1.56061676e-02 -8.97987524e+01] [-2.26893826e-02 -1.27783726e-03 -9.99741746e-01 -9.81177319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.550385723 meters 0.017528350540522666 Centerline is valid? [True, True] Translation: X:262.04, Y:-89.78, Z:-9.81 [[ 6.27552939e-01 7.78399612e-01 -1.64728157e-02 2.62035214e+02] [ 7.78182731e-01 -6.27767834e-01 -1.84169518e-02 -8.97810324e+01] [-2.46768519e-02 -1.26124851e-03 -9.99694685e-01 -9.81233005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.610385723 meters 0.019610318228333347 Centerline is valid? [True, True] Translation: X:262.05, Y:-89.76, Z:-9.81 [[ 5.65988568e-01 8.24258327e-01 -1.59734269e-02 2.62050897e+02] [ 8.23987854e-01 -5.66212670e-01 -2.11477730e-02 -8.97598030e+01] [-2.64755847e-02 -1.19251195e-03 -9.99648749e-01 -9.81225543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.670385723 meters 0.01767351414079291 Centerline is valid? [True, True] Translation: X:262.07, Y:-89.74, Z:-9.82 [[ 4.99481982e-01 8.66202006e-01 -1.45545498e-02 2.62071223e+02] [ 8.65901243e-01 -4.99692581e-01 -2.28552474e-02 -8.97407975e+01] [-2.70700617e-02 -1.18701848e-03 -9.99632834e-01 -9.81974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.730385723 meters 0.017634389470226056 Centerline is valid? [True, True] Translation: X:262.09, Y:-89.72, Z:-9.82 [[ 4.29275818e-01 9.03077956e-01 -1.31330700e-02 2.62092842e+02] [ 9.02737269e-01 -4.29475000e-01 -2.48323949e-02 -8.97213181e+01] [-2.80659136e-02 -1.19576514e-03 -9.99605359e-01 -9.82034334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.790385723 meters 0.01806188770466425 Centerline is valid? [True, True] Translation: X:262.11, Y:-89.70, Z:-9.82 [[ 3.55960633e-01 9.34431274e-01 -1.14114955e-02 2.62107104e+02] [ 9.34055806e-01 -3.56141411e-01 -2.65150403e-02 -8.96981979e+01] [-2.88405890e-02 -1.22066309e-03 -9.99583278e-01 -9.82007118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.850385723 meters 0.01789461071761217 Centerline is valid? [True, True] Translation: X:262.11, Y:-89.67, Z:-9.82 [[ 2.78400243e-01 9.60408640e-01 -1.04186855e-02 2.62112517e+02] [ 9.59898839e-01 -2.78592172e-01 -3.13148599e-02 -8.96724408e+01] [-3.29776262e-02 -1.28281958e-03 -9.99455267e-01 -9.82036821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.910385723 meters 0.018476855215500885 Centerline is valid? [True, True] Translation: X:262.11, Y:-89.65, Z:-9.82 [[ 2.01210983e-01 9.79513312e-01 -8.23475154e-03 2.62114328e+02] [ 9.78938732e-01 -2.01375182e-01 -3.35707380e-02 -8.96455092e+01] [-3.45412594e-02 -1.30651602e-03 -9.99402419e-01 -9.81992265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.970385723 meters 0.017079108194403697 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.62, Z:-9.83 [[ 1.23888548e-01 9.92279483e-01 -5.74931243e-03 2.62129125e+02] [ 9.91642154e-01 -1.24015140e-01 -3.55820718e-02 -8.96196159e+01] [-3.60203616e-02 -1.29304933e-03 -9.99350220e-01 -9.82801968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.030385723 meters 0.016852509064546408 Centerline is valid? [True, True] Translation: X:262.14, Y:-89.59, Z:-9.83 [[ 4.51181844e-02 9.98977274e-01 -2.95902956e-03 2.62139501e+02] [ 9.98314019e-01 -4.51961077e-02 -3.64201915e-02 -8.95920859e+01] [-3.65166802e-02 -1.31082778e-03 -9.99332184e-01 -9.83227993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.090385723 meters 0.016974226338754502 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.57, Z:-9.83 [[-3.48757681e-02 9.99391655e-01 -3.33590309e-05 2.62149526e+02] [ 9.98668264e-01 3.48492541e-02 -3.80424544e-02 -8.95657499e+01] [-3.80181489e-02 -1.36007442e-03 -9.99276123e-01 -9.83124639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.150385723 meters 0.016625649924241807 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.54, Z:-9.84 [[-1.12573926e-01 9.93638933e-01 2.96352371e-03 2.62152849e+02] [ 9.92911748e-01 1.12604969e-01 -3.80313155e-02 -8.95374117e+01] [-3.81231033e-02 -1.33881701e-03 -9.99272153e-01 -9.83573874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.210385723 meters 0.017085959858084254 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.51, Z:-9.84 [[-1.89813143e-01 9.81800554e-01 6.21629220e-03 2.62154326e+02] [ 9.81022978e-01 1.89910309e-01 -3.90895239e-02 -8.95110228e+01] [-3.95586542e-02 -1.32137989e-03 -9.99216376e-01 -9.83647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.270385723 meters 0.016948804268342783 Centerline is valid? [True, True] Translation: X:262.16, Y:-89.48, Z:-9.84 [[-2.67433313e-01 9.63529424e-01 9.51168737e-03 2.62155715e+02] [ 9.62726050e-01 2.67598904e-01 -3.93621460e-02 -8.94827336e+01] [-4.04719030e-02 -1.36959991e-03 -9.99179738e-01 -9.83759618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.330385723 meters 0.01796104437709407 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.46, Z:-9.84 [[-3.43142260e-01 9.39200500e-01 1.24824305e-02 2.62151324e+02] [ 9.38422258e-01 3.43366316e-01 -3.82523122e-02 -8.94558659e+01] [-4.02126369e-02 -1.41219428e-03 -9.99190147e-01 -9.84030858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.390385723 meters 0.01673537005068456 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.43, Z:-9.84 [[-4.16567083e-01 9.08980112e-01 1.50672397e-02 2.62149631e+02] [ 9.08254916e-01 4.16836965e-01 -3.63311525e-02 -8.94272885e+01] [-3.93048776e-02 -1.44946767e-03 -9.99226213e-01 -9.84322344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.450385723 meters 0.016872028834593638 Centerline is valid? [True, True] Translation: X:262.14, Y:-89.40, Z:-9.84 [[-4.86696976e-01 8.73370664e-01 1.87012775e-02 2.62144830e+02] [ 8.72607876e-01 4.87053962e-01 -3.65230437e-02 -8.94002383e+01] [-4.10066862e-02 -1.45677281e-03 -9.99157810e-01 -9.84108023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.510385723 meters 0.019438867777789366 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.38, Z:-9.84 [[-5.51565893e-01 8.33847682e-01 2.17510745e-02 2.62131248e+02] [ 8.33100942e-01 5.51992945e-01 -3.53073456e-02 -8.93783757e+01] [-4.14473880e-02 -1.35348689e-03 -9.99139771e-01 -9.84099111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.570385723 meters 0.017275093840417196 Centerline is valid? [True, True] Translation: X:262.12, Y:-89.36, Z:-9.84 [[-6.14036417e-01 7.88939348e-01 2.31080762e-02 2.62118730e+02] [ 7.88300074e-01 6.14469706e-01 -3.17800778e-02 -8.93576362e+01] [-3.92717667e-02 -1.29802694e-03 -9.99227724e-01 -9.84286000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.630385723 meters 0.01943295685241896 Centerline is valid? [True, True] Translation: X:262.10, Y:-89.34, Z:-9.84 [[-6.72805098e-01 7.39377439e-01 2.55793587e-02 2.62102527e+02] [ 7.38772713e-01 6.73290039e-01 -2.99232462e-02 -8.93379172e+01] [-3.93469006e-02 -1.23518037e-03 -9.99224847e-01 -9.84255661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.690385723 meters 0.017562010867320954 Centerline is valid? [True, True] Translation: X:262.08, Y:-89.32, Z:-9.85 [[-7.28580127e-01 6.84471935e-01 2.58682858e-02 2.62083963e+02] [ 6.83979477e-01 7.29038152e-01 -2.59893787e-02 -8.93234595e+01] [-3.66479676e-02 -1.24196826e-03 -9.99327466e-01 -9.84679078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.750385723 meters 0.01991205075218933 Centerline is valid? [True, True] Translation: X:262.09, Y:-89.30, Z:-9.85 [[-7.73572589e-01 6.33084700e-01 2.80929159e-02 2.62092860e+02] [ 6.32620098e-01 7.74081880e-01 -2.42704336e-02 -8.93013231e+01] [-3.71114573e-02 -1.00279895e-03 -9.99310629e-01 -9.84503441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.810385723 meters 0.017626862146379096 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.30, Z:-9.85 [[-8.17933847e-01 5.74584734e-01 2.89241108e-02 2.62125452e+02] [ 5.74177646e-01 8.18444357e-01 -2.16532937e-02 -8.92958397e+01] [-3.61144273e-02 -1.10338391e-03 -9.99347052e-01 -9.84728754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.870385723 meters 0.01782303420284638 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.26, Z:-9.85 [[-8.59243700e-01 5.10697007e-01 2.98132614e-02 2.62125599e+02] [ 5.10337173e-01 8.59759790e-01 -1.92112712e-02 -8.92611369e+01] [-3.54433821e-02 -1.29234820e-03 -9.99370850e-01 -9.84874059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93038572300003 meters 0.019355297540263938 Centerline is valid? [True, True] Translation: X:262.15, Y:-89.24, Z:-9.85 [[-8.94148959e-01 4.46596914e-01 3.23857276e-02 2.62146101e+02] [ 4.46248109e-01 8.94734210e-01 -1.77008360e-02 -8.92376113e+01] [-3.68817571e-02 -1.37511437e-03 -9.99318690e-01 -9.84628539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.990385723 meters 0.01678541330387918 Centerline is valid? [True, True] Translation: X:262.14, Y:-89.21, Z:-9.85 [[-9.24029691e-01 3.80772094e-01 3.43764801e-02 2.62141872e+02] [ 3.80450757e-01 9.24667809e-01 -1.57055500e-02 -8.92055965e+01] [-3.77670597e-02 -1.43383664e-03 -9.99285541e-01 -9.85043993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.050385723 meters 0.01674235424772586 Centerline is valid? [True, True] Translation: X:262.51, Y:-88.50, Z:-10.80 [[-8.94957697e-01 -4.46149963e-01 9.65267416e-04 2.62506007e+02] [ 4.46148463e-01 -8.94957805e-01 -1.44096543e-03 -8.84956011e+01] [ 1.50676028e-03 -8.58950527e-04 9.99998496e-01 -1.08036665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.110385723 meters 0.017965794816723765 Centerline is valid? [True, True] Translation: X:262.14, Y:-89.21, Z:-9.85 [[-9.21985757e-01 3.85786564e-01 3.33315208e-02 2.62137414e+02] [ 3.85491564e-01 9.22587410e-01 -1.51236684e-02 -8.92081181e+01] [-3.65857495e-02 -1.09478678e-03 -9.99329918e-01 -9.85011066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.170385723 meters 0.020562308709174613 Centerline is valid? [True, True] Translation: X:262.16, Y:-89.19, Z:-9.85 [[-9.44925479e-01 3.25842896e-01 3.06960267e-02 2.62156962e+02] [ 3.25639930e-01 9.45423498e-01 -1.15345367e-02 -8.91943713e+01] [-3.27791918e-02 -9.03425667e-04 -9.99462210e-01 -9.85023816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.230385723 meters 0.018718837385766594 Centerline is valid? [True, True] Translation: X:262.17, Y:-89.17, Z:-9.86 [[-9.65436458e-01 2.58927477e-01 2.98162394e-02 2.62167267e+02] [ 2.58774945e-01 9.65896339e-01 -8.93256847e-03 -8.91651947e+01] [-3.11122839e-02 -9.08131540e-04 -9.99515483e-01 -9.85517045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.290385723 meters 0.01965102944004168 Centerline is valid? [True, True] Translation: X:262.39, Y:-88.39, Z:-10.81 [[-9.53672024e-01 -3.00820801e-01 -4.06410335e-03 2.62390398e+02] [ 3.00821940e-01 -9.53680263e-01 3.42558692e-04 -8.83888043e+01] [-3.97890393e-03 -8.95882812e-04 9.99991683e-01 -1.08051227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.350385723 meters 0.019563871742874293 Centerline is valid? [True, True] Translation: X:262.12, Y:-89.15, Z:-9.85 [[-9.68009753e-01 2.48814872e-01 3.23771060e-02 2.62118018e+02] [ 2.48637738e-01 9.68550439e-01 -9.45108005e-03 -8.91479298e+01] [-3.37104295e-02 -1.09856727e-03 -9.99431038e-01 -9.85120594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.410385723 meters 0.017644250098414693 Centerline is valid? [True, True] Translation: X:262.12, Y:-89.12, Z:-9.85 [[-9.83897037e-01 1.76019298e-01 3.10455619e-02 2.62120683e+02] [ 1.75892712e-01 9.84385968e-01 -6.78387328e-03 -8.91184824e+01] [-3.17549081e-02 -1.21394476e-03 -9.99494949e-01 -9.85321843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.470385723 meters 0.016216494792291262 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.09, Z:-9.86 [[-9.93893910e-01 1.06240767e-01 2.97958749e-02 2.62131685e+02] [ 1.06156810e-01 9.94339710e-01 -4.39009152e-03 -8.90927034e+01] [-3.00936283e-02 -1.20025019e-03 -9.99546364e-01 -9.85604897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.530385723 meters 0.016185563754133787 Centerline is valid? [True, True] Translation: X:262.13, Y:-89.07, Z:-9.86 [[-9.98936939e-01 3.65654294e-02 2.80706569e-02 2.62129655e+02] [ 3.65180414e-02 9.99330574e-01 -2.19913366e-03 -8.90695314e+01] [-2.81322780e-02 -1.17171044e-03 -9.99603522e-01 -9.85891276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.590385723 meters 0.016167073674799026 Centerline is valid? [True, True] Translation: X:262.19, Y:-88.26, Z:-10.80 [[-9.95432169e-01 -9.50018321e-02 -9.45774642e-03 2.62185135e+02] [ 9.50079123e-02 -9.95476498e-01 -1.94663722e-04 -8.82620605e+01] [-9.39647088e-03 -1.09233527e-03 9.99955256e-01 -1.08026944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.650385723 meters 0.01586922470296219 Centerline is valid? [True, True] Translation: X:262.06, Y:-89.07, Z:-9.86 [[-9.99247168e-01 3.10672574e-02 2.32362500e-02 2.62064828e+02] [ 3.10303848e-02 9.99516548e-01 -1.94582495e-03 -8.90682907e+01] [-2.32854678e-02 -1.22333029e-03 -9.99728108e-01 -9.86174389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.710385723 meters 0.015724939134309827 Centerline is valid? [True, True] Translation: X:262.06, Y:-89.04, Z:-9.86 [[-9.98839915e-01 -4.22623351e-02 2.30807146e-02 2.62062601e+02] [-4.22800635e-02 9.99105759e-01 -2.80437692e-04 -8.90396479e+01] [-2.30482229e-02 -1.25596644e-03 -9.99733565e-01 -9.86178140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.770385723 meters 0.015742927705260614 Centerline is valid? [True, True] Translation: X:262.06, Y:-89.01, Z:-9.86 [[-9.93509540e-01 -1.11449102e-01 2.27572461e-02 2.62060777e+02] [-1.11447769e-01 9.93769402e-01 1.33083764e-03 -8.90121803e+01] [-2.27637755e-02 -1.21404441e-03 -9.99740135e-01 -9.85996819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.830385723 meters 0.016190567897155318 Centerline is valid? [True, True] Translation: X:262.05, Y:-88.99, Z:-9.86 [[-9.83798948e-01 -1.78138078e-01 2.01607105e-02 2.62054424e+02] [-1.78124341e-01 9.84004838e-01 2.48955789e-03 -8.89882264e+01] [-2.02817217e-02 -1.14188883e-03 -9.99793653e-01 -9.86064188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.890385723 meters 0.01829577305501624 Centerline is valid? [True, True] Translation: X:262.03, Y:-88.96, Z:-9.86 [[-9.69257760e-01 -2.45360479e-01 1.83747224e-02 2.62033527e+02] [-2.45337762e-01 9.69431289e-01 3.51548134e-03 -8.89649534e+01] [-1.86755910e-02 -1.10060569e-03 -9.99824990e-01 -9.86007459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.950385723 meters 0.01672462461125548 Centerline is valid? [True, True] Translation: X:262.00, Y:-88.95, Z:-9.86 [[-9.49787134e-01 -3.12542906e-01 1.48772171e-02 2.61997598e+02] [-3.12522493e-01 9.49903007e-01 3.73745772e-03 -8.89480952e+01] [-1.53000292e-02 -1.09967572e-03 -9.99882343e-01 -9.86468345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.010385723 meters 0.017896853327451983 Centerline is valid? [True, True] Translation: X:261.94, Y:-88.94, Z:-9.87 [[-9.26035282e-01 -3.77219093e-01 1.28223168e-02 2.61938952e+02] [-3.77198774e-01 9.26123424e-01 4.06048727e-03 -8.89420143e+01] [-1.34067413e-02 -1.07640772e-03 -9.99909546e-01 -9.86586827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.070385723 meters 0.019836474152616412 Centerline is valid? [True, True] Translation: X:261.87, Y:-88.95, Z:-9.87 [[-8.98484083e-01 -4.38851961e-01 1.16322739e-02 2.61869529e+02] [-4.38829552e-01 8.98558803e-01 4.54983777e-03 -8.89454234e+01] [-1.24489873e-02 -1.01662873e-03 -9.99921992e-01 -9.86803239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.130385723 meters 0.020247180922642407 Centerline is valid? [True, True] Translation: X:261.79, Y:-88.96, Z:-9.87 [[-8.66290779e-01 -4.99462393e-01 8.80937258e-03 2.61789128e+02] [-4.99448318e-01 8.66334956e-01 3.88873053e-03 -8.89560631e+01] [-9.57414206e-03 -1.03105492e-03 -9.99953635e-01 -9.87098604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.190385723 meters 0.020602779621890503 Centerline is valid? [True, True] Translation: X:261.71, Y:-88.98, Z:-9.87 [[-8.27153533e-01 -5.61916743e-01 8.16129221e-03 2.61705731e+02] [-5.61901300e-01 8.27193147e-01 4.29264482e-03 -8.89767865e+01] [-9.16307398e-03 -1.03516438e-03 -9.99957482e-01 -9.87257158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.250385723 meters 0.02018623630062384 Centerline is valid? [True, True] Translation: X:261.61, Y:-89.01, Z:-9.87 [[-7.83227703e-01 -6.21685514e-01 7.84132557e-03 2.61608754e+02] [-6.21666902e-01 7.83266287e-01 4.91809167e-03 -8.90074862e+01] [-9.19935231e-03 -1.02270693e-03 -9.99957162e-01 -9.87238191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.310385723 meters 0.019324819061544294 Centerline is valid? [True, True] Translation: X:261.51, Y:-89.05, Z:-9.87 [[-7.30486999e-01 -6.82884397e-01 7.59233690e-03 2.61514927e+02] [-6.82861933e-01 7.30525679e-01 5.64036349e-03 -8.90451621e+01] [-9.39811329e-03 -1.06430565e-03 -9.99955270e-01 -9.87424053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.370385723 meters 0.01794892463256948 Centerline is valid? [True, True] Translation: X:261.41, Y:-89.10, Z:-9.88 [[-6.72431090e-01 -7.40127761e-01 6.87948824e-03 2.61414632e+02] [-7.40105135e-01 6.72465336e-01 5.89590154e-03 -8.90970757e+01] [-8.98993777e-03 -1.12695707e-03 -9.99958955e-01 -9.87656066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43038572300003 meters 0.01793134835560581 Centerline is valid? [True, True] Translation: X:261.32, Y:-89.16, Z:-9.88 [[-6.11753787e-01 -7.91027149e-01 5.77523918e-03 2.61320885e+02] [-7.91008601e-01 6.11779914e-01 5.54338414e-03 -8.91579065e+01] [-7.91814269e-03 -1.17707763e-03 -9.99967958e-01 -9.87909506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.490385723 meters 0.017627167039192416 Centerline is valid? [True, True] Translation: X:261.23, Y:-89.23, Z:-9.88 [[-5.49733201e-01 -8.35330948e-01 3.95161802e-03 2.61234544e+02] [-8.35323305e-01 5.49746040e-01 3.77728282e-03 -8.92285124e+01] [-5.32766759e-03 -1.22438085e-03 -9.99985058e-01 -9.88499185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.550385723 meters 0.0177919979760339 Centerline is valid? [True, True] Translation: X:261.15, Y:-89.31, Z:-9.88 [[-4.85803475e-01 -8.74059820e-01 3.79667695e-03 2.61150782e+02] [-8.74049859e-01 4.85816809e-01 4.34417769e-03 -8.93053492e+01] [-5.64156065e-03 -1.20806833e-03 -9.99983357e-01 -9.88468284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.610385723 meters 0.017644038992389862 Centerline is valid? [True, True] Translation: X:261.07, Y:-89.40, Z:-9.89 [[-4.15758165e-01 -9.09466094e-01 4.07096777e-03 2.61069278e+02] [-9.09446788e-01 4.15776394e-01 6.04402260e-03 -8.93979854e+01] [-7.18944592e-03 -1.18947682e-03 -9.99973448e-01 -9.88636504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.670385723 meters 0.017076838015335865 Centerline is valid? [True, True] Translation: X:260.99, Y:-89.49, Z:-9.89 [[-3.43165042e-01 -9.39268146e-01 3.61999996e-03 2.60994143e+02] [-9.39247032e-01 3.43182037e-01 6.41114666e-03 -8.94882945e+01] [-7.26410479e-03 -1.19999280e-03 -9.99972896e-01 -9.88615323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.730385723 meters 0.017094589842024274 Centerline is valid? [True, True] Translation: X:260.93, Y:-89.59, Z:-9.89 [[-2.70586512e-01 -9.62689184e-01 3.53186654e-03 2.60931300e+02] [-9.62654627e-01 2.70607030e-01 8.24039506e-03 -8.95929580e+01] [-8.88868712e-03 -1.17022792e-03 -9.99959810e-01 -9.88806498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.790385723 meters 0.018187690742488345 Centerline is valid? [True, True] Translation: X:260.88, Y:-89.70, Z:-9.89 [[-1.98521964e-01 -9.80092112e-01 2.91232278e-03 2.60878669e+02] [-9.80054863e-01 1.98540036e-01 8.62087603e-03 -8.97045907e+01] [-9.02746526e-03 -1.14280286e-03 -9.99958599e-01 -9.89205945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.850385723 meters 0.018038010565398166 Centerline is valid? [True, True] Translation: X:260.83, Y:-89.82, Z:-9.89 [[-1.25537586e-01 -9.92086363e-01 2.22757843e-03 2.60828952e+02] [-9.92048749e-01 1.25552386e-01 8.71078550e-03 -8.98163889e+01] [-8.92152930e-03 -1.11633541e-03 -9.99959579e-01 -9.89197235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.910385723 meters 0.01875361982540924 Centerline is valid? [True, True] Translation: X:260.80, Y:-89.94, Z:-9.90 [[-5.09052995e-02 -9.98702274e-01 1.55539729e-03 2.60795928e+02] [-9.98661808e-01 5.09173415e-02 9.05635454e-03 -8.99352821e+01] [-9.12379856e-03 -1.09229943e-03 -9.99957781e-01 -9.89617892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.970385723 meters 0.018316947114497092 Centerline is valid? [True, True] Translation: X:260.77, Y:-90.06, Z:-9.90 [[ 2.53793149e-02 -9.99677476e-01 9.13892061e-04 2.60765510e+02] [-9.99647065e-01 -2.53713421e-02 7.87663411e-03 -9.00563124e+01] [-7.85090703e-03 -1.11347309e-03 -9.99968561e-01 -9.89907180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.030385723 meters 0.017903342097415283 Centerline is valid? [True, True] Translation: X:260.74, Y:-90.18, Z:-9.90 [[ 1.04886243e-01 -9.94484226e-01 8.29766859e-06 2.60744973e+02] [-9.94431868e-01 -1.04880635e-01 1.02622123e-02 -9.01820245e+01] [-1.02047380e-02 -1.08461636e-03 -9.99947342e-01 -9.90053803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.090385723 meters 0.01721363691463017 Centerline is valid? [True, True] Translation: X:260.74, Y:-90.31, Z:-9.90 [[ 1.85380492e-01 -9.82666588e-01 -6.70755413e-04 2.60737447e+02] [-9.82619521e-01 -1.85378223e-01 9.68456606e-03 -9.03116010e+01] [-9.64104294e-03 -1.13623226e-03 -9.99952879e-01 -9.90419693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.150385723 meters 0.016728382810215024 Centerline is valid? [True, True] Translation: X:260.74, Y:-90.44, Z:-9.91 [[ 2.63078773e-01 -9.64773798e-01 -1.03802963e-03 2.60737673e+02] [-9.64738932e-01 -2.63078181e-01 8.28639462e-03 -9.04387707e+01] [-8.26757935e-03 -1.17854693e-03 -9.99965128e-01 -9.90760143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.210385723 meters 0.016258759268643307 Centerline is valid? [True, True] Translation: X:260.75, Y:-90.57, Z:-9.91 [[ 3.40436363e-01 -9.40266914e-01 -1.10135406e-03 2.60750114e+02] [-9.40244269e-01 -3.40435941e-01 6.63969061e-03 -9.05678814e+01] [-6.61802191e-03 -1.22485027e-03 -9.99977351e-01 -9.91160832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.270385723 meters 0.018115249376999046 Centerline is valid? [True, True] Translation: X:260.77, Y:-90.68, Z:-9.91 [[ 4.13745868e-01 -9.10392092e-01 -7.71458562e-04 2.60771809e+02] [-9.10380712e-01 -4.13744696e-01 4.72072495e-03 -9.06839868e+01] [-4.61689755e-03 -1.25085944e-03 -9.99988560e-01 -9.91327055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.330385723 meters 0.01562443030696529 Centerline is valid? [True, True] Translation: X:260.81, Y:-90.81, Z:-9.92 [[ 4.82323832e-01 -8.75992989e-01 6.52713452e-05 2.60806556e+02] [-8.75990337e-01 -4.82322186e-01 2.49773658e-03 -9.08052030e+01] [-2.15651791e-03 -1.26189495e-03 -9.99996879e-01 -9.91919473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.390385723 meters 0.017563887620313707 Centerline is valid? [True, True] Translation: X:260.85, Y:-90.91, Z:-9.92 [[ 5.46376505e-01 -8.37537651e-01 1.84318501e-03 2.60846504e+02] [-8.37538497e-01 -5.46378109e-01 -4.77946005e-04 -9.09112072e+01] [ 1.40737371e-03 -1.28259993e-03 -9.99998187e-01 -9.91973772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.450385723 meters 0.01597727450366009 Centerline is valid? [True, True] Translation: X:260.90, Y:-91.02, Z:-9.93 [[ 6.09146025e-01 -7.93045357e-01 4.49244240e-03 2.60900894e+02] [-7.93037820e-01 -6.09161182e-01 -3.69743712e-03 -9.10177805e+01] [ 5.66885686e-03 -1.31039760e-03 -9.99983073e-01 -9.92987029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.510385723 meters 0.01606372949006052 Centerline is valid? [True, True] Translation: X:260.96, Y:-91.13, Z:-9.93 [[ 6.68756402e-01 -7.43456399e-01 6.12032221e-03 2.60962674e+02] [-7.43441797e-01 -6.68783119e-01 -4.84091493e-03 -9.11257737e+01] [ 7.69217736e-03 -1.31271050e-03 -9.99969553e-01 -9.93138330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.570385723 meters 0.016222523123354267 Centerline is valid? [True, True] Translation: X:261.04, Y:-91.22, Z:-9.94 [[ 7.23517297e-01 -6.90269943e-01 7.08005259e-03 2.61035649e+02] [-6.90253516e-01 -7.23550746e-01 -4.93973584e-03 -9.12235728e+01] [ 8.53252850e-03 -1.31304687e-03 -9.99962735e-01 -9.93597239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.630385723 meters 0.018450241840950652 Centerline is valid? [True, True] Translation: X:261.06, Y:-91.25, Z:-9.93 [[ 7.73765378e-01 -6.33421032e-01 8.05834910e-03 2.61060644e+02] [-6.33404058e-01 -7.73806136e-01 -4.83360122e-03 -9.12469158e+01] [ 9.29730466e-03 -1.36411775e-03 -9.99955849e-01 -9.93279943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.690385723 meters 0.016347328002797784 Centerline is valid? [True, True] Translation: X:261.08, Y:-91.27, Z:-9.93 [[ 8.19702911e-01 -5.72734503e-01 7.89472560e-03 2.61084133e+02] [-5.72723259e-01 -8.19739780e-01 -3.84218988e-03 -9.12741664e+01] [ 8.67217534e-03 -1.37203875e-03 -9.99961455e-01 -9.93410503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.750385723 meters 0.016958670601467017 Centerline is valid? [True, True] Translation: X:261.11, Y:-91.29, Z:-9.93 [[ 8.59251092e-01 -5.11514363e-01 6.37325046e-03 2.61111390e+02] [-5.11511554e-01 -8.59273617e-01 -2.18652328e-03 -9.12877697e+01] [ 6.59480404e-03 -1.38121873e-03 -9.99977300e-01 -9.93433954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.810385723 meters 0.018304491394955054 Centerline is valid? [True, True] Translation: X:261.14, Y:-91.30, Z:-9.93 [[ 8.94782310e-01 -4.46471442e-01 5.27909236e-03 2.61136000e+02] [-4.46472223e-01 -8.94796823e-01 -1.09518034e-03 -9.13013509e+01] [ 5.21268182e-03 -1.37702011e-03 -9.99985466e-01 -9.93317959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.870385723 meters 0.017999530083624468 Centerline is valid? [True, True] Translation: X:261.16, Y:-91.32, Z:-9.93 [[ 9.26006513e-01 -3.77499398e-01 2.47829498e-03 2.61159415e+02] [-3.77501468e-01 -9.26008895e-01 4.10840308e-04 -9.13189425e+01] [ 2.13983123e-03 -1.31600080e-03 -9.99996845e-01 -9.92734562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93038572300003 meters 0.0168915112756355 Centerline is valid? [True, True] Translation: X:261.18, Y:-91.34, Z:-9.92 [[ 9.53547254e-01 -3.01241612e-01 1.06098837e-03 2.61181356e+02] [-3.01242646e-01 -9.53546989e-01 1.00427918e-03 -9.13425070e+01] [ 7.09171587e-04 -1.27724260e-03 -9.99998933e-01 -9.92459614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.990385723 meters 0.016123149174861868 Centerline is valid? [True, True] Translation: X:261.20, Y:-91.37, Z:-9.92 [[ 9.75012806e-01 -2.22127830e-01 -3.04212649e-03 2.61204582e+02] [-2.22122730e-01 -9.75016810e-01 1.92692191e-03 -9.13661063e+01] [-3.39414745e-03 -1.20304810e-03 -9.99993516e-01 -9.92035564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.050385723 meters 0.01549221102476193 Centerline is valid? [True, True] Translation: X:261.23, Y:-91.39, Z:-9.91 [[ 9.89801864e-01 -1.42157301e-01 -9.14170846e-03 2.61226851e+02] [-1.42140599e-01 -9.89843434e-01 2.45483577e-03 -9.13855242e+01] [-9.39783292e-03 -1.13039310e-03 -9.99955200e-01 -9.91362474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.110385723 meters 0.015142847058726282 Centerline is valid? [True, True] Translation: X:261.25, Y:-91.40, Z:-9.91 [[ 9.97921196e-01 -6.34602599e-02 -1.12286288e-02 2.61251408e+02] [-6.34437046e-02 -9.97983751e-01 1.82484882e-03 -9.13991759e+01] [-1.13217944e-02 -1.10866951e-03 -9.99935292e-01 -9.91150359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.170385723 meters 0.01458754519283229 Centerline is valid? [True, True] Translation: X:261.28, Y:-91.42, Z:-9.90 [[ 9.99719004e-01 1.64131523e-02 -1.71032622e-02 2.61277260e+02] [ 1.64288484e-02 -9.99864735e-01 7.77617170e-04 -9.14170625e+01] [-1.70881856e-02 -1.05838557e-03 -9.99853426e-01 -9.90410944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.230385723 meters 0.01421320250202752 Centerline is valid? [True, True] Translation: X:261.31, Y:-91.43, Z:-9.90 [[ 9.94957695e-01 9.71350855e-02 -2.49791878e-02 2.61305663e+02] [ 9.71303583e-02 -9.95270676e-01 -1.40535712e-03 -9.14323599e+01] [-2.49975626e-02 -1.02796658e-03 -9.99686984e-01 -9.89595175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.290385723 meters 0.013884726532305559 Centerline is valid? [True, True] Translation: X:261.34, Y:-91.45, Z:-9.89 [[ 9.83136765e-01 1.80258670e-01 -3.08044531e-02 2.61335973e+02] [ 1.80206591e-01 -9.83618575e-01 -4.48152656e-03 -9.14466729e+01] [-3.11076662e-02 -1.14521194e-03 -9.99515383e-01 -9.88981542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.350385723 meters 0.014485335178024576 Centerline is valid? [True, True] Translation: X:261.37, Y:-91.46, Z:-9.88 [[ 9.64885550e-01 2.60513151e-01 -3.35972278e-02 2.61366359e+02] [ 2.60400776e-01 -9.65469469e-01 -7.75504659e-03 -9.14559007e+01] [-3.44573893e-02 -1.26601178e-03 -9.99405366e-01 -9.88214956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.410385723 meters 0.014322855071446072 Centerline is valid? [True, True] Translation: X:261.40, Y:-91.46, Z:-9.88 [[ 9.39668949e-01 3.40118608e-01 -3.66278541e-02 2.61397284e+02] [ 3.39920610e-01 -9.40381411e-01 -1.16953224e-02 -9.14603756e+01] [-3.84219499e-02 -1.46083115e-03 -9.99260536e-01 -9.88133548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.470385723 meters 0.014662881551677092 Centerline is valid? [True, True] Translation: X:261.43, Y:-91.46, Z:-9.88 [[ 9.08338302e-01 4.16564673e-01 -3.73550725e-02 2.61430262e+02] [ 4.16286276e-01 -9.09104607e-01 -1.53150422e-02 -9.14636035e+01] [-4.03393741e-02 -1.63916455e-03 -9.99184692e-01 -9.88008612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.530385723 meters 0.015827879351213006 Centerline is valid? [True, True] Translation: X:261.46, Y:-91.47, Z:-9.87 [[ 8.72370241e-01 4.87463783e-01 -3.67317798e-02 2.61462896e+02] [ 4.87112835e-01 -8.73141569e-01 -1.85711222e-02 -9.14651155e+01] [-4.11247933e-02 -1.69162707e-03 -9.99152586e-01 -9.87451116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.590385723 meters 0.016435891179077945 Centerline is valid? [True, True] Translation: X:261.49, Y:-91.46, Z:-9.88 [[ 8.32999219e-01 5.52142939e-01 -3.53620756e-02 2.61491380e+02] [ 5.51725625e-01 -8.33747965e-01 -2.15212813e-02 -9.14554035e+01] [-4.13658820e-02 -1.58295277e-03 -9.99142812e-01 -9.87833744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.650385723 meters 0.014252309603597425 Centerline is valid? [True, True] Translation: X:261.52, Y:-91.45, Z:-9.88 [[ 7.90138759e-01 6.12118672e-01 -3.14876552e-02 2.61520043e+02] [ 6.11701783e-01 -7.90764709e-01 -2.26297075e-02 -9.14460107e+01] [-3.87513930e-02 -1.38044577e-03 -9.99247929e-01 -9.88136409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.710385723 meters 0.016161949460660237 Centerline is valid? [True, True] Translation: X:261.55, Y:-91.44, Z:-9.88 [[ 7.42587764e-01 6.69067386e-01 -3.02034082e-02 2.61550889e+02] [ 6.68580271e-01 -7.43200749e-01 -2.55551898e-02 -9.14363297e+01] [-3.95453397e-02 -1.21643162e-03 -9.99217037e-01 -9.87994355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.770385723 meters 0.013710259646566728 Centerline is valid? [True, True] Translation: X:261.58, Y:-91.42, Z:-9.89 [[ 6.89040576e-01 7.24210972e-01 -2.72314668e-02 2.61577496e+02] [ 7.23711293e-01 -6.89577501e-01 -2.69227393e-02 -9.14216441e+01] [-3.82759500e-02 -1.15686032e-03 -9.99266538e-01 -9.88703958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.830385723 meters 0.014087784066093982 Centerline is valid? [True, True] Translation: X:261.61, Y:-91.41, Z:-9.89 [[ 6.29828129e-01 7.76366798e-01 -2.38981807e-02 2.61606727e+02] [ 7.75877985e-01 -6.30280262e-01 -2.75707052e-02 -9.14085704e+01] [-3.64675317e-02 -1.17726662e-03 -9.99334145e-01 -9.88583301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.890385723 meters 0.0138688681967984 Centerline is valid? [True, True] Translation: X:261.63, Y:-91.39, Z:-9.89 [[ 5.62789595e-01 8.26362213e-01 -1.98334279e-02 2.61629596e+02] [ 8.25931816e-01 -5.63137338e-01 -2.67015847e-02 -9.13888762e+01] [-3.32341244e-02 -1.35368509e-03 -9.99446677e-01 -9.89146426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.950385723 meters 0.01392515924417893 Centerline is valid? [True, True] Translation: X:261.66, Y:-91.37, Z:-9.90 [[ 4.89973551e-01 8.71577821e-01 -1.66739843e-02 2.61657081e+02] [ 8.71178149e-01 -4.90254660e-01 -2.64386411e-02 -9.13699469e+01] [-3.12178317e-02 -1.57177590e-03 -9.99511369e-01 -9.89817449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.010385723 meters 0.015034996880752327 Centerline is valid? [True, True] Translation: X:261.68, Y:-91.35, Z:-9.90 [[ 4.14900261e-01 9.09758331e-01 -1.40553450e-02 2.61682298e+02] [ 9.09370082e-01 -4.15134653e-01 -2.66322082e-02 -9.13482997e+01] [-3.00637341e-02 -1.73180014e-03 -9.99546484e-01 -9.90170386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.070385723 meters 0.01520651032118792 Centerline is valid? [True, True] Translation: X:261.70, Y:-91.32, Z:-9.91 [[ 3.42579256e-01 9.39429985e-01 -1.05241131e-02 2.61699387e+02] [ 9.39124360e-01 -3.42736873e-01 -2.40181634e-02 -9.13239596e+01] [-2.61703845e-02 -1.65532640e-03 -9.99656126e-01 -9.90644279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.130385723 meters 0.01466695357231195 Centerline is valid? [True, True] Translation: X:261.71, Y:-91.30, Z:-9.91 [[ 2.72070734e-01 9.62241000e-01 -8.35306707e-03 2.61707674e+02] [ 9.61945013e-01 -2.72194637e-01 -2.39138415e-02 -9.12963015e+01] [-2.52845388e-02 -1.52893480e-03 -9.99679126e-01 -9.90949375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.190385723 meters 0.013577379690109928 Centerline is valid? [True, True] Translation: X:261.72, Y:-91.27, Z:-9.91 [[ 1.98641748e-01 9.80049183e-01 -6.71222611e-03 2.61719547e+02] [ 9.79712858e-01 -1.98749700e-01 -2.57152379e-02 -9.12688461e+01] [-2.65362508e-02 -1.46793442e-03 -9.99646774e-01 -9.91240861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.250385723 meters 0.013129885879677238 Centerline is valid? [True, True] Translation: X:261.73, Y:-91.24, Z:-9.92 [[ 1.25562461e-01 9.92075393e-01 -4.52576471e-03 2.61732086e+02] [ 9.91759987e-01 -1.25636819e-01 -2.50503103e-02 -9.12412485e+01] [-2.54203991e-02 -1.34309375e-03 -9.99675947e-01 -9.91505965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.310385723 meters 0.013173063508166858 Centerline is valid? [True, True] Translation: X:261.74, Y:-91.21, Z:-9.92 [[ 4.90209833e-02 9.98794621e-01 -2.49970850e-03 2.61744786e+02] [ 9.98495794e-01 -4.90675454e-02 -2.44647870e-02 -9.12146812e+01] [-2.45579523e-02 -1.29666051e-03 -9.99697567e-01 -9.91710418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.370385723 meters 0.013223289455341907 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.19, Z:-9.92 [[-2.74591256e-02 9.99622794e-01 -5.16846584e-04 2.61748581e+02] [ 9.99263334e-01 2.74353769e-02 -2.68344948e-02 -9.11870542e+01] [-2.68101928e-02 -1.25331761e-03 -9.99639756e-01 -9.91850495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43038572300003 meters 0.013231834388345715 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.16, Z:-9.92 [[-1.00964583e-01 9.94889004e-01 1.42200377e-03 2.61750509e+02] [ 9.94571335e-01 1.00968313e-01 -2.51646437e-02 -9.11592860e+01] [-2.51796046e-02 -1.12645356e-03 -9.99682309e-01 -9.92145399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.490385723 meters 0.013552029547064718 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.13, Z:-9.93 [[-1.72209541e-01 9.85056362e-01 2.79964232e-03 2.61751814e+02] [ 9.84816859e-01 1.72229467e-01 -2.17431593e-02 -9.11322092e+01] [-2.19004183e-02 -9.87244517e-04 -9.99759670e-01 -9.92525651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.550385723 meters 0.014516281253148123 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.11, Z:-9.93 [[-2.43533571e-01 9.69883833e-01 4.09270593e-03 2.61746857e+02] [ 9.69679427e-01 2.43566350e-01 -1.99309317e-02 -9.11076162e+01] [-2.03275339e-02 -8.85238225e-04 -9.99792982e-01 -9.92987224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.610385723 meters 0.014900774594575108 Centerline is valid? [True, True] Translation: X:261.75, Y:-91.08, Z:-9.93 [[-3.17335384e-01 9.48294037e-01 6.05589013e-03 2.61745304e+02] [ 9.48068147e-01 3.17392073e-01 -2.07137703e-02 -9.10811119e+01] [-2.15648364e-02 -8.31815723e-04 -9.99767106e-01 -9.93032874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.670385723 meters 0.013877123578946321 Centerline is valid? [True, True] Translation: X:261.76, Y:-91.05, Z:-9.93 [[-3.92157239e-01 9.19867134e-01 7.56008051e-03 2.61755981e+02] [ 9.19651404e-01 3.92229147e-01 -1.99397030e-02 -9.10474876e+01] [-2.13071614e-02 -8.66860233e-04 -9.99772601e-01 -9.93106231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.730385723 meters 0.01577617759206394 Centerline is valid? [True, True] Translation: X:261.76, Y:-91.02, Z:-9.93 [[-4.64940146e-01 8.85297339e-01 8.90404942e-03 2.61757458e+02] [ 8.85095682e-01 4.65024500e-01 -1.89168623e-02 -9.10157552e+01] [-2.08876490e-02 -9.14273017e-04 -9.99781411e-01 -9.93308820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.790385723 meters 0.013092685893461013 Centerline is valid? [True, True] Translation: X:261.76, Y:-90.98, Z:-9.94 [[-5.36426299e-01 8.43890383e-01 9.79014674e-03 2.61761850e+02] [ 8.43714172e-01 5.36514687e-01 -1.72738777e-02 -9.09808208e+01] [-1.98298168e-02 -1.00607676e-03 -9.99802864e-01 -9.93669108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.850385723 meters 0.012799182139244844 Centerline is valid? [True, True] Translation: X:261.76, Y:-90.95, Z:-9.94 [[-6.04844500e-01 7.96260371e-01 1.15131094e-02 2.61761195e+02] [ 7.96080243e-01 6.04953066e-01 -1.69715798e-02 -9.09468374e+01] [-2.04786873e-02 -1.09980783e-03 -9.99789685e-01 -9.93848541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.910385723 meters 0.012848266766926004 Centerline is valid? [True, True] Translation: X:261.76, Y:-90.91, Z:-9.94 [[-6.66681140e-01 7.45241750e-01 1.22878604e-02 2.61756210e+02] [ 7.45082804e-01 6.66793408e-01 -1.54326107e-02 -9.09128640e+01] [-1.96944901e-02 -1.13315699e-03 -9.99805403e-01 -9.93962341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.970385723 meters 0.012681898389609288 Centerline is valid? [True, True] Translation: X:261.75, Y:-90.88, Z:-9.94 [[-7.22949638e-01 6.90783833e-01 1.27089290e-02 2.61747060e+02] [ 6.90648834e-01 7.23060455e-01 -1.37028213e-02 -9.08792236e+01] [-1.86550114e-02 -1.12904274e-03 -9.99825343e-01 -9.94076374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.030385723 meters 0.012739297806489224 Centerline is valid? [True, True] Translation: X:262.21, Y:-90.42, Z:-10.93 [[-6.76625639e-01 -7.36295118e-01 -6.87342657e-03 2.62208070e+02] [ 7.36264419e-01 -6.76660365e-01 6.74210005e-03 -9.04227732e+01] [-9.61515069e-03 -4.98781665e-04 9.99953649e-01 -1.09310420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.090385723 meters 0.012947611042157175 Centerline is valid? [True, True] Translation: X:262.17, Y:-90.38, Z:-10.93 [[-6.77943884e-01 -7.35091449e-01 -5.71416504e-03 2.62166058e+02] [ 7.35064950e-01 -6.77967964e-01 6.24178080e-03 -9.03841140e+01] [-8.46230054e-03 3.12946792e-05 9.99964194e-01 -1.09328590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.150385723 meters 0.013254760650793574 Centerline is valid? [True, True] Translation: X:262.12, Y:-90.35, Z:-10.94 [[-6.80932634e-01 -7.32333924e-01 -4.21565115e-03 2.62120942e+02] [ 7.32319456e-01 -6.80945682e-01 4.60359895e-03 -9.03465979e+01] [-6.24200113e-03 4.75374002e-05 9.99980517e-01 -1.09362727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.210385723 meters 0.013265688599840142 Centerline is valid? [True, True] Translation: X:262.08, Y:-90.31, Z:-10.94 [[-6.81849266e-01 -7.31486286e-01 -3.06441306e-03 2.62075649e+02] [ 7.31478634e-01 -6.81856151e-01 3.34624070e-03 -9.03092571e+01] [-4.53721808e-03 4.00790893e-05 9.99989706e-01 -1.09370991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.270385723 meters 0.012855976020795211 Centerline is valid? [True, True] Translation: X:262.03, Y:-90.28, Z:-10.94 [[-6.78192513e-01 -7.34879269e-01 -2.71570601e-03 2.62025964e+02] [ 7.34873290e-01 -6.78197950e-01 2.96460204e-03 -9.02758088e+01] [-4.02041083e-03 1.48711000e-05 9.99991918e-01 -1.09368724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.330385723 meters 0.013256122546530308 Centerline is valid? [True, True] Translation: X:261.98, Y:-90.24, Z:-10.94 [[-6.71455607e-01 -7.41040519e-01 -2.51345745e-03 2.61975516e+02] [ 7.41035445e-01 -6.71460311e-01 2.74222893e-03 -9.02435719e+01] [-3.71978967e-03 -2.12760750e-05 9.99993081e-01 -1.09382698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.390385723 meters 0.014182288554206324 Centerline is valid? [True, True] Translation: X:261.93, Y:-90.21, Z:-10.94 [[-6.65794593e-01 -7.46131812e-01 -2.20892679e-03 2.61929001e+02] [ 7.46127921e-01 -6.65798256e-01 2.40990036e-03 -9.02076763e+01] [-3.26880293e-03 -4.36433248e-05 9.99994656e-01 -1.09388006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.450385723 meters 0.0171492429968287 Centerline is valid? [True, True] Translation: X:261.88, Y:-90.17, Z:-10.94 [[-6.63209241e-01 -7.48433543e-01 -8.57017277e-04 2.61884647e+02] [ 7.48432956e-01 -6.63209794e-01 9.38098222e-04 -9.01706944e+01] [-1.27048643e-03 -1.92645642e-05 9.99999193e-01 -1.09418429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.510385723 meters 0.017130682112654873 Centerline is valid? [True, True] Translation: X:261.84, Y:-90.13, Z:-10.94 [[-6.61552166e-01 -7.49898792e-01 -7.30332594e-04 2.61843301e+02] [ 7.49898366e-01 -6.61552569e-01 7.99684314e-04 -9.01293480e+01] [-1.08283570e-03 -1.86423289e-05 9.99999414e-01 -1.09407053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.570385723 meters 0.01694978859774413 Centerline is valid? [True, True] Translation: X:261.80, Y:-90.09, Z:-10.94 [[-6.61236140e-01 -7.50177131e-01 -1.01972084e-03 2.61803006e+02] [ 7.50176304e-01 -6.61236925e-01 1.11426377e-03 -9.00893381e+01] [-1.51017226e-03 -2.81789371e-05 9.99998859e-01 -1.09413761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.630385723 meters 0.018474096458282307 Centerline is valid? [True, True] Translation: X:261.77, Y:-90.05, Z:-10.94 [[-6.61447111e-01 -7.49991755e-01 -2.94240320e-04 2.61765993e+02] [ 7.49991684e-01 -6.61447177e-01 3.26443057e-04 -9.00475756e+01] [-4.39454030e-04 -4.75297558e-06 9.99999903e-01 -1.09431028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.690385723 meters 0.01792043781982556 Centerline is valid? [True, True] Translation: X:261.73, Y:-90.00, Z:-10.94 [[-6.61837133e-01 -7.49647565e-01 -3.71864120e-04 2.61729105e+02] [ 7.49647453e-01 -6.61837237e-01 4.10045378e-04 -9.00032191e+01] [-5.53503041e-04 -7.38373327e-06 9.99999847e-01 -1.09423743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.750385723 meters 0.01627047936995016 Centerline is valid? [True, True] Translation: X:261.69, Y:-89.96, Z:-10.94 [[-6.62515764e-01 -7.49046124e-01 -1.66345766e-03 2.61694536e+02] [ 7.49043939e-01 -6.62517850e-01 1.80976766e-03 -8.99558219e+01] [-2.45766985e-03 -4.70032716e-05 9.99996979e-01 -1.09390181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.810385723 meters 0.01584535656334852 Centerline is valid? [True, True] Translation: X:261.66, Y:-89.91, Z:-10.94 [[-6.64072906e-01 -7.47667524e-01 -6.69846365e-04 2.61661593e+02] [ 7.47667166e-01 -6.64073244e-01 7.31920292e-04 -8.99076404e+01] [-9.92060081e-04 -1.47736987e-05 9.99999508e-01 -1.09386921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.870385723 meters 0.01601149786726791 Centerline is valid? [True, True] Translation: X:261.63, Y:-89.86, Z:-10.94 [[-6.65387045e-01 -7.46497806e-01 1.05219585e-03 2.61627782e+02] [ 7.46496947e-01 -6.65387876e-01 -1.13265835e-03 -8.98620717e+01] [ 1.54564533e-03 3.18047992e-05 9.99998805e-01 -1.09409944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93038572300003 meters 0.017114259808907937 Centerline is valid? [True, True] Translation: X:261.59, Y:-89.82, Z:-10.94 [[-6.65931146e-01 -7.46010380e-01 2.05488216e-03 2.61593338e+02] [ 7.46007084e-01 -6.65934314e-01 -2.21821045e-03 -8.98160714e+01] [ 3.02322456e-03 5.57812210e-05 9.99995428e-01 -1.09423399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.990385723 meters 0.01623494791992933 Centerline is valid? [True, True] Translation: X:261.56, Y:-89.77, Z:-10.94 [[-6.67125742e-01 -7.44938801e-01 3.07039079e-03 2.61561404e+02] [ 7.44931428e-01 -6.67132803e-01 -3.31514459e-03 -8.97680428e+01] [ 4.51793825e-03 7.56123050e-05 9.99989791e-01 -1.09417889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.050385723 meters 0.015547308128657572 Centerline is valid? [True, True] Translation: X:261.53, Y:-89.72, Z:-10.94 [[-6.68172616e-01 -7.43999656e-01 3.14121107e-03 2.61527560e+02] [ 7.43991935e-01 -6.68179996e-01 -3.39030170e-03 -8.97201492e+01] [ 4.62127770e-03 7.17289431e-05 9.99989319e-01 -1.09405655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.110385723 meters 0.015648067763699175 Centerline is valid? [True, True] Translation: X:261.50, Y:-89.67, Z:-10.94 [[-6.69136840e-01 -7.43133108e-01 3.01216264e-03 2.61496351e+02] [ 7.43126014e-01 -6.69143617e-01 -3.24764407e-03 -8.96717712e+01] [ 4.42900124e-03 6.52981240e-05 9.99990190e-01 -1.09397755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.170385723 meters 0.01599949088275033 Centerline is valid? [True, True] Translation: X:261.46, Y:-89.63, Z:-10.94 [[-6.69111654e-01 -7.43157905e-01 2.43379763e-03 2.61462790e+02] [ 7.43153282e-01 -6.69116078e-01 -2.62162618e-03 -8.96255141e+01] [ 3.57677535e-03 5.45240652e-05 9.99993602e-01 -1.09405306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.230385723 meters 0.016570550428979168 Centerline is valid? [True, True] Translation: X:261.43, Y:-89.58, Z:-10.94 [[-6.66950247e-01 -7.45100421e-01 1.65244481e-03 2.61429270e+02] [ 7.45098302e-01 -6.66952292e-01 -1.77774947e-03 -8.95767733e+01] [ 2.42670373e-03 4.55633787e-05 9.99997055e-01 -1.09390649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.290385723 meters 0.01756870875136621 Centerline is valid? [True, True] Translation: X:261.40, Y:-89.53, Z:-10.94 [[-6.63788189e-01 -7.47919882e-01 1.04355711e-03 2.61395826e+02] [ 7.47919045e-01 -6.63789009e-01 -1.11997955e-03 -8.95285111e+01] [ 1.53035671e-03 3.70670410e-05 9.99998828e-01 -1.09392523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.350385723 meters 0.018061853125094583 Centerline is valid? [True, True] Translation: X:261.36, Y:-89.48, Z:-10.94 [[-6.61025810e-01 -7.50361739e-01 1.46233146e-03 2.61362468e+02] [ 7.50360099e-01 -6.61027425e-01 -1.57021607e-03 -8.94812207e+01] [ 2.14487127e-03 5.93218303e-05 9.99997698e-01 -1.09421405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.410385723 meters 0.017988253906077556 Centerline is valid? [True, True] Translation: X:261.33, Y:-89.43, Z:-10.94 [[-6.61031726e-01 -7.50357559e-01 7.68896439e-04 2.61334027e+02] [ 7.50357110e-01 -6.61032172e-01 -8.21749214e-04 -8.94294099e+01] [ 1.12487102e-03 3.37446086e-05 9.99999367e-01 -1.09407636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.470385723 meters 0.017998487168808308 Centerline is valid? [True, True] Translation: X:261.30, Y:-89.38, Z:-10.94 [[-6.60510342e-01 -7.50816755e-01 -5.36916763e-04 2.61302602e+02] [ 7.50816528e-01 -6.60510560e-01 5.84104629e-04 -8.93790387e+01] [-7.93194734e-04 -1.73188312e-05 9.99999685e-01 -1.09407804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.530385723 meters 0.01835495990940851 Centerline is valid? [True, True] Translation: X:261.27, Y:-89.33, Z:-10.94 [[-6.61050038e-01 -7.50340305e-01 -1.50789529e-03 2.61269486e+02] [ 7.50338538e-01 -6.61051756e-01 1.62926648e-03 -8.93314723e+01] [-2.21930114e-03 -5.44052847e-05 9.99997536e-01 -1.09436601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.590385723 meters 0.016230480760662594 Centerline is valid? [True, True] Translation: X:261.24, Y:-89.28, Z:-10.94 [[-6.67761512e-01 -7.44374728e-01 -9.09930256e-04 2.61242432e+02] [ 7.44374079e-01 -6.67762131e-01 9.83199571e-04 -8.92780753e+01] [-1.33948588e-03 -2.07856638e-05 9.99999103e-01 -1.09446429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.650385723 meters 0.015471183887427555 Centerline is valid? [True, True] Translation: X:261.21, Y:-89.23, Z:-10.94 [[-6.71968487e-01 -7.40579296e-01 -8.12443302e-04 2.61209338e+02] [ 7.40578774e-01 -6.71968978e-01 8.79336109e-04 -8.92294556e+01] [-1.19715481e-03 -1.07921100e-05 9.99999283e-01 -1.09440006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.710385723 meters 0.014997153912335857 Centerline is valid? [True, True] Translation: X:261.17, Y:-89.19, Z:-10.95 [[-6.75737597e-01 -7.37141505e-01 -1.04957395e-03 2.61169933e+02] [ 7.37140633e-01 -6.75738412e-01 1.13335012e-03 -8.91878080e+01] [-1.54467685e-03 -7.83632077e-06 9.99998807e-01 -1.09475146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.770385723 meters 0.014682684266027613 Centerline is valid? [True, True] Translation: X:261.13, Y:-89.15, Z:-10.95 [[-6.77180345e-01 -7.35815711e-01 -1.42151460e-03 2.61125787e+02] [ 7.35814114e-01 -6.77181837e-01 1.53283474e-03 -8.91507544e+01] [-2.09050775e-03 -7.96495026e-06 9.99997815e-01 -1.09522694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.830385723 meters 0.014584327987125728 Centerline is valid? [True, True] Translation: X:261.09, Y:-89.11, Z:-10.95 [[-6.78332976e-01 -7.34753499e-01 -1.29207403e-03 2.61089534e+02] [ 7.34752179e-01 -6.78334206e-01 1.39295349e-03 -8.91063494e+01] [-1.89993546e-03 -4.46792059e-06 9.99998195e-01 -1.09519959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.890385723 meters 0.014613476795689986 Centerline is valid? [True, True] Translation: X:261.05, Y:-89.06, Z:-10.95 [[-6.79047339e-01 -7.34093644e-01 -1.11024524e-03 2.61051773e+02] [ 7.34092668e-01 -6.79048247e-01 1.19710817e-03 -8.90633769e+01] [-1.63269958e-03 -2.12977239e-06 9.99998667e-01 -1.09530447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.950385723 meters 0.014433500297113693 Centerline is valid? [True, True] Translation: X:261.01, Y:-89.02, Z:-10.96 [[-6.81940545e-01 -7.31407538e-01 -3.26480153e-04 2.61013354e+02] [ 7.31407451e-01 -6.81940623e-01 3.56389199e-04 -8.90204413e+01] [-4.83305826e-04 4.24622789e-06 9.99999883e-01 -1.09570744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.010385723 meters 0.01431574518325964 Centerline is valid? [True, True] Translation: X:260.97, Y:-88.98, Z:-10.96 [[-6.83287543e-01 -7.30148224e-01 -1.30564564e-03 2.60973310e+02] [ 7.30146875e-01 -6.83288790e-01 1.40356306e-03 -8.89788302e+01] [-1.91694210e-03 5.72407009e-06 9.99998163e-01 -1.09563743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.070385723 meters 0.01437930485996503 Centerline is valid? [True, True] Translation: X:260.94, Y:-88.94, Z:-10.96 [[-6.82093517e-01 -7.31256310e-01 -3.55575646e-03 2.60935610e+02] [ 7.31246368e-01 -6.82102785e-01 3.81305945e-03 -8.89372451e+01] [-5.21371517e-03 7.29129485e-07 9.99986408e-01 -1.09557166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.130385723 meters 0.014324901200079919 Centerline is valid? [True, True] Translation: X:260.89, Y:-88.90, Z:-10.96 [[-6.80289753e-01 -7.32932899e-01 -3.90102557e-03 2.60893773e+02] [ 7.32920970e-01 -6.80300937e-01 4.18169734e-03 -8.88981631e+01] [-5.71877491e-03 -1.43775962e-05 9.99983648e-01 -1.09562809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.190385723 meters 0.014761515164952301 Centerline is valid? [True, True] Translation: X:260.85, Y:-88.86, Z:-10.96 [[-6.77257775e-01 -7.35732042e-01 -4.50207898e-03 2.60850221e+02] [ 7.35716241e-01 -6.77272737e-01 4.82195878e-03 -8.88609844e+01] [-6.59680493e-03 -4.65435440e-05 9.99978240e-01 -1.09599564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.250385723 meters 0.014972728915277433 Centerline is valid? [True, True] Translation: X:260.81, Y:-88.82, Z:-10.96 [[-6.76650330e-01 -7.36287365e-01 -5.02454665e-03 2.60812989e+02] [ 7.36267730e-01 -6.76668983e-01 5.37759141e-03 -8.88169625e+01] [-7.35940748e-03 -6.06625495e-05 9.99972917e-01 -1.09588317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.310385723 meters 0.014949981272540568 Centerline is valid? [True, True] Translation: X:260.78, Y:-88.77, Z:-10.96 [[-6.77886757e-01 -7.35144766e-01 -5.63183583e-03 2.60777089e+02] [ 7.35120095e-01 -6.77910148e-01 6.02296948e-03 -8.87725001e+01] [-8.24563316e-03 -5.71844460e-05 9.99966003e-01 -1.09585600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.370385723 meters 0.014707385243205499 Centerline is valid? [True, True] Translation: X:260.74, Y:-88.73, Z:-10.96 [[-6.80096932e-01 -7.33098367e-01 -5.91162351e-03 2.60738572e+02] [ 7.33071142e-01 -6.80122624e-01 6.31798238e-03 -8.87296295e+01] [-8.65233145e-03 -3.68001662e-05 9.99962567e-01 -1.09617933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43038572300003 meters 0.014568832542354911 Centerline is valid? [True, True] Translation: X:260.70, Y:-88.69, Z:-10.96 [[-6.81819842e-01 -7.31490631e-01 -6.56964971e-03 2.60701676e+02] [ 7.31456983e-01 -6.81851491e-01 7.01616588e-03 -8.86850248e+01] [-9.61178506e-03 -2.16550446e-05 9.99953805e-01 -1.09614967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.490385723 meters 0.01458017374381999 Centerline is valid? [True, True] Translation: X:260.66, Y:-88.64, Z:-10.96 [[-6.82864563e-01 -7.30499581e-01 -8.14558606e-03 2.60664106e+02] [ 7.30447859e-01 -6.82913144e-01 8.69268557e-03 -8.86436903e+01] [-1.19127309e-02 -1.39989604e-05 9.99929041e-01 -1.09607636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.550385723 meters 0.014516876316726851 Centerline is valid? [True, True] Translation: X:260.62, Y:-88.60, Z:-10.96 [[-6.84145561e-01 -7.29300601e-01 -8.09222899e-03 2.60624423e+02] [ 7.29249538e-01 -6.84193418e-01 8.63002766e-03 -8.86028660e+01] [-1.18305342e-02 2.94086457e-06 9.99930017e-01 -1.09621885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.610385723 meters 0.014516727962315049 Centerline is valid? [True, True] Translation: X:260.58, Y:-88.56, Z:-10.96 [[-6.85438191e-01 -7.28081133e-01 -8.50583219e-03 2.60584454e+02] [ 7.28024695e-01 -6.85490965e-01 9.06537957e-03 -8.85613214e+01] [-1.24310029e-02 2.13014939e-05 9.99922732e-01 -1.09627759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.670385723 meters 0.014507050137411274 Centerline is valid? [True, True] Translation: X:260.54, Y:-88.52, Z:-10.97 [[-6.86821854e-01 -7.26774567e-01 -8.62957938e-03 2.60543204e+02] [ 7.26716443e-01 -6.86876064e-01 9.19149977e-03 -8.85209376e+01] [-1.26075998e-02 4.16656778e-05 9.99920520e-01 -1.09654190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.730385723 meters 0.014480548791624448 Centerline is valid? [True, True] Translation: X:260.50, Y:-88.48, Z:-10.97 [[-6.87440135e-01 -7.26191810e-01 -8.45673541e-03 2.60503908e+02] [ 7.26136014e-01 -6.87492148e-01 9.00202410e-03 -8.84802635e+01] [-1.23511354e-02 4.76125273e-05 9.99923721e-01 -1.09669287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.790385723 meters 0.014468778288881143 Centerline is valid? [True, True] Translation: X:260.46, Y:-88.44, Z:-10.97 [[-6.87423252e-01 -7.26214841e-01 -7.82798208e-03 2.60464390e+02] [ 7.26167091e-01 -6.87467820e-01 8.32781708e-03 -8.84388895e+01] [-1.14292701e-02 4.03121209e-05 9.99934683e-01 -1.09675897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.850385723 meters 0.014543815203672506 Centerline is valid? [True, True] Translation: X:260.43, Y:-88.40, Z:-10.97 [[-6.87212823e-01 -7.26424554e-01 -6.77516498e-03 2.60425231e+02] [ 7.26388829e-01 -6.87246220e-01 7.20433328e-03 -8.83976327e+01] [-9.88961111e-03 2.95060588e-05 9.99951096e-01 -1.09700541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.910385723 meters 0.014477293470383146 Centerline is valid? [True, True] Translation: X:260.38, Y:-88.36, Z:-10.97 [[-6.86194774e-01 -7.27388114e-01 -6.57745534e-03 2.60384387e+02] [ 7.27354526e-01 -6.86226297e-01 6.99014650e-03 -8.83582691e+01] [-9.59817230e-03 1.24600903e-05 9.99953936e-01 -1.09736110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.970385723 meters 0.014577155687918321 Centerline is valid? [True, True] Translation: X:260.35, Y:-88.32, Z:-10.97 [[-6.84601828e-01 -7.28876780e-01 -7.67965646e-03 2.60345129e+02] [ 7.28831155e-01 -6.84644900e-01 8.15524801e-03 -8.83164548e+01] [-1.12020085e-02 -1.40751949e-05 9.99937255e-01 -1.09713339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.030385723 meters 0.014712315267856836 Centerline is valid? [True, True] Translation: X:260.30, Y:-88.28, Z:-10.97 [[-6.83664500e-01 -7.29746676e-01 -8.52299647e-03 2.60304765e+02] [ 7.29690625e-01 -6.83717623e-01 9.04450878e-03 -8.82764853e+01] [-1.24275231e-02 -3.57410516e-05 9.99922775e-01 -1.09713737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.090385723 meters 0.014761429150038077 Centerline is valid? [True, True] Translation: X:260.27, Y:-88.23, Z:-10.97 [[-6.84579189e-01 -7.28883356e-01 -8.96595022e-03 2.60267229e+02] [ 7.28821339e-01 -6.84637899e-01 9.50804282e-03 -8.82337576e+01] [-1.30686835e-02 -2.55676065e-05 9.99914601e-01 -1.09710249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.150385723 meters 0.014844069470835837 Centerline is valid? [True, True] Translation: X:260.23, Y:-88.19, Z:-10.97 [[-6.86155963e-01 -7.27394017e-01 -9.37747897e-03 2.60230147e+02] [ 7.27326128e-01 -6.86220040e-01 9.93783799e-03 -8.81915424e+01] [-1.36637379e-02 -1.57866398e-06 9.99906647e-01 -1.09697497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.210385723 meters 0.014834931916591045 Centerline is valid? [True, True] Translation: X:260.19, Y:-88.15, Z:-10.97 [[-6.88420512e-01 -7.25261054e-01 -8.57915428e-03 2.60190356e+02] [ 7.25204112e-01 -6.88473967e-01 9.08809804e-03 -8.81499420e+01] [-1.24977679e-02 3.47951533e-05 9.99921899e-01 -1.09724572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.270385723 meters 0.015144554964631737 Centerline is valid? [True, True] Translation: X:260.15, Y:-88.11, Z:-10.97 [[-6.91236129e-01 -7.22588399e-01 -7.65635849e-03 2.60152427e+02] [ 7.22542933e-01 -6.91278526e-01 8.10614345e-03 -8.81056336e+01] [-1.11500814e-02 7.12115013e-05 9.99937833e-01 -1.09735159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.330385723 meters 0.015197394689960043 Centerline is valid? [True, True] Translation: X:260.11, Y:-88.06, Z:-10.98 [[-6.92627682e-01 -7.21260199e-01 -7.11467253e-03 2.60111713e+02] [ 7.21220906e-01 -6.92664217e-01 7.52904055e-03 -8.80647949e+01] [-1.03584764e-02 8.35713333e-05 9.99946346e-01 -1.09762050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.390385723 meters 0.015217723559663936 Centerline is valid? [True, True] Translation: X:260.07, Y:-88.03, Z:-10.98 [[-6.92842096e-01 -7.21053228e-01 -7.21610782e-03 2.60071390e+02] [ 7.21012838e-01 -6.92879669e-01 7.63231197e-03 -8.80250167e+01] [-1.05031976e-02 8.50806498e-05 9.99944836e-01 -1.09785581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.450385723 meters 0.015216279696104838 Centerline is valid? [True, True] Translation: X:260.03, Y:-87.98, Z:-10.98 [[-6.92383190e-01 -7.21490396e-01 -7.55825254e-03 2.60034058e+02] [ 7.21446173e-01 -6.92424438e-01 7.98855386e-03 -8.79815311e+01] [-1.09971837e-02 7.82680371e-05 9.99939526e-01 -1.09766275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.510385723 meters 0.015544804314604633 Centerline is valid? [True, True] Translation: X:259.99, Y:-87.94, Z:-10.98 [[-6.92154491e-01 -7.21706318e-01 -7.88355207e-03 2.59992518e+02] [ 7.21658283e-01 -6.92199382e-01 8.32698749e-03 -8.79420314e+01] [-1.14666294e-02 7.43311431e-05 9.99934253e-01 -1.09787643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.570385723 meters 0.014876068609295889 Centerline is valid? [True, True] Translation: X:259.95, Y:-87.91, Z:-10.98 [[-6.87774313e-01 -7.25891429e-01 -6.93738800e-03 2.59949885e+02] [ 7.25854480e-01 -6.87809300e-01 7.32399488e-03 -8.79051375e+01] [-1.00880251e-02 1.72139858e-06 9.99949115e-01 -1.09788806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.630385723 meters 0.014920361564313395 Centerline is valid? [True, True] Translation: X:259.91, Y:-87.87, Z:-10.98 [[-6.86337858e-01 -7.27250509e-01 -6.85875607e-03 2.59908340e+02] [ 7.27214505e-01 -6.86372127e-01 7.23644667e-03 -8.78652687e+01] [-9.97036851e-03 -2.11395990e-05 9.99950294e-01 -1.09794000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.690385723 meters 0.014890752778997979 Centerline is valid? [True, True] Translation: X:259.87, Y:-87.83, Z:-10.98 [[-6.86301354e-01 -7.27274633e-01 -7.87787274e-03 2.59865090e+02] [ 7.27227207e-01 -6.86346565e-01 8.30554686e-03 -8.78276413e+01] [-1.14473644e-02 -2.88953370e-05 9.99934476e-01 -1.09799493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.750385723 meters 0.014858116661915539 Centerline is valid? [True, True] Translation: X:259.82, Y:-87.79, Z:-10.98 [[-6.87187331e-01 -7.26424397e-01 -9.00930275e-03 2.59824407e+02] [ 7.26362387e-01 -6.87246386e-01 9.49147273e-03 -8.77862654e+01] [-1.30864481e-02 -2.15988459e-05 9.99914369e-01 -1.09784427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.810385723 meters 0.014807814468556085 Centerline is valid? [True, True] Translation: X:259.78, Y:-87.74, Z:-10.98 [[-6.88730875e-01 -7.24954619e-01 -9.51751560e-03 2.59784598e+02] [ 7.24885356e-01 -6.88796633e-01 1.00209282e-02 -8.77432986e+01] [-1.38203508e-02 2.61493302e-06 9.99904494e-01 -1.09773499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.870385723 meters 0.014838843012204408 Centerline is valid? [True, True] Translation: X:259.75, Y:-87.70, Z:-10.98 [[-6.90731852e-01 -7.23058533e-01 -8.71008870e-03 2.59745709e+02] [ 7.23000431e-01 -6.90786766e-01 9.16628565e-03 -8.77032799e+01] [-1.26445751e-02 3.40475815e-05 9.99920054e-01 -1.09790847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93038572300003 meters 0.015020749189953237 Centerline is valid? [True, True] Translation: X:259.70, Y:-87.66, Z:-10.98 [[-6.93322092e-01 -7.20595768e-01 -6.79828026e-03 2.59703538e+02] [ 7.20560289e-01 -6.93355418e-01 7.15081048e-03 -8.76630019e+01] [-9.86646822e-03 5.92440879e-05 9.99951323e-01 -1.09838093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.990385723 meters 0.015372203323566433 Centerline is valid? [True, True] Translation: X:259.66, Y:-87.62, Z:-10.98 [[-6.96013553e-01 -7.18005289e-01 -5.79124085e-03 2.59664949e+02] [ 7.17979473e-01 -6.96037641e-01 6.08922796e-03 -8.76201075e+01] [-8.40301950e-03 8.01931332e-05 9.99964691e-01 -1.09827781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.050385723 meters 0.015376395397065043 Centerline is valid? [True, True] Translation: X:259.62, Y:-87.58, Z:-10.98 [[-6.97175583e-01 -7.16870966e-01 -6.49810365e-03 2.59621636e+02] [ 7.16838458e-01 -6.97205858e-01 6.82772794e-03 -8.75813307e+01] [-9.42511585e-03 1.02034614e-04 9.99955577e-01 -1.09832909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.110385723 meters 0.01531753764829234 Centerline is valid? [True, True] Translation: X:259.58, Y:-87.54, Z:-10.99 [[-6.97369693e-01 -7.16685833e-01 -6.07682971e-03 2.59578791e+02] [ 7.16657425e-01 -6.97396162e-01 6.38185062e-03 -8.75419759e+01] [-8.81173965e-03 9.55040784e-05 9.99961171e-01 -1.09852549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.170385723 meters 0.01545685633525877 Centerline is valid? [True, True] Translation: X:259.54, Y:-87.50, Z:-10.98 [[-6.98221755e-01 -7.15850708e-01 -6.64406857e-03 2.59539545e+02] [ 7.15816751e-01 -6.98253357e-01 6.97344881e-03 -8.75019589e+01] [-9.63119145e-03 1.13078091e-04 9.99953613e-01 -1.09835237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.230385723 meters 0.01597038687308799 Centerline is valid? [True, True] Translation: X:259.50, Y:-87.46, Z:-10.99 [[-6.98933041e-01 -7.15155063e-01 -6.77053615e-03 2.59495187e+02] [ 7.15119816e-01 -6.98965822e-01 7.10127783e-03 -8.74647647e+01] [-9.81088816e-03 1.21573141e-04 9.99951865e-01 -1.09863352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.290385723 meters 0.015252738795520512 Centerline is valid? [True, True] Translation: X:259.45, Y:-87.43, Z:-10.99 [[-6.96835874e-01 -7.17212046e-01 -5.16196452e-03 2.59452089e+02] [ 7.17191628e-01 -6.96854989e-01 5.41230172e-03 -8.74269187e+01] [-7.47890872e-03 6.93682638e-05 9.99972030e-01 -1.09880532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.350385723 meters 0.017526243138633345 Centerline is valid? [True, True] Translation: X:259.41, Y:-87.39, Z:-10.99 [[-6.94060269e-01 -7.19903068e-01 -4.46268702e-03 2.59409319e+02] [ 7.19887874e-01 -6.94074616e-01 4.67729028e-03 -8.73895066e+01] [-6.46463340e-03 3.36870844e-05 9.99979103e-01 -1.09925571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.410385723 meters 0.014640837634954714 Centerline is valid? [True, True] Translation: X:259.36, Y:-87.35, Z:-10.99 [[-6.90410048e-01 -7.23405061e-01 -4.36856221e-03 2.59361767e+02] [ 7.23390591e-01 -6.90423868e-01 4.57547084e-03 -8.73548698e+01] [-6.32607838e-03 -1.22575932e-06 9.99979990e-01 -1.09899102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.470385723 meters 0.016244677760497643 Centerline is valid? [True, True] Translation: X:259.32, Y:-87.32, Z:-10.99 [[-6.90289555e-01 -7.23513242e-01 -5.37775294e-03 2.59321357e+02] [ 7.23491349e-01 -6.90310502e-01 5.62844623e-03 -8.73158880e+01] [-7.78457471e-03 -5.50008945e-06 9.99969700e-01 -1.09911765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.530385723 meters 0.014723591363369447 Centerline is valid? [True, True] Translation: X:259.28, Y:-87.27, Z:-10.99 [[-6.90258644e-01 -7.23546906e-01 -4.78310053e-03 2.59281176e+02] [ 7.23529607e-01 -6.90275216e-01 5.00336456e-03 -8.72749155e+01] [-6.92182470e-03 -7.09920537e-06 9.99976044e-01 -1.09878247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.590385723 meters 0.014672524598247952 Centerline is valid? [True, True] Translation: X:259.24, Y:-87.24, Z:-10.99 [[-6.92521821e-01 -7.21384872e-01 -4.17063151e-03 2.59238888e+02] [ 7.21371690e-01 -6.92534379e-01 4.36098951e-03 -8.72378038e+01] [-6.03425756e-03 1.15048954e-05 9.99981794e-01 -1.09919339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.650385723 meters 0.014958079403397058 Centerline is valid? [True, True] Translation: X:259.20, Y:-87.19, Z:-10.99 [[-6.96728916e-01 -7.17323114e-01 -4.04582974e-03 2.59201977e+02] [ 7.17310658e-01 -6.96740661e-01 4.22751948e-03 -8.71930054e+01] [-5.85139152e-03 4.33182688e-05 9.99982880e-01 -1.09912361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.710385723 meters 0.017821308572851996 Centerline is valid? [True, True] Translation: X:259.16, Y:-87.15, Z:-11.00 [[-7.03405715e-01 -7.10783199e-01 -2.76469456e-03 2.59163365e+02] [ 7.10777330e-01 -7.03411145e-01 2.88910285e-03 -8.71497009e+01] [-3.99824274e-03 6.71292390e-05 9.99992005e-01 -1.09960314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.770385723 meters 0.01617525938314488 Centerline is valid? [True, True] Translation: X:259.12, Y:-87.11, Z:-10.99 [[-7.04074109e-01 -7.10122564e-01 -2.36484855e-03 2.59122907e+02] [ 7.10118269e-01 -7.04078078e-01 2.47070549e-03 -8.71085467e+01] [-3.41954174e-03 6.02376113e-05 9.99994152e-01 -1.09939382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.830385723 meters 0.015927436744147955 Centerline is valid? [True, True] Translation: X:259.08, Y:-87.07, Z:-10.99 [[-7.01106094e-01 -7.13053832e-01 -2.11607884e-03 2.59082473e+02] [ 7.13050409e-01 -7.01109286e-01 2.20995536e-03 -8.70685715e+01] [-3.05941967e-03 4.05422892e-05 9.99995319e-01 -1.09947474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.890385723 meters 0.016978998497929144 Centerline is valid? [True, True] Translation: X:259.04, Y:-87.03, Z:-11.00 [[-6.98401010e-01 -7.15702131e-01 -2.54746143e-03 2.59038097e+02] [ 7.15697202e-01 -6.98405655e-01 2.65632770e-03 -8.70296591e+01] [-3.68030086e-03 3.19709359e-05 9.99993227e-01 -1.09978578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.950385723 meters 0.01511871415491338 Centerline is valid? [True, True] Translation: X:259.00, Y:-86.99, Z:-11.00 [[-6.95985608e-01 -7.18053203e-01 -1.90531838e-03 2.58999031e+02] [ 7.18050453e-01 -6.95988216e-01 1.98765089e-03 -8.69875362e+01] [-2.75331823e-03 1.52616866e-05 9.99996209e-01 -1.09962442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.010385723 meters 0.015064774321672648 Centerline is valid? [True, True] Translation: X:258.96, Y:-86.94, Z:-11.00 [[-6.93087092e-01 -7.20852053e-01 -1.61243014e-03 2.58961815e+02] [ 7.20850086e-01 -6.93088968e-01 1.68385370e-03 -8.69445174e+01] [-2.33136694e-03 4.73685690e-06 9.99997282e-01 -1.09957455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.070385723 meters 0.01512840976857938 Centerline is valid? [True, True] Translation: X:258.92, Y:-86.90, Z:-11.00 [[-6.91537668e-01 -7.22338808e-01 -1.51665239e-03 2.58921588e+02] [ 7.22337072e-01 -6.91539331e-01 1.58358881e-03 -8.69044807e+01] [-2.19271244e-03 -4.22930163e-07 9.99997596e-01 -1.09979730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.130385723 meters 0.015119125477872792 Centerline is valid? [True, True] Translation: X:258.88, Y:-86.86, Z:-11.00 [[-6.89419594e-01 -7.24359643e-01 -1.93152669e-03 2.58884980e+02] [ 7.24356846e-01 -6.89422300e-01 2.01285005e-03 -8.68586453e+01] [-2.78966492e-03 -1.14163194e-05 9.99996109e-01 -1.09965590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.190385723 meters 0.015253544450783167 Centerline is valid? [True, True] Translation: X:258.85, Y:-86.81, Z:-11.00 [[-6.90020774e-01 -7.23785781e-01 -2.33991261e-03 2.58849604e+02] [ 7.23781681e-01 -6.90024741e-01 2.43632466e-03 -8.68139234e+01] [-3.37797474e-03 -1.24712529e-05 9.99994295e-01 -1.09970710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.250385723 meters 0.015201181126188103 Centerline is valid? [True, True] Translation: X:258.81, Y:-86.77, Z:-11.00 [[-6.90773029e-01 -7.23069576e-01 -1.73479892e-03 2.58814570e+02] [ 7.23067319e-01 -6.90775208e-01 1.80685448e-03 -8.67683061e+01] [-2.50483759e-03 -6.25005906e-06 9.99996863e-01 -1.09959363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.310385723 meters 0.015116814738547334 Centerline is valid? [True, True] Translation: X:258.78, Y:-86.72, Z:-11.00 [[-6.91761675e-01 -7.22123963e-01 -1.66370412e-03 2.58778720e+02] [ 7.22121887e-01 -6.91763675e-01 1.73148535e-03 -8.67226300e+01] [-2.40123714e-03 -3.62195841e-06 9.99997117e-01 -1.09958691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.370385723 meters 0.015217261812784003 Centerline is valid? [True, True] Translation: X:258.74, Y:-86.67, Z:-11.00 [[-6.94210002e-01 -7.19772508e-01 9.56952494e-05 2.58744548e+02] [ 7.19772502e-01 -6.94210009e-01 -9.34063376e-05 -8.66744950e+01] [ 1.33663914e-04 4.03519525e-06 9.99999991e-01 -1.09972751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43038572300003 meters 0.015588709546175136 Centerline is valid? [True, True] Translation: X:258.71, Y:-86.63, Z:-11.00 [[-6.98222702e-01 -7.15880574e-01 2.50929888e-04 2.58711578e+02] [ 7.15880529e-01 -6.98222747e-01 -2.53892286e-04 -8.66262627e+01] [ 3.56961511e-04 2.36246315e-06 9.99999936e-01 -1.09978266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.490385723 meters 0.015988140764796852 Centerline is valid? [True, True] Translation: X:258.68, Y:-86.58, Z:-11.00 [[-7.01286950e-01 -7.12878581e-01 8.61651393e-04 2.58677147e+02] [ 7.12878030e-01 -7.01287479e-01 -8.86456460e-04 -8.65791436e+01] [ 1.23620116e-03 -7.40799915e-06 9.99999236e-01 -1.09987703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.550385723 meters 0.016230482061333047 Centerline is valid? [True, True] Translation: X:258.65, Y:-86.53, Z:-11.00 [[-7.02628264e-01 -7.11557109e-01 5.90835135e-05 2.58645301e+02] [ 7.11557107e-01 -7.02628266e-01 -5.44296333e-05 -8.65311584e+01] [ 8.02435391e-05 3.79749518e-06 9.99999997e-01 -1.09968984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.610385723 meters 0.016349982122780504 Centerline is valid? [True, True] Translation: X:258.61, Y:-86.49, Z:-11.00 [[-7.04998990e-01 -7.09207004e-01 -1.36004220e-03 2.58607309e+02] [ 7.09205598e-01 -7.05000301e-01 1.41242841e-03 -8.64868778e+01] [-1.96053428e-03 3.12110658e-05 9.99998078e-01 -1.09965421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.670385723 meters 0.016675680744656158 Centerline is valid? [True, True] Translation: X:258.57, Y:-86.44, Z:-11.00 [[-7.04296895e-01 -7.09905519e-01 -1.92228887e-04 2.58574460e+02] [ 7.09905490e-01 -7.04296921e-01 2.05511621e-04 -8.64406761e+01] [-2.81280047e-04 8.27685486e-06 9.99999960e-01 -1.09967732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.730385723 meters 0.01645503444881021 Centerline is valid? [True, True] Translation: X:258.54, Y:-86.40, Z:-11.00 [[-7.03107673e-01 -7.11083339e-01 2.90533397e-04 2.58535300e+02] [ 7.11083279e-01 -7.03107733e-01 -2.93765067e-04 -8.63989185e+01] [ 4.13167723e-04 4.49681314e-08 9.99999915e-01 -1.09970741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.790385723 meters 0.015725735144495052 Centerline is valid? [True, True] Translation: X:258.49, Y:-86.36, Z:-11.00 [[-6.98970006e-01 -7.15150539e-01 -7.98551536e-04 2.58489883e+02] [ 7.15150060e-01 -6.98970462e-01 8.28115506e-04 -8.63613613e+01] [-1.15039119e-03 7.74372125e-06 9.99999338e-01 -1.09988281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.850385723 meters 0.015514530378776488 Centerline is valid? [True, True] Translation: X:258.45, Y:-86.32, Z:-11.00 [[-6.96900980e-01 -7.17164906e-01 -1.87656069e-03 2.58447801e+02] [ 7.17162274e-01 -6.96903506e-01 1.94315493e-03 -8.63231687e+01] [-2.70134425e-03 8.38804391e-06 9.99996351e-01 -1.09990029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.910385723 meters 0.015589821416284854 Centerline is valid? [True, True] Translation: X:258.41, Y:-86.28, Z:-11.00 [[-6.98727719e-01 -7.15385997e-01 -1.56530785e-03 2.58410426e+02] [ 7.15384161e-01 -6.98729472e-01 1.62067352e-03 -8.62801136e+01] [-2.25313387e-03 1.26130705e-05 9.99997462e-01 -1.09970265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.970385723 meters 0.01596954628556372 Centerline is valid? [True, True] Translation: X:258.37, Y:-86.24, Z:-11.00 [[-7.02124560e-01 -7.12053511e-01 -9.48572392e-04 2.58370604e+02] [ 7.12052832e-01 -7.02125201e-01 9.83393566e-04 -8.62380583e+01] [-1.36624542e-03 1.50311170e-05 9.99999067e-01 -1.09984330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.030385723 meters 0.016796775265983856 Centerline is valid? [True, True] Translation: X:258.33, Y:-86.20, Z:-11.00 [[-7.06012071e-01 -7.08198111e-01 -1.54624503e-03 2.58329477e+02] [ 7.08196308e-01 -7.06013763e-01 1.59845056e-03 -8.61974340e+01] [-2.22368994e-03 3.34803718e-05 9.99997527e-01 -1.10019958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.090385723 meters 0.018377107892970163 Centerline is valid? [True, True] Translation: X:258.29, Y:-86.15, Z:-11.00 [[-7.10770426e-01 -7.03422528e-01 -1.46598469e-03 2.58294287e+02] [ 7.03420899e-01 -7.10771936e-01 1.51460681e-03 -8.61524743e+01] [-2.10738932e-03 4.53334595e-05 9.99997778e-01 -1.10004390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.150385723 meters 0.019024924075730434 Centerline is valid? [True, True] Translation: X:258.25, Y:-86.11, Z:-11.00 [[-7.12205891e-01 -7.01969905e-01 -1.01069927e-03 2.58254615e+02] [ 7.01969127e-01 -7.12206608e-01 1.04551063e-03 -8.61103752e+01] [-1.45374370e-03 3.51391420e-05 9.99998943e-01 -1.10011539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.210385723 meters 0.01885302296735269 Centerline is valid? [True, True] Translation: X:258.21, Y:-86.07, Z:-11.01 [[-7.11025948e-01 -7.03165684e-01 -3.48893405e-04 2.58209191e+02] [ 7.03165590e-01 -7.11026033e-01 3.64856832e-04 -8.60746815e+01] [-5.04627098e-04 1.40928379e-05 9.99999873e-01 -1.10065907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.270385723 meters 0.01670390731949723 Centerline is valid? [True, True] Translation: X:258.16, Y:-86.04, Z:-11.01 [[-7.07284081e-01 -7.06928965e-01 8.16988695e-04 2.58162947e+02] [ 7.06928473e-01 -7.07284553e-01 -8.34401883e-04 -8.60377940e+01] [ 1.16770634e-03 -1.26065987e-05 9.99999318e-01 -1.10064198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.330385723 meters 0.016554322991836436 Centerline is valid? [True, True] Translation: X:258.12, Y:-86.00, Z:-11.01 [[-7.04408303e-01 -7.09794613e-01 7.41837815e-04 2.58118710e+02] [ 7.09794209e-01 -7.04408694e-01 -7.56771144e-04 -8.59990042e+01] [ 1.05970909e-03 -6.52369287e-06 9.99999438e-01 -1.10075838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.390385723 meters 0.016263090677754926 Centerline is valid? [True, True] Translation: X:258.07, Y:-85.96, Z:-11.01 [[-7.02043355e-01 -7.12134206e-01 -2.71443939e-05 2.58074481e+02] [ 7.12134205e-01 -7.02043356e-01 3.36245166e-05 -8.59612235e+01] [-4.30017099e-05 4.27541711e-06 9.99999999e-01 -1.10086117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.450385723 meters 0.01611630591432616 Centerline is valid? [True, True] Translation: X:258.03, Y:-85.92, Z:-11.01 [[-6.99819049e-01 -7.14319797e-01 -7.25381128e-04 2.58033596e+02] [ 7.14319403e-01 -6.99819425e-01 7.50766327e-04 -8.59216883e+01] [-1.04392305e-03 7.24676317e-06 9.99999455e-01 -1.10073315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.510385723 meters 0.016081013781413158 Centerline is valid? [True, True] Translation: X:257.99, Y:-85.88, Z:-11.01 [[-6.98151432e-01 -7.15950047e-01 3.28453084e-04 2.57991439e+02] [ 7.15949970e-01 -6.98151510e-01 -3.30567261e-04 -8.58828036e+01] [ 4.65979662e-04 4.36996872e-06 9.99999891e-01 -1.10105116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.570385723 meters 0.016458853009792277 Centerline is valid? [True, True] Translation: X:257.95, Y:-85.84, Z:-11.01 [[-6.97790671e-01 -7.16301584e-01 -4.68827452e-04 2.57950869e+02] [ 7.16301418e-01 -6.97790829e-01 4.87053545e-04 -8.58436945e+01] [-6.76020722e-04 4.03965162e-06 9.99999771e-01 -1.10113344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.630385723 meters 0.01611367363854934 Centerline is valid? [True, True] Translation: X:257.91, Y:-85.80, Z:-11.01 [[-6.98536764e-01 -7.15574123e-01 -2.51424515e-04 2.57912241e+02] [ 7.15574075e-01 -6.98536809e-01 2.63949273e-04 -8.58013008e+01] [-3.64504548e-04 4.46540666e-06 9.99999934e-01 -1.10084711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.690385723 meters 0.01783754285645612 Centerline is valid? [True, True] Translation: X:257.87, Y:-85.76, Z:-11.01 [[-7.01269774e-01 -7.12892567e-01 2.21189689e-03 2.57872458e+02] [ 7.12888989e-01 -7.01273262e-01 -2.25866868e-03 -8.57594792e+01] [ 3.16133226e-03 -7.09913919e-06 9.99995003e-01 -1.10111939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.750385723 meters 0.0165067264315442 Centerline is valid? [True, True] Translation: X:257.83, Y:-85.72, Z:-11.01 [[-7.03615397e-01 -7.10578235e-01 1.98610948e-03 2.57832071e+02] [ 7.10575346e-01 -7.03618200e-01 -2.02632717e-03 -8.57173688e+01] [ 2.83732676e-03 -1.44745684e-05 9.99995975e-01 -1.10098063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.810385723 meters 0.01738495368943845 Centerline is valid? [True, True] Translation: X:257.79, Y:-85.68, Z:-11.01 [[-7.06695214e-01 -7.07515106e-01 2.06165213e-03 2.57793169e+02] [ 7.07511983e-01 -7.06698220e-01 -2.10213004e-03 -8.56759076e+01] [ 2.94425465e-03 -2.69216488e-05 9.99995665e-01 -1.10122998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.870385723 meters 0.01767056843659224 Centerline is valid? [True, True] Translation: X:257.75, Y:-85.63, Z:-11.01 [[-7.08835762e-01 -7.05369400e-01 2.42314392e-03 2.57753109e+02] [ 7.05365074e-01 -7.08839903e-01 -2.47089468e-03 -8.56340198e+01] [ 3.46051461e-03 -4.22574234e-05 9.99994012e-01 -1.10115826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93038572300003 meters 0.017879688713405825 Centerline is valid? [True, True] Translation: X:257.71, Y:-85.59, Z:-11.01 [[-7.12367890e-01 -7.01806218e-01 1.45604520e-04 2.57712046e+02] [ 7.01806203e-01 -7.12367905e-01 -1.43074984e-04 -8.55930033e+01] [ 2.04134900e-04 2.64131061e-07 9.99999979e-01 -1.10087585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.990385723 meters 0.018155945260949456 Centerline is valid? [True, True] Translation: X:257.67, Y:-85.55, Z:-11.01 [[-7.13138664e-01 -7.01022976e-01 1.82844232e-04 2.57669716e+02] [ 7.01022953e-01 -7.13138687e-01 -1.80402252e-04 -8.55539987e+01] [ 2.56859419e-04 -4.73817230e-07 9.99999967e-01 -1.10111096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.050385723 meters 0.018105948112647145 Centerline is valid? [True, True] Translation: X:257.63, Y:-85.52, Z:-11.01 [[-7.12802952e-01 -7.01364344e-01 9.12523753e-05 2.57625338e+02] [ 7.01364339e-01 -7.12802958e-01 -8.69381651e-05 -8.55179928e+01] [ 1.26020292e-04 2.03138111e-06 9.99999992e-01 -1.10138739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.110385723 meters 0.01844013916575086 Centerline is valid? [True, True] Translation: X:257.58, Y:-85.48, Z:-11.01 [[-7.13674802e-01 -7.00476580e-01 -9.14867430e-04 2.57583921e+02] [ 7.00475953e-01 -7.13675388e-01 9.37681226e-04 -8.54795517e+01] [-1.30974211e-03 2.83568290e-05 9.99999142e-01 -1.10148275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.170385723 meters 0.018226936006829137 Centerline is valid? [True, True] Translation: X:257.54, Y:-85.44, Z:-11.02 [[-7.14502504e-01 -6.99631741e-01 -1.26447612e-03 2.57538420e+02] [ 6.99630543e-01 -7.14503622e-01 1.29500860e-03 -8.54443060e+01] [-1.80950189e-03 4.06207728e-05 9.99998362e-01 -1.10150332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.230385723 meters 0.017227385409303648 Centerline is valid? [True, True] Translation: X:257.49, Y:-85.41, Z:-11.01 [[-7.14271215e-01 -6.99863582e-01 -2.75645585e-03 2.57492872e+02] [ 6.99857932e-01 -7.14276529e-01 2.81333791e-03 -8.54081768e+01] [-3.93782446e-03 8.03587945e-05 9.99992244e-01 -1.10147232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.290385723 meters 0.016404808498675743 Centerline is valid? [True, True] Translation: X:257.45, Y:-85.37, Z:-11.02 [[-7.12511678e-01 -7.01650904e-01 -3.62187797e-03 2.57445015e+02] [ 7.01641193e-01 -7.12520877e-01 3.69261233e-03 -8.53730138e+01] [-5.17158845e-03 8.97706246e-05 9.99986623e-01 -1.10159528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.350385723 meters 0.01553130087257449 Centerline is valid? [True, True] Translation: X:257.40, Y:-85.34, Z:-11.02 [[-7.10912216e-01 -7.03272800e-01 -3.34529654e-03 2.57397839e+02] [ 7.03264538e-01 -7.10920083e-01 3.40960658e-03 -8.53378099e+01] [-4.77612206e-03 7.13025454e-05 9.99988592e-01 -1.10170063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.410385723 meters 0.01524178997269453 Centerline is valid? [True, True] Translation: X:257.35, Y:-85.30, Z:-11.02 [[-7.09384271e-01 -7.04809660e-01 -4.15924721e-03 2.57351609e+02] [ 7.04796938e-01 -7.09396460e-01 4.23537665e-03 -8.53022519e+01] [-5.93568963e-03 7.30848761e-05 9.99982381e-01 -1.10167030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.470385723 meters 0.014659420267088007 Centerline is valid? [True, True] Translation: X:257.30, Y:-85.27, Z:-11.02 [[-7.07291278e-01 -7.06905979e-01 -4.79420191e-03 2.57304471e+02] [ 7.06889148e-01 -7.07307523e-01 4.87843196e-03 -8.52667791e+01] [-6.83956780e-03 6.15030667e-05 9.99976608e-01 -1.10169780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.530385723 meters 0.014545506220048647 Centerline is valid? [True, True] Translation: X:257.26, Y:-85.23, Z:-11.02 [[-7.07349945e-01 -7.06847631e-01 -4.74137898e-03 2.57259623e+02] [ 7.06831186e-01 -7.07365833e-01 4.82205040e-03 -8.52291907e+01] [-6.76234439e-03 5.95225601e-05 9.99977133e-01 -1.10198121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.590385723 meters 0.014584151922750305 Centerline is valid? [True, True] Translation: X:257.22, Y:-85.19, Z:-11.02 [[-7.08071137e-01 -7.06126517e-01 -4.53940086e-03 2.57218003e+02] [ 7.06111443e-01 -7.08085685e-01 4.61431274e-03 -8.51885952e+01] [-6.47257335e-03 6.19387775e-05 9.99979051e-01 -1.10206654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.650385723 meters 0.014898733848801514 Centerline is valid? [True, True] Translation: X:257.18, Y:-85.15, Z:-11.02 [[-7.09966731e-01 -7.04217766e-01 -4.95776200e-03 2.57176667e+02] [ 7.04199768e-01 -7.09984036e-01 5.03545704e-03 -8.51486013e+01] [-7.06599018e-03 8.37521163e-05 9.99975032e-01 -1.10201410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.710385723 meters 0.015333108356002222 Centerline is valid? [True, True] Translation: X:257.14, Y:-85.11, Z:-11.02 [[-7.11525928e-01 -7.02641963e-01 -5.01255725e-03 2.57135320e+02] [ 7.02623542e-01 -7.11543577e-01 5.08891835e-03 -8.51099292e+01] [-7.14234050e-03 9.89566190e-05 9.99974488e-01 -1.10212857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.770385723 meters 0.014813547731678587 Centerline is valid? [True, True] Translation: X:257.09, Y:-85.07, Z:-11.02 [[-7.10252600e-01 -7.03939554e-01 -3.21686107e-03 2.57093810e+02] [ 7.03931972e-01 -7.10259883e-01 3.26770530e-03 -8.50702590e+01] [-4.58507438e-03 5.64448312e-05 9.99989487e-01 -1.10225721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.830385723 meters 0.014833762404847994 Centerline is valid? [True, True] Translation: X:257.05, Y:-85.03, Z:-11.03 [[-7.08405761e-01 -7.05800713e-01 -2.57499455e-03 2.57050495e+02] [ 7.05795868e-01 -7.08410440e-01 2.61554090e-03 -8.50335745e+01] [-3.67020365e-03 3.54437281e-05 9.99993264e-01 -1.10284623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.890385723 meters 0.014391937139319683 Centerline is valid? [True, True] Translation: X:257.01, Y:-84.99, Z:-11.03 [[-7.08376525e-01 -7.05832064e-01 -1.94830205e-03 2.57011641e+02] [ 7.05829292e-01 -7.08379204e-01 1.97858237e-03 -8.49908603e+01] [-2.77668353e-03 2.64126471e-05 9.99996145e-01 -1.10275928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.950385723 meters 0.014128796941149005 Centerline is valid? [True, True] Translation: X:256.97, Y:-84.95, Z:-11.03 [[-7.08335080e-01 -7.05871982e-01 -2.48173110e-03 2.56971133e+02] [ 7.05867494e-01 -7.08339427e-01 2.51738731e-03 -8.49486124e+01] [-3.53486116e-03 3.13804274e-05 9.99993752e-01 -1.10276260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.010385723 meters 0.014030891530076878 Centerline is valid? [True, True] Translation: X:256.93, Y:-84.91, Z:-11.03 [[-7.07255172e-01 -7.06954955e-01 -2.19388799e-03 2.56930231e+02] [ 7.06951452e-01 -7.07258575e-01 2.22560057e-03 -8.49099726e+01] [-3.12504544e-03 2.30952135e-05 9.99995117e-01 -1.10299874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.070385723 meters 0.01521336676058417 Centerline is valid? [True, True] Translation: X:256.89, Y:-84.86, Z:-11.03 [[-7.05852423e-01 -7.08355445e-01 -2.21838708e-03 2.56893673e+02] [ 7.08351877e-01 -7.05855909e-01 2.24814865e-03 -8.48641247e+01] [-3.15834997e-03 1.54625165e-05 9.99995012e-01 -1.10290253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.130385723 meters 0.013562572001985455 Centerline is valid? [True, True] Translation: X:256.85, Y:-84.82, Z:-11.03 [[-7.05208289e-01 -7.08990214e-01 -3.76102868e-03 2.56854215e+02] [ 7.08979998e-01 -7.05218318e-01 3.80602748e-03 -8.48238999e+01] [-5.35078256e-03 1.75480185e-05 9.99985684e-01 -1.10296968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.190385723 meters 0.013368774716972677 Centerline is valid? [True, True] Translation: X:256.81, Y:-84.78, Z:-11.03 [[-7.03249148e-01 -7.10932962e-01 -3.86761103e-03 2.56813340e+02] [ 7.10922205e-01 -7.03259783e-01 3.91098745e-03 -8.47832411e+01] [-5.50038519e-03 8.28037225e-07 9.99984873e-01 -1.10315531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.250385723 meters 0.01336071518568267 Centerline is valid? [True, True] Translation: X:256.78, Y:-84.74, Z:-11.03 [[-7.00826477e-01 -7.13321623e-01 -3.80937770e-03 2.56775817e+02] [ 7.13311236e-01 -7.00836830e-01 3.84948047e-03 -8.47391893e+01] [-5.41566985e-03 -1.94540793e-05 9.99985335e-01 -1.10311288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.310385723 meters 0.013355947658169002 Centerline is valid? [True, True] Translation: X:256.74, Y:-84.70, Z:-11.03 [[-7.00301451e-01 -7.13830618e-01 -4.87097408e-03 2.56735962e+02] [ 7.13813679e-01 -7.00318390e-01 4.91781169e-03 -8.46963665e+01] [-6.92171729e-03 -3.30172627e-05 9.99976044e-01 -1.10317327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.370385723 meters 0.013249553713763535 Centerline is valid? [True, True] Translation: X:256.70, Y:-84.65, Z:-11.03 [[-6.99094226e-01 -7.15011343e-01 -5.10309749e-03 2.56697076e+02] [ 7.14992805e-01 -6.99112850e-01 5.14903289e-03 -8.46530119e+01] [-7.24925795e-03 -4.90188220e-05 9.99973723e-01 -1.10328571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43038572300003 meters 0.01333920729359778 Centerline is valid? [True, True] Translation: X:256.66, Y:-84.61, Z:-11.03 [[-6.98911624e-01 -7.15189622e-01 -5.13290784e-03 2.56660750e+02] [ 7.15170891e-01 -6.98930470e-01 5.17628741e-03 -8.46086709e+01] [-7.28957272e-03 -5.31388313e-05 9.99973429e-01 -1.10335446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.490385723 meters 0.013378501056117185 Centerline is valid? [True, True] Translation: X:256.62, Y:-84.57, Z:-11.04 [[-6.99139341e-01 -7.14971244e-01 -4.50568640e-03 2.56624029e+02] [ 7.14956819e-01 -6.99153858e-01 4.54197044e-03 -8.45651001e+01] [-6.39754629e-03 -4.59009962e-05 9.99979534e-01 -1.10365109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.550385723 meters 0.013471985894808596 Centerline is valid? [True, True] Translation: X:256.59, Y:-84.52, Z:-11.04 [[-6.98888109e-01 -7.15226555e-01 -2.52703246e-03 2.56589310e+02] [ 7.15222016e-01 -6.98892677e-01 2.54826277e-03 -8.45193835e+01] [-3.58870969e-03 -2.64387067e-05 9.99993560e-01 -1.10388546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.610385723 meters 0.013363732806912726 Centerline is valid? [True, True] Translation: X:256.55, Y:-84.48, Z:-11.04 [[-6.98071922e-01 -7.16023775e-01 -2.35494791e-03 2.56551129e+02] [ 7.16019841e-01 -6.98075894e-01 2.37370835e-03 -8.44752080e+01] [-3.34356398e-03 -2.91702750e-05 9.99994410e-01 -1.10396436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.670385723 meters 0.013970474636327695 Centerline is valid? [True, True] Translation: X:256.51, Y:-84.43, Z:-11.04 [[-6.97219954e-01 -7.16850871e-01 -3.02723959e-03 2.56513930e+02] [ 7.16844392e-01 -6.97226524e-01 3.04817709e-03 -8.44321359e+01] [-4.29576014e-03 -4.48098319e-05 9.99990772e-01 -1.10407722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.730385723 meters 0.013436399057693832 Centerline is valid? [True, True] Translation: X:256.48, Y:-84.39, Z:-11.04 [[-6.98239149e-01 -7.15858452e-01 -2.96096551e-03 2.56478172e+02] [ 7.15852253e-01 -6.98245426e-01 2.97956000e-03 -8.43857227e+01] [-4.20042384e-03 -3.91683878e-05 9.99991177e-01 -1.10401975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.790385723 meters 0.013252963903713385 Centerline is valid? [True, True] Translation: X:256.44, Y:-84.34, Z:-11.04 [[-7.00025789e-01 -7.14111014e-01 -3.05852783e-03 2.56441185e+02] [ 7.14104389e-01 -7.00032469e-01 3.07630689e-03 -8.43411838e+01] [-4.33789343e-03 -3.06139920e-05 9.99990591e-01 -1.10407640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.850385723 meters 0.013021903161119975 Centerline is valid? [True, True] Translation: X:256.41, Y:-84.29, Z:-11.04 [[-7.04750186e-01 -7.09451992e-01 -2.24644340e-03 2.56409272e+02] [ 7.09448392e-01 -7.04753767e-01 2.26000063e-03 -8.42931372e+01] [-3.18655140e-03 -9.99790239e-07 9.99994923e-01 -1.10418223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.910385723 meters 0.013431865463814053 Centerline is valid? [True, True] Translation: X:256.38, Y:-84.24, Z:-11.04 [[-7.10240082e-01 -7.03957866e-01 -1.53245793e-03 2.56376314e+02] [ 7.03956178e-01 -7.10241735e-01 1.54200230e-03 -8.42433439e+01] [-2.17392022e-03 1.64086131e-05 9.99997637e-01 -1.10417676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.970385723 meters 0.01450256187492914 Centerline is valid? [True, True] Translation: X:256.34, Y:-84.20, Z:-11.05 [[-7.14058630e-01 -7.00084709e-01 -1.29346770e-03 2.56340866e+02] [ 7.00083499e-01 -7.14059801e-01 1.30191482e-03 -8.41982719e+01] [-1.83506395e-03 2.41081175e-05 9.99998316e-01 -1.10458729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.030385723 meters 0.014651159153592512 Centerline is valid? [True, True] Translation: X:256.31, Y:-84.15, Z:-11.04 [[-7.17076914e-01 -6.96991732e-01 -1.79575995e-03 2.56306070e+02] [ 6.96989399e-01 -7.17079161e-01 1.80395401e-03 -8.41511652e+01] [-2.54504307e-03 4.19481251e-05 9.99996760e-01 -1.10432500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.090385723 meters 0.015168289394421889 Centerline is valid? [True, True] Translation: X:256.27, Y:-84.11, Z:-11.04 [[-7.18168439e-01 -6.95866377e-01 -2.01949129e-03 2.56270103e+02] [ 6.95863425e-01 -7.18171277e-01 2.02764014e-03 -8.41072002e+01] [-2.86130724e-03 5.08970299e-05 9.99995905e-01 -1.10440141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.150385723 meters 0.014849100764808859 Centerline is valid? [True, True] Translation: X:256.23, Y:-84.07, Z:-11.05 [[-7.16436007e-01 -6.97650182e-01 -1.91591862e-03 2.56229762e+02] [ 6.97647537e-01 -7.16438568e-01 1.92177133e-03 -8.40655362e+01] [-2.71336211e-03 4.01902749e-05 9.99996318e-01 -1.10457893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.210385723 meters 0.014526483837413258 Centerline is valid? [True, True] Translation: X:256.19, Y:-84.02, Z:-11.05 [[-7.15213676e-01 -6.98901034e-01 -2.59673816e-03 2.56189312e+02] [ 6.98896194e-01 -7.15218389e-01 2.60128033e-03 -8.40233060e+01] [-3.67527239e-03 4.56208543e-05 9.99993245e-01 -1.10460825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.270385723 meters 0.013843477417848683 Centerline is valid? [True, True] Translation: X:255.58, Y:-84.58, Z:-10.08 [[-7.49640542e-01 6.61615405e-01 1.74388634e-02 2.55582160e+02] [ 6.61410600e-01 7.49842905e-01 -1.64813787e-02 -8.45846746e+01] [-2.39807420e-02 -8.20860537e-04 -9.99712084e-01 -1.00828655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.330385723 meters 0.013795142459767479 Centerline is valid? [True, True] Translation: X:255.62, Y:-84.58, Z:-10.08 [[-7.95512049e-01 6.05647455e-01 1.87547228e-02 2.55618004e+02] [ 6.05453561e-01 7.95732637e-01 -1.53477983e-02 -8.45787697e+01] [-2.42191000e-02 -8.54244751e-04 -9.99706310e-01 -1.00824522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.390385723 meters 0.013780597642507117 Centerline is valid? [True, True] Translation: X:256.12, Y:-83.93, Z:-11.05 [[-7.62102905e-01 -6.47436190e-01 -5.05390778e-03 2.56123843e+02] [ 6.47427885e-01 -7.62119328e-01 3.35619231e-03 -8.39312882e+01] [-6.02460117e-03 -7.14276909e-04 9.99981597e-01 -1.10465431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.450385723 meters 0.013861198824956554 Centerline is valid? [True, True] Translation: X:256.12, Y:-83.97, Z:-11.05 [[-7.16267411e-01 -6.97802675e-01 -5.69404345e-03 2.56116117e+02] [ 6.97787692e-01 -7.16289736e-01 4.62070123e-03 -8.39657119e+01] [-7.30292256e-03 -6.63575726e-04 9.99973113e-01 -1.10467210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.510385723 meters 0.013808765991991687 Centerline is valid? [True, True] Translation: X:255.47, Y:-84.49, Z:-10.08 [[-7.57228409e-01 6.52951182e-01 1.61211244e-02 2.55470721e+02] [ 6.52776641e-01 7.57399426e-01 -1.51250457e-02 -8.44934827e+01] [-2.20860468e-02 -9.29620886e-04 -9.99755641e-01 -1.00826198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.570385723 meters 0.013720633516014016 Centerline is valid? [True, True] Translation: X:255.54, Y:-84.52, Z:-10.08 [[-8.02049081e-01 5.97017449e-01 1.69539718e-02 2.55544301e+02] [ 5.96858734e-01 8.02227691e-01 -1.37979753e-02 -8.45158892e+01] [-2.18385776e-02 -9.47527251e-04 -9.99761061e-01 -1.00814484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.630385723 meters 0.013721438259784616 Centerline is valid? [True, True] Translation: X:255.55, Y:-84.48, Z:-10.08 [[-8.44030476e-01 5.35988135e-01 1.81459373e-02 2.55548621e+02] [ 5.35838040e-01 8.44224903e-01 -1.27243405e-02 -8.44810004e+01] [-2.21393477e-02 -1.01644771e-03 -9.99754378e-01 -1.00801626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.690385723 meters 0.013705105941140328 Centerline is valid? [True, True] Translation: X:255.59, Y:-84.47, Z:-10.08 [[-8.80474802e-01 4.73727372e-01 1.86145038e-02 2.55591989e+02] [ 4.73596167e-01 8.80670931e-01 -1.11974191e-02 -8.44739064e+01] [-2.16977763e-02 -1.04328767e-03 -9.99764031e-01 -1.00801879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.750385723 meters 0.01376383202107082 Centerline is valid? [True, True] Translation: X:255.99, Y:-83.77, Z:-11.05 [[-8.46430406e-01 -5.32458041e-01 -6.63341311e-03 2.55990552e+02] [ 5.32447748e-01 -8.46456131e-01 3.37842973e-03 -8.37658071e+01] [-7.41376528e-03 -6.72340219e-04 9.99972292e-01 -1.10514465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.810385723 meters 0.013988363750902101 Centerline is valid? [True, True] Translation: X:255.54, Y:-84.45, Z:-10.08 [[-8.80208453e-01 4.74261132e-01 1.75914211e-02 2.55540568e+02] [ 4.74144549e-01 8.80383707e-01 -1.05581879e-02 -8.44512543e+01] [-2.04945387e-02 -9.52529766e-04 -9.99789511e-01 -1.00824614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.870385723 meters 0.014267250154937707 Centerline is valid? [True, True] Translation: X:255.57, Y:-84.43, Z:-10.08 [[-9.10191799e-01 4.13835751e-01 1.70546225e-02 2.55567270e+02] [ 4.13744668e-01 9.10351132e-01 -8.72730955e-03 -8.44338721e+01] [-1.91373676e-02 -8.87266443e-04 -9.99816470e-01 -1.00848377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93038572300003 meters 0.014784436014488027 Centerline is valid? [True, True] Translation: X:255.93, Y:-83.70, Z:-11.05 [[-8.87793732e-01 -4.60166679e-01 -8.30160623e-03 2.55929870e+02] [ 4.60152339e-01 -8.87832370e-01 3.67524499e-03 -8.36990802e+01] [-9.06166002e-03 -5.57144061e-04 9.99958787e-01 -1.10492261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.990385723 meters 0.015795698564242254 Centerline is valid? [True, True] Translation: X:255.90, Y:-83.71, Z:-11.05 [[-8.56657590e-01 -5.15833538e-01 -7.31670013e-03 2.55896999e+02] [ 5.15822448e-01 -8.56688465e-01 3.47514839e-03 -8.37146937e+01] [-8.06073069e-03 -7.97105925e-04 9.99967194e-01 -1.10503551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.050385723 meters 0.016108838286420055 Centerline is valid? [True, True] Translation: X:255.48, Y:-84.42, Z:-10.09 [[-8.77806828e-01 4.78674720e-01 1.80467816e-02 2.55475903e+02] [ 4.78557297e-01 8.77992048e-01 -1.06243102e-02 -8.44232689e+01] [-2.09305195e-02 -6.89673044e-04 -9.99780695e-01 -1.00868604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.110385723 meters 0.016403553958162103 Centerline is valid? [True, True] Translation: X:255.48, Y:-84.39, Z:-10.09 [[-9.09815427e-01 4.14613753e-01 1.82023387e-02 2.55479576e+02] [ 4.14515083e-01 9.09997216e-01 -9.07265564e-03 -8.43929355e+01] [-2.03257254e-02 -7.09298127e-04 -9.99793159e-01 -1.00892803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.170385723 meters 0.0164163731063048 Centerline is valid? [True, True] Translation: X:255.45, Y:-84.35, Z:-10.09 [[-9.37385503e-01 3.47768517e-01 1.91174546e-02 2.55453693e+02] [ 3.47680192e-01 9.37580142e-01 -7.87155127e-03 -8.43477829e+01] [-2.06616235e-02 -7.31917774e-04 -9.99786258e-01 -1.00899370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.230385723 meters 0.015971121503739673 Centerline is valid? [True, True] Translation: X:255.43, Y:-84.31, Z:-10.09 [[-9.60353981e-01 2.78053220e-01 2.01652543e-02 2.55426254e+02] [ 2.77974888e-01 9.60565357e-01 -6.64510823e-03 -8.43068665e+01] [-2.12177385e-02 -7.76221827e-04 -9.99774577e-01 -1.00928843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.290385723 meters 0.015653100669816167 Centerline is valid? [True, True] Translation: X:255.38, Y:-84.27, Z:-10.10 [[-9.78170296e-01 2.06688241e-01 2.15137713e-02 2.55382099e+02] [ 2.06619682e-01 9.78406507e-01 -5.38654066e-03 -8.42671569e+01] [-2.21625485e-02 -8.23785484e-04 -9.99754041e-01 -1.00978020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.350385723 meters 0.015482526059995443 Centerline is valid? [True, True] Translation: X:255.70, Y:-83.54, Z:-11.04 [[-9.64987897e-01 -2.62268804e-01 -3.66511370e-03 2.55702314e+02] [ 2.62270037e-01 -9.64994511e-01 1.48654914e-04 -8.35353593e+01] [-3.57580215e-03 -8.17799313e-04 9.99993272e-01 -1.10432381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.410385723 meters 0.015638688027504344 Centerline is valid? [True, True] Translation: X:255.47, Y:-84.28, Z:-10.10 [[-9.80217089e-01 1.96191679e-01 2.61397119e-02 2.55470772e+02] [ 1.96095234e-01 9.80565075e-01 -6.22840379e-03 -8.42793002e+01] [-2.68536495e-02 -9.79314914e-04 -9.99638896e-01 -1.00957223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.470385723 meters 0.015896339293074845 Centerline is valid? [True, True] Translation: X:255.65, Y:-83.53, Z:-11.05 [[-9.65736147e-01 -2.59521496e-01 1.51236829e-03 2.55647063e+02] [ 2.59520212e-01 -9.65737164e-01 -9.94599060e-04 -8.35293391e+01] [ 1.71867010e-03 -5.68030126e-04 9.99998362e-01 -1.10465302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.530385723 meters 0.01657104869030931 Centerline is valid? [True, True] Translation: X:255.42, Y:-84.28, Z:-10.10 [[-9.79401581e-01 1.99588707e-01 3.06086865e-02 2.55417191e+02] [ 1.99467484e-01 9.79879478e-01 -6.99503726e-03 -8.42764078e+01] [-3.13889542e-02 -7.45512857e-04 -9.99506967e-01 -1.00992924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.590385723 meters 0.01694502067602016 Centerline is valid? [True, True] Translation: X:255.41, Y:-84.25, Z:-10.10 [[-9.90523171e-01 1.33537664e-01 3.21175946e-02 2.55410835e+02] [ 1.33447825e-01 9.91043556e-01 -4.93430938e-03 -8.42471121e+01] [-3.24888514e-02 -6.01524618e-04 -9.99471917e-01 -1.00991225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.650385723 meters 0.01765858765951925 Centerline is valid? [True, True] Translation: X:255.44, Y:-84.22, Z:-10.10 [[-9.97229733e-01 6.61533438e-02 3.40087323e-02 2.55441750e+02] [ 6.60990001e-02 9.97809360e-01 -2.72098945e-03 -8.42246390e+01] [-3.41142340e-02 -4.65508379e-04 -9.99417832e-01 -1.00991855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.710385723 meters 0.01877133633260298 Centerline is valid? [True, True] Translation: X:255.44, Y:-84.20, Z:-10.10 [[-9.99425893e-01 -1.64488876e-03 3.38404778e-02 2.55435607e+02] [-1.65599017e-03 9.99998584e-01 -3.00026142e-04 -8.41989990e+01] [-3.38399364e-02 -3.55893394e-04 -9.99427202e-01 -1.00995264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.770385723 meters 0.017274204955656593 Centerline is valid? [True, True] Translation: X:255.43, Y:-84.17, Z:-10.10 [[-9.96793262e-01 -7.24047979e-02 3.40696030e-02 2.55427068e+02] [-7.23740558e-02 9.97375271e-01 2.13632648e-03 -8.41671421e+01] [-3.41348598e-02 -3.36279508e-04 -9.99417179e-01 -1.01037520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.830385723 meters 0.01720337935331359 Centerline is valid? [True, True] Translation: X:255.43, Y:-84.14, Z:-10.10 [[-9.89223368e-01 -1.42811775e-01 3.22788547e-02 2.55426818e+02] [-1.42747223e-01 9.89749805e-01 4.30741278e-03 -8.41378051e+01] [-3.25631394e-02 -3.46723492e-04 -9.99469620e-01 -1.01049253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.890385723 meters 0.017426397633081542 Centerline is valid? [True, True] Translation: X:255.41, Y:-84.11, Z:-10.10 [[-9.76437354e-01 -2.13445038e-01 3.18011025e-02 2.55405054e+02] [-2.13343661e-01 9.76955010e-01 6.58719213e-03 -8.41106628e+01] [-3.24742499e-02 -3.52583185e-04 -9.99472510e-01 -1.01036820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.950385723 meters 0.017010021066329636 Centerline is valid? [True, True] Translation: X:255.37, Y:-84.09, Z:-10.11 [[-9.57510571e-01 -2.86636092e-01 3.18316964e-02 2.55370178e+02] [-2.86493577e-01 9.58039427e-01 9.04911194e-03 -8.40890014e+01] [-3.30898223e-02 -4.54956229e-04 -9.99452278e-01 -1.01052074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.010385723 meters 0.016541053514952817 Centerline is valid? [True, True] Translation: X:255.31, Y:-84.08, Z:-10.11 [[-9.33124044e-01 -3.58355263e-01 2.93432159e-02 2.55312535e+02] [-3.58197486e-01 9.33585120e-01 1.06482497e-02 -8.40758284e+01] [-3.12102460e-02 -5.74528304e-04 -9.99512676e-01 -1.01064361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.070385723 meters 0.01567267140745063 Centerline is valid? [True, True] Translation: X:255.24, Y:-84.07, Z:-10.11 [[-9.02260815e-01 -4.30400072e-01 2.60998098e-02 2.55244020e+02] [-4.30243981e-01 9.02637921e-01 1.16146590e-02 -8.40672578e+01] [-2.85576281e-02 -7.49834354e-04 -9.99591867e-01 -1.01069314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.130385723 meters 0.015459343385042523 Centerline is valid? [True, True] Translation: X:255.17, Y:-84.07, Z:-10.11 [[-8.66336001e-01 -4.98861284e-01 2.44816937e-02 2.55167649e+02] [-4.98689699e-01 8.66681427e-01 1.31105980e-02 -8.40743301e+01] [-2.77581990e-02 -8.50585419e-04 -9.99614305e-01 -1.01076720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.190385723 meters 0.015234535439368266 Centerline is valid? [True, True] Translation: X:255.09, Y:-84.09, Z:-10.11 [[-8.26635463e-01 -5.62339887e-01 2.11580581e-02 2.55087600e+02] [-5.62182618e-01 8.26905727e-01 1.33275297e-02 -8.40897491e+01] [-2.49903210e-02 -8.77683883e-04 -9.99687308e-01 -1.01101564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.250385723 meters 0.01668335530433235 Centerline is valid? [True, True] Translation: X:255.00, Y:-84.12, Z:-10.11 [[-7.81488586e-01 -6.23600150e-01 1.99610361e-02 2.55002226e+02] [-6.23426121e-01 7.81742940e-01 1.47596438e-02 -8.41169863e+01] [-2.48085151e-02 -9.09738204e-04 -9.99691807e-01 -1.01112223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.310385723 meters 0.015025709927573485 Centerline is valid? [True, True] Translation: X:254.91, Y:-84.16, Z:-10.11 [[-7.30235223e-01 -6.82926411e-01 1.91842745e-02 2.54910688e+02] [-6.82725809e-01 7.30486508e-01 1.65810556e-02 -8.41572529e+01] [-2.53374945e-02 -9.89528530e-04 -9.99678464e-01 -1.01108328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.370385723 meters 0.015065880718124296 Centerline is valid? [True, True] Translation: X:254.82, Y:-84.20, Z:-10.11 [[-6.74346781e-01 -7.38201187e-01 1.77602574e-02 2.54821127e+02] [-7.37986054e-01 6.74579771e-01 1.78526278e-02 -8.42033822e+01] [-2.51595414e-02 -1.06796016e-03 -9.99682878e-01 -1.01106376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43038572300003 meters 0.014917718930805552 Centerline is valid? [True, True] Translation: X:254.73, Y:-84.27, Z:-10.11 [[-6.16186254e-01 -7.87431905e-01 1.62940395e-02 2.54730434e+02] [-7.87201789e-01 6.16400708e-01 1.90659479e-02 -8.42669800e+01] [-2.50567931e-02 -1.07852205e-03 -9.99685447e-01 -1.01129387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.490385723 meters 0.014848439183153176 Centerline is valid? [True, True] Translation: X:254.64, Y:-84.34, Z:-10.12 [[-5.54439807e-01 -8.32116326e-01 1.33760959e-02 2.54641120e+02] [-8.31919547e-01 5.54600090e-01 1.81275456e-02 -8.43448616e+01] [-2.25026106e-02 -1.07720272e-03 -9.99746204e-01 -1.01167202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.550385723 meters 0.014801515266700295 Centerline is valid? [True, True] Translation: X:254.56, Y:-84.43, Z:-10.12 [[-4.92338392e-01 -8.70338739e-01 1.06483352e-02 2.54562140e+02] [-8.70177527e-01 4.92452506e-01 1.67809840e-02 -8.44262403e+01] [-1.98489399e-02 -1.00401932e-03 -9.99802486e-01 -1.01200216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.610385723 meters 0.016235418668010374 Centerline is valid? [True, True] Translation: X:254.49, Y:-84.51, Z:-10.12 [[-4.29102414e-01 -9.03202235e-01 9.84073546e-03 2.54494766e+02] [-9.03010501e-01 4.29214313e-01 1.86308670e-02 -8.45059162e+01] [-2.10512252e-02 -8.91737451e-04 -9.99778001e-01 -1.01197886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.670385723 meters 0.015296734910853656 Centerline is valid? [True, True] Translation: X:254.43, Y:-84.59, Z:-10.12 [[-3.59728752e-01 -9.33015537e-01 8.78817308e-03 2.54432614e+02] [-9.32792642e-01 3.59835067e-01 2.04110727e-02 -8.45901467e+01] [-2.22061409e-02 -8.55093464e-04 -9.99753048e-01 -1.01210893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.730385723 meters 0.015587879502003958 Centerline is valid? [True, True] Translation: X:254.37, Y:-84.70, Z:-10.12 [[-2.87789306e-01 -9.57667127e-01 7.14062835e-03 2.54368035e+02] [-9.57440576e-01 2.87876661e-01 2.08463873e-02 -8.47018874e+01] [-2.20195201e-02 -8.37359999e-04 -9.99757190e-01 -1.01214536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.790385723 meters 0.015983276888596236 Centerline is valid? [True, True] Translation: X:254.32, Y:-84.81, Z:-10.12 [[-2.13498987e-01 -9.76928052e-01 5.45571250e-03 2.54316411e+02] [-9.76701702e-01 2.13567048e-01 2.10452140e-02 -8.48083630e+01] [-2.17248203e-02 -8.35471827e-04 -9.99763639e-01 -1.01215389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.850385723 meters 0.016263111788805493 Centerline is valid? [True, True] Translation: X:254.27, Y:-84.93, Z:-10.13 [[-1.39168159e-01 -9.90262449e-01 3.53635200e-03 2.54273520e+02] [-9.90075615e-01 1.39210656e-01 1.92527936e-02 -8.49299228e+01] [-1.95576164e-02 -8.21880052e-04 -9.99808394e-01 -1.01258221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.910385723 meters 0.016396349330687572 Centerline is valid? [True, True] Translation: X:254.23, Y:-85.06, Z:-10.13 [[-6.13045128e-02 -9.98117359e-01 1.86942471e-03 2.54234704e+02] [-9.97985480e-01 6.13268446e-02 1.62480758e-02 -8.50604867e+01] [-1.63321324e-02 -8.69578347e-04 -9.99866244e-01 -1.01286136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.970385723 meters 0.016392591591949595 Centerline is valid? [True, True] Translation: X:254.21, Y:-85.17, Z:-10.13 [[ 1.73406358e-02 -9.99849415e-01 6.70644739e-04 2.54207240e+02] [-9.99754474e-01 -1.73297273e-02 1.38084224e-02 -8.51704228e+01] [-1.37947210e-02 -9.09926902e-04 -9.99904434e-01 -1.01304069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.030385723 meters 0.016677507460866037 Centerline is valid? [True, True] Translation: X:254.19, Y:-85.29, Z:-10.13 [[ 9.57284986e-02 -9.95407402e-01 -3.97267924e-04 2.54188538e+02] [-9.95312161e-01 -9.57248470e-02 1.38005781e-02 -8.52859970e+01] [-1.37752260e-02 -9.25703026e-04 -9.99904689e-01 -1.01301139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.090385723 meters 0.016732517043489298 Centerline is valid? [True, True] Translation: X:254.18, Y:-85.41, Z:-10.13 [[ 1.72342591e-01 -9.85036046e-01 -1.42131371e-03 2.54182443e+02] [-9.84943857e-01 -1.72345952e-01 1.35082199e-02 -8.54140219e+01] [-1.35510412e-02 -9.28127409e-04 -9.99907750e-01 -1.01319900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.150385723 meters 0.01771881866689776 Centerline is valid? [True, True] Translation: X:254.19, Y:-85.55, Z:-10.13 [[ 2.47108383e-01 -9.68985777e-01 -2.00269739e-03 2.54187371e+02] [-9.68916789e-01 -2.47114764e-01 1.15995458e-02 -8.55530169e+01] [-1.17346910e-02 -9.25897883e-04 -9.99930717e-01 -1.01349544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.210385723 meters 0.01661717390106066 Centerline is valid? [True, True] Translation: X:254.20, Y:-85.68, Z:-10.14 [[ 3.20843343e-01 -9.47128279e-01 -2.75178555e-03 2.54201673e+02] [-9.47064875e-01 -3.20853818e-01 1.09977132e-02 -8.56847569e+01] [-1.12991660e-02 -9.22423619e-04 -9.99935737e-01 -1.01364162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.270385723 meters 0.016619793648539483 Centerline is valid? [True, True] Translation: X:254.22, Y:-85.79, Z:-10.14 [[ 3.93595997e-01 -9.19276207e-01 -3.66680303e-03 2.54218964e+02] [-9.19211833e-01 -3.93611986e-01 1.09183506e-02 -8.57920805e+01] [-1.14802775e-02 -9.26850354e-04 -9.99933670e-01 -1.01386734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.330385723 meters 0.016499982599014893 Centerline is valid? [True, True] Translation: X:254.24, Y:-85.91, Z:-10.14 [[ 4.64144439e-01 -8.85750636e-01 -3.96878814e-03 2.54244067e+02] [-8.85699160e-01 -4.64160458e-01 9.59516368e-03 -8.59079390e+01] [-1.03410768e-02 -9.38389544e-04 -9.99946089e-01 -1.01402169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.390385723 meters 0.01637409309813578 Centerline is valid? [True, True] Translation: X:254.29, Y:-86.03, Z:-10.14 [[ 5.30638966e-01 -8.47582490e-01 -5.11965671e-03 2.54285046e+02] [-8.47524904e-01 -5.30662854e-01 9.92336363e-03 -8.60280363e+01] [-1.11276809e-02 -9.26686851e-04 -9.99937656e-01 -1.01416139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.450385723 meters 0.016381626893828317 Centerline is valid? [True, True] Translation: X:254.33, Y:-86.13, Z:-10.14 [[ 5.93010610e-01 -8.05174430e-01 -5.70561015e-03 2.54325784e+02] [-8.05121499e-01 -5.93037363e-01 9.27674134e-03 -8.61348612e+01] [-1.08530349e-02 -9.07496645e-04 -9.99940692e-01 -1.01431218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.510385723 meters 0.016737646892861807 Centerline is valid? [True, True] Translation: X:254.38, Y:-86.25, Z:-10.14 [[ 6.50306612e-01 -7.59642991e-01 -6.62093805e-03 2.54381096e+02] [-7.59589496e-01 -6.50339748e-01 9.05593074e-03 -8.62456812e+01] [-1.11851335e-02 -8.59936643e-04 -9.99937075e-01 -1.01434538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.570385723 meters 0.016649284611028985 Centerline is valid? [True, True] Translation: X:254.43, Y:-86.34, Z:-10.15 [[ 7.06055154e-01 -7.08115484e-01 -7.65377783e-03 2.54433392e+02] [-7.08060451e-01 -7.06096135e-01 8.86820820e-03 -8.63426662e+01] [-1.16840185e-02 -8.42106723e-04 -9.99931385e-01 -1.01458792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.630385723 meters 0.01687299502637746 Centerline is valid? [True, True] Translation: X:254.45, Y:-86.37, Z:-10.15 [[ 7.58645162e-01 -6.51444763e-01 -8.78854978e-03 2.54449684e+02] [-6.51387798e-01 -7.58695599e-01 8.65595514e-03 -8.63686280e+01] [-1.23067107e-02 -8.42044404e-04 -9.99923915e-01 -1.01463381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.690385723 meters 0.017064736562359607 Centerline is valid? [True, True] Translation: X:254.47, Y:-86.39, Z:-10.15 [[ 8.06831521e-01 -5.90709759e-01 -9.21282547e-03 2.54468789e+02] [-5.90659126e-01 -8.06883686e-01 7.77901582e-03 -8.63895316e+01] [-1.20288191e-02 -8.34715720e-04 -9.99927303e-01 -1.01473119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.750385723 meters 0.016851742512543556 Centerline is valid? [True, True] Translation: X:254.49, Y:-86.41, Z:-10.15 [[ 8.50166801e-01 -5.26413117e-01 -1.02781246e-02 2.54488348e+02] [-5.26362804e-01 -8.50228536e-01 7.32356369e-03 -8.64121666e+01] [-1.25939748e-02 -8.16228247e-04 -9.99920360e-01 -1.01492409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.810385723 meters 0.01669292026936109 Centerline is valid? [True, True] Translation: X:254.51, Y:-86.43, Z:-10.15 [[ 8.89198757e-01 -4.57366175e-01 -1.19059981e-02 2.54508709e+02] [-4.57312750e-01 -8.89278090e-01 7.03760487e-03 -8.64326231e+01] [-1.38065057e-02 -8.13064763e-04 -9.99904355e-01 -1.01498098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.870385723 meters 0.016226363397128442 Centerline is valid? [True, True] Translation: X:254.53, Y:-86.45, Z:-10.15 [[ 9.23387664e-01 -3.83706354e-01 -1.11649577e-02 2.54531332e+02] [-3.83666840e-01 -9.23454757e-01 5.57379455e-03 -8.64518938e+01] [-1.24490337e-02 -8.63149082e-04 -9.99922135e-01 -1.01522236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93038572300003 meters 0.016041752886769275 Centerline is valid? [True, True] Translation: X:254.55, Y:-86.47, Z:-10.15 [[ 9.50710278e-01 -3.09888176e-01 -1.09218092e-02 2.54553783e+02] [-3.09857065e-01 -9.50772611e-01 4.47666940e-03 -8.64728564e+01] [-1.17714239e-02 -8.71815873e-04 -9.99930334e-01 -1.01531028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.990385723 meters 0.016058185872411007 Centerline is valid? [True, True] Translation: X:254.58, Y:-86.49, Z:-10.16 [[ 9.72111010e-01 -2.34283487e-01 -1.05561143e-02 2.54578599e+02] [-2.34259770e-01 -9.72167926e-01 3.44737472e-03 -8.64868554e+01] [-1.10699787e-02 -8.78358026e-04 -9.99938340e-01 -1.01554392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.050385723 meters 0.01583245934978207 Centerline is valid? [True, True] Translation: X:254.60, Y:-86.50, Z:-10.16 [[ 9.87811740e-01 -1.55341878e-01 -9.84207177e-03 2.54602446e+02] [-1.55324969e-01 -9.87860355e-01 2.46439262e-03 -8.65043295e+01] [-1.01054159e-02 -9.05636469e-04 -9.99948529e-01 -1.01566256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.110385723 meters 0.01559564070863752 Centerline is valid? [True, True] Translation: X:254.63, Y:-86.52, Z:-10.15 [[ 9.97115516e-01 -7.46548033e-02 -1.36860254e-02 2.54626614e+02] [-7.46350602e-02 -9.97209011e-01 1.94840709e-03 -8.65203024e+01] [-1.37932858e-02 -9.21329613e-04 -9.99904444e-01 -1.01531775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.170385723 meters 0.01548053056658574 Centerline is valid? [True, True] Translation: X:254.65, Y:-86.54, Z:-10.15 [[ 9.99856242e-01 6.90538086e-03 -1.54858580e-02 2.54652167e+02] [ 6.91947535e-03 -9.99975693e-01 8.56756298e-04 -8.65352702e+01] [-1.54795654e-02 -9.63787145e-04 -9.99879720e-01 -1.01520884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.230385723 meters 0.015372964288614224 Centerline is valid? [True, True] Translation: X:254.68, Y:-86.55, Z:-10.15 [[ 9.96203849e-01 8.56954861e-02 -1.53027876e-02 2.54678390e+02] [ 8.57002728e-02 -9.96320905e-01 -3.43896504e-04 -8.65471529e+01] [-1.52759575e-02 -9.68862050e-04 -9.99882846e-01 -1.01510735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.290385723 meters 0.015351300252003692 Centerline is valid? [True, True] Translation: X:254.71, Y:-86.55, Z:-10.15 [[ 9.86287519e-01 1.64144068e-01 -1.71363394e-02 2.54705711e+02] [ 1.64136473e-01 -9.86435890e-01 -1.85835170e-03 -8.65544424e+01] [-1.72089376e-02 -9.79829220e-04 -9.99851435e-01 -1.01500850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.350385723 meters 0.015356877571505867 Centerline is valid? [True, True] Translation: X:254.73, Y:-86.56, Z:-10.15 [[ 9.70324617e-01 2.41161543e-01 -1.76422333e-02 2.54733011e+02] [ 2.41139988e-01 -9.70484489e-01 -3.37094908e-03 -8.65551961e+01] [-1.79344571e-02 -9.83333062e-04 -9.99838681e-01 -1.01512996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.410385723 meters 0.015220221793843003 Centerline is valid? [True, True] Translation: X:254.76, Y:-86.56, Z:-10.16 [[ 9.48754264e-01 3.15647874e-01 -1.52238679e-02 2.54761111e+02] [ 3.15623372e-01 -9.48875910e-01 -4.04910001e-03 -8.65550975e+01] [-1.57236513e-02 -9.63407627e-04 -9.99875912e-01 -1.01556096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.470385723 meters 0.01522218637441315 Centerline is valid? [True, True] Translation: X:254.79, Y:-86.56, Z:-10.16 [[ 9.22014063e-01 3.86917777e-01 -1.35904740e-02 2.54790980e+02] [ 3.86890372e-01 -9.22113754e-01 -4.69739690e-03 -8.65594886e+01] [-1.43494694e-02 -9.26957546e-04 -9.99896611e-01 -1.01556491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.530385723 meters 0.015286201608107213 Centerline is valid? [True, True] Translation: X:254.82, Y:-86.55, Z:-10.16 [[ 8.90794664e-01 4.54200919e-01 -1.36525209e-02 2.54817177e+02] [ 4.54162191e-01 -8.90898863e-01 -5.99340154e-03 -8.65548533e+01] [-1.48852239e-02 -8.61568712e-04 -9.99888838e-01 -1.01558978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.590385723 meters 0.015554237938650451 Centerline is valid? [True, True] Translation: X:254.84, Y:-86.55, Z:-10.16 [[ 8.55107866e-01 5.18275577e-01 -1.34522870e-02 2.54842908e+02] [ 5.18225594e-01 -8.55213317e-01 -7.23993713e-03 -8.65475401e+01] [-1.52568576e-02 -7.80392253e-04 -9.99883303e-01 -1.01584355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.650385723 meters 0.01607895674572356 Centerline is valid? [True, True] Translation: X:254.87, Y:-86.55, Z:-10.15 [[ 8.14184082e-01 5.80431947e-01 -1.42490483e-02 2.54873059e+02] [ 5.80357741e-01 -8.14308465e-01 -9.30683225e-03 -8.65456772e+01] [-1.70051034e-02 -6.92070791e-04 -9.99855163e-01 -1.01543183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.710385723 meters 0.016230231279957034 Centerline is valid? [True, True] Translation: X:254.90, Y:-86.53, Z:-10.16 [[ 7.66902633e-01 6.41597796e-01 -1.45814756e-02 2.54897221e+02] [ 6.41497700e-01 -7.67040968e-01 -1.13513774e-02 -8.65345837e+01] [-1.84676079e-02 -6.48581828e-04 -9.99829249e-01 -1.01570465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.770385723 meters 0.016569198054327616 Centerline is valid? [True, True] Translation: X:254.92, Y:-86.52, Z:-10.16 [[ 7.15806465e-01 6.98183534e-01 -1.26829320e-02 2.54923767e+02] [ 6.98089299e-01 -7.15918539e-01 -1.14880868e-02 -8.65248719e+01] [-1.71007392e-02 -6.30572330e-04 -9.99853573e-01 -1.01572374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.830385723 meters 0.0162496536408773 Centerline is valid? [True, True] Translation: X:254.95, Y:-86.52, Z:-10.16 [[ 6.58460986e-01 7.52523947e-01 -1.16978147e-02 2.54951975e+02] [ 7.52422128e-01 -6.58564575e-01 -1.23952678e-02 -8.65157562e+01] [-1.70315022e-02 -6.39894331e-04 -9.99854749e-01 -1.01564829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.890385723 meters 0.01591952096799363 Centerline is valid? [True, True] Translation: X:254.97, Y:-86.50, Z:-10.16 [[ 5.95047653e-01 8.03616117e-01 -1.09282831e-02 2.54973537e+02] [ 8.03501194e-01 -5.95147602e-01 -1.36074326e-02 -8.65009661e+01] [-1.74390937e-02 -6.83817726e-04 -9.99847694e-01 -1.01591148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.950385723 meters 0.015067527657640661 Centerline is valid? [True, True] Translation: X:255.00, Y:-86.49, Z:-10.16 [[ 5.24035107e-01 8.51638508e-01 -9.95280644e-03 2.55001234e+02] [ 8.51513208e-01 -5.24128991e-01 -1.46307304e-02 -8.64885413e+01] [-1.76766478e-02 -8.07929782e-04 -9.99843429e-01 -1.01567730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.010385723 meters 0.014812671107973775 Centerline is valid? [True, True] Translation: X:255.02, Y:-86.47, Z:-10.16 [[ 4.53906973e-01 8.91004288e-01 -8.93417865e-03 2.55022161e+02] [ 8.90866624e-01 -4.53994112e-01 -1.56845019e-02 -8.64702549e+01] [-1.80310230e-02 -8.39856789e-04 -9.99837075e-01 -1.01569836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.070385723 meters 0.014723429033603207 Centerline is valid? [True, True] Translation: X:255.04, Y:-86.45, Z:-10.16 [[ 3.82384204e-01 9.23974502e-01 -7.31034057e-03 2.55038548e+02] [ 9.23845820e-01 -3.82453135e-01 -1.54434219e-02 -8.64485534e+01] [-1.70651908e-02 -8.48306981e-04 -9.99854019e-01 -1.01602390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.130385723 meters 0.014667946641146744 Centerline is valid? [True, True] Translation: X:255.06, Y:-86.43, Z:-10.16 [[ 3.09009236e-01 9.51037654e-01 -6.37745405e-03 2.55060321e+02] [ 9.50887666e-01 -3.09073902e-01 -1.69106446e-02 -8.64283023e+01] [-1.80537644e-02 -8.38697022e-04 -9.99836666e-01 -1.01599175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.190385723 meters 0.014726333689721646 Centerline is valid? [True, True] Translation: X:255.08, Y:-86.40, Z:-10.16 [[ 2.35231546e-01 9.71924833e-01 -5.31411086e-03 2.55075284e+02] [ 9.71747949e-01 -2.35290210e-01 -1.85591435e-02 -8.64045786e+01] [-1.92884507e-02 -7.98280310e-04 -9.99813642e-01 -1.01607077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.250385723 meters 0.014923185356596662 Centerline is valid? [True, True] Translation: X:255.09, Y:-86.38, Z:-10.16 [[ 1.60560389e-01 9.87018939e-01 -3.73834181e-03 2.55089876e+02] [ 9.86850466e-01 -1.60602111e-01 -1.82515816e-02 -8.63806098e+01] [-1.86150423e-02 -7.58703319e-04 -9.99826437e-01 -1.01614889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.310385723 meters 0.01497902180992425 Centerline is valid? [True, True] Translation: X:255.10, Y:-86.36, Z:-10.16 [[ 8.48656005e-02 9.96389635e-01 -2.35071583e-03 2.55102327e+02] [ 9.96204140e-01 -8.48951893e-02 -1.92384385e-02 -8.63559000e+01] [-1.93685452e-02 -7.09111202e-04 -9.99812161e-01 -1.01623009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.370385723 meters 0.015353767515937514 Centerline is valid? [True, True] Translation: X:255.11, Y:-86.33, Z:-10.16 [[ 9.08775738e-03 9.99958358e-01 -8.33427827e-04 2.55108031e+02] [ 9.99771159e-01 -9.10219128e-03 -1.93592361e-02 -8.63299700e+01] [-1.93660160e-02 -6.57305064e-04 -9.99812245e-01 -1.01646020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43038572300003 meters 0.015459360596781758 Centerline is valid? [True, True] Translation: X:255.12, Y:-86.30, Z:-10.17 [[-6.85122849e-02 9.97650057e-01 6.55631163e-04 2.55115431e+02] [ 9.97470079e-01 6.85123854e-02 -1.89603261e-02 -8.63037068e+01] [-1.89606892e-02 -6.45042793e-04 -9.99820022e-01 -1.01657108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.490385723 meters 0.015092002363444289 Centerline is valid? [True, True] Translation: X:255.12, Y:-86.28, Z:-10.17 [[-1.50174114e-01 9.88656889e-01 2.30015333e-03 2.55121304e+02] [ 9.88458231e-01 1.50190075e-01 -1.98309530e-02 -8.62766367e+01] [-1.99514685e-02 -7.04490292e-04 -9.99800701e-01 -1.01652468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.550385723 meters 0.014561717055971824 Centerline is valid? [True, True] Translation: X:255.13, Y:-86.25, Z:-10.17 [[-2.31885524e-01 9.72734290e-01 4.13586302e-03 2.55127351e+02] [ 9.72512888e-01 2.31921047e-01 -2.07680043e-02 -8.62494196e+01] [-2.11609436e-02 -7.93619492e-04 -9.99775767e-01 -1.01650939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.610385723 meters 0.014313370448800855 Centerline is valid? [True, True] Translation: X:255.13, Y:-86.22, Z:-10.17 [[-3.12143186e-01 9.50018195e-01 5.66217415e-03 2.55130234e+02] [ 9.49805872e-01 3.12193247e-01 -2.01042793e-02 -8.62213549e+01] [-2.08671237e-02 -8.97447539e-04 -9.99781855e-01 -1.01653983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.670385723 meters 0.01443514463360478 Centerline is valid? [True, True] Translation: X:255.13, Y:-86.20, Z:-10.17 [[-3.87912955e-01 9.21673188e-01 6.48642094e-03 2.55125229e+02] [ 9.21501070e-01 3.87966039e-01 -1.78362119e-02 -8.61967192e+01] [-1.89556693e-02 -9.41653820e-04 -9.99819882e-01 -1.01698477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.730385723 meters 0.014350847539010654 Centerline is valid? [True, True] Translation: X:255.12, Y:-86.17, Z:-10.17 [[-4.60492762e-01 8.87632174e-01 7.45249817e-03 2.55121995e+02] [ 8.87479981e-01 4.60552045e-01 -1.64650448e-02 -8.61693230e+01] [-1.80471668e-02 -9.68091004e-04 -9.99836668e-01 -1.01713099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.790385723 meters 0.016203161094367834 Centerline is valid? [True, True] Translation: X:255.11, Y:-86.14, Z:-10.17 [[-5.29473070e-01 8.48269693e-01 9.83849207e-03 2.55114891e+02] [ 8.48086827e-01 5.29563532e-01 -1.76408226e-02 -8.61434958e+01] [-2.01742818e-02 -9.96444962e-04 -9.99795982e-01 -1.01682633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.850385723 meters 0.014542237928967906 Centerline is valid? [True, True] Translation: X:255.11, Y:-86.12, Z:-10.17 [[-5.94080691e-01 8.04326779e-01 1.12500653e-02 2.55106645e+02] [ 8.04149950e-01 5.94186379e-01 -1.68939384e-02 -8.61178898e+01] [-2.02728826e-02 -9.89623167e-04 -9.99793994e-01 -1.01700051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.910385723 meters 0.014425206480893694 Centerline is valid? [True, True] Translation: X:255.09, Y:-86.10, Z:-10.17 [[-6.52771562e-01 7.57443618e-01 1.29789555e-02 2.55092533e+02] [ 7.57265112e-01 6.52899928e-01 -1.64691787e-02 -8.60956271e+01] [-2.09484334e-02 -9.22101297e-04 -9.99780132e-01 -1.01706345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.970385723 meters 0.014359992856918186 Centerline is valid? [True, True] Translation: X:255.08, Y:-86.07, Z:-10.17 [[-7.07147354e-01 7.06927512e-01 1.40039883e-02 2.55078030e+02] [ 7.06765137e-01 7.07285515e-01 -1.51737202e-02 -8.60738431e+01] [-2.06315384e-02 -8.32525397e-04 -9.99786801e-01 -1.01748659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.030385723 meters 0.014561141651281397 Centerline is valid? [True, True] Translation: X:255.10, Y:-86.06, Z:-10.17 [[-7.53487589e-01 6.57289838e-01 1.50506789e-02 2.55098838e+02] [ 6.57140282e-01 7.53637577e-01 -1.40375256e-02 -8.60584202e+01] [-2.05694801e-02 -6.86693966e-04 -9.99788190e-01 -1.01740274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.090385723 meters 0.015015976740883204 Centerline is valid? [True, True] Translation: X:255.11, Y:-86.04, Z:-10.18 [[-7.97467185e-01 6.03147950e-01 1.60822746e-02 2.55109869e+02] [ 6.03008368e-01 7.97629056e-01 -1.29922240e-02 -8.60377921e+01] [-2.06639228e-02 -6.63126117e-04 -9.99786258e-01 -1.01755343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.150385723 meters 0.014468847355266833 Centerline is valid? [True, True] Translation: X:255.60, Y:-85.43, Z:-11.13 [[-7.63123997e-01 -6.46246634e-01 -2.65589967e-03 2.55600537e+02] [ 6.46245207e-01 -7.63128393e-01 1.47962881e-03 -8.54252401e+01] [-2.98299758e-03 -5.87222181e-04 9.99995378e-01 -1.11253624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.210385723 meters 0.014488500591328885 Centerline is valid? [True, True] Translation: X:255.08, Y:-86.02, Z:-10.18 [[-7.99346615e-01 6.00677069e-01 1.52331282e-02 2.55080319e+02] [ 6.00552121e-01 7.99491479e-01 -1.22688839e-02 -8.60173631e+01] [-1.95483934e-02 -6.58803380e-04 -9.99808695e-01 -1.01786018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.270385723 meters 0.014857572827336615 Centerline is valid? [True, True] Translation: X:255.10, Y:-86.00, Z:-10.18 [[-8.39270858e-01 5.43441068e-01 1.72114044e-02 2.55097151e+02] [ 5.43311386e-01 8.39447088e-01 -1.18880021e-02 -8.59974544e+01] [-2.09084919e-02 -6.26101727e-04 -9.99781198e-01 -1.01773769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.330385723 meters 0.015047300122361057 Centerline is valid? [True, True] Translation: X:255.12, Y:-85.98, Z:-10.18 [[-8.75550480e-01 4.82787853e-01 1.80899667e-02 2.55116882e+02] [ 4.82670075e-01 8.75737120e-01 -1.06815244e-02 -8.59780912e+01] [-2.09989656e-02 -6.20728284e-04 -9.99779305e-01 -1.01754371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.390385723 meters 0.01499585011695246 Centerline is valid? [True, True] Translation: X:255.51, Y:-85.29, Z:-11.13 [[-8.49330623e-01 -5.27858400e-01 -1.73275548e-03 2.55511213e+02] [ 5.27858552e-01 -8.49332199e-01 4.05104397e-04 -8.52911104e+01] [-1.68552278e-03 -5.70582230e-04 9.99998417e-01 -1.11301296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.450385723 meters 0.015212656145505354 Centerline is valid? [True, True] Translation: X:255.07, Y:-85.96, Z:-10.18 [[-8.76453401e-01 4.81246684e-01 1.52008225e-02 2.55071626e+02] [ 4.81162099e-01 8.76584996e-01 -9.04324576e-03 -8.59606186e+01] [-1.76768449e-02 -6.11923868e-04 -9.99843565e-01 -1.01771115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.510385723 meters 0.015371992797954204 Centerline is valid? [True, True] Translation: X:255.47, Y:-85.26, Z:-11.13 [[-8.52432599e-01 -5.22817533e-01 -4.52669600e-03 2.55471513e+02] [ 5.22813333e-01 -8.52444456e-01 2.16044434e-03 -8.52637829e+01] [-4.98827509e-03 -5.24983839e-04 9.99987421e-01 -1.11296374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.570385723 meters 0.015775917532078323 Centerline is valid? [True, True] Translation: X:255.03, Y:-85.94, Z:-10.17 [[-8.77110271e-01 4.80143931e-01 1.18058409e-02 2.55034508e+02] [ 4.80090925e-01 8.77189506e-01 -7.16054152e-03 -8.59433934e+01] [-1.37940503e-02 -6.12707451e-04 -9.99904670e-01 -1.01748324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.630385723 meters 0.016098703309926073 Centerline is valid? [True, True] Translation: X:255.05, Y:-85.92, Z:-10.17 [[-9.08639539e-01 4.17409252e-01 1.19877060e-02 2.55048515e+02] [ 4.17364057e-01 9.08718411e-01 -6.17199941e-03 -8.59201106e+01] [-1.34696988e-02 -6.04885077e-04 -9.99909097e-01 -1.01731889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.690385723 meters 0.017669921939300753 Centerline is valid? [True, True] Translation: X:255.07, Y:-85.90, Z:-10.17 [[-9.35139521e-01 3.54107434e-01 1.10454483e-02 2.55067505e+02] [ 3.54075158e-01 9.35204562e-01 -4.81770332e-03 -8.59010269e+01] [-1.20357382e-02 -5.94305908e-04 -9.99927391e-01 -1.01727695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.750385723 meters 0.016173599482572493 Centerline is valid? [True, True] Translation: X:255.08, Y:-85.88, Z:-10.18 [[-9.57854356e-01 2.87133682e-01 8.32353193e-03 2.55080411e+02] [ 2.87117000e-01 9.57890308e-01 -3.16002135e-03 -8.58752240e+01] [-8.88037914e-03 -6.37012705e-04 -9.99960366e-01 -1.01758897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.810385723 meters 0.015601438987858807 Centerline is valid? [True, True] Translation: X:255.31, Y:-85.10, Z:-11.14 [[-9.44396977e-01 -3.28619451e-01 -1.11178346e-02 2.55314171e+02] [ 3.28602208e-01 -9.44462311e-01 3.39580075e-03 -8.51030047e+01] [-1.16163020e-02 -4.46361053e-04 9.99932429e-01 -1.11352782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.870385723 meters 0.015134314763995209 Centerline is valid? [True, True] Translation: X:255.03, Y:-85.85, Z:-10.17 [[-9.61807224e-01 2.73521166e-01 1.06318087e-02 2.55029347e+02] [ 2.73496116e-01 9.61865715e-01 -3.77092805e-03 -8.58500448e+01] [-1.12578009e-02 -7.19147468e-04 -9.99936370e-01 -1.01718951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93038572300003 meters 0.015202828071287781 Centerline is valid? [True, True] Translation: X:255.04, Y:-85.82, Z:-10.17 [[-9.78524385e-01 2.05807874e-01 1.15389164e-02 2.55038031e+02] [ 2.05785098e-01 9.78592168e-01 -3.14039246e-03 -8.58241746e+01] [-1.19382108e-02 -6.98413552e-04 -9.99928493e-01 -1.01712601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.990385723 meters 0.0155590890026137 Centerline is valid? [True, True] Translation: X:255.05, Y:-85.80, Z:-10.17 [[-9.90043598e-01 1.40324282e-01 1.10801339e-02 2.55047455e+02] [ 1.40308118e-01 9.90105385e-01 -2.22676745e-03 -8.58030239e+01] [-1.12829698e-02 -6.49964116e-04 -9.99936134e-01 -1.01738626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.050385723 meters 0.015835811810752512 Centerline is valid? [True, True] Translation: X:255.14, Y:-85.00, Z:-11.14 [[-9.82612517e-01 -1.85408787e-01 -9.80932122e-03 2.55140697e+02] [ 1.85403919e-01 -9.82661384e-01 1.41126641e-03 -8.50039205e+01] [-9.90090236e-03 -4.31958558e-04 9.99950892e-01 -1.11386682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.110385723 meters 0.015631437877593458 Centerline is valid? [True, True] Translation: X:254.98, Y:-85.80, Z:-10.17 [[-9.90414840e-01 1.37714622e-01 1.06361474e-02 2.54982187e+02] [ 1.37699705e-01 9.90471742e-01 -2.12575070e-03 -8.57952216e+01] [-1.08275504e-02 -6.40780673e-04 -9.99941175e-01 -1.01735682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.170385723 meters 0.015571295922557047 Centerline is valid? [True, True] Translation: X:254.99, Y:-85.77, Z:-10.17 [[-9.97716942e-01 6.68194131e-02 9.80154785e-03 2.54985842e+02] [ 6.68098440e-02 9.97764878e-01 -1.30084329e-03 -8.57671157e+01] [-9.86656178e-03 -6.43033506e-04 -9.99951118e-01 -1.01743833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.230385723 meters 0.01569723803761808 Centerline is valid? [True, True] Translation: X:254.99, Y:-85.74, Z:-10.18 [[-9.99948856e-01 -4.63255289e-03 8.99030676e-03 2.54986201e+02] [-4.63825786e-03 9.99989055e-01 -6.13822501e-04 -8.57397273e+01] [-8.98736480e-03 -6.55490469e-04 -9.99959398e-01 -1.01761638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.290385723 meters 0.015899607583985464 Centerline is valid? [True, True] Translation: X:254.98, Y:-84.94, Z:-11.14 [[-9.99089812e-01 -3.99555376e-02 -1.49366474e-02 2.54980212e+02] [ 3.99603696e-02 -9.99201265e-01 -2.50681829e-05 -8.49357940e+01] [-1.49237153e-02 -6.21919315e-04 9.99888442e-01 -1.11360397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.350385723 meters 0.015609308949436698 Centerline is valid? [True, True] Translation: X:254.89, Y:-85.74, Z:-10.18 [[-9.99944333e-01 -8.65118827e-03 6.04043743e-03 2.54887397e+02] [-8.65519934e-03 9.99962339e-01 -6.38212108e-04 -8.57370075e+01] [-6.03468865e-03 -6.90457771e-04 -9.99981553e-01 -1.01776467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.410385723 meters 0.015795991878120773 Centerline is valid? [True, True] Translation: X:254.89, Y:-85.71, Z:-10.18 [[-9.96850247e-01 -7.88089487e-02 8.87323175e-03 2.54892035e+02] [-7.88115111e-02 9.96889534e-01 6.10577337e-05 -8.57084091e+01] [-8.85044375e-03 -6.38447385e-04 -9.99960630e-01 -1.01752352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.470385723 meters 0.015805145209509958 Centerline is valid? [True, True] Translation: X:254.88, Y:-85.68, Z:-10.17 [[-9.88747602e-01 -1.49241686e-01 1.02517620e-02 2.54880749e+02] [-1.49240087e-01 9.88800557e-01 9.25092459e-04 -8.56803806e+01] [-1.02750103e-02 -6.15290902e-04 -9.99947021e-01 -1.01742216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.530385723 meters 0.016755906509090722 Centerline is valid? [True, True] Translation: X:254.88, Y:-85.65, Z:-10.17 [[-9.75262607e-01 -2.20795043e-01 1.06017411e-02 2.54882378e+02] [-2.20788913e-01 9.75320029e-01 1.75982975e-03 -8.56489794e+01] [-1.07286521e-02 -6.24450734e-04 -9.99942251e-01 -1.01723569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.590385723 meters 0.015307107726757956 Centerline is valid? [True, True] Translation: X:254.69, Y:-84.89, Z:-11.14 [[-9.84098965e-01 1.77334962e-01 -1.00766578e-02 2.54690972e+02] [-1.77319923e-01 -9.84150400e-01 -2.37390257e-03 -8.48903778e+01] [-1.03379227e-02 -5.49362891e-04 9.99946411e-01 -1.11444652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.650385723 meters 0.015169901653106306 Centerline is valid? [True, True] Translation: X:254.74, Y:-85.68, Z:-10.18 [[-9.73297323e-01 -2.29391972e-01 8.46433911e-03 2.54736407e+02] [-2.29389400e-01 9.73333883e-01 1.28652357e-03 -8.56761114e+01] [-8.53374623e-03 -6.89459720e-04 -9.99963349e-01 -1.01773548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.710385723 meters 0.015239661717047236 Centerline is valid? [True, True] Translation: X:254.70, Y:-85.66, Z:-10.18 [[-9.54563814e-01 -2.97912359e-01 7.49341219e-03 2.54699248e+02] [-2.97908585e-01 9.54592993e-01 1.64087221e-03 -8.56558979e+01] [-7.64199488e-03 -6.66034586e-04 -9.99970578e-01 -1.01792058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.770385723 meters 0.015310196448266472 Centerline is valid? [True, True] Translation: X:254.65, Y:-85.64, Z:-10.18 [[-9.30657904e-01 -3.65814551e-01 7.45518976e-03 2.54654090e+02] [-3.65808469e-01 9.30687525e-01 2.21261851e-03 -8.56384754e+01] [-7.74786015e-03 -6.67980645e-04 -9.99969762e-01 -1.01787956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.830385723 meters 0.01563648205964515 Centerline is valid? [True, True] Translation: X:254.59, Y:-85.63, Z:-10.18 [[-9.01757596e-01 -4.32098184e-01 1.11533348e-02 2.54588980e+02] [-4.32073205e-01 9.01826372e-01 4.68406567e-03 -8.56337556e+01] [-1.20823478e-02 -5.95165326e-04 -9.99926829e-01 -1.01760828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.890385723 meters 0.016225917258045827 Centerline is valid? [True, True] Translation: X:254.51, Y:-85.64, Z:-10.18 [[-8.68314589e-01 -4.95859048e-01 1.23926963e-02 2.54512330e+02] [-4.95817345e-01 8.68402851e-01 6.45350042e-03 -8.56387590e+01] [-1.39618794e-02 -5.40845212e-04 -9.99902382e-01 -1.01751714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.950385723 meters 0.016816883996760044 Centerline is valid? [True, True] Translation: X:254.43, Y:-85.65, Z:-10.18 [[-8.30102550e-01 -5.57490761e-01 1.15674863e-02 2.54431530e+02] [-5.57445268e-01 8.30182980e-01 7.14093548e-03 -8.56540405e+01] [-1.35841358e-02 -5.20531731e-04 -9.99907596e-01 -1.01763829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.010385723 meters 0.01583254345335492 Centerline is valid? [True, True] Translation: X:254.34, Y:-85.68, Z:-10.18 [[-7.86967852e-01 -6.16926401e-01 9.13321122e-03 2.54341225e+02] [-6.16892813e-01 7.87020657e-01 6.46089492e-03 -8.56753098e+01] [-1.11739225e-02 -5.49695761e-04 -9.99937419e-01 -1.01794611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.070385723 meters 0.01524254220779247 Centerline is valid? [True, True] Translation: X:254.25, Y:-85.71, Z:-10.18 [[-7.37089454e-01 -6.75744346e-01 8.28945344e-03 2.54251113e+02] [-6.75710250e-01 7.37135838e-01 6.81282443e-03 -8.57100133e+01] [-1.07141808e-02 -5.79607615e-04 -9.99942434e-01 -1.01840857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.130385723 meters 0.014908409330677878 Centerline is valid? [True, True] Translation: X:254.16, Y:-85.75, Z:-10.18 [[-6.82296080e-01 -7.31042432e-01 7.00155485e-03 2.54156600e+02] [-7.31013003e-01 6.82331719e-01 6.58895164e-03 -8.57520628e+01] [-9.59418618e-03 -6.22611767e-04 -9.99953781e-01 -1.01836257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.190385723 meters 0.014632554016357425 Centerline is valid? [True, True] Translation: X:254.07, Y:-85.81, Z:-10.18 [[-6.24004114e-01 -7.81390832e-01 6.87261534e-03 2.54068708e+02] [-7.81354125e-01 6.24041644e-01 7.59992187e-03 -8.58097735e+01] [-1.02273074e-02 -6.27563832e-04 -9.99947503e-01 -1.01845592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.250385723 meters 0.014508876837484594 Centerline is valid? [True, True] Translation: X:253.98, Y:-85.88, Z:-10.18 [[-5.61647424e-01 -8.27339591e-01 7.83405158e-03 2.53978771e+02] [-8.27273754e-01 5.61701727e-01 1.04549498e-02 -8.58760831e+01] [-1.30501942e-02 -6.08909656e-04 -9.99914657e-01 -1.01842183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.310385723 meters 0.014625989037724765 Centerline is valid? [True, True] Translation: X:253.89, Y:-85.95, Z:-10.18 [[-4.97179624e-01 -8.67614893e-01 7.53786417e-03 2.53891613e+02] [-8.67532741e-01 4.97236405e-01 1.19541360e-02 -8.59537077e+01] [-1.41196869e-02 -5.95991106e-04 -9.99900135e-01 -1.01844681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.370385723 meters 0.014807385767770779 Centerline is valid? [True, True] Translation: X:253.82, Y:-86.03, Z:-10.19 [[-4.30448862e-01 -9.02588400e-01 6.92514883e-03 2.53816499e+02] [-9.02492278e-01 4.30504182e-01 1.31847228e-02 -8.60341264e+01] [-1.48816834e-02 -5.74544407e-04 -9.99889097e-01 -1.01851254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43038572300003 meters 0.015032500782662687 Centerline is valid? [True, True] Translation: X:253.74, Y:-86.12, Z:-10.18 [[-3.64651632e-01 -9.31123536e-01 6.17632321e-03 2.53741495e+02] [-9.31012003e-01 3.64703603e-01 1.44198432e-02 -8.61241042e+01] [-1.56791827e-02 -4.92011686e-04 -9.99876953e-01 -1.01847775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.490385723 meters 0.015495921694989841 Centerline is valid? [True, True] Translation: X:253.68, Y:-86.22, Z:-10.19 [[-2.94511026e-01 -9.55634626e-01 5.07127830e-03 2.53679159e+02] [-9.55518606e-01 2.94554328e-01 1.48976711e-02 -8.62211603e+01] [-1.57304973e-02 -4.58172388e-04 -9.99876163e-01 -1.01860061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.550385723 meters 0.015995939388606533 Centerline is valid? [True, True] Translation: X:253.62, Y:-86.33, Z:-10.19 [[-2.22351390e-01 -9.74958310e-01 4.01918732e-03 2.53621065e+02] [-9.74831435e-01 2.22387317e-01 1.57338734e-02 -8.63281463e+01] [-1.62336869e-02 -4.19581507e-04 -9.99868137e-01 -1.01866594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.610385723 meters 0.01519372873403181 Centerline is valid? [True, True] Translation: X:253.57, Y:-86.45, Z:-10.19 [[-1.43914592e-01 -9.89585711e-01 2.95149393e-03 2.53566711e+02] [-9.89437182e-01 1.43944144e-01 1.71506758e-02 -8.64474259e+01] [-1.73969140e-02 -4.52085332e-04 -9.99848560e-01 -1.01868538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.670385723 meters 0.014262567887306028 Centerline is valid? [True, True] Translation: X:253.52, Y:-86.56, Z:-10.19 [[-6.31517590e-02 -9.98002655e-01 1.59884947e-03 2.53524552e+02] [-9.97863603e-01 6.31696631e-02 1.66680145e-02 -8.65574483e+01] [-1.67357215e-02 -5.42819260e-04 -9.99859801e-01 -1.01896094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.730385723 meters 0.013580881702927592 Centerline is valid? [True, True] Translation: X:253.49, Y:-86.67, Z:-10.19 [[ 1.64636529e-02 -9.99864407e-01 3.39819876e-04 2.53490664e+02] [-9.99737405e-01 -1.64561418e-02 1.59473059e-02 -8.66734784e+01] [-1.59395514e-02 -6.02281551e-04 -9.99872776e-01 -1.01910515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.790385723 meters 0.013478258685178317 Centerline is valid? [True, True] Translation: X:253.47, Y:-86.79, Z:-10.19 [[ 9.39370764e-02 -9.95577794e-01 -8.25926843e-04 2.53469220e+02] [-9.95459010e-01 -9.39386372e-02 1.53913060e-02 -8.67949594e+01] [-1.54008289e-02 -6.23637973e-04 -9.99881206e-01 -1.01922732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.850385723 meters 0.013214100923231276 Centerline is valid? [True, True] Translation: X:253.46, Y:-86.92, Z:-10.19 [[ 1.70481190e-01 -9.85359094e-01 -1.90261117e-03 2.53456785e+02] [-9.85249040e-01 -1.70490611e-01 1.47404295e-02 -8.69159066e+01] [-1.48489936e-02 -6.38420117e-04 -9.99889544e-01 -1.01936262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.910385723 meters 0.013212089272173095 Centerline is valid? [True, True] Translation: X:253.46, Y:-87.04, Z:-10.19 [[ 2.46305424e-01 -9.69186801e-01 -3.25305911e-03 2.53455315e+02] [-9.69064214e-01 -2.46326055e-01 1.54279979e-02 -8.70366277e+01] [-1.57539251e-02 -6.47576384e-04 -9.99875690e-01 -1.01940672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.970385723 meters 0.01320906940492449 Centerline is valid? [True, True] Translation: X:253.46, Y:-87.16, Z:-10.19 [[ 3.20089242e-01 -9.47379398e-01 -3.89271677e-03 2.53462320e+02] [-9.47282076e-01 -3.20112222e-01 1.35953220e-02 -8.71589005e+01] [-1.41260342e-02 -6.64215482e-04 -9.99900002e-01 -1.01946228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.030385723 meters 0.013299175832062601 Centerline is valid? [True, True] Translation: X:253.48, Y:-87.28, Z:-10.19 [[ 3.89479539e-01 -9.21018796e-01 -5.48327918e-03 2.53477470e+02] [-9.20903937e-01 -3.89517641e-01 1.45584143e-02 -8.72753525e+01] [-1.55444071e-02 -6.20631090e-04 -9.99878986e-01 -1.01943459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.090385723 meters 0.013749233301832042 Centerline is valid? [True, True] Translation: X:253.51, Y:-87.39, Z:-10.19 [[ 4.56831435e-01 -8.89519222e-01 -7.78423227e-03 2.53505460e+02] [-8.89368485e-01 -4.56897405e-01 1.63847533e-02 -8.73881564e+01] [-1.81311485e-02 -5.62019484e-04 -9.99835459e-01 -1.01935158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.150385723 meters 0.013745159415638402 Centerline is valid? [True, True] Translation: X:253.54, Y:-87.50, Z:-10.20 [[ 5.21597672e-01 -8.53154906e-01 -7.91045650e-03 2.53539210e+02] [-8.53040373e-01 -5.21657364e-01 1.39898745e-02 -8.74986059e+01] [-1.60620779e-02 -5.49147206e-04 -9.99870846e-01 -1.01961870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.210385723 meters 0.013648936043622429 Centerline is valid? [True, True] Translation: X:253.58, Y:-87.61, Z:-10.20 [[ 5.85615409e-01 -8.10537378e-01 -9.15158336e-03 2.53577971e+02] [-8.10423211e-01 -5.85686647e-01 1.36150908e-02 -8.76055333e+01] [-1.63955002e-02 -5.56551400e-04 -9.99865430e-01 -1.01960318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.270385723 meters 0.01371154238473102 Centerline is valid? [True, True] Translation: X:253.63, Y:-87.71, Z:-10.20 [[ 6.46768212e-01 -7.62614106e-01 -1.05168804e-02 2.53629580e+02] [-7.62498491e-01 -6.46853455e-01 1.32913482e-02 -8.77072600e+01] [-1.69390500e-02 -5.77316098e-04 -9.99856357e-01 -1.01974414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.330385723 meters 0.0137210322089808 Centerline is valid? [True, True] Translation: X:253.68, Y:-87.80, Z:-10.20 [[ 7.02744695e-01 -7.11328409e-01 -1.27196111e-02 2.53682688e+02] [-7.11197255e-01 -7.02859573e-01 1.36706028e-02 -8.78033342e+01] [-1.86643886e-02 -5.60791098e-04 -9.99825648e-01 -1.01966006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.390385723 meters 0.014878317361243914 Centerline is valid? [True, True] Translation: X:253.71, Y:-87.83, Z:-10.20 [[ 7.55357393e-01 -6.55181353e-01 -1.31378643e-02 2.53705894e+02] [-6.55069059e-01 -7.55471425e-01 1.21430267e-02 -8.78308704e+01] [-1.78811658e-02 -5.66116570e-04 -9.99839959e-01 -1.01973997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.450385723 meters 0.014412130530643089 Centerline is valid? [True, True] Translation: X:253.73, Y:-87.86, Z:-10.20 [[ 8.03114636e-01 -5.95711896e-01 -1.15852492e-02 2.53730705e+02] [-5.95639615e-01 -8.03197993e-01 9.29689953e-03 -8.78556619e+01] [-1.48435226e-02 -5.65842691e-04 -9.99889669e-01 -1.01998213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.510385723 meters 0.013986277749774687 Centerline is valid? [True, True] Translation: X:253.75, Y:-87.88, Z:-10.20 [[ 8.48934989e-01 -5.28319778e-01 -1.36965919e-02 2.53752835e+02] [-5.28239554e-01 -8.49045261e-01 9.22596539e-03 -8.78844765e+01] [-1.65032864e-02 -5.97163232e-04 -9.99863633e-01 -1.01984350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.570385723 meters 0.013511965510740832 Centerline is valid? [True, True] Translation: X:253.78, Y:-87.91, Z:-10.20 [[ 8.90015852e-01 -4.55692382e-01 -1.47049867e-02 2.53779018e+02] [-4.55617450e-01 -8.90137063e-01 8.29147426e-03 -8.79076187e+01] [-1.68678153e-02 -6.79695011e-04 -9.99857497e-01 -1.01992691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.630385723 meters 0.013424559859105435 Centerline is valid? [True, True] Translation: X:253.81, Y:-87.93, Z:-10.20 [[ 9.24009348e-01 -3.82131985e-01 -1.34859471e-02 2.53805796e+02] [-3.82079696e-01 -9.24107471e-01 6.36304052e-03 -8.79319873e+01] [-1.48939858e-02 -7.26802370e-04 -9.99888814e-01 -1.02010884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.690385723 meters 0.013447965155578787 Centerline is valid? [True, True] Translation: X:253.84, Y:-87.95, Z:-10.20 [[ 9.51081753e-01 -3.08605875e-01 -1.43496468e-02 2.53835787e+02] [-3.08559150e-01 -9.51189722e-01 5.41889384e-03 -8.79523254e+01] [-1.53215391e-02 -7.26096218e-04 -9.99882355e-01 -1.02010430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.750385723 meters 0.013598027256614414 Centerline is valid? [True, True] Translation: X:253.87, Y:-87.96, Z:-10.20 [[ 9.71942409e-01 -2.34614799e-01 -1.68478569e-02 2.53866506e+02] [-2.34567053e-01 -9.72088169e-01 4.78423717e-03 -8.79637693e+01] [-1.75000552e-02 -6.98050871e-04 -9.99846619e-01 -1.01994426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.810385723 meters 0.013781944621701306 Centerline is valid? [True, True] Translation: X:253.90, Y:-87.97, Z:-10.20 [[ 9.86855796e-01 -1.60826263e-01 -1.58287985e-02 2.53898256e+02] [-1.60794968e-01 -9.86982517e-01 3.23865677e-03 -8.79742029e+01] [-1.61436085e-02 -6.50896054e-04 -9.99869472e-01 -1.02016917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.870385723 meters 0.013939985145438977 Centerline is valid? [True, True] Translation: X:253.93, Y:-87.98, Z:-10.20 [[ 9.96253018e-01 -8.53197132e-02 -1.41587790e-02 2.53926817e+02] [-8.53021356e-02 -9.96353428e-01 1.84187614e-03 -8.79821474e+01] [-1.42642963e-02 -6.27200578e-04 -9.99898063e-01 -1.02032039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93038572300003 meters 0.015716012120596815 Centerline is valid? [True, True] Translation: X:253.96, Y:-87.99, Z:-10.20 [[ 9.99869638e-01 -7.58584133e-03 -1.42535174e-02 2.53955923e+02] [-7.57626880e-03 -9.99971037e-01 7.25468322e-04 -8.79912218e+01] [-1.42586078e-02 -6.17385270e-04 -9.99898150e-01 -1.02027956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.990385723 meters 0.014203021968905435 Centerline is valid? [True, True] Translation: X:253.99, Y:-88.00, Z:-10.20 [[ 9.97521433e-01 6.89191029e-02 -1.41826842e-02 2.53985323e+02] [ 6.89205433e-02 -9.97622077e-01 -3.87765185e-04 -8.79964889e+01] [-1.41756833e-02 -5.90674218e-04 -9.99899345e-01 -1.02044034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.050385723 meters 0.01439053875533172 Centerline is valid? [True, True] Translation: X:254.01, Y:-88.00, Z:-10.20 [[ 9.89113890e-01 1.46444963e-01 -1.44078070e-02 2.54014669e+02] [ 1.46437946e-01 -9.89218649e-01 -1.54653869e-03 -8.80010708e+01] [-1.44789542e-02 -5.80146758e-04 -9.99895006e-01 -1.02039018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.110385723 meters 0.01437457450562145 Centerline is valid? [True, True] Translation: X:254.04, Y:-88.00, Z:-10.20 [[ 9.74613547e-01 2.23333469e-01 -1.58302376e-02 2.54043286e+02] [ 2.23313295e-01 -9.74741940e-01 -3.05341683e-03 -8.80039446e+01] [-1.61123266e-02 -5.59201097e-04 -9.99870032e-01 -1.02039271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.170385723 meters 0.016299005092363837 Centerline is valid? [True, True] Translation: X:254.07, Y:-88.00, Z:-10.20 [[ 9.54488398e-01 2.97790251e-01 -1.65186239e-02 2.54071394e+02] [ 2.97755138e-01 -9.54631181e-01 -4.60291153e-03 -8.80011588e+01] [-1.71398956e-02 -5.25079495e-04 -9.99852963e-01 -1.02028735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.230385723 meters 0.01519984229146771 Centerline is valid? [True, True] Translation: X:254.10, Y:-88.00, Z:-10.20 [[ 9.29085944e-01 3.69473714e-01 -1.69848110e-02 2.54097727e+02] [ 3.69421185e-01 -9.29241063e-01 -6.24772862e-03 -8.79955646e+01] [-1.80913553e-02 -4.69872157e-04 -9.99836228e-01 -1.02038036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.290385723 meters 0.01544832851173647 Centerline is valid? [True, True] Translation: X:254.12, Y:-87.99, Z:-10.20 [[ 8.97254428e-01 4.41167327e-01 -1.74894678e-02 2.54124084e+02] [ 4.41093321e-01 -8.97424751e-01 -8.09308493e-03 -8.79884115e+01] [-1.92658859e-02 -4.52931151e-04 -9.99814293e-01 -1.02045253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.350385723 meters 0.015382036908829852 Centerline is valid? [True, True] Translation: X:254.15, Y:-87.98, Z:-10.20 [[ 8.59918559e-01 5.10164528e-01 -1.64992945e-02 2.54150406e+02] [ 5.10080790e-01 -8.60076709e-01 -9.25435989e-03 -8.79817417e+01] [-1.89119051e-02 -4.57977362e-04 -9.99821049e-01 -1.02049140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.410385723 meters 0.015125418525893412 Centerline is valid? [True, True] Translation: X:254.18, Y:-87.97, Z:-10.21 [[ 8.17429978e-01 5.75884412e-01 -1.28598540e-02 2.54177275e+02] [ 5.75822741e-01 -8.17530972e-01 -8.44277342e-03 -8.79746375e+01] [-1.53753906e-02 -5.03620305e-04 -9.99881665e-01 -1.02093312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.470385723 meters 0.016232089004101703 Centerline is valid? [True, True] Translation: X:254.20, Y:-87.96, Z:-10.21 [[ 7.69886268e-01 6.38055943e-01 -1.26391516e-02 2.54203010e+02] [ 6.37980319e-01 -7.69989852e-01 -9.83563920e-03 -8.79645224e+01] [-1.60077065e-02 -4.91206438e-04 -9.99871748e-01 -1.02099847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.530385723 meters 0.01500968549715926 Centerline is valid? [True, True] Translation: X:254.23, Y:-87.95, Z:-10.21 [[ 7.16504269e-01 6.97446424e-01 -1.37883255e-02 2.54228056e+02] [ 6.97329986e-01 -7.16636768e-01 -1.27527384e-02 -8.79531293e+01] [-1.87755728e-02 -4.77621333e-04 -9.99823609e-01 -1.02103556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.590385723 meters 0.015540694564163422 Centerline is valid? [True, True] Translation: X:254.25, Y:-87.94, Z:-10.21 [[ 6.60134813e-01 7.51021746e-01 -1.37246150e-02 2.54247440e+02] [ 7.50873292e-01 -6.60277320e-01 -1.49385658e-02 -8.79376816e+01] [-2.02812398e-02 -4.43979496e-04 -9.99794216e-01 -1.02111353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.650385723 meters 0.0157884075093366 Centerline is valid? [True, True] Translation: X:254.27, Y:-87.92, Z:-10.21 [[ 6.00126911e-01 7.99811581e-01 -1.22116953e-02 2.54267696e+02] [ 7.99660359e-01 -6.00250990e-01 -1.55582582e-02 -8.79223236e+01] [-1.97737573e-02 -4.28279205e-04 -9.99804388e-01 -1.02120420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.710385723 meters 0.016258023700009817 Centerline is valid? [True, True] Translation: X:254.29, Y:-87.90, Z:-10.21 [[ 5.36153051e-01 8.44047598e-01 -1.11156676e-02 2.54285024e+02] [ 8.43881848e-01 -5.36268109e-01 -1.67314655e-02 -8.79039297e+01] [-2.00831313e-02 -4.09683836e-04 -9.99798230e-01 -1.02131509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.770385723 meters 0.01570024249185845 Centerline is valid? [True, True] Translation: X:254.31, Y:-87.89, Z:-10.22 [[ 4.67709645e-01 8.83833619e-01 -9.26398256e-03 2.54306906e+02] [ 8.83678488e-01 -4.67801176e-01 -1.65646847e-02 -8.78875711e+01] [-1.89741272e-02 -4.38919300e-04 -9.99819879e-01 -1.02162974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.830385723 meters 0.01568842321905964 Centerline is valid? [True, True] Translation: X:254.33, Y:-87.87, Z:-10.22 [[ 3.96279266e-01 9.18090611e-01 -8.50722108e-03 2.54326758e+02] [ 9.17902013e-01 -3.96370335e-01 -1.86132119e-02 -8.78700128e+01] [-2.04606251e-02 -4.32765414e-04 -9.99790566e-01 -1.02167473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.890385723 meters 0.015966041245554157 Centerline is valid? [True, True] Translation: X:254.34, Y:-87.85, Z:-10.22 [[ 3.22822340e-01 9.46431262e-01 -7.32143922e-03 2.54341817e+02] [ 9.46216999e-01 -3.22905072e-01 -2.01421260e-02 -8.78506949e+01] [-2.14272675e-02 -4.25342026e-04 -9.99770319e-01 -1.02173924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.950385723 meters 0.01587733732653657 Centerline is valid? [True, True] Translation: X:254.36, Y:-87.83, Z:-10.22 [[ 2.47900019e-01 9.68767122e-01 -5.98703380e-03 2.54361787e+02] [ 9.68522770e-01 -2.47971976e-01 -2.17610664e-02 -8.78307159e+01] [-2.25660223e-02 -4.04009786e-04 -9.99745273e-01 -1.02185799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.010385723 meters 0.015969797026482584 Centerline is valid? [True, True] Translation: X:254.38, Y:-87.81, Z:-10.22 [[ 1.70907718e-01 9.85277087e-01 -4.42876690e-03 2.54378666e+02] [ 9.85003906e-01 -1.70964630e-01 -2.32034762e-02 -8.78090480e+01] [-2.36190159e-02 -3.96699515e-04 -9.99720953e-01 -1.02207175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.070385723 meters 0.01657248433068963 Centerline is valid? [True, True] Translation: X:254.39, Y:-87.79, Z:-10.22 [[ 9.65191798e-02 9.95327836e-01 -2.55849014e-03 2.54389366e+02] [ 9.95061652e-01 -9.65525400e-02 -2.30198967e-02 -8.77855515e+01] [-2.31593727e-02 -3.23993874e-04 -9.99731733e-01 -1.02216468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.130385723 meters 0.016944939196776036 Centerline is valid? [True, True] Translation: X:254.40, Y:-87.76, Z:-10.22 [[ 2.32756427e-02 9.99728806e-01 -7.47501706e-04 2.54402637e+02] [ 9.99444981e-01 -2.32868460e-02 -2.38212715e-02 -8.77608458e+01] [-2.38322183e-02 -1.92631423e-04 -9.99715954e-01 -1.02230499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.190385723 meters 0.01762340911517583 Centerline is valid? [True, True] Translation: X:254.41, Y:-87.74, Z:-10.23 [[-5.21172233e-02 9.98640443e-01 1.02985914e-03 2.54413579e+02] [ 9.98384899e-01 5.21271841e-02 -2.25909259e-02 -8.77354712e+01] [-2.26138959e-02 -1.49180514e-04 -9.99744262e-01 -1.02255554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.250385723 meters 0.017458114444077837 Centerline is valid? [True, True] Translation: X:254.43, Y:-87.71, Z:-10.23 [[-1.32633764e-01 9.91161152e-01 2.80271908e-03 2.54425930e+02] [ 9.90906487e-01 1.32663218e-01 -2.24678657e-02 -8.77094877e+01] [-2.26410933e-02 -2.02765076e-04 -9.99743637e-01 -1.02255594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.310385723 meters 0.017027129817262916 Centerline is valid? [True, True] Translation: X:254.43, Y:-87.68, Z:-10.23 [[-2.12851751e-01 9.77074070e-01 4.51605374e-03 2.54433720e+02] [ 9.76826204e-01 2.12899479e-01 -2.20086248e-02 -8.76828098e+01] [-2.24655220e-02 -2.73174688e-04 -9.99747581e-01 -1.02261012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.370385723 meters 0.015748348710606437 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.65, Z:-10.23 [[-2.95615918e-01 9.55293845e-01 4.98984375e-03 2.54446654e+02] [ 9.55129318e-01 2.95657643e-01 -1.77353580e-02 -8.76531097e+01] [-1.84177637e-02 -4.76908061e-04 -9.99830265e-01 -1.02279307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43038572300003 meters 0.015374458885543825 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.62, Z:-10.23 [[-3.72806523e-01 9.27891363e-01 5.73715505e-03 2.54452161e+02] [ 9.27757722e-01 3.72850257e-01 -1.57573659e-02 -8.76228006e+01] [-1.67602235e-02 -5.51758905e-04 -9.99859385e-01 -1.02296946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.490385723 meters 0.01516466406134294 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.59, Z:-10.23 [[-4.47859139e-01 8.94078055e-01 6.82816517e-03 2.54454204e+02] [ 8.93952337e-01 4.47910764e-01 -1.50055382e-02 -8.75932642e+01] [-1.64745310e-02 -6.16313190e-04 -9.99864096e-01 -1.02298923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.550385723 meters 0.015100633267025085 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.56, Z:-10.23 [[-5.17374391e-01 8.55715665e-01 8.62780095e-03 2.54454266e+02] [ 8.55575863e-01 5.17445945e-01 -1.54801783e-02 -8.75633369e+01] [-1.77110517e-02 -6.27309570e-04 -9.99842950e-01 -1.02264433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.610385723 meters 0.015370825788451187 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.53, Z:-10.23 [[-5.80200828e-01 8.14422206e-01 9.13617535e-03 2.54449601e+02] [ 8.14305257e-01 5.80272470e-01 -1.38133345e-02 -8.75343687e+01] [-1.65513574e-02 -5.74872493e-04 -9.99862852e-01 -1.02260598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.670385723 meters 0.016069211736131857 Centerline is valid? [True, True] Translation: X:254.44, Y:-87.51, Z:-10.23 [[-6.37489673e-01 7.70390274e-01 1.02831387e-02 2.54437757e+02] [ 7.70277981e-01 6.37572432e-01 -1.31615427e-02 -8.75098972e+01] [-1.66957703e-02 -4.69472232e-04 -9.99860506e-01 -1.02263433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.730385723 meters 0.016209686391707622 Centerline is valid? [True, True] Translation: X:254.43, Y:-87.48, Z:-10.23 [[-6.93763665e-01 7.20125532e-01 1.05448694e-02 2.54432241e+02] [ 7.20032714e-01 6.93843663e-01 -1.15698777e-02 -8.74782230e+01] [-1.56482551e-02 -4.34109830e-04 -9.99877464e-01 -1.02260231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.790385723 meters 0.016391428878919756 Centerline is valid? [True, True] Translation: X:254.42, Y:-87.45, Z:-10.22 [[-7.47817073e-01 6.63820065e-01 1.06088138e-02 2.54422431e+02] [ 6.63744754e-01 7.47892188e-01 -1.00088191e-02 -8.74490359e+01] [-1.45783039e-02 -4.43221304e-04 -9.99893633e-01 -1.02247490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.850385723 meters 0.0164927606125051 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.43, Z:-10.23 [[-7.92135524e-01 6.10269553e-01 9.61171975e-03 2.54451764e+02] [ 6.10218530e-01 7.92193738e-01 -7.90112517e-03 -8.74313151e+01] [-1.24361603e-02 -3.93512430e-04 -9.99922591e-01 -1.02255212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.910385723 meters 0.016063498547223016 Centerline is valid? [True, True] Translation: X:254.47, Y:-87.40, Z:-10.22 [[-8.35447515e-01 5.49458808e-01 1.10665454e-02 2.54469773e+02] [ 5.49403782e-01 8.35520698e-01 -7.78768901e-03 -8.73993882e+01] [-1.35253421e-02 -4.26203513e-04 -9.99908438e-01 -1.02233451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.970385723 meters 0.015650162714104136 Centerline is valid? [True, True] Translation: X:254.48, Y:-87.37, Z:-10.22 [[-8.73469514e-01 4.86745171e-01 1.14081982e-02 2.54484300e+02] [ 4.86696696e-01 8.73543889e-01 -6.88475587e-03 -8.73698101e+01] [-1.33166835e-02 -4.61291995e-04 -9.99911223e-01 -1.02228708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.030385723 meters 0.014916935401720326 Centerline is valid? [True, True] Translation: X:254.50, Y:-87.33, Z:-10.22 [[-9.09220055e-01 4.16182707e-01 1.05283619e-02 2.54496291e+02] [ 4.16147431e-01 9.09280829e-01 -5.44875405e-03 -8.73325186e+01] [-1.18409149e-02 -5.72765678e-04 -9.99929730e-01 -1.02212119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.090385723 meters 0.01499954823507192 Centerline is valid? [True, True] Translation: X:254.50, Y:-87.30, Z:-10.22 [[-9.38709345e-01 3.44537286e-01 1.09006381e-02 2.54501751e+02] [ 3.44505940e-01 9.38772409e-01 -4.69271027e-03 -8.72963942e+01] [-1.18500320e-02 -6.49756397e-04 -9.99929575e-01 -1.02211832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.150385723 meters 0.015424886379088011 Centerline is valid? [True, True] Translation: X:254.72, Y:-86.71, Z:-11.22 [[-9.06827031e-01 -4.21470342e-01 -5.24279192e-03 2.54721852e+02] [ 4.21467132e-01 -9.06841977e-01 1.75681928e-03 -8.67086486e+01] [-5.49483101e-03 -6.16533264e-04 9.99984713e-01 -1.12178679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.210385723 meters 0.016425416709124497 Centerline is valid? [True, True] Translation: X:254.45, Y:-87.27, Z:-10.22 [[-9.44189628e-01 3.29306642e-01 7.94239526e-03 2.54454262e+02] [ 3.29288282e-01 9.44222741e-01 -3.55560221e-03 -8.72652377e+01] [-8.67027365e-03 -7.41825039e-04 -9.99962137e-01 -1.02228522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.270385723 meters 0.017023088511191588 Centerline is valid? [True, True] Translation: X:254.46, Y:-87.23, Z:-10.22 [[-9.65710910e-01 2.59477788e-01 8.58576365e-03 2.54459381e+02] [ 2.59460392e-01 9.65748771e-01 -3.10085524e-03 -8.72349631e+01] [-9.09629376e-03 -7.66864127e-04 -9.99958334e-01 -1.02210849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.330385723 meters 0.017287839905908823 Centerline is valid? [True, True] Translation: X:254.63, Y:-86.66, Z:-11.22 [[-9.32790717e-01 -3.60351487e-01 -6.94861608e-03 2.54634446e+02] [ 3.60345984e-01 -9.32816423e-01 2.07180760e-03 -8.66567387e+01] [-7.22836215e-03 -5.71343002e-04 9.99973712e-01 -1.12204595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.390385723 meters 0.01611756821508431 Centerline is valid? [True, True] Translation: X:254.41, Y:-87.23, Z:-10.22 [[-9.65940790e-01 2.58661771e-01 7.24425185e-03 2.54413552e+02] [ 2.58648861e-01 9.65967688e-01 -2.68176564e-03 -8.72327960e+01] [-7.69138347e-03 -7.16709329e-04 -9.99970164e-01 -1.02218041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.450385723 meters 0.015812396668599044 Centerline is valid? [True, True] Translation: X:254.59, Y:-86.63, Z:-11.22 [[-9.35659183e-01 -3.52794196e-01 -8.84018476e-03 2.54592974e+02] [ 3.52784376e-01 -9.35700755e-01 2.69849758e-03 -8.66324144e+01] [-9.22378184e-03 -5.93805025e-04 9.99957284e-01 -1.12190103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.510385723 meters 0.01559226177519837 Centerline is valid? [True, True] Translation: X:254.37, Y:-87.23, Z:-10.22 [[-9.65824296e-01 2.59115708e-01 6.51759941e-03 2.54365878e+02] [ 2.59105042e-01 9.65846052e-01 -2.44546345e-03 -8.72324102e+01] [-6.92865566e-03 -6.73145142e-04 -9.99975770e-01 -1.02228305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.570385723 meters 0.01534035570127462 Centerline is valid? [True, True] Translation: X:254.37, Y:-87.21, Z:-10.22 [[-9.81161244e-01 1.93057835e-01 7.16139530e-03 2.54366790e+02] [ 1.93047789e-01 9.81187161e-01 -2.07510663e-03 -8.72112148e+01] [-7.42728472e-03 -6.53522675e-04 -9.99972204e-01 -1.02211730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.630385723 meters 0.015049038350514816 Centerline is valid? [True, True] Translation: X:254.37, Y:-87.20, Z:-10.22 [[-9.91798604e-01 1.27570361e-01 7.83146529e-03 2.54369638e+02] [ 1.27561420e-01 9.91829329e-01 -1.63292380e-03 -8.71951557e+01] [-7.97578964e-03 -6.20538718e-04 -9.99968000e-01 -1.02215962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.690385723 meters 0.01494700003207193 Centerline is valid? [True, True] Translation: X:254.37, Y:-87.18, Z:-10.22 [[-9.98215278e-01 5.93727889e-02 6.41335703e-03 2.54372095e+02] [ 5.93677145e-02 9.98235702e-01 -9.78895851e-04 -8.71750998e+01] [-6.46016174e-03 -5.96402445e-04 -9.99978955e-01 -1.02226690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.750385723 meters 0.014910906712946639 Centerline is valid? [True, True] Translation: X:254.37, Y:-87.16, Z:-10.22 [[-9.99896872e-01 -1.27796071e-02 6.55189693e-03 2.54371103e+02] [-1.27832791e-02 9.99918156e-01 -5.18872249e-04 -8.71557524e+01] [-6.54472971e-03 -6.02573466e-04 -9.99978401e-01 -1.02225568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.810385723 meters 0.015136673982675484 Centerline is valid? [True, True] Translation: X:254.35, Y:-87.14, Z:-10.22 [[-9.96362976e-01 -8.50911149e-02 4.50800367e-03 2.54351339e+02] [-8.50929550e-02 9.96372993e-01 -2.17638102e-04 -8.71353610e+01] [-4.47313404e-03 -6.00445900e-04 -9.99989815e-01 -1.02238037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.870385723 meters 0.015316400593986448 Centerline is valid? [True, True] Translation: X:254.32, Y:-86.40, Z:-11.22 [[-9.99916036e-01 7.52237305e-03 -1.05515075e-02 2.54317931e+02] [-7.51684516e-03 -9.99971589e-01 -5.63456048e-04 -8.64012892e+01] [-1.05554462e-02 -4.84094691e-04 9.99944173e-01 -1.12217351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93038572300003 meters 0.015404348553565246 Centerline is valid? [True, True] Translation: X:254.28, Y:-87.15, Z:-10.22 [[-9.95678810e-01 -9.27189865e-02 5.18625005e-03 2.54278526e+02] [-9.27209818e-02 9.95692120e-01 -1.45115951e-04 -8.71518177e+01] [-5.15045330e-03 -6.25363073e-04 -9.99986541e-01 -1.02242915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.990385723 meters 0.01560716429299656 Centerline is valid? [True, True] Translation: X:254.23, Y:-86.40, Z:-11.22 [[-9.99881140e-01 1.01538223e-02 -1.16020151e-02 2.54231020e+02] [-1.01459496e-02 -9.99948257e-01 -7.37228500e-04 -8.63976182e+01] [-1.16089005e-02 -6.19427413e-04 9.99932423e-01 -1.12217679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.050385723 meters 0.015734838064047255 Centerline is valid? [True, True] Translation: X:254.19, Y:-87.17, Z:-10.22 [[-9.95096917e-01 -9.87601290e-02 5.34441750e-03 2.54194240e+02] [-9.87620927e-02 9.95111068e-01 -1.04125392e-04 -8.71666166e+01] [-5.30800557e-03 -6.31440713e-04 -9.99985713e-01 -1.02226779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.110385723 meters 0.015592775540088224 Centerline is valid? [True, True] Translation: X:254.14, Y:-86.39, Z:-11.22 [[-9.99760146e-01 1.93640173e-02 -1.02316204e-02 2.54141775e+02] [-1.93581647e-02 -9.99812388e-01 -6.70744289e-04 -8.63937969e+01] [-1.02426892e-02 -4.72518014e-04 9.99947431e-01 -1.12228509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.170385723 meters 0.015558639284376806 Centerline is valid? [True, True] Translation: X:254.10, Y:-87.19, Z:-10.23 [[-9.95289462e-01 -9.67491024e-02 6.20473923e-03 2.54099120e+02] [-9.67508914e-02 9.95308628e-01 1.18892994e-05 -8.71913237e+01] [-6.17678077e-03 -5.88480757e-04 -9.99980750e-01 -1.02254868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.230385723 meters 0.01568863945714836 Centerline is valid? [True, True] Translation: X:254.04, Y:-86.40, Z:-11.23 [[-9.99406291e-01 3.30087206e-02 -9.87367128e-03 2.54040988e+02] [-3.30028528e-02 -9.99454971e-01 -7.56680496e-04 -8.63968506e+01] [-9.89326690e-03 -4.30371928e-04 9.99950968e-01 -1.12254765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.290385723 meters 0.0158449321304325 Centerline is valid? [True, True] Translation: X:254.01, Y:-87.20, Z:-10.23 [[-9.95093925e-01 -9.87557741e-02 5.94786584e-03 2.54008543e+02] [-9.87573783e-02 9.95111541e-01 2.41042337e-05 -8.71998889e+01] [-5.92117038e-03 -5.63409661e-04 -9.99982311e-01 -1.02257243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.350385723 meters 0.015909875526506644 Centerline is valid? [True, True] Translation: X:253.94, Y:-86.41, Z:-11.23 [[-9.99090446e-01 4.13860972e-02 -1.02699490e-02 2.53937220e+02] [-4.13795081e-02 -9.99143137e-01 -8.53344226e-04 -8.64093846e+01] [-1.02964657e-02 -4.27602624e-04 9.99946899e-01 -1.12253379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.410385723 meters 0.015832531377531087 Centerline is valid? [True, True] Translation: X:253.90, Y:-87.20, Z:-10.22 [[-9.94264200e-01 -1.06678171e-01 7.64648659e-03 2.53899561e+02] [-1.06679375e-01 9.94293441e-01 2.51458262e-04 -8.72010416e+01] [-7.62967657e-03 -5.65706460e-04 -9.99970734e-01 -1.02245568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.470385723 meters 0.015828801286020263 Centerline is valid? [True, True] Translation: X:253.90, Y:-87.17, Z:-10.22 [[-9.83988003e-01 -1.78011818e-01 8.91085258e-03 2.53903682e+02] [-1.78009597e-01 9.84028193e-01 1.04817462e-03 -8.71681452e+01] [-8.95511764e-03 -5.54826025e-04 -9.99959748e-01 -1.02235977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.530385723 meters 0.01583417529476665 Centerline is valid? [True, True] Translation: X:253.88, Y:-87.14, Z:-10.22 [[-9.69106826e-01 -2.46471809e-01 9.14368108e-03 2.53880180e+02] [-2.46466061e-01 9.69149811e-01 1.76792806e-03 -8.71431173e+01] [-9.29734121e-03 -5.40295909e-04 -9.99956633e-01 -1.02234015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.590385723 meters 0.015902728819723173 Centerline is valid? [True, True] Translation: X:253.85, Y:-87.12, Z:-10.22 [[-9.49875335e-01 -3.12514798e-01 8.44684942e-03 2.53851631e+02] [-3.12507233e-01 9.49912751e-01 2.23498892e-03 -8.71223870e+01] [-8.72223707e-03 -5.16740691e-04 -9.99961827e-01 -1.02249993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.650385723 meters 0.01619529871506601 Centerline is valid? [True, True] Translation: X:253.80, Y:-87.11, Z:-10.23 [[-9.25084673e-01 -3.79667259e-01 8.43331552e-03 2.53797255e+02] [-3.79656406e-01 9.25122974e-01 2.91484499e-03 -8.71127300e+01] [-8.90852514e-03 -5.05283834e-04 -9.99960191e-01 -1.02262496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.710385723 meters 0.01608844030022004 Centerline is valid? [True, True] Translation: X:253.73, Y:-87.11, Z:-10.23 [[-8.94736200e-01 -4.46508840e-01 8.77425196e-03 2.53731055e+02] [-4.46492743e-01 8.94779084e-01 3.82375059e-03 -8.71090482e+01] [-9.55835558e-03 -4.96391759e-04 -9.99954195e-01 -1.02258908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.770385723 meters 0.016009955428739214 Centerline is valid? [True, True] Translation: X:253.65, Y:-87.12, Z:-10.23 [[-8.58921749e-01 -5.12049977e-01 7.63220203e-03 2.53653072e+02] [-5.12034963e-01 8.58955505e-01 3.95435589e-03 -8.71178385e+01] [-8.58054979e-03 -5.11472010e-04 -9.99963056e-01 -1.02271498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.830385723 meters 0.01597500540975835 Centerline is valid? [True, True] Translation: X:253.57, Y:-87.14, Z:-10.23 [[-8.18153224e-01 -5.74954683e-01 7.23980782e-03 2.53570415e+02] [-5.74937657e-01 8.18185092e-01 4.45483941e-03 -8.71391115e+01] [-8.48483360e-03 -5.17696922e-04 -9.99963869e-01 -1.02283048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.890385723 meters 0.015950023770965598 Centerline is valid? [True, True] Translation: X:253.49, Y:-87.17, Z:-10.23 [[-7.71754133e-01 -6.35878425e-01 7.36113465e-03 2.53486239e+02] [-6.35855882e-01 7.71789057e-01 5.38030317e-03 -8.71662117e+01] [-9.10246188e-03 -5.28349560e-04 -9.99958432e-01 -1.02291060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.950385723 meters 0.01586929857078154 Centerline is valid? [True, True] Translation: X:253.40, Y:-87.20, Z:-10.23 [[-7.21341128e-01 -6.92541038e-01 7.34083114e-03 2.53396775e+02] [-6.92512459e-01 7.21378285e-01 6.31371758e-03 -8.72031396e+01] [-9.66802471e-03 -5.29272863e-04 -9.99953123e-01 -1.02280818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.010385723 meters 0.015978477031086027 Centerline is valid? [True, True] Translation: X:253.31, Y:-87.26, Z:-10.23 [[-6.68594211e-01 -7.43589090e-01 7.55291660e-03 2.53308687e+02] [-7.43549865e-01 6.68636685e-01 7.65389978e-03 -8.72560772e+01] [-1.07415135e-02 -4.98617041e-04 -9.99942184e-01 -1.02289902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.070385723 meters 0.017011060268079733 Centerline is valid? [True, True] Translation: X:253.22, Y:-87.32, Z:-10.23 [[-6.16587106e-01 -7.87259113e-01 6.59011225e-03 2.53221930e+02] [-7.87221288e-01 6.16622178e-01 7.72870046e-03 -8.73222883e+01] [-1.01480992e-02 -4.22459608e-04 -9.99948417e-01 -1.02317657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.130385723 meters 0.01725744883789295 Centerline is valid? [True, True] Translation: X:253.14, Y:-87.39, Z:-10.23 [[-5.56462238e-01 -8.30848310e-01 6.39244865e-03 2.53138095e+02] [-8.30801317e-01 5.56498818e-01 8.84517474e-03 -8.73892533e+01] [-1.09063886e-02 -3.88849023e-04 -9.99940448e-01 -1.02314423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.190385723 meters 0.017491890140171017 Centerline is valid? [True, True] Translation: X:253.06, Y:-87.47, Z:-10.23 [[-4.90952423e-01 -8.71163429e-01 6.32441599e-03 2.53056621e+02] [-8.71100645e-01 4.90993016e-01 1.04653972e-02 -8.74703314e+01] [-1.22223154e-02 -3.71190758e-04 -9.99925236e-01 -1.02325468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.250385723 meters 0.01685651900135029 Centerline is valid? [True, True] Translation: X:252.98, Y:-87.56, Z:-10.23 [[-4.21218574e-01 -9.06940513e-01 5.81536204e-03 2.52976433e+02] [-9.06866219e-01 4.21258543e-01 1.16146716e-02 -8.75566492e+01] [-1.29835872e-02 -3.81439956e-04 -9.99915637e-01 -1.02312497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.310385723 meters 0.01648073798839048 Centerline is valid? [True, True] Translation: X:252.90, Y:-87.65, Z:-10.23 [[-3.48736807e-01 -9.37206575e-01 5.14532918e-03 2.52900286e+02] [-9.37120745e-01 3.48774537e-01 1.26898136e-02 -8.76529485e+01] [-1.36875366e-02 -3.96389626e-04 -9.99906243e-01 -1.02307171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.370385723 meters 0.016210383254496544 Centerline is valid? [True, True] Translation: X:252.83, Y:-87.77, Z:-10.23 [[-2.74054387e-01 -9.61705830e-01 4.01121469e-03 2.52833571e+02] [-9.61624608e-01 2.74083404e-01 1.25060663e-02 -8.77695534e+01] [-1.31265643e-02 -4.29940412e-04 -9.99913751e-01 -1.02333674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43038572300003 meters 0.015939314818839256 Centerline is valid? [True, True] Translation: X:252.78, Y:-87.86, Z:-10.24 [[-1.97101432e-01 -9.80379341e-01 2.71536708e-03 2.52778095e+02] [-9.80316859e-01 1.97119555e-01 1.10787077e-02 -8.78648663e+01] [-1.13965881e-02 -4.78290972e-04 -9.99934942e-01 -1.02354925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.490385723 meters 0.0156726924466851 Centerline is valid? [True, True] Translation: X:252.73, Y:-87.98, Z:-10.24 [[-1.20530779e-01 -9.92707984e-01 1.78628383e-03 2.52726024e+02] [-9.92651119e-01 1.20543014e-01 1.06366206e-02 -8.79832309e+01] [-1.07743822e-02 -4.91116474e-04 -9.99941834e-01 -1.02354532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.550385723 meters 0.015480591018105979 Centerline is valid? [True, True] Translation: X:252.69, Y:-88.10, Z:-10.24 [[-4.39996091e-02 -9.99031063e-01 9.84861857e-04 2.52689750e+02] [-9.98967301e-01 4.40079381e-02 1.12975139e-02 -8.80978102e+01] [-1.13299090e-02 -4.86758598e-04 -9.99935696e-01 -1.02376698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.610385723 meters 0.01573528039205295 Centerline is valid? [True, True] Translation: X:252.66, Y:-88.21, Z:-10.24 [[ 3.09469671e-02 -9.99521013e-01 1.70015376e-04 2.52660548e+02] [-9.99470932e-01 -3.09437126e-02 1.00171403e-02 -8.82110618e+01] [-1.00070813e-02 -4.79925538e-04 -9.99949813e-01 -1.02399498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.670385723 meters 0.015729158899007403 Centerline is valid? [True, True] Translation: X:252.64, Y:-88.33, Z:-10.24 [[ 1.07865262e-01 -9.94165280e-01 -6.94232718e-04 2.52636558e+02] [-9.94106879e-01 -1.07866458e-01 1.07861196e-02 -8.83338210e+01] [-1.07980701e-02 -4.73306104e-04 -9.99941587e-01 -1.02396050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.730385723 meters 0.015530662414087567 Centerline is valid? [True, True] Translation: X:252.63, Y:-88.46, Z:-10.24 [[ 1.83626838e-01 -9.82995187e-01 -1.28315246e-03 2.52626862e+02] [-9.82949468e-01 -1.83630689e-01 9.49285864e-03 -8.84592795e+01] [-9.56706052e-03 -4.81869583e-04 -9.99954119e-01 -1.02434646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.790385723 meters 0.015589888620456039 Centerline is valid? [True, True] Translation: X:252.62, Y:-88.58, Z:-10.24 [[ 2.57473708e-01 -9.66282945e-01 -2.13541260e-03 2.52621844e+02] [-9.66233149e-01 -2.57482143e-01 9.82077949e-03 -8.85804817e+01] [-1.00394823e-02 -4.65286067e-04 -9.99949495e-01 -1.02438540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.850385723 meters 0.01530734929427669 Centerline is valid? [True, True] Translation: X:252.63, Y:-88.70, Z:-10.24 [[ 3.31144657e-01 -9.43573832e-01 -3.41174167e-03 2.52628838e+02] [-9.43508842e-01 -3.31161925e-01 1.10835199e-02 -8.87039069e+01] [-1.15879583e-02 -4.51239987e-04 -9.99932756e-01 -1.02441939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.910385723 meters 0.01535753298316197 Centerline is valid? [True, True] Translation: X:252.65, Y:-88.82, Z:-10.24 [[ 4.02683712e-01 -9.15326338e-01 -4.85007862e-03 2.52645308e+02] [-9.15246280e-01 -4.02712679e-01 1.21138650e-02 -8.88242286e+01] [-1.30413278e-02 -4.39039697e-04 -9.99914862e-01 -1.02448041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.970385723 meters 0.015063545236595359 Centerline is valid? [True, True] Translation: X:252.67, Y:-88.94, Z:-10.24 [[ 4.72189785e-01 -8.81472892e-01 -6.50752966e-03 2.52665922e+02] [-8.81376138e-01 -4.72234425e-01 1.30671986e-02 -8.89447950e+01] [-1.45914608e-02 -4.34616340e-04 -9.99893445e-01 -1.02432296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.030385723 meters 0.014768321122282114 Centerline is valid? [True, True] Translation: X:252.70, Y:-89.06, Z:-10.25 [[ 5.38020737e-01 -8.42897345e-01 -7.59956312e-03 2.52701482e+02] [-8.42801698e-01 -5.38074234e-01 1.27049756e-02 -8.90600243e+01] [-1.47981193e-02 -4.30615629e-04 -9.99890409e-01 -1.02465568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.090385723 meters 0.0149725089305837 Centerline is valid? [True, True] Translation: X:252.74, Y:-89.17, Z:-10.25 [[ 5.98744406e-01 -8.00898787e-01 -8.14062230e-03 2.52743911e+02] [-8.00815496e-01 -5.98799610e-01 1.15571520e-02 -8.91671286e+01] [-1.41307105e-02 -4.00643651e-04 -9.99900076e-01 -1.02485859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.150385723 meters 0.014879626157710893 Centerline is valid? [True, True] Translation: X:252.79, Y:-89.27, Z:-10.25 [[ 6.57068322e-01 -7.53769464e-01 -9.63410346e-03 2.52785450e+02] [-7.53680048e-01 -6.57138842e-01 1.16158345e-02 -8.92693886e+01] [-1.50866049e-02 -3.71365309e-04 -9.99886122e-01 -1.02488226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.210385723 meters 0.015191051372785742 Centerline is valid? [True, True] Translation: X:252.84, Y:-89.37, Z:-10.25 [[ 7.12300474e-01 -7.01800271e-01 -1.02183461e-02 2.52838531e+02] [-7.01720447e-01 -7.12373666e-01 1.05912540e-02 -8.93651110e+01] [-1.47122256e-02 -3.73732860e-04 -9.99891700e-01 -1.02498601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.270385723 meters 0.015378206982497125 Centerline is valid? [True, True] Translation: X:252.86, Y:-89.39, Z:-10.25 [[ 7.64515540e-01 -6.44508056e-01 -1.11962133e-02 2.52861042e+02] [-6.44431671e-01 -7.64597426e-01 9.92964689e-03 -8.93937320e+01] [-1.49603333e-02 -3.76174896e-04 -9.99888017e-01 -1.02503086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.330385723 meters 0.014937492096917377 Centerline is valid? [True, True] Translation: X:252.88, Y:-89.43, Z:-10.25 [[ 8.12694687e-01 -5.82533987e-01 -1.34722011e-02 2.52879377e+02] [-5.82446675e-01 -8.12806268e-01 1.00917005e-02 -8.94283983e+01] [-1.68290480e-02 -3.54632676e-04 -9.99858319e-01 -1.02486546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.390385723 meters 0.014637853664517602 Centerline is valid? [True, True] Translation: X:252.90, Y:-89.46, Z:-10.25 [[ 8.56600274e-01 -5.15795764e-01 -1.38094525e-02 2.52903727e+02] [-5.15721438e-01 -8.56711492e-01 8.76458914e-03 -8.94568653e+01] [-1.63514546e-02 -3.85918759e-04 -9.99866232e-01 -1.02514642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.450385723 meters 0.014058941035053124 Centerline is valid? [True, True] Translation: X:252.93, Y:-89.48, Z:-10.25 [[ 8.96514931e-01 -4.42760500e-01 -1.49705804e-02 2.52930081e+02] [-4.42690114e-01 -8.96639797e-01 7.90805482e-03 -8.94833478e+01] [-1.69245924e-02 -4.62361296e-04 -9.99856662e-01 -1.02544187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.510385723 meters 0.013929205379119415 Centerline is valid? [True, True] Translation: X:252.96, Y:-89.51, Z:-10.25 [[ 9.30860446e-01 -3.64990276e-01 -1.67609458e-02 2.52956011e+02] [-3.64919907e-01 -9.31011152e-01 7.18993677e-03 -8.95122371e+01] [-1.82288845e-02 -5.76424942e-04 -9.99833674e-01 -1.02524195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.570385723 meters 0.01446931916536838 Centerline is valid? [True, True] Translation: X:252.99, Y:-89.53, Z:-10.25 [[ 9.58028140e-01 -2.86067417e-01 -1.86417612e-02 2.52986240e+02] [-2.85999423e-01 -9.58209253e-01 6.27357693e-03 -8.95312769e+01] [-1.96573740e-02 -6.78730272e-04 -9.99806545e-01 -1.02515290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.630385723 meters 0.014392608082078972 Centerline is valid? [True, True] Translation: X:253.02, Y:-89.54, Z:-10.26 [[ 9.77987804e-01 -2.07715386e-01 -1.98538299e-02 2.53019139e+02] [-2.07657278e-01 -9.78189030e-01 4.96762491e-03 -8.95449562e+01] [-2.04526507e-02 -7.35484311e-04 -9.99790552e-01 -1.02554949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.690385723 meters 0.014573427948836357 Centerline is valid? [True, True] Translation: X:253.05, Y:-89.56, Z:-10.26 [[ 9.91518773e-01 -1.28280034e-01 -2.08507983e-02 2.53052279e+02] [-1.28234913e-01 -9.91737672e-01 3.49236179e-03 -8.95610846e+01] [-2.11265224e-02 -7.88941968e-04 -9.99776499e-01 -1.02570675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.750385723 meters 0.0149778883701186 Centerline is valid? [True, True] Translation: X:253.08, Y:-89.57, Z:-10.26 [[ 9.98582462e-01 -4.87351858e-02 -2.13997448e-02 2.53082238e+02] [-4.87063020e-02 -9.98811395e-01 1.86917806e-03 -8.95702824e+01] [-2.14654037e-02 -8.24225998e-04 -9.99769252e-01 -1.02584750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.810385723 meters 0.015166806227357166 Centerline is valid? [True, True] Translation: X:253.11, Y:-89.58, Z:-10.26 [[ 9.99302949e-01 2.99060523e-02 -2.23437702e-02 2.53112753e+02] [ 2.99173566e-02 -9.99552361e-01 1.71748715e-04 -8.95776551e+01] [-2.23286319e-02 -8.40095537e-04 -9.99750332e-01 -1.02590898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.870385723 meters 0.01511260529883333 Centerline is valid? [True, True] Translation: X:253.14, Y:-89.58, Z:-10.26 [[ 9.93965920e-01 1.06613416e-01 -2.57939605e-02 2.53143691e+02] [ 1.06599567e-01 -9.94300188e-01 -1.91531868e-03 -8.95778290e+01] [-2.58511385e-02 -8.45863521e-04 -9.99665446e-01 -1.02590591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93038572300003 meters 0.015144639127549521 Centerline is valid? [True, True] Translation: X:253.17, Y:-89.58, Z:-10.26 [[ 9.82945692e-01 1.81946390e-01 -2.67072470e-02 2.53174399e+02] [ 1.81901241e-01 -9.83308128e-01 -4.13080024e-03 -8.95764960e+01] [-2.70130373e-02 -7.97729073e-04 -9.99634763e-01 -1.02599009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.990385723 meters 0.014913710695257995 Centerline is valid? [True, True] Translation: X:253.20, Y:-89.57, Z:-10.26 [[ 9.66690442e-01 2.54541812e-01 -2.67965430e-02 2.53203836e+02] [ 2.54463807e-01 -9.67061523e-01 -6.33896948e-03 -8.95740108e+01] [-2.75274384e-02 -6.90929111e-04 -9.99620809e-01 -1.02625565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.050385723 meters 0.014976850041109544 Centerline is valid? [True, True] Translation: X:253.23, Y:-89.57, Z:-10.26 [[ 9.44943839e-01 3.26336133e-01 -2.42047402e-02 2.53232314e+02] [ 3.26245145e-01 -9.45253604e-01 -7.72849492e-03 -8.95699767e+01] [-2.54017051e-02 -5.93685329e-04 -9.99677148e-01 -1.02640879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.110385723 meters 0.015053523153085897 Centerline is valid? [True, True] Translation: X:253.26, Y:-89.57, Z:-10.26 [[ 9.17745540e-01 3.96587706e-01 -2.14782691e-02 2.53261642e+02] [ 3.96492290e-01 -9.17996690e-01 -8.71444980e-03 -8.95665879e+01] [-2.31730236e-02 -5.18320644e-04 -9.99731335e-01 -1.02629469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.170385723 meters 0.015398254023402638 Centerline is valid? [True, True] Translation: X:253.29, Y:-89.56, Z:-10.26 [[ 8.84570268e-01 4.65985763e-01 -1.98168794e-02 2.53286631e+02] [ 4.65881112e-01 -8.84792084e-01 -9.88725188e-03 -8.95563371e+01] [-2.21411366e-02 -4.86340752e-04 -9.99754737e-01 -1.02633347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.230385723 meters 0.015437372855793172 Centerline is valid? [True, True] Translation: X:253.31, Y:-89.55, Z:-10.26 [[ 8.44817952e-01 5.34780160e-01 -1.71116568e-02 2.53314255e+02] [ 5.34682706e-01 -8.44991075e-01 -1.02218949e-02 -8.95488112e+01] [-1.99256639e-02 -5.13666687e-04 -9.99801332e-01 -1.02624272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.290385723 meters 0.01563920366885226 Centerline is valid? [True, True] Translation: X:253.34, Y:-89.54, Z:-10.26 [[ 7.98658779e-01 6.01602466e-01 -1.47860570e-02 2.53341605e+02] [ 6.01512385e-01 -7.98795437e-01 -1.04259332e-02 -8.95393010e+01] [-1.80833020e-02 -5.67233356e-04 -9.99836323e-01 -1.02604122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.350385723 meters 0.01575793904989595 Centerline is valid? [True, True] Translation: X:253.36, Y:-89.52, Z:-10.26 [[ 7.49039566e-01 6.62413062e-01 -1.21928057e-02 2.53364021e+02] [ 6.62337413e-01 -7.49138583e-01 -1.00267439e-02 -8.95239955e+01] [-1.57759473e-02 -5.65323462e-04 -9.99875392e-01 -1.02638643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.410385723 meters 0.015888898074285864 Centerline is valid? [True, True] Translation: X:253.39, Y:-89.51, Z:-10.26 [[ 6.95983809e-01 7.17967664e-01 -1.13565437e-02 2.53386095e+02] [ 7.17884541e-01 -6.96076248e-01 -1.09381453e-02 -8.95101279e+01] [-1.57582550e-02 -5.39915088e-04 -9.99875685e-01 -1.02616244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.470385723 meters 0.0157680839191012 Centerline is valid? [True, True] Translation: X:253.41, Y:-89.49, Z:-10.26 [[ 6.38226415e-01 7.69778521e-01 -1.03957465e-02 2.53408065e+02] [ 7.69689596e-01 -6.38310858e-01 -1.17121624e-02 -8.94945257e+01] [-1.56514889e-02 -5.26486501e-04 -9.99877369e-01 -1.02614531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.530385723 meters 0.015856601463147605 Centerline is valid? [True, True] Translation: X:253.43, Y:-89.48, Z:-10.26 [[ 5.78211337e-01 8.15837450e-01 -8.99477167e-03 2.53427683e+02] [ 8.15751513e-01 -5.78281091e-01 -1.18510899e-02 -8.94770418e+01] [-1.48700694e-02 -4.85064055e-04 -9.99889317e-01 -1.02629595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.590385723 meters 0.016082321811368983 Centerline is valid? [True, True] Translation: X:253.45, Y:-89.46, Z:-10.26 [[ 5.15283862e-01 8.56975240e-01 -8.71659576e-03 2.53446948e+02] [ 8.56866367e-01 -5.15357406e-01 -1.36665061e-02 -8.94596326e+01] [-1.62040195e-02 -4.26827716e-04 -9.99868615e-01 -1.02597729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.650385723 meters 0.01678699558678571 Centerline is valid? [True, True] Translation: X:253.46, Y:-89.44, Z:-10.26 [[ 4.49334566e-01 8.93331918e-01 -7.51882348e-03 2.53460450e+02] [ 8.93220628e-01 -4.49397310e-01 -1.41056001e-02 -8.94389170e+01] [-1.59799218e-02 -3.77834544e-04 -9.99872242e-01 -1.02593395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.710385723 meters 0.017050104073228368 Centerline is valid? [True, True] Translation: X:253.47, Y:-89.42, Z:-10.26 [[ 3.80164885e-01 9.24898213e-01 -6.16077011e-03 2.53474595e+02] [ 9.24791159e-01 -3.80214643e-01 -1.40761075e-02 -8.94176911e+01] [-1.53613817e-02 -3.46183940e-04 -9.99881947e-01 -1.02609888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.770385723 meters 0.017146482841105058 Centerline is valid? [True, True] Translation: X:253.49, Y:-89.40, Z:-10.26 [[ 3.06697647e-01 9.51794825e-01 -4.81293392e-03 2.53487648e+02] [ 9.51695026e-01 -3.06735207e-01 -1.37873002e-02 -8.93964261e+01] [-1.45989773e-02 -3.51912745e-04 -9.99893367e-01 -1.02607293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.830385723 meters 0.016580664847489896 Centerline is valid? [True, True] Translation: X:253.51, Y:-89.38, Z:-10.26 [[ 2.29003017e-01 9.73418321e-01 -3.79350349e-03 2.53507321e+02] [ 9.73310950e-01 -2.29034120e-01 -1.44625863e-02 -8.93751555e+01] [-1.49469882e-02 -3.80282584e-04 -9.99888215e-01 -1.02614389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.890385723 meters 0.016466431137673838 Centerline is valid? [True, True] Translation: X:253.52, Y:-89.35, Z:-10.26 [[ 1.51041000e-01 9.88524629e-01 -2.38185028e-03 2.53522948e+02] [ 9.88440995e-01 -1.51059220e-01 -1.28651503e-02 -8.93522430e+01] [-1.30773184e-02 -4.11153296e-04 -9.99914404e-01 -1.02619315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.950385723 meters 0.016375858396451858 Centerline is valid? [True, True] Translation: X:253.54, Y:-89.33, Z:-10.27 [[ 7.26883901e-02 9.97353940e-01 -1.23157895e-03 2.53535728e+02] [ 9.97294054e-01 -7.26975323e-02 -1.09379489e-02 -8.93280000e+01] [-1.09985392e-02 -4.33184471e-04 -9.99939420e-01 -1.02652463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.010385723 meters 0.01634506952821467 Centerline is valid? [True, True] Translation: X:253.55, Y:-89.30, Z:-10.27 [[-7.44552409e-03 9.99972219e-01 -3.53556889e-04 2.53545801e+02] [ 9.99899031e-01 7.44069873e-03 -1.21063861e-02 -8.93037895e+01] [-1.21034190e-02 -4.43659580e-04 -9.99926653e-01 -1.02670157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.070385723 meters 0.016347962277945025 Centerline is valid? [True, True] Translation: X:253.55, Y:-89.28, Z:-10.26 [[-8.54132119e-02 9.96345273e-01 8.24418694e-04 2.53554260e+02] [ 9.96239226e-01 8.54161540e-02 -1.45425409e-02 -8.92781580e+01] [-1.45598105e-02 -4.20806885e-04 -9.99893912e-01 -1.02649642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.130385723 meters 0.01643353174302702 Centerline is valid? [True, True] Translation: X:253.56, Y:-89.25, Z:-10.27 [[-1.59660185e-01 9.87169530e-01 2.22363768e-03 2.53561435e+02] [ 9.87040819e-01 1.59675284e-01 -1.59444482e-02 -8.92512617e+01] [-1.60949334e-02 -3.50872393e-04 -9.99870407e-01 -1.02658400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.190385723 meters 0.016840901407427715 Centerline is valid? [True, True] Translation: X:253.57, Y:-89.22, Z:-10.27 [[-2.32636933e-01 9.72557825e-01 3.36663729e-03 2.53568140e+02] [ 9.72437120e-01 2.32661110e-01 -1.53250063e-02 -8.92228818e+01] [-1.56877404e-02 -2.91319395e-04 -9.99876897e-01 -1.02662491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.250385723 meters 0.016762495147674205 Centerline is valid? [True, True] Translation: X:253.57, Y:-89.19, Z:-10.27 [[-3.06978965e-01 9.51711746e-01 2.94425917e-03 2.53573959e+02] [ 9.51656421e-01 3.06992884e-01 -1.02677286e-02 -8.91941617e+01] [-1.06757845e-02 -3.50053553e-04 -9.99942951e-01 -1.02713464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.310385723 meters 0.01624201916710546 Centerline is valid? [True, True] Translation: X:253.58, Y:-89.16, Z:-10.27 [[-3.82594289e-01 9.23909728e-01 3.52469824e-03 2.53580605e+02] [ 9.23860940e-01 3.82610337e-01 -9.50229335e-03 -8.91627897e+01] [-1.01278473e-02 -3.79192141e-04 -9.99948640e-01 -1.02699317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.370385723 meters 0.015604191514862942 Centerline is valid? [True, True] Translation: X:253.58, Y:-89.13, Z:-10.27 [[-4.57810271e-01 8.89038465e-01 4.51252373e-03 2.53583542e+02] [ 8.88985904e-01 4.57832319e-01 -9.67632372e-03 -8.91316305e+01] [-1.06686032e-02 -4.18350398e-04 -9.99943001e-01 -1.02693247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43038572300003 meters 0.01520406807218466 Centerline is valid? [True, True] Translation: X:253.58, Y:-89.10, Z:-10.27 [[-5.28194436e-01 8.49108062e-01 5.11248240e-03 2.53579094e+02] [ 8.49059825e-01 5.28218990e-01 -9.06162627e-03 -8.91032097e+01] [-1.03948102e-02 -4.45497169e-04 -9.99945873e-01 -1.02714722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.490385723 meters 0.014947365910461466 Centerline is valid? [True, True] Translation: X:253.58, Y:-89.07, Z:-10.27 [[-5.93866596e-01 8.04545427e-01 5.39648581e-03 2.53580628e+02] [ 8.04504970e-01 5.93890938e-01 -8.08126550e-03 -8.90680821e+01] [-9.70666922e-03 -4.57693979e-04 -9.99952784e-01 -1.02703502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.550385723 meters 0.014780033040839892 Centerline is valid? [True, True] Translation: X:253.57, Y:-89.04, Z:-10.27 [[-6.55654202e-01 7.55030036e-01 6.87114544e-03 2.53571540e+02] [ 7.54981080e-01 6.55690046e-01 -8.61005615e-03 -8.90377530e+01] [-1.10061927e-02 -4.57634690e-04 -9.99939325e-01 -1.02727703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.610385723 meters 0.01511449996453918 Centerline is valid? [True, True] Translation: X:253.56, Y:-89.01, Z:-10.27 [[-7.10175887e-01 7.03988275e-01 7.12167111e-03 2.53561440e+02] [ 7.03946825e-01 7.10211470e-01 -7.65087442e-03 -8.90090804e+01] [-1.04440184e-02 -4.20188765e-04 -9.99945371e-01 -1.02743198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.670385723 meters 0.01527323535298904 Centerline is valid? [True, True] Translation: X:253.58, Y:-88.99, Z:-10.27 [[-7.56821231e-01 6.53569002e-01 8.31769349e-03 2.53583819e+02] [ 6.53524549e-01 7.56866860e-01 -7.63015606e-03 -8.89872254e+01] [-1.12822200e-02 -3.38847212e-04 -9.99936296e-01 -1.02723410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.730385723 meters 0.015634708028435293 Centerline is valid? [True, True] Translation: X:253.60, Y:-88.96, Z:-10.27 [[-7.97945478e-01 6.02633183e-01 1.07824422e-02 2.53604332e+02] [ 6.02574097e-01 7.98018289e-01 -8.44204351e-03 -8.89643671e+01] [-1.36920416e-02 -2.39070087e-04 -9.99906231e-01 -1.02702149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.790385723 meters 0.01653709243641492 Centerline is valid? [True, True] Translation: X:253.62, Y:-88.94, Z:-10.27 [[-8.36371184e-01 5.48005044e-01 1.31800679e-02 2.53617261e+02] [ 5.47934371e-01 8.36475016e-01 -8.80186734e-03 -8.89409282e+01] [-1.58482652e-02 -1.39815987e-04 -9.99874399e-01 -1.02714252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.850385723 meters 0.01711591264568542 Centerline is valid? [True, True] Translation: X:253.63, Y:-88.91, Z:-10.27 [[-8.71924200e-01 4.89440256e-01 1.40151794e-02 2.53634170e+02] [ 4.89375272e-01 8.72036826e-01 -7.97600275e-03 -8.89088938e+01] [-1.61255294e-02 -9.57876015e-05 -9.99869971e-01 -1.02705897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.910385723 meters 0.01644175728273657 Centerline is valid? [True, True] Translation: X:253.65, Y:-88.88, Z:-10.27 [[-9.05252736e-01 4.24593953e-01 1.54097252e-02 2.53649193e+02] [ 4.24530410e-01 9.05383876e-01 -7.34626030e-03 -8.88783391e+01] [-1.70708944e-02 -1.08325286e-04 -9.99854276e-01 -1.02729799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.970385723 meters 0.015820244603790223 Centerline is valid? [True, True] Translation: X:253.91, Y:-88.30, Z:-11.27 [[-8.90609614e-01 -4.54740810e-01 5.03101344e-03 2.53910496e+02] [ 4.54730688e-01 -8.90623714e-01 -3.06629622e-03 -8.83007282e+01] [ 5.87510990e-03 -4.43116687e-04 9.99982643e-01 -1.12716270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.030385723 meters 0.016514900955047637 Centerline is valid? [True, True] Translation: X:253.60, Y:-88.84, Z:-10.27 [[-9.12570928e-01 4.08576930e-01 1.67090761e-02 2.53602817e+02] [ 4.08501659e-01 9.12723824e-01 -7.84963330e-03 -8.88373050e+01] [-1.84579509e-02 -3.37661830e-04 -9.99829580e-01 -1.02710664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.090385723 meters 0.014979145929462128 Centerline is valid? [True, True] Translation: X:253.61, Y:-88.80, Z:-10.27 [[-9.41259928e-01 3.37309162e-01 1.58832409e-02 2.53606987e+02] [ 3.37253114e-01 9.41393823e-01 -6.16497964e-03 -8.88029607e+01] [-1.70318890e-02 -4.46175856e-04 -9.99854847e-01 -1.02739158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.150385723 meters 0.015154924698399552 Centerline is valid? [True, True] Translation: X:253.61, Y:-88.77, Z:-10.27 [[-9.64489742e-01 2.63577623e-01 1.69226142e-02 2.53611799e+02] [ 2.63526862e-01 9.64638028e-01 -5.20270127e-03 -8.87685227e+01] [-1.76955129e-02 -5.58388577e-04 -9.99843266e-01 -1.02747980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.210385723 meters 0.015629551183085042 Centerline is valid? [True, True] Translation: X:253.77, Y:-88.21, Z:-11.27 [[-9.39149380e-01 -3.43474027e-01 4.90250867e-03 2.53771824e+02] [ 3.43467398e-01 -9.39162112e-01 -2.16188723e-03 -8.82146547e+01] [ 5.34680251e-03 -3.46483156e-04 9.99985646e-01 -1.12704716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.270385723 meters 0.01598506475374784 Centerline is valid? [True, True] Translation: X:253.56, Y:-88.75, Z:-10.27 [[-9.67554379e-01 2.52163042e-01 1.58846924e-02 2.53563714e+02] [ 2.52117368e-01 9.67684520e-01 -4.84793857e-03 -8.87479084e+01] [-1.65938419e-02 -6.85837342e-04 -9.99862078e-01 -1.02745975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.330385723 meters 0.016192380823813406 Centerline is valid? [True, True] Translation: X:253.72, Y:-88.21, Z:-11.27 [[-9.38822097e-01 -3.44378634e-01 4.05305438e-03 2.53720038e+02] [ 3.44374197e-01 -9.38830809e-01 -1.76796158e-03 -8.82057567e+01] [ 4.41398051e-03 -2.64034051e-04 9.99990223e-01 -1.12722212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.390385723 meters 0.01579377405007974 Centerline is valid? [True, True] Translation: X:253.52, Y:-88.74, Z:-10.27 [[-9.67844854e-01 2.51099771e-01 1.50081191e-02 2.53520738e+02] [ 2.51059443e-01 9.67961005e-01 -4.54402597e-03 -8.87389494e+01] [-1.56682780e-02 -6.29982117e-04 -9.99877047e-01 -1.02730539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.450385723 meters 0.015545784311903852 Centerline is valid? [True, True] Translation: X:253.52, Y:-88.71, Z:-10.27 [[-9.82704404e-01 1.84654327e-01 1.39582578e-02 2.53519937e+02] [ 1.84627429e-01 9.82803365e-01 -3.20285078e-03 -8.87126992e+01] [-1.43096430e-02 -5.70378304e-04 -9.99897449e-01 -1.02714664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.510385723 meters 0.015264007557056912 Centerline is valid? [True, True] Translation: X:253.52, Y:-88.69, Z:-10.27 [[-9.92976477e-01 1.17543645e-01 1.34613452e-02 2.53519936e+02] [ 1.17525722e-01 9.93067581e-01 -2.11757968e-03 -8.86901085e+01] [-1.36169335e-02 -5.20652489e-04 -9.99907150e-01 -1.02705018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.570385723 meters 0.015196566684357704 Centerline is valid? [True, True] Translation: X:253.60, Y:-88.10, Z:-11.28 [[-9.81678094e-01 -1.90546765e-01 -2.22451467e-04 2.53601545e+02] [ 1.90546833e-01 -9.81678048e-01 -3.39040424e-04 -8.81036308e+01] [-1.53772666e-04 -3.75215980e-04 9.99999918e-01 -1.12761243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.630385723 meters 0.017841971666815563 Centerline is valid? [True, True] Translation: X:253.47, Y:-88.69, Z:-10.26 [[-9.92486870e-01 1.21594699e-01 1.35846421e-02 2.53470835e+02] [ 1.21577629e-01 9.92579750e-01 -2.07847661e-03 -8.86946433e+01] [-1.37365724e-02 -4.11272166e-04 -9.99905564e-01 -1.02645904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.690385723 meters 0.015293869461681152 Centerline is valid? [True, True] Translation: X:253.47, Y:-88.67, Z:-10.27 [[-9.98661668e-01 5.05280130e-02 1.10359553e-02 2.53468105e+02] [ 5.05202948e-02 9.98722557e-01 -9.77213214e-04 -8.86721366e+01] [-1.10712341e-02 -4.18365665e-04 -9.99938624e-01 -1.02685968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.750385723 meters 0.015442154397991776 Centerline is valid? [True, True] Translation: X:253.50, Y:-88.06, Z:-11.28 [[-9.93452868e-01 -1.14216982e-01 -2.42476704e-03 2.53501990e+02] [ 1.14217695e-01 -9.93455733e-01 -1.57236782e-04 -8.80558480e+01] [-2.39093960e-03 -4.33158634e-04 9.99997048e-01 -1.12804472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.810385723 meters 0.015449826109303635 Centerline is valid? [True, True] Translation: X:253.41, Y:-88.67, Z:-10.27 [[-9.98916403e-01 4.52802312e-02 1.07573897e-02 2.53409645e+02] [ 4.52729411e-02 9.98974231e-01 -9.20357012e-04 -8.86749831e+01] [-1.07880291e-02 -4.32341044e-04 -9.99941714e-01 -1.02656585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.870385723 meters 0.015580654707243896 Centerline is valid? [True, True] Translation: X:253.40, Y:-88.65, Z:-10.27 [[-9.99677476e-01 -2.41293698e-02 7.91942635e-03 2.53402962e+02] [-2.41319267e-02 9.99708757e-01 -2.27458642e-04 -8.86518049e+01] [-7.91163144e-03 -4.18496297e-04 -9.99968615e-01 -1.02683107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93038572300003 meters 0.015773219854497467 Centerline is valid? [True, True] Translation: X:253.40, Y:-88.63, Z:-10.27 [[-9.95516667e-01 -9.42172301e-02 8.34740545e-03 2.53395346e+02] [-9.42173550e-02 9.95551579e-01 3.79148290e-04 -8.86275344e+01] [-8.34599498e-03 -4.09022020e-04 -9.99965088e-01 -1.02667530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.990385723 meters 0.01585281961431059 Centerline is valid? [True, True] Translation: X:253.38, Y:-88.61, Z:-10.27 [[-9.86144301e-01 -1.65607956e-01 9.66548391e-03 2.53384674e+02] [-1.65604074e-01 9.86191582e-01 1.20615485e-03 -8.86079475e+01] [-9.73176770e-03 -4.11200784e-04 -9.99952561e-01 -1.02664244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.050385723 meters 0.015799071819562832 Centerline is valid? [True, True] Translation: X:253.28, Y:-87.96, Z:-11.28 [[-9.94571121e-01 1.03950926e-01 -4.74238397e-03 2.53282169e+02] [-1.03947220e-01 -9.94582290e-01 -1.02213302e-03 -8.79563187e+01] [-4.82294278e-03 -5.23626353e-04 9.99988232e-01 -1.12823779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.110385723 meters 0.015893670376237304 Centerline is valid? [True, True] Translation: X:253.29, Y:-88.63, Z:-10.27 [[-9.85119925e-01 -1.71678078e-01 8.08526539e-03 2.53288551e+02] [-1.71675842e-01 9.85153011e-01 9.74982996e-04 -8.86328970e+01] [-8.13260675e-03 -4.27569566e-04 -9.99966838e-01 -1.02687677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.170385723 meters 0.016018462663578807 Centerline is valid? [True, True] Translation: X:253.27, Y:-88.61, Z:-10.27 [[-9.70443272e-01 -2.41192786e-01 8.11758192e-03 2.53274018e+02] [-2.41187866e-01 9.70477136e-01 1.59434707e-03 -8.86138074e+01] [-8.26247266e-03 -4.10638874e-04 -9.99965781e-01 -1.02690315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.230385723 meters 0.01626637916527697 Centerline is valid? [True, True] Translation: X:253.25, Y:-88.60, Z:-10.27 [[-9.51266078e-01 -3.08291168e-01 7.02879314e-03 2.53247541e+02] [-3.08285832e-01 9.51291961e-01 1.85751866e-03 -8.85963166e+01] [-7.25909100e-03 -3.99882848e-04 -9.99973572e-01 -1.02681815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.290385723 meters 0.016532244767480105 Centerline is valid? [True, True] Translation: X:253.20, Y:-88.59, Z:-10.27 [[-9.27442737e-01 -3.73902002e-01 6.87480033e-03 2.53201941e+02] [-3.73894757e-01 9.27468138e-01 2.35881800e-03 -8.85905179e+01] [-7.25812503e-03 -3.82783183e-04 -9.99973586e-01 -1.02695033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.350385723 meters 0.016660732854297134 Centerline is valid? [True, True] Translation: X:253.14, Y:-88.59, Z:-10.27 [[-8.97730603e-01 -4.40498409e-01 6.39653021e-03 2.53142547e+02] [-4.40490264e-01 8.97753307e-01 2.70668838e-03 -8.85913206e+01] [-6.93479808e-03 -3.87732294e-04 -9.99975879e-01 -1.02705995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.410385723 meters 0.01657010137336504 Centerline is valid? [True, True] Translation: X:253.08, Y:-88.60, Z:-10.27 [[-8.62110635e-01 -5.06677486e-01 6.57100552e-03 2.53077128e+02] [-5.06666195e-01 8.62135587e-01 3.40535744e-03 -8.85963063e+01] [-7.39051565e-03 -3.93511498e-04 -9.99972612e-01 -1.02707059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.470385723 meters 0.016291980182047295 Centerline is valid? [True, True] Translation: X:253.00, Y:-88.62, Z:-10.27 [[-8.19509940e-01 -5.73023218e-01 6.91731672e-03 2.52999039e+02] [-5.73007107e-01 8.19539023e-01 4.31796534e-03 -8.86173690e+01] [-8.14330538e-03 -4.25056120e-04 -9.99966752e-01 -1.02703674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.530385723 meters 0.016354073504570073 Centerline is valid? [True, True] Translation: X:252.92, Y:-88.65, Z:-10.27 [[-7.72209794e-01 -6.35328381e-01 7.06272542e-03 2.52916608e+02] [-6.35307079e-01 7.72241958e-01 5.22243784e-03 -8.86488308e+01] [-8.77209589e-03 -4.54181801e-04 -9.99961421e-01 -1.02722974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.590385723 meters 0.016364644701769574 Centerline is valid? [True, True] Translation: X:252.83, Y:-88.69, Z:-10.27 [[-7.21735226e-01 -6.92141643e-01 6.18132258e-03 2.52827933e+02] [-6.92121588e-01 7.21761549e-01 5.28904406e-03 -8.86897972e+01] [-8.12220860e-03 -4.60937390e-04 -9.99966908e-01 -1.02728281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.650385723 meters 0.016318226893331657 Centerline is valid? [True, True] Translation: X:252.74, Y:-88.74, Z:-10.27 [[-6.66707195e-01 -7.45303879e-01 4.86249011e-03 2.52744323e+02] [-7.45288977e-01 6.66724764e-01 4.73600929e-03 -8.87414022e+01] [-6.77170866e-03 -4.66428813e-04 -9.99976963e-01 -1.02747646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.710385723 meters 0.01626918741277316 Centerline is valid? [True, True] Translation: X:252.66, Y:-88.80, Z:-10.28 [[-6.09421205e-01 -7.92833417e-01 4.57898925e-03 2.52662472e+02] [-7.92816454e-01 6.09438236e-01 5.20643043e-03 -8.88045103e+01] [-6.91844316e-03 -4.57388921e-04 -9.99975963e-01 -1.02762516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.770385723 meters 0.01628765988991109 Centerline is valid? [True, True] Translation: X:252.57, Y:-88.89, Z:-10.28 [[-5.49067723e-01 -8.35765375e-01 4.56889963e-03 2.52570242e+02] [-8.35742882e-01 5.49086553e-01 6.14750971e-03 -8.88932635e+01] [-7.64659710e-03 -4.43026187e-04 -9.99970666e-01 -1.02767616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.830385723 meters 0.01638084153906104 Centerline is valid? [True, True] Translation: X:252.51, Y:-88.96, Z:-10.28 [[-4.84761860e-01 -8.74635684e-01 4.28482591e-03 2.52505558e+02] [-8.74609067e-01 4.84780603e-01 6.83710278e-03 -8.89571142e+01] [-8.05717456e-03 -4.33180932e-04 -9.99967447e-01 -1.02779323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.890385723 meters 0.01628754453235118 Centerline is valid? [True, True] Translation: X:252.43, Y:-89.05, Z:-10.28 [[-4.16941275e-01 -9.08925613e-01 3.76863092e-03 2.52434152e+02] [-9.08897262e-01 4.16958088e-01 7.19168960e-03 -8.90461926e+01] [-8.10807203e-03 -4.26786098e-04 -9.99967038e-01 -1.02797824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.950385723 meters 0.016379244298703036 Centerline is valid? [True, True] Translation: X:252.37, Y:-89.15, Z:-10.28 [[-3.46184787e-01 -9.38158604e-01 3.81149316e-03 2.52366522e+02] [-9.38114371e-01 3.46205515e-01 9.11970831e-03 -8.91479714e+01] [-9.87529277e-03 -4.18512236e-04 -9.99951151e-01 -1.02793670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.010385723 meters 0.01636411062535389 Centerline is valid? [True, True] Translation: X:252.30, Y:-89.25, Z:-10.28 [[-2.70293066e-01 -9.62772793e-01 3.19477640e-03 2.52304277e+02] [-9.62723739e-01 2.70311578e-01 9.72901798e-03 -8.92520762e+01] [-1.02304189e-02 -4.46000975e-04 -9.99947568e-01 -1.02801666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.070385723 meters 0.016437796319204608 Centerline is valid? [True, True] Translation: X:252.25, Y:-89.36, Z:-10.28 [[-1.93332780e-01 -9.81129957e-01 2.53838495e-03 2.52246719e+02] [-9.81074315e-01 1.93348877e-01 1.04594201e-02 -8.93638188e+01] [-1.07528443e-02 -4.68195512e-04 -9.99942077e-01 -1.02810736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.130385723 meters 0.016456820959424422 Centerline is valid? [True, True] Translation: X:252.20, Y:-89.50, Z:-10.29 [[-1.17542675e-01 -9.93066673e-01 1.51762893e-03 2.52196758e+02] [-9.93026999e-01 1.17551563e-01 8.88869966e-03 -8.95031940e+01] [-9.00547105e-03 -4.62244963e-04 -9.99959343e-01 -1.02856260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.190385723 meters 0.016556721167875214 Centerline is valid? [True, True] Translation: X:252.16, Y:-89.66, Z:-10.29 [[-4.36205066e-02 -9.99047824e-01 8.34609268e-04 2.52157825e+02] [-9.99006182e-01 4.36263173e-02 9.13194795e-03 -8.96567779e+01] [-9.15966366e-03 -4.35439622e-04 -9.99957955e-01 -1.02868053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.250385723 meters 0.01659717913884224 Centerline is valid? [True, True] Translation: X:252.13, Y:-89.71, Z:-10.28 [[ 3.14664646e-02 -9.99504807e-01 4.92764427e-05 2.52129935e+02] [-9.99440372e-01 -3.14638761e-02 1.13564035e-02 -8.97132466e+01] [-1.13492295e-02 -4.06594736e-04 -9.99935513e-01 -1.02848324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.310385723 meters 0.016884275593436554 Centerline is valid? [True, True] Translation: X:252.11, Y:-89.84, Z:-10.28 [[ 1.04528149e-01 -9.94521305e-01 -1.11349831e-03 2.52114504e+02] [-9.94425098e-01 -1.04533530e-01 1.38371307e-02 -8.98379640e+01] [-1.38777192e-02 -3.39078992e-04 -9.99903642e-01 -1.02849420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.370385723 meters 0.017577551596905633 Centerline is valid? [True, True] Translation: X:252.10, Y:-89.95, Z:-10.29 [[ 1.76269922e-01 -9.84339567e-01 -2.12865101e-03 2.52104624e+02] [-9.84247546e-01 -1.76282556e-01 1.34621485e-02 -8.99546911e+01] [-1.36265694e-02 -2.77852330e-04 -9.99907115e-01 -1.02869237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43038572300003 meters 0.017848011263595167 Centerline is valid? [True, True] Translation: X:252.11, Y:-90.09, Z:-10.29 [[ 2.51012811e-01 -9.67979304e-01 -2.93870374e-03 2.52105225e+02] [-9.67899296e-01 -2.51029857e-01 1.24484160e-02 -9.00890036e+01] [-1.27875114e-02 -2.80342607e-04 -9.99918197e-01 -1.02885809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.490385723 meters 0.0174202211936356 Centerline is valid? [True, True] Translation: X:252.11, Y:-90.21, Z:-10.29 [[ 3.26561133e-01 -9.45166972e-01 -4.14980602e-03 2.52110822e+02] [-9.45078855e-01 -3.26587367e-01 1.29092950e-02 -9.02123348e+01] [-1.35567135e-02 -2.93780092e-04 -9.99908060e-01 -1.02916607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.550385723 meters 0.01770249377697753 Centerline is valid? [True, True] Translation: X:252.13, Y:-90.34, Z:-10.29 [[ 3.98844829e-01 -9.17001539e-01 -5.56601752e-03 2.52128281e+02] [-9.16901899e-01 -3.98883560e-01 1.35208474e-02 -9.03367748e+01] [-1.46188307e-02 -2.89228021e-04 -9.99893097e-01 -1.02907303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.610385723 meters 0.017452867452709492 Centerline is valid? [True, True] Translation: X:252.15, Y:-90.46, Z:-10.29 [[ 4.68884494e-01 -8.83230324e-01 -7.17823622e-03 2.52152526e+02] [-8.83117235e-01 -4.68939348e-01 1.41363952e-02 -9.04629709e+01] [-1.58518503e-02 -2.89112382e-04 -9.99874310e-01 -1.02926875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.670385723 meters 0.01748097427076897 Centerline is valid? [True, True] Translation: X:252.19, Y:-90.57, Z:-10.30 [[ 5.34621210e-01 -8.45055265e-01 -7.85881293e-03 2.52185832e+02] [-8.44956106e-01 -5.34678894e-01 1.29483453e-02 -9.05740489e+01] [-1.51440088e-02 -2.82108088e-04 -9.99885283e-01 -1.02963684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.730385723 meters 0.017650641400960107 Centerline is valid? [True, True] Translation: X:252.23, Y:-90.69, Z:-10.30 [[ 5.96839176e-01 -8.02286567e-01 -1.09207613e-02 2.52226108e+02] [-8.02145374e-01 -5.96939037e-01 1.50527319e-02 -9.06857567e+01] [-1.85956333e-02 -2.24021896e-04 -9.99827061e-01 -1.02956517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.790385723 meters 0.019368055173964234 Centerline is valid? [True, True] Translation: X:252.28, Y:-90.79, Z:-10.29 [[ 6.54984133e-01 -7.55541679e-01 -1.23514070e-02 2.52275457e+02] [-7.55402132e-01 -6.55100556e-01 1.45217089e-02 -9.07895796e+01] [-1.90631699e-02 -1.81209734e-04 -9.99818265e-01 -1.02925174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.850385723 meters 0.0180873645381714 Centerline is valid? [True, True] Translation: X:252.32, Y:-90.89, Z:-10.30 [[ 7.08655202e-01 -7.05446506e-01 -1.23705820e-02 2.52324939e+02] [-7.05335373e-01 -7.08763152e-01 1.25222474e-02 -9.08889990e+01] [-1.76015883e-02 -1.48546679e-04 -9.99845069e-01 -1.03003623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.910385723 meters 0.01870547110772492 Centerline is valid? [True, True] Translation: X:252.34, Y:-90.92, Z:-10.30 [[ 7.60488436e-01 -6.49210377e-01 -1.35361094e-02 2.52340440e+02] [-6.49104680e-01 -7.60608882e-01 1.17150636e-02 -9.09172943e+01] [-1.79012258e-02 -1.22818444e-04 -9.99839753e-01 -1.03013307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.970385723 meters 0.018369397104389302 Centerline is valid? [True, True] Translation: X:252.36, Y:-90.95, Z:-10.30 [[ 8.10245678e-01 -5.85901875e-01 -1.48638627e-02 2.52356860e+02] [-5.85799802e-01 -8.10381990e-01 1.09372088e-02 -9.09480129e+01] [-1.84535377e-02 -1.54578338e-04 -9.99829707e-01 -1.03012601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.030385723 meters 0.017729302037453057 Centerline is valid? [True, True] Translation: X:252.37, Y:-90.98, Z:-10.30 [[ 8.55673458e-01 -5.17236327e-01 -1.70151741e-02 2.52373163e+02] [-5.17129153e-01 -8.55842589e-01 1.05309794e-02 -9.09824428e+01] [-2.00093157e-02 -2.12036990e-04 -9.99799771e-01 -1.02997865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.090385723 meters 0.01771096035041937 Centerline is valid? [True, True] Translation: X:252.40, Y:-91.01, Z:-10.30 [[ 8.94060929e-01 -4.47562824e-01 -1.85087557e-02 2.52395996e+02] [-4.47461621e-01 -8.94252462e-01 9.52006892e-03 -9.10088068e+01] [-2.08123293e-02 -2.29563824e-04 -9.99783374e-01 -1.02994302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.150385723 meters 0.017364190062406987 Centerline is valid? [True, True] Translation: X:252.42, Y:-91.04, Z:-10.30 [[ 9.26134046e-01 -3.76719238e-01 -1.89300015e-02 2.52420760e+02] [-3.76635664e-01 -9.26327462e-01 7.93787858e-03 -9.10355043e+01] [-2.05257318e-02 -2.21825930e-04 -9.99789300e-01 -1.03020676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.210385723 meters 0.01716964848096947 Centerline is valid? [True, True] Translation: X:252.45, Y:-91.06, Z:-10.30 [[ 9.52842474e-01 -3.02839284e-01 -1.94830142e-02 2.52446472e+02] [-3.02771115e-01 -9.53041613e-01 6.42924705e-03 -9.10611514e+01] [-2.05151519e-02 -2.27165718e-04 -9.99789516e-01 -1.03034583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.270385723 meters 0.01712791772565595 Centerline is valid? [True, True] Translation: X:252.47, Y:-91.08, Z:-10.31 [[ 9.73356298e-01 -2.28642579e-01 -1.73230465e-02 2.52474419e+02] [-2.28602178e-01 -9.73510410e-01 4.30414726e-03 -9.10814960e+01] [-1.78482774e-02 -2.29382701e-04 -9.99840680e-01 -1.03052397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.330385723 meters 0.017219397814297255 Centerline is valid? [True, True] Translation: X:252.50, Y:-91.10, Z:-10.31 [[ 9.87976209e-01 -1.53730129e-01 -1.64334587e-02 2.52502268e+02] [-1.53705360e-01 -9.88112850e-01 2.76735633e-03 -9.11001574e+01] [-1.66635377e-02 -2.08171543e-04 -9.99861132e-01 -1.03066484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.390385723 meters 0.017859571786634085 Centerline is valid? [True, True] Translation: X:252.53, Y:-91.12, Z:-10.31 [[ 9.96662168e-01 -7.96117376e-02 -1.80691549e-02 2.52530047e+02] [-7.95964754e-02 -9.96825941e-01 1.56341189e-03 -9.11178937e+01] [-1.81362683e-02 -1.19952440e-04 -9.99835517e-01 -1.03054537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.450385723 meters 0.017606209071368464 Centerline is valid? [True, True] Translation: X:252.56, Y:-91.14, Z:-10.31 [[ 9.99839384e-01 -3.41915563e-03 -1.75930329e-02 2.52560682e+02] [-3.41703188e-03 -9.99994151e-01 1.50774356e-04 -9.11367119e+01] [-1.75934455e-02 -9.06341853e-05 -9.99845219e-01 -1.03058767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.510385723 meters 0.01807909326841286 Centerline is valid? [True, True] Translation: X:252.59, Y:-91.15, Z:-10.30 [[ 9.97100018e-01 7.38982568e-02 -1.81824763e-02 2.52591147e+02] [ 7.38870508e-02 -9.97265784e-01 -1.28823754e-03 -9.11507583e+01] [-1.82279600e-02 -5.89478745e-05 -9.99833855e-01 -1.03048702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.570385723 meters 0.017942568882801983 Centerline is valid? [True, True] Translation: X:252.62, Y:-91.16, Z:-10.30 [[ 9.88159195e-01 1.52184539e-01 -1.95261784e-02 2.52624628e+02] [ 1.52155540e-01 -9.88352096e-01 -2.97096818e-03 -9.11642158e+01] [-1.97508748e-02 -3.52267040e-05 -9.99804932e-01 -1.03025965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.630385723 meters 0.017962976116204322 Centerline is valid? [True, True] Translation: X:252.66, Y:-91.17, Z:-10.30 [[ 9.72955806e-01 2.30302312e-01 -1.78282105e-02 2.52659376e+02] [ 2.30265259e-01 -9.73119128e-01 -4.13190169e-03 -9.11722208e+01] [-1.83005592e-02 -8.50597736e-05 -9.99832527e-01 -1.03030351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.690385723 meters 0.017249417319595322 Centerline is valid? [True, True] Translation: X:252.70, Y:-91.18, Z:-10.30 [[ 9.51054284e-01 3.08561726e-01 -1.68940947e-02 2.52695155e+02] [ 3.08515789e-01 -9.51204310e-01 -5.32618180e-03 -9.11790764e+01] [-1.77131916e-02 -1.46606934e-04 -9.99843098e-01 -1.03039946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.750385723 meters 0.0165858203760797 Centerline is valid? [True, True] Translation: X:252.73, Y:-91.19, Z:-10.30 [[ 9.21783429e-01 3.87440079e-01 -1.43351019e-02 2.52732879e+02] [ 3.87397781e-01 -9.21894849e-01 -5.73124021e-03 -9.11869562e+01] [-1.54359688e-02 -2.70424430e-04 -9.99880822e-01 -1.03045515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.810385723 meters 0.016378394113161884 Centerline is valid? [True, True] Translation: X:252.77, Y:-91.19, Z:-10.31 [[ 8.87494447e-01 4.60658313e-01 -1.21459621e-02 2.52767691e+02] [ 4.60620113e-01 -8.87577498e-01 -5.94112622e-03 -9.11856223e+01] [-1.35173118e-02 -3.21957891e-04 -9.99908585e-01 -1.03051046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.870385723 meters 0.016061524882811002 Centerline is valid? [True, True] Translation: X:252.81, Y:-91.18, Z:-10.31 [[ 8.47141337e-01 5.31261080e-01 -1.06404807e-02 2.52806112e+02] [ 5.31224553e-01 -8.47208080e-01 -6.24049927e-03 -9.11845769e+01] [-1.23300356e-02 -3.65899700e-04 -9.99923915e-01 -1.03062228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93038572300003 meters 0.016058621915684863 Centerline is valid? [True, True] Translation: X:252.84, Y:-91.18, Z:-10.31 [[ 8.03059271e-01 5.95819240e-01 -9.75914280e-03 2.52843828e+02] [ 5.95780700e-01 -8.03118485e-01 -6.78651356e-03 -9.11789030e+01] [-1.18812833e-02 -3.64336300e-04 -9.99929349e-01 -1.03077121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.990385723 meters 0.016178282595092425 Centerline is valid? [True, True] Translation: X:252.88, Y:-91.17, Z:-10.31 [[ 7.55409269e-01 6.55192426e-01 -8.92867039e-03 2.52878096e+02] [ 6.55151906e-01 -7.55461958e-01 -7.29452812e-03 -9.11683409e+01] [-1.15245904e-02 -3.39281272e-04 -9.99933532e-01 -1.03073308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.050385723 meters 0.016770451520103997 Centerline is valid? [True, True] Translation: X:252.91, Y:-91.15, Z:-10.31 [[ 7.04166608e-01 7.09975661e-01 -9.16234316e-03 2.52910577e+02] [ 7.09920830e-01 -7.04226155e-01 -8.82820683e-03 -9.11528053e+01] [-1.27201737e-02 -2.88009801e-04 -9.99919054e-01 -1.03054567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.110385723 meters 0.016556693049677353 Centerline is valid? [True, True] Translation: X:252.94, Y:-91.13, Z:-10.31 [[ 6.48634600e-01 7.61053705e-01 -8.39132973e-03 2.52939386e+02] [ 7.60994968e-01 -6.48688828e-01 -9.45849438e-03 -9.11339348e+01] [-1.26417840e-02 -2.50652976e-04 -9.99920058e-01 -1.03062162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.170385723 meters 0.017069328767770994 Centerline is valid? [True, True] Translation: X:252.96, Y:-91.11, Z:-10.30 [[ 5.89672570e-01 8.07601668e-01 -8.11208977e-03 2.52964274e+02] [ 8.07529755e-01 -5.89728334e-01 -1.07790564e-02 -9.11114452e+01] [-1.34891131e-02 -1.94639969e-04 -9.99908999e-01 -1.03046150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.230385723 meters 0.019861831431932587 Centerline is valid? [True, True] Translation: X:252.99, Y:-91.09, Z:-10.30 [[ 5.25168701e-01 8.50969120e-01 -7.02805282e-03 2.52988910e+02] [ 8.50897770e-01 -5.25215690e-01 -1.10211022e-02 -9.10881945e+01] [-1.30698613e-02 -1.92216520e-04 -9.99914567e-01 -1.03034060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.290385723 meters 0.017190826695473314 Centerline is valid? [True, True] Translation: X:253.01, Y:-91.06, Z:-10.31 [[ 4.56693749e-01 8.89605642e-01 -5.71156225e-03 2.53012804e+02] [ 8.89541752e-01 -4.56729415e-01 -1.06636723e-02 -9.10637355e+01] [-1.20951015e-02 -2.10640599e-04 -9.99926829e-01 -1.03074237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.350385723 meters 0.017067728800838622 Centerline is valid? [True, True] Translation: X:253.04, Y:-91.04, Z:-10.31 [[ 3.85832960e-01 9.22559305e-01 -4.15397833e-03 2.53035256e+02] [ 9.22512318e-01 -3.85855248e-01 -9.31404038e-03 -9.10389077e+01] [-1.01955890e-02 -2.38432406e-04 -9.99947995e-01 -1.03094099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.410385723 meters 0.01755455115122589 Centerline is valid? [True, True] Translation: X:253.05, Y:-91.01, Z:-10.31 [[ 3.13625815e-01 9.49540780e-01 -3.33997041e-03 2.53052003e+02] [ 9.49494440e-01 -3.13643515e-01 -9.38368943e-03 -9.10124315e+01] [-9.95775584e-03 -2.28316095e-04 -9.99950394e-01 -1.03097818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.470385723 meters 0.017491747853206965 Centerline is valid? [True, True] Translation: X:253.07, Y:-90.98, Z:-10.31 [[ 2.38393042e-01 9.71165782e-01 -2.40429226e-03 2.53069363e+02] [ 9.71126110e-01 -2.38405044e-01 -8.78147735e-03 -9.09847472e+01] [-9.10146572e-03 -2.41427890e-04 -9.99958552e-01 -1.03106741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.530385723 meters 0.01787778340644248 Centerline is valid? [True, True] Translation: X:253.08, Y:-90.96, Z:-10.31 [[ 1.62824913e-01 9.86653270e-01 -1.83652630e-03 2.53080676e+02] [ 9.86604332e-01 -1.62835133e-01 -9.82909733e-03 -9.09554666e+01] [-9.99696202e-03 -2.11502886e-04 -9.99950007e-01 -1.03109984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.590385723 meters 0.01754521775399369 Centerline is valid? [True, True] Translation: X:253.10, Y:-90.93, Z:-10.31 [[ 8.43885669e-02 9.96432292e-01 -1.12164672e-03 2.53095193e+02] [ 9.96372938e-01 -8.43957846e-02 -1.08774644e-02 -9.09251164e+01] [-1.09333191e-02 -1.99644801e-04 -9.99940210e-01 -1.03101325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.650385723 meters 0.0171707140563461 Centerline is valid? [True, True] Translation: X:253.11, Y:-90.89, Z:-10.31 [[ 5.78072358e-03 9.99983258e-01 -2.58911740e-04 2.53111040e+02] [ 9.99917672e-01 -5.78331015e-03 -1.14543522e-02 -9.08937270e+01] [-1.14556578e-02 -1.92675980e-04 -9.99934363e-01 -1.03087758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.710385723 meters 0.017064728699996187 Centerline is valid? [True, True] Translation: X:253.12, Y:-90.86, Z:-10.31 [[-7.43637020e-02 9.97230984e-01 6.35884677e-04 2.53119139e+02] [ 9.97165899e-01 7.43661147e-02 -1.13952507e-02 -9.08627279e+01] [-1.14109853e-02 -2.13310512e-04 -9.99934870e-01 -1.03098562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.770385723 meters 0.017272168379499048 Centerline is valid? [True, True] Translation: X:253.12, Y:-90.83, Z:-10.31 [[-1.53604164e-01 9.88131517e-01 1.36582164e-03 2.53124540e+02] [ 9.88077207e-01 1.53610045e-01 -1.03627982e-02 -9.08321351e+01] [-1.04496115e-02 -2.42231723e-04 -9.99945372e-01 -1.03104721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.830385723 meters 0.01671545953548138 Centerline is valid? [True, True] Translation: X:253.13, Y:-90.80, Z:-10.31 [[-2.31102616e-01 9.72927869e-01 1.71546171e-03 2.53131038e+02] [ 9.72891583e-01 2.31108820e-01 -8.40720005e-03 -9.07989291e+01] [-8.57605756e-03 -2.73967661e-04 -9.99963187e-01 -1.03134252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.890385723 meters 0.016428786820930377 Centerline is valid? [True, True] Translation: X:253.13, Y:-90.77, Z:-10.32 [[-3.08816209e-01 9.51119689e-01 1.97150662e-03 2.53132766e+02] [ 9.51093478e-01 3.08822349e-01 -7.06776564e-03 -9.07658871e+01] [-7.33113636e-03 -3.07553507e-04 -9.99973080e-01 -1.03153527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.950385723 meters 0.01602043680041357 Centerline is valid? [True, True] Translation: X:253.14, Y:-90.73, Z:-10.31 [[-3.87078930e-01 9.22041777e-01 2.97723609e-03 2.53137045e+02] [ 9.22007493e-01 3.87090235e-01 -7.95818024e-03 -9.07305987e+01] [-8.49023366e-03 -3.35409914e-04 -9.99963901e-01 -1.03130432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.010385723 meters 0.015776409993509728 Centerline is valid? [True, True] Translation: X:253.13, Y:-90.70, Z:-10.31 [[-4.63592787e-01 8.86039840e-01 3.88981637e-03 2.53133555e+02] [ 8.86001356e-01 4.63608944e-01 -8.26707077e-03 -9.06972613e+01] [-9.12830773e-03 -3.86171798e-04 -9.99958262e-01 -1.03128738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.070385723 meters 0.015812956053196835 Centerline is valid? [True, True] Translation: X:253.12, Y:-90.67, Z:-10.31 [[-5.33141180e-01 8.46012215e-01 4.87995039e-03 2.53124944e+02] [ 8.45969625e-01 5.33163361e-01 -8.49845981e-03 -9.06659824e+01] [-9.79161156e-03 -4.02589094e-04 -9.99951980e-01 -1.03131274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.130385723 meters 0.016705421727019797 Centerline is valid? [True, True] Translation: X:253.11, Y:-90.64, Z:-10.31 [[-5.96423653e-01 8.02638838e-01 7.05134551e-03 2.53113339e+02] [ 8.02574981e-01 5.96465212e-01 -1.01316588e-02 -9.06367020e+01] [-1.23379451e-02 -3.83527443e-04 -9.99923811e-01 -1.03087434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.190385723 meters 0.015930244173512714 Centerline is valid? [True, True] Translation: X:253.09, Y:-90.61, Z:-10.31 [[-6.56447079e-01 7.54319722e-01 8.88758332e-03 2.53094446e+02] [ 7.54243001e-01 6.56507140e-01 -1.07642846e-02 -9.06129181e+01] [-1.39544741e-02 -3.62785689e-04 -9.99902566e-01 -1.03096403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.250385723 meters 0.01629991957243643 Centerline is valid? [True, True] Translation: X:253.07, Y:-90.59, Z:-10.31 [[-7.10961581e-01 7.03163157e-01 9.75727432e-03 2.53072895e+02] [ 7.03090887e-01 7.11028465e-01 -1.00859544e-02 -9.05906608e+01] [-1.40297713e-02 -3.10475405e-04 -9.99901530e-01 -1.03090675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.310385723 meters 0.016629262248046898 Centerline is valid? [True, True] Translation: X:253.09, Y:-90.57, Z:-10.31 [[-7.57195425e-01 6.53100890e-01 1.06918949e-02 2.53089960e+02] [ 6.53031435e-01 7.57270872e-01 -9.52740003e-03 -9.05731274e+01] [-1.43190140e-02 -2.31960246e-04 -9.99897451e-01 -1.03080281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.370385723 meters 0.016370865156162404 Centerline is valid? [True, True] Translation: X:253.10, Y:-90.55, Z:-10.31 [[-8.00927794e-01 5.98652920e-01 1.13731905e-02 2.53102547e+02] [ 5.98588707e-01 8.01008511e-01 -8.77072843e-03 -9.05538843e+01] [-1.43606446e-02 -2.16856753e-04 -9.99896857e-01 -1.03118854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43038572300003 meters 0.016455842114087904 Centerline is valid? [True, True] Translation: X:253.50, Y:-90.03, Z:-11.31 [[-7.70824831e-01 -6.37039583e-01 3.10651020e-03 2.53495267e+02] [ 6.37032822e-01 -7.70831034e-01 -2.94970942e-03 -9.00343350e+01] [ 4.27367613e-03 -2.94760308e-04 9.99990824e-01 -1.13071145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.490385723 meters 0.016672991496637306 Centerline is valid? [True, True] Translation: X:253.06, Y:-90.53, Z:-10.31 [[-8.04501293e-01 5.93852124e-01 1.08316495e-02 2.53063745e+02] [ 5.93794003e-01 8.04574166e-01 -8.31220542e-03 -9.05305502e+01] [-1.36510862e-02 -2.55411484e-04 -9.99906787e-01 -1.03112877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.550385723 meters 0.016222993460756903 Centerline is valid? [True, True] Translation: X:253.07, Y:-90.51, Z:-10.31 [[-8.46773915e-01 5.31848085e-01 1.05618024e-02 2.53074951e+02] [ 5.31802047e-01 8.46839722e-01 -7.00480376e-03 -9.05069638e+01] [-1.26696453e-02 -3.14696978e-04 -9.99919687e-01 -1.03141841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.610385723 meters 0.01613412776052186 Centerline is valid? [True, True] Translation: X:253.08, Y:-90.48, Z:-10.32 [[-8.83836863e-01 4.67663710e-01 1.10929932e-02 2.53080252e+02] [ 4.67621792e-01 8.83906402e-01 -6.27148663e-03 -9.04789150e+01] [-1.27381144e-02 -3.55645696e-04 -9.99918804e-01 -1.03161545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.670385723 meters 0.0163965429335229 Centerline is valid? [True, True] Translation: X:253.09, Y:-90.46, Z:-10.31 [[-9.16234273e-01 4.00429393e-01 1.30789534e-02 2.53093007e+02] [ 4.00382164e-01 9.16327525e-01 -6.16362564e-03 -9.04560473e+01] [-1.44527019e-02 -4.10745382e-04 -9.99895470e-01 -1.03143470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.730385723 meters 0.01657811956048663 Centerline is valid? [True, True] Translation: X:253.37, Y:-89.85, Z:-11.31 [[-8.82041873e-01 -4.71143828e-01 5.06244697e-03 2.53370790e+02] [ 4.71134845e-01 -8.82056381e-01 -2.91534913e-03 -8.98462379e+01] [ 5.83891240e-03 -1.86364839e-04 9.99982936e-01 -1.13070572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.790385723 meters 0.016699060328016255 Centerline is valid? [True, True] Translation: X:253.05, Y:-90.45, Z:-10.31 [[-9.18043803e-01 3.96243594e-01 1.36597878e-02 2.53048732e+02] [ 3.96192788e-01 9.18145322e-01 -6.35937831e-03 -9.04478898e+01] [-1.50615332e-02 -4.26278437e-04 -9.99886478e-01 -1.03147947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.850385723 meters 0.0166976633584617 Centerline is valid? [True, True] Translation: X:253.06, Y:-90.43, Z:-10.32 [[-9.43010842e-01 3.32428489e-01 1.48946491e-02 2.53056717e+02] [ 3.32380424e-01 9.43128382e-01 -5.66644481e-03 -9.04288817e+01] [-1.59312540e-02 -3.92829095e-04 -9.99873012e-01 -1.03152156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.910385723 meters 0.0168497981497463 Centerline is valid? [True, True] Translation: X:253.06, Y:-90.41, Z:-10.31 [[-9.63906194e-01 2.65753656e-01 1.61196406e-02 2.53064395e+02] [ 2.65709931e-01 9.64040897e-01 -4.83542334e-03 -9.04068751e+01] [-1.68250242e-02 -3.77745932e-04 -9.99858378e-01 -1.03139799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.970385723 meters 0.01689947464381118 Centerline is valid? [True, True] Translation: X:253.07, Y:-90.39, Z:-10.31 [[-9.79951076e-01 1.98487420e-01 1.72809886e-02 2.53065736e+02] [ 1.98450313e-01 9.80103374e-01 -3.85345868e-03 -9.03866481e+01] [-1.77020183e-02 -3.46783374e-04 -9.99843247e-01 -1.03139197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.030385723 meters 0.017090051802855694 Centerline is valid? [True, True] Translation: X:253.07, Y:-90.37, Z:-10.31 [[-9.91386361e-01 1.29733792e-01 1.79506788e-02 2.53070369e+02] [ 1.29706620e-01 9.91548808e-01 -2.67472889e-03 -9.03652784e+01] [-1.81459769e-02 -3.23367872e-04 -9.99835296e-01 -1.03117300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.090385723 meters 0.01706491598457475 Centerline is valid? [True, True] Translation: X:253.16, Y:-89.62, Z:-11.31 [[-9.80885529e-01 -1.94419994e-01 8.02772449e-03 2.53161804e+02] [ 1.94411004e-01 -9.80918334e-01 -1.89297910e-03 -8.96243914e+01] [ 8.24257512e-03 -2.96117826e-04 9.99965986e-01 -1.13092829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.150385723 meters 0.01716557720251145 Centerline is valid? [True, True] Translation: X:252.98, Y:-90.37, Z:-10.31 [[-9.91963464e-01 1.25382120e-01 1.69649710e-02 2.52981428e+02] [ 1.25358028e-01 9.92108468e-01 -2.48035374e-03 -9.03650079e+01] [-1.71420834e-02 -3.33724977e-04 -9.99853008e-01 -1.03145944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.210385723 meters 0.01735912401253826 Centerline is valid? [True, True] Translation: X:253.08, Y:-89.60, Z:-11.31 [[-9.81652397e-01 -1.90549589e-01 7.03034357e-03 2.53081369e+02] [ 1.90542597e-01 -9.81677529e-01 -1.65746155e-03 -8.96045541e+01] [ 7.21735892e-03 -2.87471175e-04 9.99973913e-01 -1.13102537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.270385723 meters 0.01732568831916662 Centerline is valid? [True, True] Translation: X:252.95, Y:-90.37, Z:-10.31 [[-9.92551795e-01 1.20584905e-01 1.73267126e-02 2.52950462e+02] [ 1.20560577e-01 9.92702960e-01 -2.44560032e-03 -9.03739159e+01] [-1.74951813e-02 -3.38466510e-04 -9.99846890e-01 -1.03140343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.330385723 meters 0.017254485111269556 Centerline is valid? [True, True] Translation: X:252.93, Y:-90.35, Z:-10.32 [[-9.98563574e-01 5.11948311e-02 1.58075540e-02 2.52933774e+02] [ 5.11834750e-02 9.98688636e-01 -1.12239500e-03 -9.03495329e+01] [-1.58442854e-02 -3.11697217e-04 -9.99874423e-01 -1.03160880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.390385723 meters 0.017556810676796306 Centerline is valid? [True, True] Translation: X:252.95, Y:-90.33, Z:-10.31 [[-9.99690980e-01 -1.90993006e-02 1.59110397e-02 2.52953085e+02] [-1.91016227e-02 9.99817547e-01 6.03139171e-06 -9.03257663e+01] [-1.59082518e-02 -2.97897148e-04 -9.99873411e-01 -1.03146166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.450385723 meters 0.017646022038880448 Centerline is valid? [True, True] Translation: X:252.93, Y:-89.52, Z:-11.31 [[-9.99062409e-01 -4.27150898e-02 7.05148459e-03 2.52929295e+02] [ 4.27122590e-02 -9.99087263e-01 -5.51617286e-04 -8.95215504e+01] [ 7.06861082e-03 -2.49915258e-04 9.99974986e-01 -1.13099601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.510385723 meters 0.01904075126936112 Centerline is valid? [True, True] Translation: X:252.86, Y:-90.33, Z:-10.32 [[-9.99563311e-01 -2.36794055e-02 1.76768898e-02 2.52856149e+02] [-2.36805982e-02 9.99719565e-01 1.41869598e-04 -9.03299049e+01] [-1.76752920e-02 -2.76791681e-04 -9.99843742e-01 -1.03156924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.570385723 meters 0.017641104647793088 Centerline is valid? [True, True] Translation: X:252.85, Y:-89.53, Z:-11.31 [[-9.99349240e-01 -3.51339958e-02 8.16688799e-03 2.52845368e+02] [ 3.51303441e-02 -9.99382565e-01 -5.90204527e-04 -8.95258827e+01] [ 8.18258171e-03 -3.02914861e-04 9.99966476e-01 -1.13084125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.630385723 meters 0.017770569848790534 Centerline is valid? [True, True] Translation: X:252.77, Y:-90.33, Z:-10.32 [[-9.99442484e-01 -2.72423633e-02 1.93021902e-02 2.52769181e+02] [-2.72417616e-02 9.99628831e-01 2.94159438e-04 -9.03268504e+01] [-1.93030395e-02 -2.31830226e-04 -9.99813652e-01 -1.03161330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.690385723 meters 0.017924968121322514 Centerline is valid? [True, True] Translation: X:252.77, Y:-90.30, Z:-10.32 [[-9.95140734e-01 -9.63662041e-02 2.02107291e-02 2.52771716e+02] [-9.63500202e-02 9.95345931e-01 1.77526036e-03 -9.02979529e+01] [-2.02877420e-02 -1.80670252e-04 -9.99794166e-01 -1.03169057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.750385723 meters 0.018215852589958174 Centerline is valid? [True, True] Translation: X:252.76, Y:-90.27, Z:-10.32 [[-9.86508269e-01 -1.62589850e-01 1.91304863e-02 2.52764498e+02] [-1.62561239e-01 9.86693737e-01 3.05167861e-03 -9.02704859e+01] [-1.93721030e-02 -9.93693738e-05 -9.99812338e-01 -1.03180289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.810385723 meters 0.018519065582821247 Centerline is valid? [True, True] Translation: X:252.74, Y:-90.24, Z:-10.32 [[-9.72580853e-01 -2.31888901e-01 1.77206539e-02 2.52744822e+02] [-2.31852207e-01 9.72742272e-01 4.12622764e-03 -9.02436943e+01] [-1.81944556e-02 -9.54827181e-05 -9.99834463e-01 -1.03181931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.870385723 meters 0.02064767002658032 Centerline is valid? [True, True] Translation: X:252.71, Y:-90.22, Z:-10.32 [[-9.52668255e-01 -3.03425559e-01 1.88713166e-02 2.52710377e+02] [-3.03368431e-01 9.52855139e-01 5.88886029e-03 -9.02235835e+01] [-1.97684617e-02 -1.14831445e-04 -9.99804578e-01 -1.03160291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93038572300003 meters 0.019519140590706002 Centerline is valid? [True, True] Translation: X:252.65, Y:-90.21, Z:-10.32 [[-9.26421475e-01 -3.76026100e-01 1.86446591e-02 2.52654598e+02] [-3.75954249e-01 9.26609051e-01 7.35322924e-03 -9.02086033e+01] [-2.00413160e-02 -1.97349345e-04 -9.99799133e-01 -1.03158516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.990385723 meters 0.018543875324670035 Centerline is valid? [True, True] Translation: X:252.58, Y:-90.21, Z:-10.32 [[-8.94391502e-01 -4.46942409e-01 1.75020885e-02 2.52583820e+02] [-4.46863060e-01 8.94562687e-01 8.42639972e-03 -9.02068337e+01] [-1.94228307e-02 -2.84536504e-04 -9.99811319e-01 -1.03169567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.050385723 meters 0.017690366851035137 Centerline is valid? [True, True] Translation: X:252.51, Y:-90.21, Z:-10.32 [[-8.57827889e-01 -5.13683717e-01 1.61354427e-02 2.52511475e+02] [-5.13599902e-01 8.57979566e-01 9.28470959e-03 -9.02149652e+01] [-1.86132842e-02 -3.22478948e-04 -9.99826706e-01 -1.03220653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.110385723 meters 0.017759108969419294 Centerline is valid? [True, True] Translation: X:252.43, Y:-90.23, Z:-10.32 [[-8.17202496e-01 -5.76140539e-01 1.55614935e-02 2.52429140e+02] [-5.76043499e-01 8.17350584e-01 1.05787461e-02 -9.02338595e+01] [-1.88140403e-02 -3.19119404e-04 -9.99822949e-01 -1.03218674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.170385723 meters 0.0178300261944122 Centerline is valid? [True, True] Translation: X:252.35, Y:-90.27, Z:-10.32 [[-7.73284641e-01 -6.33863399e-01 1.57498008e-02 2.52345940e+02] [-6.33738881e-01 7.73444970e-01 1.25661583e-02 -9.02675882e+01] [-2.01468320e-02 -2.64043952e-04 -9.99796997e-01 -1.03234902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.230385723 meters 0.01987547968368186 Centerline is valid? [True, True] Translation: X:252.26, Y:-90.31, Z:-10.32 [[-7.26022722e-01 -6.87496402e-01 1.54823816e-02 2.52259845e+02] [-6.87345205e-01 7.26187763e-01 1.44188226e-02 -9.03115600e+01] [-2.11560048e-02 -1.73347886e-04 -9.99776172e-01 -1.03221989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.290385723 meters 0.018087590721254657 Centerline is valid? [True, True] Translation: X:252.17, Y:-90.36, Z:-10.33 [[-6.72903502e-01 -7.39596614e-01 1.40614914e-02 2.52172229e+02] [-7.39439768e-01 6.73050390e-01 1.52316180e-02 -9.03625347e+01] [-2.07293453e-02 -1.48216890e-04 -9.99785113e-01 -1.03255203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.350385723 meters 0.019160244196043015 Centerline is valid? [True, True] Translation: X:252.08, Y:-90.43, Z:-10.33 [[-6.15571412e-01 -7.87986194e-01 1.22308415e-02 2.52083795e+02] [-7.87835110e-01 6.15692893e-01 1.54304983e-02 -9.04286646e+01] [-1.96894619e-02 -1.37312726e-04 -9.99806134e-01 -1.03265537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.410385723 meters 0.017896081337399596 Centerline is valid? [True, True] Translation: X:252.00, Y:-90.50, Z:-10.33 [[-5.53793022e-01 -8.32591315e-01 1.02465192e-02 2.51997011e+02] [-8.32453813e-01 5.53887786e-01 1.51317516e-02 -9.05015272e+01] [-1.82739868e-02 -1.49895515e-04 -9.99833006e-01 -1.03305699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.470385723 meters 0.01800093520772855 Centerline is valid? [True, True] Translation: X:251.91, Y:-90.60, Z:-10.33 [[-4.88205068e-01 -8.72672449e-01 9.93012705e-03 2.51906525e+02] [-8.72497710e-01 4.88306028e-01 1.74633842e-02 -9.05968107e+01] [-2.00887551e-02 -1.38300447e-04 -9.99798191e-01 -1.03300182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.530385723 meters 0.01767049922776652 Centerline is valid? [True, True] Translation: X:251.83, Y:-90.68, Z:-10.33 [[-4.18218755e-01 -9.08309527e-01 8.17777313e-03 2.51832455e+02] [-9.08144376e-01 4.18298661e-01 1.73211814e-02 -9.06769013e+01] [-1.91537456e-02 -1.82555756e-04 -9.99816534e-01 -1.03311091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.590385723 meters 0.017475801560315862 Centerline is valid? [True, True] Translation: X:251.76, Y:-90.77, Z:-10.33 [[-3.46318910e-01 -9.38093708e-01 6.58843480e-03 2.51761700e+02] [-9.37935184e-01 3.46381513e-01 1.72464095e-02 -9.07685106e+01] [-1.84608603e-02 -2.06767058e-04 -9.99829562e-01 -1.03322427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.650385723 meters 0.017194776101647453 Centerline is valid? [True, True] Translation: X:251.70, Y:-90.87, Z:-10.33 [[-2.71775190e-01 -9.62346898e-01 5.16655994e-03 2.51696699e+02] [-9.62189272e-01 2.71824191e-01 1.74187744e-02 -9.08725979e+01] [-1.81672995e-02 -2.37217818e-04 -9.99834933e-01 -1.03336650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.710385723 meters 0.016973905248416174 Centerline is valid? [True, True] Translation: X:251.64, Y:-90.98, Z:-10.34 [[-1.95161277e-01 -9.80765339e-01 3.38015490e-03 2.51640892e+02] [-9.80642134e-01 1.95190345e-01 1.55477790e-02 -9.09842138e+01] [-1.59084963e-02 -2.80397915e-04 -9.99873413e-01 -1.03363735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.770385723 meters 0.016674145692831616 Centerline is valid? [True, True] Translation: X:251.59, Y:-91.11, Z:-10.34 [[-1.15549164e-01 -9.93299857e-01 1.94553682e-03 2.51590190e+02] [-9.93204107e-01 1.15565047e-01 1.37957455e-02 -9.11053035e+01] [-1.39281480e-02 -3.38228308e-04 -9.99902941e-01 -1.03380525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.830385723 meters 0.016663875339291454 Centerline is valid? [True, True] Translation: X:251.55, Y:-91.22, Z:-10.34 [[-3.61479403e-02 -9.99346078e-01 8.62041986e-04 2.51551443e+02] [-9.99254866e-01 3.61562921e-02 1.35068690e-02 -9.12240564e+01] [-1.35292048e-02 -3.73154157e-04 -9.99908406e-01 -1.03382410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.890385723 meters 0.016708086788200627 Centerline is valid? [True, True] Translation: X:251.52, Y:-91.35, Z:-10.34 [[ 4.34017970e-02 -9.99057694e-01 -9.25947931e-05 2.51522285e+02] [-9.98994426e-01 -4.34000912e-02 1.12503116e-02 -9.13457152e+01] [-1.12437290e-02 -3.95782059e-04 -9.99936709e-01 -1.03389467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.950385723 meters 0.016608795343536174 Centerline is valid? [True, True] Translation: X:251.50, Y:-91.47, Z:-10.34 [[ 1.20573665e-01 -9.92703906e-01 -9.72352298e-04 2.51504274e+02] [-9.92639453e-01 -1.20576923e-01 1.13191363e-02 -9.14679566e+01] [-1.13537941e-02 -3.99594493e-04 -9.99935464e-01 -1.03385158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.010385723 meters 0.016378610622867353 Centerline is valid? [True, True] Translation: X:251.50, Y:-91.60, Z:-10.34 [[ 1.94827881e-01 -9.80836313e-01 -1.49120055e-03 2.51498117e+02] [-9.80791223e-01 -1.94833235e-01 9.41214796e-03 -9.15972769e+01] [-9.52231193e-03 -3.71192435e-04 -9.99954593e-01 -1.03401785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.070385723 meters 0.01619505169961547 Centerline is valid? [True, True] Translation: X:251.50, Y:-91.72, Z:-10.34 [[ 2.67741163e-01 -9.63489493e-01 -1.63317589e-03 2.51499149e+02] [-9.63462838e-01 -2.67745918e-01 7.17511975e-03 -9.17194595e+01] [-7.35042867e-03 -3.47570630e-04 -9.99972925e-01 -1.03416239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.130385723 meters 0.016229663607221143 Centerline is valid? [True, True] Translation: X:251.51, Y:-91.84, Z:-10.34 [[ 3.36721782e-01 -9.41602180e-01 -1.94328839e-03 2.51512223e+02] [-9.41580696e-01 -3.36727243e-01 6.36842268e-03 -9.18431706e+01] [-6.65087882e-03 -3.14623797e-04 -9.99977833e-01 -1.03427085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.190385723 meters 0.016432622638472484 Centerline is valid? [True, True] Translation: X:251.53, Y:-91.96, Z:-10.34 [[ 4.02661532e-01 -9.15346753e-01 -2.00305657e-03 2.51530595e+02] [-9.15331703e-01 -4.02666415e-01 5.25666757e-03 -9.19566018e+01] [-5.61823720e-03 -2.83196631e-04 -9.99984177e-01 -1.03436284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.250385723 meters 0.016785504318704476 Centerline is valid? [True, True] Translation: X:251.56, Y:-92.08, Z:-10.34 [[ 4.68911949e-01 -8.83242911e-01 -1.88269500e-03 2.51561215e+02] [-8.83233263e-01 -4.68915646e-01 4.13750044e-03 -9.20805665e+01] [-4.53724307e-03 -2.77264549e-04 -9.99989668e-01 -1.03449199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.310385723 meters 0.017100893808894815 Centerline is valid? [True, True] Translation: X:251.59, Y:-92.19, Z:-10.35 [[ 5.32454219e-01 -8.46455269e-01 -2.44595221e-03 2.51593910e+02] [-8.46444059e-01 -5.32459777e-01 4.36358917e-03 -9.21932779e+01] [-4.99595421e-03 -2.53049750e-04 -9.99987488e-01 -1.03451716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.370385723 meters 0.017317224588725835 Centerline is valid? [True, True] Translation: X:251.64, Y:-92.30, Z:-10.35 [[ 5.95347757e-01 -8.03464699e-01 -2.35085728e-03 2.51636024e+02] [-8.03456629e-01 -5.95352341e-01 3.61054206e-03 -9.23046113e+01] [-4.30053148e-03 -2.60716249e-04 -9.99990719e-01 -1.03460361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43038572300003 meters 0.017264790290334075 Centerline is valid? [True, True] Translation: X:251.68, Y:-92.41, Z:-10.35 [[ 6.55216371e-01 -7.55438644e-01 -1.99041490e-03 2.51681803e+02] [-7.55433814e-01 -6.55219336e-01 2.71555047e-03 -9.24127746e+01] [-3.35559010e-03 -2.75646405e-04 -9.99994332e-01 -1.03464045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.490385723 meters 0.016895235375470073 Centerline is valid? [True, True] Translation: X:251.73, Y:-92.52, Z:-10.35 [[ 7.11224059e-01 -7.02962434e-01 -2.03832201e-03 2.51730012e+02] [-7.02958369e-01 -7.11226925e-01 2.40666280e-03 -9.25155283e+01] [-3.14150303e-03 -2.78820973e-04 -9.99995027e-01 -1.03458973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.550385723 meters 0.01638918277608168 Centerline is valid? [True, True] Translation: X:251.74, Y:-92.55, Z:-10.35 [[ 7.64451920e-01 -6.44674765e-01 -2.77654185e-03 2.51741351e+02] [-6.44669151e-01 -7.64456912e-01 2.70455603e-03 -9.25523168e+01] [-3.86610563e-03 -2.77552174e-04 -9.99992488e-01 -1.03461671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.610385723 meters 0.01613405578090556 Centerline is valid? [True, True] Translation: X:251.76, Y:-92.59, Z:-10.35 [[ 8.13224783e-01 -5.81943091e-01 -2.77346086e-03 2.51757110e+02] [-5.81938476e-01 -8.13229462e-01 2.33513345e-03 -9.25862501e+01] [-3.61437486e-03 -2.85004809e-04 -9.99993428e-01 -1.03479676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.670385723 meters 0.015696789098285608 Centerline is valid? [True, True] Translation: X:251.77, Y:-92.63, Z:-10.35 [[ 8.56978286e-01 -5.15352048e-01 -6.95905614e-04 2.51770147e+02] [-5.15351537e-01 -8.56978508e-01 7.94245901e-04 -9.26276939e+01] [-1.00569241e-03 -3.22015463e-04 -9.99999442e-01 -1.03469693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.730385723 meters 0.015556365089428608 Centerline is valid? [True, True] Translation: X:251.79, Y:-92.66, Z:-10.35 [[ 8.94325074e-01 -4.47416380e-01 -1.11591191e-03 2.51789471e+02] [-4.47415564e-01 -8.94325714e-01 9.10783578e-04 -9.26627454e+01] [-1.40548820e-03 -3.15260235e-04 -9.99998963e-01 -1.03482765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.790385723 meters 0.01598239080442127 Centerline is valid? [True, True] Translation: X:251.81, Y:-92.69, Z:-10.35 [[ 9.25759768e-01 -3.78105991e-01 -2.17046120e-03 2.51813350e+02] [-3.78104186e-01 -9.25762266e-01 1.20480178e-03 -9.26926839e+01] [-2.46487384e-03 -2.94696554e-04 -9.99996919e-01 -1.03474070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.850385723 meters 0.015987091673062313 Centerline is valid? [True, True] Translation: X:251.84, Y:-92.73, Z:-10.34 [[ 9.51895968e-01 -3.06402678e-01 -3.38608772e-03 2.51839010e+02] [-3.06399724e-01 -9.51901952e-01 1.37209189e-03 -9.27273786e+01] [-3.64363614e-03 -2.68592392e-04 -9.99993326e-01 -1.03445983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.910385723 meters 0.01650515541109822 Centerline is valid? [True, True] Translation: X:251.87, Y:-92.75, Z:-10.35 [[ 9.72659999e-01 -2.32221684e-01 -2.36985880e-03 2.51868033e+02] [-2.32220272e-01 -9.72662844e-01 8.58085184e-04 -9.27544834e+01] [-2.50433959e-03 -2.84295878e-04 -9.99996824e-01 -1.03455228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.970385723 meters 0.01658097919647784 Centerline is valid? [True, True] Translation: X:251.90, Y:-92.78, Z:-10.35 [[ 9.87689605e-01 -1.56387909e-01 -3.47366260e-03 2.51901085e+02] [-1.56386009e-01 -9.87695679e-01 8.13695144e-04 -9.27763596e+01] [-3.55817362e-03 -2.60446004e-04 -9.99993636e-01 -1.03454850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.030385723 meters 0.01589282066759193 Centerline is valid? [True, True] Translation: X:251.93, Y:-92.81, Z:-10.34 [[ 9.97028993e-01 -7.68698511e-02 -4.92062439e-03 2.51932350e+02] [-7.68677188e-02 -9.97041106e-01 6.21273102e-04 -9.28053218e+01] [-4.95382196e-03 -2.41190123e-04 -9.99987701e-01 -1.03439473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.090385723 meters 0.015348634199948146 Centerline is valid? [True, True] Translation: X:251.97, Y:-92.83, Z:-10.35 [[ 9.99975363e-01 5.86478341e-03 -3.85718120e-03 2.51965825e+02] [ 5.86580724e-03 -9.99982764e-01 2.54175211e-04 -9.28275870e+01] [-3.85562404e-03 -2.76794431e-04 -9.99992529e-01 -1.03460690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.150385723 meters 0.014762340809692482 Centerline is valid? [True, True] Translation: X:252.00, Y:-92.85, Z:-10.35 [[ 9.96070180e-01 8.84653259e-02 -4.25236512e-03 2.52002317e+02] [ 8.84657547e-02 -9.96079215e-01 -8.75271889e-05 -9.28450532e+01] [-4.24343563e-03 -2.89005467e-04 -9.99990955e-01 -1.03458139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.210385723 meters 0.014637589423818058 Centerline is valid? [True, True] Translation: X:252.04, Y:-92.85, Z:-10.35 [[ 9.85904586e-01 1.67254319e-01 -4.25919352e-03 2.52039542e+02] [ 1.67254032e-01 -9.85913742e-01 -4.25849804e-04 -9.28519218e+01] [-4.27042264e-03 -2.92520016e-04 -9.99990839e-01 -1.03456844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.270385723 meters 0.014397694212073446 Centerline is valid? [True, True] Translation: X:252.08, Y:-92.86, Z:-10.35 [[ 9.69283439e-01 2.45915980e-01 -3.86591502e-03 2.52079599e+02] [ 2.45915256e-01 -9.69291101e-01 -6.68836530e-04 -9.28628915e+01] [-3.91167462e-03 -3.02395310e-04 -9.99992304e-01 -1.03454804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.330385723 meters 0.014419019994454422 Centerline is valid? [True, True] Translation: X:252.12, Y:-92.87, Z:-10.34 [[ 9.46353199e-01 3.23096895e-01 -4.90097074e-03 2.52118658e+02] [ 3.23094217e-01 -9.46365840e-01 -1.35042003e-03 -9.28687019e+01] [-5.07442781e-03 -3.05500992e-04 -9.99987078e-01 -1.03449902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.390385723 meters 0.014271178265330812 Centerline is valid? [True, True] Translation: X:252.16, Y:-92.87, Z:-10.34 [[ 9.16107934e-01 4.00883807e-01 -6.19894110e-03 2.52160670e+02] [ 4.00877061e-01 -9.16128846e-01 -2.34930553e-03 -9.28743278e+01] [-6.62082730e-03 -3.32795859e-04 -9.99978027e-01 -1.03434511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.450385723 meters 0.014648831177452297 Centerline is valid? [True, True] Translation: X:252.20, Y:-92.87, Z:-10.34 [[ 8.79160337e-01 4.76493839e-01 -5.54275539e-03 2.52201001e+02] [ 4.76486956e-01 -8.79177733e-01 -2.58724273e-03 -9.28713606e+01] [-6.10587234e-03 -3.66449448e-04 -9.99981292e-01 -1.03437617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.510385723 meters 0.014864080123455227 Centerline is valid? [True, True] Translation: X:252.24, Y:-92.86, Z:-10.34 [[ 8.38047772e-01 5.45570428e-01 -5.37018414e-03 2.52239947e+02] [ 5.45562065e-01 -8.38064893e-01 -3.04449288e-03 -9.28632583e+01] [-6.16154808e-03 -3.78338275e-04 -9.99980946e-01 -1.03437011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.570385723 meters 0.014895744080221285 Centerline is valid? [True, True] Translation: X:252.28, Y:-92.85, Z:-10.34 [[ 7.92920910e-01 6.09304471e-01 -4.94892964e-03 2.52276768e+02] [ 6.09295479e-01 -7.92936266e-01 -3.33141167e-03 -9.28496337e+01] [-5.95402981e-03 -3.73814485e-04 -9.99982205e-01 -1.03434176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.630385723 meters 0.014585694924096148 Centerline is valid? [True, True] Translation: X:252.31, Y:-92.83, Z:-10.34 [[ 7.44791002e-01 6.67280752e-01 -4.77090608e-03 2.52309484e+02] [ 6.67270045e-01 -7.44806197e-01 -3.79680205e-03 -9.28295807e+01] [-6.08693334e-03 -3.55658713e-04 -9.99981411e-01 -1.03446536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.690385723 meters 0.014406486397437418 Centerline is valid? [True, True] Translation: X:252.34, Y:-92.81, Z:-10.34 [[ 6.92413445e-01 7.21487174e-01 -4.45864820e-03 2.52340728e+02] [ 7.21475261e-01 -6.92427718e-01 -4.15963475e-03 -9.28079490e+01] [-6.08841472e-03 -3.36617350e-04 -9.99981409e-01 -1.03440728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.750385723 meters 0.01441995513832385 Centerline is valid? [True, True] Translation: X:252.37, Y:-92.79, Z:-10.34 [[ 6.33276124e-01 7.73916494e-01 -3.82241722e-03 2.52374260e+02] [ 7.73905509e-01 -6.33287570e-01 -4.13725115e-03 -9.27868444e+01] [-5.62257622e-03 -3.38167368e-04 -9.99984136e-01 -1.03446073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.810385723 meters 0.014745077185820389 Centerline is valid? [True, True] Translation: X:252.40, Y:-92.76, Z:-10.35 [[ 5.67432825e-01 8.23411422e-01 -3.69036775e-03 2.52402766e+02] [ 8.23397996e-01 -5.67444710e-01 -4.71616296e-03 -9.27626882e+01] [-5.97742210e-03 -3.62535736e-04 -9.99982069e-01 -1.03455527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.870385723 meters 0.015309816957512495 Centerline is valid? [True, True] Translation: X:252.43, Y:-92.74, Z:-10.35 [[ 4.97223458e-01 8.67615469e-01 -3.49732986e-03 2.52428686e+02] [ 8.67599304e-01 -4.97235602e-01 -5.31067336e-03 -9.27351241e+01] [-6.34661928e-03 -3.93689582e-04 -9.99979783e-01 -1.03464096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93038572300003 meters 0.015976516839950754 Centerline is valid? [True, True] Translation: X:252.45, Y:-92.70, Z:-10.35 [[ 4.25008656e-01 9.05179808e-01 -4.14221732e-03 2.52448862e+02] [ 9.05146625e-01 -4.25028603e-01 -7.76361790e-03 -9.27044506e+01] [-8.78803100e-03 -4.49709211e-04 -9.99961283e-01 -1.03452020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.990385723 meters 0.016175268782739602 Centerline is valid? [True, True] Translation: X:252.46, Y:-92.67, Z:-10.34 [[ 3.52475516e-01 9.35812226e-01 -4.06054838e-03 2.52464780e+02] [ 9.35764809e-01 -3.52498584e-01 -9.43239669e-03 -9.26719134e+01] [-1.02582897e-02 -4.75029389e-04 -9.99947270e-01 -1.03442653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.050385723 meters 0.015981698524577592 Centerline is valid? [True, True] Translation: X:252.47, Y:-92.64, Z:-10.34 [[ 2.80024240e-01 9.59985617e-01 -3.74706164e-03 2.52471418e+02] [ 9.59920952e-01 -2.80048908e-01 -1.11523845e-02 -9.26373411e+01] [-1.17554892e-02 -4.73944985e-04 -9.99930790e-01 -1.03449881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.110385723 meters 0.01511593065352201 Centerline is valid? [True, True] Translation: X:252.48, Y:-92.60, Z:-10.35 [[ 2.07509391e-01 9.78228764e-01 -2.88746711e-03 2.52480469e+02] [ 9.78160924e-01 -2.07529029e-01 -1.15286245e-02 -9.26045221e+01] [-1.18768653e-02 -4.32109655e-04 -9.99929374e-01 -1.03456570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.170385723 meters 0.014943073997643677 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.57, Z:-10.35 [[ 1.33509880e-01 9.91045457e-01 -2.00341940e-03 2.52485797e+02] [ 9.90973845e-01 -1.33524330e-01 -1.19202752e-02 -9.25711695e+01] [-1.20810398e-02 -3.93861721e-04 -9.99926944e-01 -1.03478237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.230385723 meters 0.015057240484539016 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.54, Z:-10.35 [[ 5.73409643e-02 9.98354001e-01 -1.14118542e-03 2.52492712e+02] [ 9.98265574e-01 -5.73510800e-02 -1.32927660e-02 -9.25387938e+01] [-1.33363344e-02 -3.76986094e-04 -9.99910996e-01 -1.03474463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.290385723 meters 0.01515953411793684 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.51, Z:-10.35 [[-1.86823322e-02 9.99825469e-01 -5.43717977e-05 2.52492613e+02] [ 9.99699055e-01 1.86791053e-02 -1.59025544e-02 -9.25083080e+01] [-1.58987633e-02 -3.51452240e-04 -9.99873545e-01 -1.03468116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.350385723 meters 0.015219581414194508 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.48, Z:-10.35 [[-9.33203811e-02 9.95635266e-01 1.31282288e-03 2.52491305e+02] [ 9.95487965e-01 9.33291597e-02 -1.71283207e-02 -9.24765981e+01] [-1.71760848e-02 -2.91522036e-04 -9.99852438e-01 -1.03490563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.410385723 meters 0.015222332823952389 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.45, Z:-10.35 [[-1.67261771e-01 9.85909001e-01 2.63473697e-03 2.52492746e+02] [ 9.85764526e-01 1.67282368e-01 -1.68792348e-02 -9.24456105e+01] [-1.70821345e-02 -2.26020457e-04 -9.99854064e-01 -1.03497265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.470385723 meters 0.01574471147833821 Centerline is valid? [True, True] Translation: X:252.49, Y:-92.42, Z:-10.35 [[-2.39505355e-01 9.70886361e-01 4.10585013e-03 2.52488748e+02] [ 9.70733461e-01 2.39540505e-01 -1.72306319e-02 -9.24160580e+01] [-1.77125029e-02 -1.41142509e-04 -9.99843111e-01 -1.03487308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.530385723 meters 0.01610136524831771 Centerline is valid? [True, True] Translation: X:252.48, Y:-92.39, Z:-10.35 [[-3.13958134e-01 9.49423522e-01 5.02653049e-03 2.52481646e+02] [ 9.49294777e-01 3.13998340e-01 -1.56355069e-02 -9.23881497e+01] [-1.64230402e-02 -1.37235433e-04 -9.99865123e-01 -1.03511145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.590385723 meters 0.015865796231580888 Centerline is valid? [True, True] Translation: X:252.48, Y:-92.36, Z:-10.35 [[-3.88657479e-01 9.21365431e-01 5.57740481e-03 2.52477129e+02] [ 9.21264066e-01 3.88697457e-01 -1.36677772e-02 -9.23591934e+01] [-1.47609405e-02 -1.73821194e-04 -9.99891036e-01 -1.03510629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.650385723 meters 0.015633051072090755 Centerline is valid? [True, True] Translation: X:252.47, Y:-92.33, Z:-10.35 [[-4.63287223e-01 8.86181220e-01 6.91330992e-03 2.52470034e+02] [ 8.86075032e-01 4.63338744e-01 -1.37202653e-02 -9.23312498e+01] [-1.53618458e-02 -2.30712304e-04 -9.99881973e-01 -1.03518544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.710385723 meters 0.01564050914861087 Centerline is valid? [True, True] Translation: X:252.46, Y:-92.30, Z:-10.35 [[-5.33430296e-01 8.45806102e-01 8.00980520e-03 2.52463686e+02] [ 8.45703092e-01 5.33490361e-01 -1.32028106e-02 -9.23028167e+01] [-1.54401717e-02 -2.68862161e-04 -9.99880757e-01 -1.03519842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.770385723 meters 0.016996142996172022 Centerline is valid? [True, True] Translation: X:252.45, Y:-92.28, Z:-10.35 [[-5.98934190e-01 8.00746234e-01 9.12717848e-03 2.52454927e+02] [ 8.00645915e-01 5.99003662e-01 -1.26779662e-02 -9.22760895e+01] [-1.56190470e-02 -2.85629261e-04 -9.99877974e-01 -1.03466855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.830385723 meters 0.01575594880474567 Centerline is valid? [True, True] Translation: X:252.44, Y:-92.25, Z:-10.35 [[-6.60213185e-01 7.51014134e-01 9.81434251e-03 2.52439599e+02] [ 7.50924492e-01 6.60286063e-01 -1.16070147e-02 -9.22525512e+01] [-1.51973056e-02 -2.93273963e-04 -9.99884471e-01 -1.03498916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.890385723 meters 0.015923393439597047 Centerline is valid? [True, True] Translation: X:252.42, Y:-92.23, Z:-10.35 [[-7.15885245e-01 6.98131578e-01 1.09825320e-02 2.52420461e+02] [ 6.98043671e-01 7.15969433e-01 -1.10817164e-02 -9.22336377e+01] [-1.55996534e-02 -2.66950313e-04 -9.99878282e-01 -1.03503082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.950385723 meters 0.016186785923750422 Centerline is valid? [True, True] Translation: X:252.44, Y:-92.22, Z:-10.35 [[-7.61978233e-01 6.47493508e-01 1.18881951e-02 2.52440069e+02] [ 6.47410530e-01 7.62070938e-01 -1.03677529e-02 -9.22216373e+01] [-1.57727007e-02 -2.03459317e-04 -9.99875583e-01 -1.03486697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.010385723 meters 0.016010355164965254 Centerline is valid? [True, True] Translation: X:252.46, Y:-92.21, Z:-10.35 [[-8.04989435e-01 5.93171977e-01 1.17905165e-02 2.52456107e+02] [ 5.93104962e-01 8.05075755e-01 -8.91814224e-03 -9.22051996e+01] [-1.47822510e-02 -1.85996448e-04 -9.99890719e-01 -1.03521982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.070385723 meters 0.016118022451607088 Centerline is valid? [True, True] Translation: X:252.47, Y:-92.19, Z:-10.35 [[-8.44583257e-01 5.35303917e-01 1.13507410e-02 2.52470262e+02] [ 5.35252653e-01 8.44659507e-01 -7.41039830e-03 -9.21894598e+01] [-1.35543265e-02 -1.83184084e-04 -9.99908119e-01 -1.03535404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.130385723 meters 0.01603689241036096 Centerline is valid? [True, True] Translation: X:252.47, Y:-92.16, Z:-10.35 [[-8.80835984e-01 4.73283349e-01 1.14385548e-02 2.52469287e+02] [ 4.73240505e-01 8.80910229e-01 -6.37125513e-03 -9.21589748e+01] [-1.30917489e-02 -1.98843328e-04 -9.99914280e-01 -1.03527414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.190385723 meters 0.01583325342724026 Centerline is valid? [True, True] Translation: X:252.85, Y:-91.49, Z:-11.33 [[-8.51062920e-01 -5.25042868e-01 4.67896202e-03 2.52853331e+02] [ 5.25033404e-01 -8.51075750e-01 -3.16114278e-03 -9.14884373e+01] [ 5.64188658e-03 -2.33720052e-04 9.99984057e-01 -1.13276014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.250385723 meters 0.01590586854479681 Centerline is valid? [True, True] Translation: X:252.43, Y:-92.15, Z:-10.35 [[-8.86451964e-01 4.62627554e-01 1.33664641e-02 2.52431513e+02] [ 4.62569568e-01 8.86552676e-01 -7.33134040e-03 -9.21467703e+01] [-1.52417546e-02 -3.15961582e-04 -9.99883788e-01 -1.03525543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.310385723 meters 0.016576110609043744 Centerline is valid? [True, True] Translation: X:252.40, Y:-92.10, Z:-10.35 [[-9.19659222e-01 3.92411610e-01 1.54933408e-02 2.52396608e+02] [ 3.92347876e-01 9.19789616e-01 -7.08571053e-03 -9.21008421e+01] [-1.70311291e-02 -4.37659675e-04 -9.99854864e-01 -1.03507991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.370385723 meters 0.017491823744112563 Centerline is valid? [True, True] Translation: X:252.45, Y:-92.09, Z:-10.35 [[-9.47252367e-01 3.20070084e-01 1.63735914e-02 2.52449612e+02] [ 3.20012089e-01 9.47393705e-01 -6.11805192e-03 -9.20901025e+01] [-1.74704428e-02 -5.55591982e-04 -9.99847226e-01 -1.03500455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43038572300003 meters 0.01783161560101658 Centerline is valid? [True, True] Translation: X:252.47, Y:-92.06, Z:-10.35 [[-9.68124947e-01 2.50003161e-01 1.52481382e-02 2.52469961e+02] [ 2.49962944e-01 9.68244856e-01 -4.51943384e-03 -9.20637102e+01] [-1.58938041e-02 -5.63907141e-04 -9.99873527e-01 -1.03504580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.490385723 meters 0.017539735048196215 Centerline is valid? [True, True] Translation: X:252.67, Y:-91.32, Z:-11.33 [[-9.37297923e-01 -3.48468084e-01 6.52666420e-03 2.52668578e+02] [ 3.48458634e-01 -9.37320637e-01 -2.56979315e-03 -9.13185396e+01] [ 7.01306794e-03 -1.34389285e-04 9.99975399e-01 -1.13295150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.550385723 meters 0.016406606056728307 Centerline is valid? [True, True] Translation: X:252.41, Y:-92.05, Z:-10.36 [[-9.67239017e-01 2.53664763e-01 1.01426349e-02 2.52413787e+02] [ 2.53646642e-01 9.67292118e-01 -3.05611841e-03 -9.20489015e+01] [-1.05861203e-02 -3.83351687e-04 -9.99943892e-01 -1.03554747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.610385723 meters 0.016251281893259577 Centerline is valid? [True, True] Translation: X:252.44, Y:-92.03, Z:-10.36 [[-9.82360712e-01 1.86760183e-01 9.38428302e-03 2.52439940e+02] [ 1.86748265e-01 9.82405473e-01 -2.13840425e-03 -9.20300470e+01] [-9.61853977e-03 -3.48185758e-04 -9.99953680e-01 -1.03569868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.670385723 meters 0.016022032273698597 Centerline is valid? [True, True] Translation: X:252.60, Y:-91.27, Z:-11.33 [[-9.63128572e-01 -2.69008362e-01 4.22548085e-03 2.52603431e+02] [ 2.69005665e-01 -9.63137841e-01 -1.20487231e-03 -9.12664534e+01] [ 4.39384123e-03 -2.37686586e-05 9.99990347e-01 -1.13275317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.730385723 meters 0.01588498418257462 Centerline is valid? [True, True] Translation: X:252.39, Y:-92.02, Z:-10.35 [[-9.82429839e-01 1.86101837e-01 1.40612319e-02 2.52392268e+02] [ 1.86077743e-01 9.82530400e-01 -3.01431445e-03 -9.20222573e+01] [-1.43765573e-02 -3.44870156e-04 -9.99896592e-01 -1.03514287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.790385723 meters 0.01570178552308919 Centerline is valid? [True, True] Translation: X:252.40, Y:-92.00, Z:-10.35 [[-9.92742049e-01 1.19359286e-01 1.47168089e-02 2.52396402e+02] [ 1.19341766e-01 9.92851083e-01 -2.06612294e-03 -9.19992765e+01] [-1.48582106e-02 -2.94797152e-04 -9.99889567e-01 -1.03548372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.850385723 meters 0.01577847246004312 Centerline is valid? [True, True] Translation: X:252.50, Y:-91.21, Z:-11.33 [[-9.82950910e-01 -1.83760232e-01 6.29970719e-03 2.52502186e+02] [ 1.83755121e-01 -9.82971075e-01 -1.38577135e-03 -9.12119988e+01] [ 6.44707962e-03 -2.04541753e-04 9.99979196e-01 -1.13268155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.910385723 meters 0.015751068581014483 Centerline is valid? [True, True] Translation: X:252.35, Y:-92.00, Z:-10.36 [[-9.92325548e-01 1.22949752e-01 1.31668450e-02 2.52345887e+02] [ 1.22936411e-01 9.92412879e-01 -1.82095802e-03 -9.19977400e+01] [-1.32908329e-02 -1.88298505e-04 -9.99911655e-01 -1.03571821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.970385723 meters 0.015797396367954526 Centerline is valid? [True, True] Translation: X:252.45, Y:-91.20, Z:-11.33 [[-9.84016209e-01 -1.77965884e-01 6.34378826e-03 2.52448126e+02] [ 1.77960843e-01 -9.84036637e-01 -1.35501557e-03 -9.12041858e+01] [ 6.48366661e-03 -2.04411379e-04 9.99978960e-01 -1.13257208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.030385723 meters 0.015572495768656023 Centerline is valid? [True, True] Translation: X:252.28, Y:-91.99, Z:-10.36 [[-9.93074824e-01 1.16834561e-01 1.23320391e-02 2.52276033e+02] [ 1.16822819e-01 9.93151367e-01 -1.67072283e-03 -9.19884967e+01] [-1.24427797e-02 -2.18489208e-04 -9.99922562e-01 -1.03586472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.090385723 meters 0.017010509249266524 Centerline is valid? [True, True] Translation: X:252.36, Y:-91.20, Z:-11.33 [[-9.83232987e-01 -1.82244705e-01 6.30554669e-03 2.52362684e+02] [ 1.82239815e-01 -9.83253191e-01 -1.34651462e-03 -9.11990149e+01] [ 6.44534406e-03 -1.74815934e-04 9.99979213e-01 -1.13257874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.150385723 meters 0.01559704357339579 Centerline is valid? [True, True] Translation: X:252.22, Y:-91.98, Z:-10.36 [[-9.94406233e-01 1.04835783e-01 1.28725730e-02 2.52223535e+02] [ 1.04822865e-01 9.94489496e-01 -1.67603397e-03 -9.19789170e+01] [-1.29773469e-02 -3.17318643e-04 -9.99915740e-01 -1.03614372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.210385723 meters 0.015524531685312298 Centerline is valid? [True, True] Translation: X:252.29, Y:-91.20, Z:-11.32 [[-9.83783740e-01 -1.79294922e-01 4.78362862e-03 2.52291211e+02] [ 1.79291708e-01 -9.83795346e-01 -1.09604914e-03 -9.11955779e+01] [ 4.90262762e-03 -2.20610374e-04 9.99987958e-01 -1.13241334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.270385723 meters 0.01568612257339943 Centerline is valid? [True, True] Translation: X:252.15, Y:-91.97, Z:-10.36 [[-9.94599663e-01 1.03052348e-01 1.23176236e-02 2.52153460e+02] [ 1.03040953e-01 9.94675894e-01 -1.55792186e-03 -9.19745962e+01] [-1.24125908e-02 -2.80288886e-04 -9.99922922e-01 -1.03638449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.330385723 meters 0.015638174935331383 Centerline is valid? [True, True] Translation: X:252.17, Y:-91.95, Z:-10.36 [[-9.99371892e-01 3.34730596e-02 1.16350925e-02 2.52167720e+02] [ 3.34677605e-02 9.99439586e-01 -6.49897482e-04 -9.19467978e+01] [-1.16503261e-02 -2.60088786e-04 -9.99932099e-01 -1.03626626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.390385723 meters 0.015687604548615397 Centerline is valid? [True, True] Translation: X:252.20, Y:-91.16, Z:-11.32 [[-9.94929628e-01 -1.00417554e-01 5.59918892e-03 2.52203995e+02] [ 1.00415248e-01 -9.94945375e-01 -6.92140978e-04 -9.11564967e+01] [ 5.64039022e-03 -1.26387623e-04 9.99984085e-01 -1.13240496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.450385723 meters 0.01571996747037415 Centerline is valid? [True, True] Translation: X:252.09, Y:-91.95, Z:-10.36 [[-9.99444941e-01 2.99131658e-02 1.46633360e-02 2.52092784e+02] [ 2.99062991e-02 9.99552470e-01 -6.87394070e-04 -9.19457420e+01] [-1.46773359e-02 -2.48486412e-04 -9.99892251e-01 -1.03618613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.510385723 meters 0.015991773480814046 Centerline is valid? [True, True] Translation: X:252.07, Y:-91.92, Z:-10.36 [[-9.98996121e-01 -4.14170549e-02 1.70698024e-02 2.52067020e+02] [-4.14152410e-02 9.99141915e-01 4.59903287e-04 -9.19177097e+01] [-1.70742029e-02 -2.47508382e-04 -9.99854195e-01 -1.03606128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.570385723 meters 0.01597868898899379 Centerline is valid? [True, True] Translation: X:252.08, Y:-91.13, Z:-11.33 [[-9.99612296e-01 -2.55175643e-02 1.11405119e-02 2.52075659e+02] [ 2.55143263e-02 -9.99674363e-01 -4.32702550e-04 -9.11265219e+01] [ 1.11479256e-02 -1.48292135e-04 9.99937849e-01 -1.13261804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.630385723 meters 0.01602530005588854 Centerline is valid? [True, True] Translation: X:252.01, Y:-91.92, Z:-10.36 [[-9.98764803e-01 -4.62863723e-02 1.80676274e-02 2.52011926e+02] [-4.62831875e-02 9.98928182e-01 5.94603646e-04 -9.19187945e+01] [-1.80757842e-02 -2.42358193e-04 -9.99836590e-01 -1.03604030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.690385723 meters 0.016024381102847284 Centerline is valid? [True, True] Translation: X:251.98, Y:-91.13, Z:-11.33 [[-9.99790304e-01 -1.74547916e-02 1.07087885e-02 2.51975541e+02] [ 1.74514145e-02 -9.99847629e-01 -4.08727478e-04 -9.11303144e+01] [ 1.07142910e-02 -2.21758263e-04 9.99942576e-01 -1.13253368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.750385723 meters 0.01586298672614454 Centerline is valid? [True, True] Translation: X:251.90, Y:-91.92, Z:-10.36 [[-9.98615660e-01 -4.99332877e-02 1.65357359e-02 2.51899005e+02] [-4.99301587e-02 9.98752530e-01 6.02273398e-04 -9.19220076e+01] [-1.65451815e-02 -2.24192270e-04 -9.99863094e-01 -1.03639895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.810385723 meters 0.015743371412851894 Centerline is valid? [True, True] Translation: X:251.89, Y:-91.14, Z:-11.32 [[-9.99845189e-01 -1.46112932e-02 9.80349347e-03 2.51888221e+02] [ 1.46084526e-02 -9.99893226e-01 -3.61298365e-04 -9.11379381e+01] [ 9.80772574e-03 -2.18028562e-04 9.99951879e-01 -1.13226253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.870385723 meters 0.015572648973279148 Centerline is valid? [True, True] Translation: X:251.84, Y:-91.92, Z:-10.36 [[-9.98227880e-01 -5.67088584e-02 1.80334550e-02 2.51842970e+02] [-5.67038710e-02 9.98390730e-01 7.88183112e-04 -9.19202997e+01] [-1.80491313e-02 -2.35780349e-04 -9.99837073e-01 -1.03648604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.930385723 meters 0.015469787053743144 Centerline is valid? [True, True] Translation: X:251.81, Y:-91.14, Z:-11.32 [[-9.99921473e-01 -5.75234925e-03 1.11336217e-02 2.51805401e+02] [ 5.74980401e-03 -9.99983436e-01 -2.60603812e-04 -9.11444740e+01] [ 1.11349364e-02 -1.96567206e-04 9.99937985e-01 -1.13217458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.990385723 meters 0.015741293717419166 Centerline is valid? [True, True] Translation: X:251.75, Y:-91.93, Z:-10.37 [[-9.98121156e-01 -5.85738843e-02 1.79793682e-02 2.51750643e+02] [-5.85673306e-02 9.98283063e-01 8.91294259e-04 -9.19272126e+01] [-1.80007053e-02 -1.63383943e-04 -9.99837961e-01 -1.03656544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.050385723 meters 0.016593415123357165 Centerline is valid? [True, True] Translation: X:251.71, Y:-91.15, Z:-11.32 [[-9.99918205e-01 9.18319512e-03 8.90235318e-03 2.51713867e+02] [-9.18572295e-03 -9.99957781e-01 -2.43102788e-04 -9.11451659e+01] [ 8.89974487e-03 -3.24857453e-04 9.99960344e-01 -1.13224792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.110385723 meters 0.01716983114113565 Centerline is valid? [True, True] Translation: X:251.66, Y:-91.93, Z:-10.37 [[-9.98655395e-01 -5.01887104e-02 1.29805910e-02 2.51657441e+02] [-5.01845362e-02 9.98739753e-01 6.47298620e-04 -9.19331149e+01] [-1.29967193e-02 -4.99668204e-06 -9.99915539e-01 -1.03678263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.170385723 meters 0.017945015773390673 Centerline is valid? [True, True] Translation: X:251.62, Y:-91.15, Z:-11.32 [[-9.99637925e-01 2.66210409e-02 3.91652626e-03 2.51618117e+02] [-2.66223152e-02 -9.99645526e-01 -2.73588838e-04 -9.11542517e+01] [ 3.90785473e-03 -3.77756774e-04 9.99992293e-01 -1.13196625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.230385723 meters 0.018444456855196825 Centerline is valid? [True, True] Translation: X:251.57, Y:-91.93, Z:-10.37 [[-9.98687439e-01 -5.04031960e-02 9.10583686e-03 2.51569208e+02] [-5.04013563e-02 9.98728951e-01 4.31553431e-04 -9.19339800e+01] [-9.11601456e-03 -2.79595364e-05 -9.99958448e-01 -1.03694300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.290385723 meters 0.01796142412528657 Centerline is valid? [True, True] Translation: X:251.56, Y:-91.90, Z:-10.37 [[-9.92231264e-01 -1.23983298e-01 1.02596365e-02 2.51559290e+02] [-1.23976837e-01 9.92284305e-01 1.26574683e-03 -9.18980364e+01] [-1.03374077e-02 -1.60437119e-05 -9.99946567e-01 -1.03675154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.350385723 meters 0.01679524957748306 Centerline is valid? [True, True] Translation: X:251.54, Y:-91.86, Z:-10.37 [[-9.79922729e-01 -1.99072532e-01 1.10260012e-02 2.51544582e+02] [-1.99060482e-01 9.79984757e-01 2.19076960e-03 -9.18622404e+01] [-1.12414352e-02 -4.80562053e-05 -9.99936812e-01 -1.03665891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.410385723 meters 0.01627226948819179 Centerline is valid? [True, True] Translation: X:251.51, Y:-91.84, Z:-10.37 [[-9.62419530e-01 -2.71348953e-01 1.08809076e-02 2.51514941e+02] [-2.71332519e-01 9.62481034e-01 2.98734046e-03 -9.18351175e+01] [-1.12832789e-02 -7.72692787e-05 -9.99936339e-01 -1.03665184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.470385723 meters 0.015923047711409816 Centerline is valid? [True, True] Translation: X:251.47, Y:-91.81, Z:-10.37 [[-9.39567354e-01 -3.42188849e-01 1.09535078e-02 2.51473777e+02] [-3.42166818e-01 9.39631195e-01 3.88411269e-03 -9.18116851e+01] [-1.16213577e-02 -9.85414433e-05 -9.99932465e-01 -1.03650020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.530385723 meters 0.017807273013051513 Centerline is valid? [True, True] Translation: X:251.41, Y:-91.80, Z:-10.37 [[-9.11925926e-01 -4.10202128e-01 1.11946365e-02 2.51410541e+02] [-4.10172476e-01 9.11994630e-01 4.93303747e-03 -9.18037450e+01] [-1.22329908e-02 -9.31670099e-05 -9.99925170e-01 -1.03658053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.590385723 meters 0.015410866707157335 Centerline is valid? [True, True] Translation: X:251.34, Y:-91.80, Z:-10.37 [[-8.79383390e-01 -4.76035996e-01 8.63618365e-03 2.51342980e+02] [-4.76014414e-01 8.79425787e-01 4.53455253e-03 -9.18022747e+01] [-9.75349284e-03 -1.23337724e-04 -9.99952426e-01 -1.03670454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.650385723 meters 0.01890526462680439 Centerline is valid? [True, True] Translation: X:251.26, Y:-91.81, Z:-10.36 [[-8.42499461e-01 -5.38598118e-01 1.03308104e-02 2.51264425e+02] [-5.38558667e-01 8.42562794e-01 6.51918329e-03 -9.18127729e+01] [-1.22155763e-02 -7.13390662e-05 -9.99925385e-01 -1.03641064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.710385723 meters 0.01584460491394445 Centerline is valid? [True, True] Translation: X:251.19, Y:-91.84, Z:-10.37 [[-8.01115210e-01 -5.98459272e-01 7.80513323e-03 2.51185430e+02] [-5.98431991e-01 8.01153226e-01 5.71501105e-03 -9.18364945e+01] [-9.67330901e-03 -9.24591416e-05 -9.99953208e-01 -1.03673860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.770385723 meters 0.01660153955010962 Centerline is valid? [True, True] Translation: X:251.09, Y:-91.87, Z:-10.36 [[-7.53336086e-01 -6.57582743e-01 8.34730791e-03 2.51094614e+02] [-6.57543578e-01 7.53382326e-01 7.17737557e-03 -9.18691110e+01] [-1.10084326e-02 -8.17426859e-05 -9.99939402e-01 -1.03641926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.830385723 meters 0.015250802214764957 Centerline is valid? [True, True] Translation: X:251.01, Y:-91.91, Z:-10.36 [[-7.00024268e-01 -7.14080001e-01 7.46837449e-03 2.51008972e+02] [-7.14041117e-01 7.00064096e-01 7.45282618e-03 -9.19115276e+01] [-1.05502550e-02 -1.15567277e-04 -9.99944338e-01 -1.03644714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.890385723 meters 0.01469215087567712 Centerline is valid? [True, True] Translation: X:250.92, Y:-91.97, Z:-10.36 [[-6.41290394e-01 -7.67272018e-01 6.34673455e-03 2.50920136e+02] [-7.67236953e-01 6.41321778e-01 7.33720375e-03 -9.19660035e+01] [-9.69993022e-03 -1.64170992e-04 -9.99952941e-01 -1.03646169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.950385723 meters 0.014296916113310779 Centerline is valid? [True, True] Translation: X:250.83, Y:-92.03, Z:-10.36 [[-5.78839796e-01 -8.15427102e-01 4.80944546e-03 2.50828790e+02] [-8.15401869e-01 5.78859739e-01 6.41829205e-03 -9.20284490e+01] [-8.01764363e-03 -2.06467951e-04 -9.99967837e-01 -1.03631124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.010385723 meters 0.014142370913820469 Centerline is valid? [True, True] Translation: X:250.75, Y:-92.10, Z:-10.36 [[-5.14330210e-01 -8.57579806e-01 4.61640796e-03 2.50748635e+02] [-8.57548907e-01 5.14350883e-01 7.28298984e-03 -9.21001752e+01] [-8.62019853e-03 -2.12933906e-04 -9.99962823e-01 -1.03636010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.070385723 meters 0.014093310037085048 Centerline is valid? [True, True] Translation: X:250.67, Y:-92.19, Z:-10.36 [[-4.45592554e-01 -8.95228143e-01 3.72138762e-03 2.50670970e+02] [-8.95201207e-01 4.45608031e-01 6.94847405e-03 -9.21861564e+01] [-7.87874973e-03 -2.35202391e-04 -9.99968935e-01 -1.03644585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.130385723 meters 0.015503343209970887 Centerline is valid? [True, True] Translation: X:250.60, Y:-92.27, Z:-10.36 [[-3.74671092e-01 -9.27152149e-01 3.23499599e-03 2.50598055e+02] [-9.27123096e-01 3.74684976e-01 7.34399144e-03 -9.22697744e+01] [-8.02110184e-03 -2.47658200e-04 -9.99967800e-01 -1.03612291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.190385723 meters 0.014265480376333862 Centerline is valid? [True, True] Translation: X:250.53, Y:-92.37, Z:-10.36 [[-3.00930172e-01 -9.53643562e-01 2.23350530e-03 2.50534170e+02] [-9.53623415e-01 3.00938346e-01 6.20439181e-03 -9.23682552e+01] [-6.58892570e-03 -2.62834258e-04 -9.99978258e-01 -1.03627651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.250385723 meters 0.014405678714569735 Centerline is valid? [True, True] Translation: X:250.48, Y:-92.47, Z:-10.37 [[-2.26044619e-01 -9.74115494e-01 1.68342685e-03 2.50479797e+02] [-9.74096678e-01 2.26050727e-01 6.06064789e-03 -9.24732772e+01] [-6.28431088e-03 -2.69843654e-04 -9.99980217e-01 -1.03651364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.310385723 meters 0.01652873273892472 Centerline is valid? [True, True] Translation: X:250.43, Y:-92.59, Z:-10.36 [[-1.50827947e-01 -9.88558966e-01 1.44936960e-03 2.50427689e+02] [-9.88529101e-01 1.50834663e-01 7.68905945e-03 -9.25854257e+01] [-7.81970384e-03 -2.73018978e-04 -9.99969388e-01 -1.03630908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.370385723 meters 0.014446063669906549 Centerline is valid? [True, True] Translation: X:250.39, Y:-92.70, Z:-10.36 [[-7.45634365e-02 -9.97215978e-01 7.66873881e-04 2.50391071e+02] [-9.97194032e-01 7.45668875e-02 6.62138528e-03 -9.27006447e+01] [-6.66013459e-03 -2.71008816e-04 -9.99977784e-01 -1.03648298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.430385723 meters 0.016752130756300155 Centerline is valid? [True, True] Translation: X:250.36, Y:-92.81, Z:-10.37 [[ 5.45685087e-04 -9.99999818e-01 2.57160749e-04 2.50362464e+02] [-9.99983455e-01 -5.44203516e-04 5.72654026e-03 -9.28079506e+01] [-5.72639927e-03 -2.60281382e-04 -9.99983570e-01 -1.03656640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.490385723 meters 0.014642571363043765 Centerline is valid? [True, True] Translation: X:250.34, Y:-92.93, Z:-10.36 [[ 7.75388098e-02 -9.96989307e-01 -2.32468305e-04 2.50340494e+02] [-9.96968882e-01 -7.75387106e-02 6.38720775e-03 -9.29328812e+01] [-6.38600312e-03 -2.63492821e-04 -9.99979575e-01 -1.03648835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.550385723 meters 0.014804380061848761 Centerline is valid? [True, True] Translation: X:250.33, Y:-93.05, Z:-10.37 [[ 1.53981771e-01 -9.88072856e-01 -1.28269640e-03 2.50333998e+02] [-9.88022472e-01 -1.53986877e-01 9.98179590e-03 -9.30518390e+01] [-1.00602600e-02 -2.69681744e-04 -9.99949358e-01 -1.03658929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.610385723 meters 0.014639060715379845 Centerline is valid? [True, True] Translation: X:250.33, Y:-93.18, Z:-10.37 [[ 2.28952627e-01 -9.73435652e-01 -1.93028347e-03 2.50333893e+02] [-9.73390680e-01 -2.28960612e-01 9.36065464e-03 -9.31830524e+01] [-9.55395384e-03 -2.64226530e-04 -9.99954325e-01 -1.03671198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.670385723 meters 0.014697013792763593 Centerline is valid? [True, True] Translation: X:250.34, Y:-93.30, Z:-10.37 [[ 3.01765384e-01 -9.53378370e-01 -2.70874816e-03 2.50340157e+02] [-9.53332163e-01 -3.01777437e-01 9.38966962e-03 -9.32971431e+01] [-9.76934699e-03 -2.51140517e-04 -9.99952247e-01 -1.03657240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.730385723 meters 0.014754503780547268 Centerline is valid? [True, True] Translation: X:250.37, Y:-93.42, Z:-10.37 [[ 3.72314200e-01 -9.28100498e-01 -3.40622745e-03 2.50367322e+02] [-9.28055780e-01 -3.72329709e-01 9.11355919e-03 -9.34216617e+01] [-9.72653850e-03 -2.31938430e-04 -9.99952669e-01 -1.03687459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.790385723 meters 0.01507177595241836 Centerline is valid? [True, True] Translation: X:250.39, Y:-93.54, Z:-10.37 [[ 4.41299465e-01 -8.97353242e-01 -3.45556207e-03 2.50392850e+02] [-8.97321655e-01 -4.41312937e-01 7.53256313e-03 -9.35405149e+01] [-8.28435419e-03 -2.23365404e-04 -9.99965659e-01 -1.03685324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.850385723 meters 0.015362969856046885 Centerline is valid? [True, True] Translation: X:250.43, Y:-93.66, Z:-10.37 [[ 5.09423498e-01 -8.60507169e-01 -3.88747604e-03 2.50430164e+02] [-8.60478604e-01 -5.09438279e-01 7.01517344e-03 -9.36584946e+01] [-8.01703614e-03 -2.28604237e-04 -9.99967837e-01 -1.03690253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.910385723 meters 0.015550690358170515 Centerline is valid? [True, True] Translation: X:250.47, Y:-93.77, Z:-10.37 [[ 5.74591643e-01 -8.18425108e-01 -4.97856418e-03 2.50472697e+02] [-8.18390818e-01 -5.74613165e-01 7.49539545e-03 -9.37662695e+01] [-8.99516835e-03 -2.32380383e-04 -9.99959516e-01 -1.03689613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.970385723 meters 0.015824581827694657 Centerline is valid? [True, True] Translation: X:250.52, Y:-93.87, Z:-10.37 [[ 6.36321039e-01 -7.71397208e-01 -6.47171833e-03 2.50520425e+02] [-7.71353441e-01 -6.36353904e-01 8.22055079e-03 -9.38699245e+01] [-1.04596131e-02 -2.38927216e-04 -9.99945268e-01 -1.03671881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.030385723 meters 0.016073302357788 Centerline is valid? [True, True] Translation: X:250.59, Y:-93.98, Z:-10.36 [[ 6.95260000e-01 -7.18702942e-01 -8.92267102e-03 2.50585499e+02] [-7.18638725e-01 -6.95317200e-01 9.61120233e-03 -9.39791473e+01] [-1.31116860e-02 -2.70107611e-04 -9.99914002e-01 -1.03641967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.090385723 meters 0.016108159760865902 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.07, Z:-10.37 [[ 7.49365633e-01 -6.62082407e-01 -9.90123731e-03 2.50641471e+02] [-6.62019341e-01 -7.49430983e-01 9.14296567e-03 -9.40668662e+01] [-1.34736907e-02 -2.96613662e-04 -9.99909182e-01 -1.03658772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.150385723 meters 0.016521547514288977 Centerline is valid? [True, True] Translation: X:250.66, Y:-94.09, Z:-10.37 [[ 8.00467591e-01 -5.99302432e-01 -9.39309338e-03 2.50660386e+02] [-5.99256297e-01 -8.00522633e-01 7.44336969e-03 -9.40892853e+01] [-1.19802134e-02 -3.29305839e-04 -9.99928180e-01 -1.03665638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.210385723 meters 0.016741865656254556 Centerline is valid? [True, True] Translation: X:250.68, Y:-94.11, Z:-10.37 [[ 8.46206524e-01 -5.32777784e-01 -9.07480511e-03 2.50681245e+02] [-5.32742683e-01 -8.46255110e-01 6.12555712e-03 -9.41111990e+01] [-1.09431609e-02 -3.48950379e-04 -9.99940061e-01 -1.03671000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.270385723 meters 0.016849307701247797 Centerline is valid? [True, True] Translation: X:250.70, Y:-94.13, Z:-10.37 [[ 8.85823313e-01 -4.63937655e-01 -8.88311221e-03 2.50703255e+02] [-4.63910290e-01 -8.85867782e-01 5.05130965e-03 -9.41319097e+01] [-1.02127557e-02 -3.53600692e-04 -9.99947786e-01 -1.03685008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.330385723 meters 0.016972713417046 Centerline is valid? [True, True] Translation: X:250.73, Y:-94.15, Z:-10.37 [[ 9.19729146e-01 -3.92451422e-01 -8.95430497e-03 2.50725533e+02] [-3.92429001e-01 -9.19772664e-01 4.21027652e-03 -9.41549497e+01] [-9.88825394e-03 -3.58385074e-04 -9.99951046e-01 -1.03692237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.390385723 meters 0.016790004862343666 Centerline is valid? [True, True] Translation: X:250.75, Y:-94.17, Z:-10.37 [[ 9.46993583e-01 -3.21130099e-01 -8.86638623e-03 2.50748746e+02] [-3.21112692e-01 -9.47035030e-01 3.36036645e-03 -9.41741121e+01] [-9.47589315e-03 -3.35136314e-04 -9.99955047e-01 -1.03681679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.450385723 meters 0.01630585154486374 Centerline is valid? [True, True] Translation: X:250.78, Y:-94.19, Z:-10.37 [[ 9.68395565e-01 -2.49285131e-01 -8.18254121e-03 2.50776051e+02] [-2.49273624e-01 -9.68430088e-01 2.41358553e-03 -9.41861742e+01] [-8.52589008e-03 -2.97613816e-04 -9.99963610e-01 -1.03686106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.510385723 meters 0.016380795635367332 Centerline is valid? [True, True] Translation: X:250.80, Y:-94.19, Z:-10.37 [[ 9.83670859e-01 -1.79790508e-01 -8.18628681e-03 2.50802400e+02] [-1.79782281e-01 -9.83704894e-01 1.73608767e-03 -9.41944501e+01] [-8.36502248e-03 -2.35989538e-04 -9.99964985e-01 -1.03688615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.570385723 meters 0.016537467860170466 Centerline is valid? [True, True] Translation: X:250.83, Y:-94.20, Z:-10.37 [[ 9.94262891e-01 -1.06575725e-01 -9.10593529e-03 2.50827014e+02] [-1.06569467e-01 -9.94304570e-01 1.17106922e-03 -9.42045344e+01] [-9.17888062e-03 -1.93936001e-04 -9.99957854e-01 -1.03682277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.630385723 meters 0.01701956383802857 Centerline is valid? [True, True] Translation: X:250.85, Y:-94.22, Z:-10.37 [[ 9.99417680e-01 -3.28014780e-02 -9.40024420e-03 2.50851600e+02] [-3.27986088e-02 -9.99461875e-01 4.59261008e-04 -9.42164846e+01] [-9.41025014e-03 -1.50678639e-04 -9.99955711e-01 -1.03660891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.690385723 meters 0.0175146213446436 Centerline is valid? [True, True] Translation: X:250.88, Y:-94.22, Z:-10.37 [[ 9.99077959e-01 4.24109926e-02 -6.67387172e-03 2.50876462e+02] [ 4.24110944e-02 -9.99100237e-01 -1.26337702e-04 -9.42241302e+01] [-6.67322492e-03 -1.56824990e-04 -9.99977721e-01 -1.03681030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.750385723 meters 0.017395323276332583 Centerline is valid? [True, True] Translation: X:250.90, Y:-94.23, Z:-10.37 [[ 9.92827161e-01 1.19414410e-01 -5.86753599e-03 2.50903081e+02] [ 1.19413276e-01 -9.92844486e-01 -5.44446615e-04 -9.42343913e+01] [-5.89056552e-03 -1.60120308e-04 -9.99982638e-01 -1.03691876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.810385723 meters 0.01770224676852583 Centerline is valid? [True, True] Translation: X:250.93, Y:-94.24, Z:-10.37 [[ 9.80305293e-01 1.97402774e-01 -5.80326494e-03 2.50929532e+02] [ 1.97400298e-01 -9.80322456e-01 -1.00212411e-03 -9.42419618e+01] [-5.88689302e-03 -1.63178657e-04 -9.99982659e-01 -1.03687251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.870385723 meters 0.017510996593551223 Centerline is valid? [True, True] Translation: X:250.96, Y:-94.25, Z:-10.37 [[ 9.61738451e-01 2.73932470e-01 -4.48927072e-03 2.50957561e+02] [ 2.73930362e-01 -9.61748912e-01 -1.08992975e-03 -9.42469899e+01] [-4.61611837e-03 -1.81520204e-04 -9.99989329e-01 -1.03691736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.930385723 meters 0.017571153971350652 Centerline is valid? [True, True] Translation: X:250.99, Y:-94.25, Z:-10.37 [[ 9.37446661e-01 3.48108851e-01 -3.73960513e-03 2.50985929e+02] [ 3.48106878e-01 -9.37454101e-01 -1.18727573e-03 -9.42488229e+01] [-3.91900935e-03 -1.88774600e-04 -9.99992303e-01 -1.03692425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.990385723 meters 0.01796717562319606 Centerline is valid? [True, True] Translation: X:251.01, Y:-94.25, Z:-10.37 [[ 9.07503329e-01 4.20035185e-01 -2.85504680e-03 2.51012961e+02] [ 4.20033784e-01 -9.07507798e-01 -1.10284985e-03 -9.42465881e+01] [-3.05421298e-03 -1.98376205e-04 -9.99995316e-01 -1.03692692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.050385723 meters 0.01789115337147413 Centerline is valid? [True, True] Translation: X:251.04, Y:-94.24, Z:-10.37 [[ 8.71424378e-01 4.90524803e-01 -2.22972348e-03 2.51040745e+02] [ 4.90523795e-01 -8.71427205e-01 -1.01610207e-03 -9.42427572e+01] [-2.44146497e-03 -2.08276308e-04 -9.99996998e-01 -1.03698103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.110385723 meters 0.017783734012776393 Centerline is valid? [True, True] Translation: X:251.07, Y:-94.24, Z:-10.37 [[ 8.29339427e-01 5.58741533e-01 -2.00330163e-03 2.51067867e+02] [ 5.58740508e-01 -8.29341819e-01 -1.09166889e-03 -9.42367185e+01] [-2.27138257e-03 -2.13961715e-04 -9.99997398e-01 -1.03699097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.170385723 meters 0.017536025475168696 Centerline is valid? [True, True] Translation: X:251.10, Y:-94.23, Z:-10.37 [[ 7.81721906e-01 6.23626596e-01 -8.54775712e-04 2.51096536e+02] [ 6.23626518e-01 -7.81722339e-01 -3.87051014e-04 -9.42309154e+01] [-9.09572575e-04 -2.30494545e-04 -9.99999560e-01 -1.03705411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.230385723 meters 0.01757860826158848 Centerline is valid? [True, True] Translation: X:251.12, Y:-94.22, Z:-10.37 [[ 7.30789104e-01 6.82603261e-01 -2.72724294e-04 2.51122941e+02] [ 6.82603298e-01 -7.30789116e-01 6.92897897e-05 -9.42207642e+01] [-1.52006510e-04 -2.36798726e-04 -9.99999960e-01 -1.03706220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.290385723 meters 0.01765517751843518 Centerline is valid? [True, True] Translation: X:251.15, Y:-94.21, Z:-10.37 [[ 6.75958793e-01 7.36938412e-01 -1.21939926e-03 2.51149458e+02] [ 7.36937763e-01 -6.75959857e-01 -1.00286337e-03 -9.42086865e+01] [-1.56331349e-03 -2.20727054e-04 -9.99998754e-01 -1.03699922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.350385723 meters 0.017854777193598244 Centerline is valid? [True, True] Translation: X:251.18, Y:-94.20, Z:-10.37 [[ 6.16951853e-01 7.86999922e-01 -1.23851780e-03 2.51175926e+02] [ 7.86998992e-01 -6.16953059e-01 -1.22891358e-03 -9.41952709e+01] [-1.73126223e-03 -2.16531751e-04 -9.99998478e-01 -1.03689128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.410385723 meters 0.018042603973055845 Centerline is valid? [True, True] Translation: X:251.20, Y:-94.18, Z:-10.37 [[ 5.53969161e-01 8.32534618e-01 -2.06857258e-03 2.51198636e+02] [ 8.32530067e-01 -5.53972989e-01 -2.75946952e-03 -9.41797552e+01] [-3.44328723e-03 -1.93487852e-04 -9.99994053e-01 -1.03667616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.470385723 meters 0.017832050670626747 Centerline is valid? [True, True] Translation: X:251.22, Y:-94.16, Z:-10.37 [[ 4.86923060e-01 8.73442506e-01 -2.03036337e-03 2.51219509e+02] [ 8.73436462e-01 -4.86927257e-01 -3.25477054e-03 -9.41606651e+01] [-3.83149420e-03 -1.88570563e-04 -9.99992642e-01 -1.03675665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.530385723 meters 0.017512036149071503 Centerline is valid? [True, True] Translation: X:251.24, Y:-94.14, Z:-10.37 [[ 4.15651211e-01 9.09521749e-01 -2.06383965e-03 2.51240808e+02] [ 9.09512666e-01 -4.15656293e-01 -4.06886962e-03 -9.41411486e+01] [-4.55857335e-03 -1.85857723e-04 -9.99989592e-01 -1.03686946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.590385723 meters 0.017107003690318163 Centerline is valid? [True, True] Translation: X:251.26, Y:-94.12, Z:-10.37 [[ 3.41419967e-01 9.39908328e-01 -2.17740313e-03 2.51262449e+02] [ 9.39892473e-01 -3.41426862e-01 -5.46232744e-03 -9.41212529e+01] [-5.87751097e-03 -1.81577156e-04 -9.99982711e-01 -1.03683716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.650385723 meters 0.017040927976663386 Centerline is valid? [True, True] Translation: X:251.28, Y:-94.10, Z:-10.37 [[ 2.65989344e-01 9.63973918e-01 -1.98867143e-03 2.51279128e+02] [ 9.63951757e-01 -2.65996718e-01 -6.53884512e-03 -9.40981174e+01] [-6.83225622e-03 -1.77720195e-04 -9.99976644e-01 -1.03680208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.710385723 meters 0.01681407421189658 Centerline is valid? [True, True] Translation: X:251.30, Y:-94.07, Z:-10.37 [[ 1.89144814e-01 9.81947867e-01 -1.62071919e-03 2.51296332e+02] [ 9.81919295e-01 -1.89151677e-01 -7.49270648e-03 -9.40747349e+01] [-7.66400889e-03 -1.74208874e-04 -9.99970616e-01 -1.03684408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.770385723 meters 0.016638595964223964 Centerline is valid? [True, True] Translation: X:251.31, Y:-94.05, Z:-10.37 [[ 1.11034574e-01 9.93816058e-01 -9.82625704e-04 2.51308738e+02] [ 9.93790262e-01 -1.11038774e-01 -7.16281579e-03 -9.40508078e+01] [-7.22763091e-03 -1.81203652e-04 -9.99973864e-01 -1.03703762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.830385723 meters 0.01656752688648723 Centerline is valid? [True, True] Translation: X:251.32, Y:-94.02, Z:-10.37 [[ 3.26669382e-02 9.99466214e-01 -3.97286079e-04 2.51320132e+02] [ 9.99445589e-01 -3.26688174e-02 -6.42367691e-03 -9.40246994e+01] [-6.43322691e-03 -1.87223963e-04 -9.99979289e-01 -1.03715334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.890385723 meters 0.016522546649255277 Centerline is valid? [True, True] Translation: X:251.33, Y:-94.00, Z:-10.37 [[-4.64134673e-02 9.98922311e-01 8.11633721e-05 2.51329044e+02] [ 9.98904736e-01 4.64131325e-02 -5.92866908e-03 -9.39993458e+01] [-5.92604687e-03 -1.94095612e-04 -9.99982422e-01 -1.03725803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.950385723 meters 0.016301153391575247 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.97, Z:-10.37 [[-1.24798526e-01 9.92181935e-01 5.79521068e-04 2.51338462e+02] [ 9.92162837e-01 1.24799721e-01 -6.15915725e-03 -9.39717629e+01] [-6.18332863e-03 -1.93674480e-04 -9.99980864e-01 -1.03722882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.010385723 meters 0.016279304805789346 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.95, Z:-10.37 [[-2.01119051e-01 9.79565858e-01 1.36297597e-03 2.51339061e+02] [ 9.79537029e-01 2.01123592e-01 -7.51733626e-03 -9.39458178e+01] [-7.63785256e-03 -1.76794098e-04 -9.99970816e-01 -1.03724200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.070385723 meters 0.016595224349133145 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.92, Z:-10.37 [[-2.73322804e-01 9.61920532e-01 1.88005501e-03 2.51340218e+02] [ 9.61893921e-01 2.73329230e-01 -7.15655261e-03 -9.39178778e+01] [-7.39790889e-03 -1.47635538e-04 -9.99972624e-01 -1.03735094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.130385723 meters 0.01707743553882534 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.89, Z:-10.37 [[-3.44617720e-01 9.38739842e-01 2.47718771e-03 2.51336868e+02] [ 9.38713034e-01 3.44626602e-01 -7.09542378e-03 -9.38914800e+01] [-7.51446178e-03 -1.19840379e-04 -9.99971759e-01 -1.03736762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.190385723 meters 0.01787358504008193 Centerline is valid? [True, True] Translation: X:251.33, Y:-93.87, Z:-10.37 [[-4.13967465e-01 9.10285951e-01 3.22895067e-03 2.51328838e+02] [ 9.10256641e-01 4.13980049e-01 -7.30518112e-03 -9.38679639e+01] [-7.98652490e-03 -8.49335188e-05 -9.99968104e-01 -1.03744302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.250385723 meters 0.017964780767872838 Centerline is valid? [True, True] Translation: X:251.32, Y:-93.84, Z:-10.37 [[-4.83745747e-01 8.75202789e-01 3.18277957e-03 2.51322239e+02] [ 8.75182411e-01 4.83756206e-01 -5.97325104e-03 -9.38425868e+01] [-6.76749534e-03 -1.04022088e-04 -9.99977095e-01 -1.03745750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.310385723 meters 0.017497137394529842 Centerline is valid? [True, True] Translation: X:251.31, Y:-93.82, Z:-10.38 [[-5.52124971e-01 8.33755251e-01 3.19357277e-03 2.51313745e+02] [ 8.33739952e-01 5.52134192e-01 -5.05236639e-03 -9.38178514e+01] [-5.97571773e-03 -1.26928437e-04 -9.99982137e-01 -1.03754151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.370385723 meters 0.016910724442495546 Centerline is valid? [True, True] Translation: X:251.30, Y:-93.80, Z:-10.38 [[-6.18314750e-01 7.85924177e-01 3.17141749e-03 2.51302270e+02] [ 7.85912536e-01 6.18322864e-01 -4.28047466e-03 -9.37952710e+01] [-5.32508847e-03 -1.54223859e-04 -9.99985810e-01 -1.03765107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.430385723 meters 0.015587288252868918 Centerline is valid? [True, True] Translation: X:251.29, Y:-93.77, Z:-10.37 [[-6.82730694e-01 7.30661363e-01 3.57377913e-03 2.51291829e+02] [ 7.30649890e-01 6.82740022e-01 -4.09893117e-03 -9.37710303e+01] [-5.43489268e-03 -1.87284793e-04 -9.99985213e-01 -1.03748057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.490385723 meters 0.015076506650948944 Centerline is valid? [True, True] Translation: X:251.27, Y:-93.75, Z:-10.37 [[-7.41158080e-01 6.71314915e-01 4.58099569e-03 2.51273332e+02] [ 6.71300301e-01 7.41172207e-01 -4.43456722e-03 -9.37506388e+01] [-6.37229781e-03 -2.11491543e-04 -9.99979674e-01 -1.03736979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.550385723 meters 0.014947124432947632 Centerline is valid? [True, True] Translation: X:251.29, Y:-93.72, Z:-10.38 [[-7.89480616e-01 6.13763430e-01 3.84821726e-03 2.51293456e+02] [ 6.13754797e-01 7.89489966e-01 -3.26246488e-03 -9.37248413e+01] [-5.04051055e-03 -2.13790983e-04 -9.99987274e-01 -1.03750780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.610385723 meters 0.014952453571472882 Centerline is valid? [True, True] Translation: X:251.72, Y:-93.19, Z:-11.36 [[-7.42764665e-01 -6.69552563e-01 -1.34995084e-04 2.51716535e+02] [ 6.69552571e-01 -7.42764670e-01 -1.97763101e-05 -9.31867738e+01] [-8.70282999e-05 -1.05075450e-04 9.99999991e-01 -1.13564683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.670385723 meters 0.014681776205530276 Centerline is valid? [True, True] Translation: X:251.26, Y:-93.70, Z:-10.37 [[-7.89006093e-01 6.14376598e-01 3.28349613e-03 2.51261324e+02] [ 6.14370242e-01 7.89012901e-01 -2.80144606e-03 -9.37014052e+01] [-4.31186370e-03 -1.93075697e-04 -9.99990685e-01 -1.03737834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.730385723 meters 0.015212283411525262 Centerline is valid? [True, True] Translation: X:251.28, Y:-93.69, Z:-10.37 [[-8.27207446e-01 5.61885622e-01 3.51988437e-03 2.51277982e+02] [ 5.61879666e-01 8.27214918e-01 -2.59241610e-03 -9.36850176e+01] [-4.36834219e-03 -1.66714448e-04 -9.99990445e-01 -1.03738115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.790385723 meters 0.01692759248327601 Centerline is valid? [True, True] Translation: X:251.29, Y:-93.67, Z:-10.37 [[-8.61074109e-01 5.08456652e-01 4.81794504e-03 2.51294884e+02] [ 5.08447949e-01 8.61087580e-01 -2.97701163e-03 -9.36669712e+01] [-5.66235400e-03 -1.13753360e-04 -9.99983962e-01 -1.03707932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.850385723 meters 0.016472925155156665 Centerline is valid? [True, True] Translation: X:251.31, Y:-93.64, Z:-10.37 [[-8.92911629e-01 4.50196952e-01 5.61484953e-03 2.51314572e+02] [ 4.50186819e-01 8.92929266e-01 -3.02558048e-03 -9.36436308e+01] [-6.37577058e-03 -1.73844745e-04 -9.99979659e-01 -1.03714103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.910385723 meters 0.015477694795984018 Centerline is valid? [True, True] Translation: X:251.33, Y:-93.62, Z:-10.37 [[-9.23316953e-01 3.83987824e-01 6.25740253e-03 2.51327610e+02] [ 3.83978254e-01 9.23338151e-01 -2.71289608e-03 -9.36156933e+01] [-6.81941755e-03 -1.02156448e-04 -9.99976742e-01 -1.03716696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.970385723 meters 0.01624902411539989 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.58, Z:-10.37 [[-9.49379647e-01 3.14058563e-01 6.74572176e-03 2.51335720e+02] [ 3.14049705e-01 9.49403604e-01 -2.36205732e-03 -9.35828938e+01] [-7.14623689e-03 -1.23997217e-04 -9.99974458e-01 -1.03674284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.030385723 meters 0.014679795732052048 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.56, Z:-10.37 [[-9.69877743e-01 2.43430603e-01 8.87154601e-03 2.51337525e+02] [ 2.43419222e-01 9.69918309e-01 -2.35728661e-03 -9.35554726e+01] [-9.17851060e-03 -1.26774984e-04 -9.99957869e-01 -1.03689755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.090385723 meters 0.016435484412089946 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.53, Z:-10.37 [[-9.84715775e-01 1.73943896e-01 8.85228270e-03 2.51343582e+02] [ 1.73935694e-01 9.84755556e-01 -1.69404415e-03 -9.35301676e+01] [-9.01200321e-03 -1.28424057e-04 -9.99959383e-01 -1.03685649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.150385723 meters 0.01430268025302066 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.50, Z:-10.37 [[-9.94816028e-01 1.01448997e-01 7.01227677e-03 2.51341847e+02] [ 1.01445354e-01 9.94840729e-01 -8.74264294e-04 -9.34985061e+01] [-7.06479177e-03 -1.58369234e-04 -9.99975032e-01 -1.03710113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.210385723 meters 0.014046330323755343 Centerline is valid? [True, True] Translation: X:251.41, Y:-92.80, Z:-11.36 [[-9.87244415e-01 -1.59207878e-01 1.14773173e-03 2.51410884e+02] [ 1.59207537e-01 -9.87245063e-01 -3.82990834e-04 -9.28045514e+01] [ 1.19406764e-03 -1.95378021e-04 9.99999268e-01 -1.13593743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.270385723 meters 0.014099465403209634 Centerline is valid? [True, True] Translation: X:251.29, Y:-93.50, Z:-10.37 [[-9.95401916e-01 9.55700408e-02 6.43379116e-03 2.51285730e+02] [ 9.55669153e-02 9.95422693e-01 -7.92189779e-04 -9.34990907e+01] [-6.48005133e-03 -1.73689649e-04 -9.99978989e-01 -1.03719715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.330385723 meters 0.014186164753261347 Centerline is valid? [True, True] Translation: X:251.29, Y:-93.47, Z:-10.37 [[-9.99628649e-01 2.60991946e-02 7.83557593e-03 2.51285200e+02] [ 2.60971697e-02 9.99659346e-01 -3.60571843e-04 -9.34734350e+01] [-7.84231734e-03 -1.55951589e-04 -9.99969236e-01 -1.03703327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.390385723 meters 0.014154129011226606 Centerline is valid? [True, True] Translation: X:251.28, Y:-93.45, Z:-10.37 [[-9.99041526e-01 -4.31432439e-02 7.39525898e-03 2.51280454e+02] [-4.31431291e-02 9.99068886e-01 1.75129421e-04 -9.34498044e+01] [-7.39592881e-03 -1.44093049e-04 -9.99972639e-01 -1.03716333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.450385723 meters 0.01453275641507165 Centerline is valid? [True, True] Translation: X:251.26, Y:-93.43, Z:-10.37 [[-9.93667714e-01 -1.12153178e-01 6.79248369e-03 2.51259311e+02] [-1.12151483e-01 9.93690921e-01 6.31248359e-04 -9.34288163e+01] [-6.82042589e-03 -1.34536002e-04 -9.99976732e-01 -1.03723796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.510385723 meters 0.014434787478754287 Centerline is valid? [True, True] Translation: X:251.20, Y:-92.70, Z:-11.36 [[-9.97996047e-01 6.32475328e-02 1.90800726e-03 2.51195315e+02] [-6.32476979e-02 -9.97997860e-01 -2.62164993e-05 -9.27007496e+01] [ 1.90252903e-03 -1.46841029e-04 9.99998179e-01 -1.13613242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.570385723 meters 0.014388364494511644 Centerline is valid? [True, True] Translation: X:251.18, Y:-93.44, Z:-10.37 [[-9.92993487e-01 -1.17931717e-01 7.48627275e-03 2.51178852e+02] [-1.17929365e-01 9.93021698e-01 7.56271067e-04 -9.34423514e+01] [-7.52321962e-03 -1.31879150e-04 -9.99971691e-01 -1.03706644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.630385723 meters 0.014427568709106565 Centerline is valid? [True, True] Translation: X:251.09, Y:-92.71, Z:-11.36 [[-9.97673993e-01 6.81238079e-02 2.39817606e-03 2.51089909e+02] [-6.81240132e-02 -9.97676861e-01 -3.90263314e-06 -9.27078883e+01] [ 2.39233890e-03 -1.67266933e-04 9.99997124e-01 -1.13628672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.690385723 meters 0.014439805399204727 Centerline is valid? [True, True] Translation: X:251.08, Y:-93.46, Z:-10.37 [[-9.92052894e-01 -1.25587777e-01 7.66588518e-03 2.51075737e+02] [-1.25585132e-01 9.92082502e-01 8.27289415e-04 -9.34577931e+01] [-7.70908799e-03 -1.42006347e-04 -9.99970274e-01 -1.03686846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.750385723 meters 0.014431543503671393 Centerline is valid? [True, True] Translation: X:250.98, Y:-92.72, Z:-11.36 [[-9.97312548e-01 7.32451698e-02 1.68136557e-03 2.50981813e+02] [-7.32454293e-02 -9.97313942e-01 -9.32192434e-05 -9.27196207e+01] [ 1.67002146e-03 -2.16121064e-04 9.99998582e-01 -1.13644064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.810385723 meters 0.014471932709606016 Centerline is valid? [True, True] Translation: X:250.97, Y:-93.48, Z:-10.37 [[-9.91250611e-01 -1.31790248e-01 7.31831057e-03 2.50965854e+02] [-1.31787739e-01 9.91277615e-01 8.26201032e-04 -9.34754113e+01] [-7.36336269e-03 -1.45491324e-04 -9.99972879e-01 -1.03695165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.870385723 meters 0.014577327979151494 Centerline is valid? [True, True] Translation: X:250.96, Y:-93.45, Z:-10.37 [[-9.79513370e-01 -2.01260757e-01 6.90409593e-03 2.50955800e+02] [-2.01256734e-01 9.79537692e-01 1.27972980e-03 -9.34506689e+01] [-7.02038157e-03 -1.35983350e-04 -9.99975348e-01 -1.03697382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.930385723 meters 0.015033975529678832 Centerline is valid? [True, True] Translation: X:250.94, Y:-93.43, Z:-10.37 [[-9.63009726e-01 -2.69379487e-01 6.85274484e-03 2.50944339e+02] [-2.69373573e-01 9.63034100e-01 1.78926787e-03 -9.34285506e+01] [-7.08141902e-03 -1.22866001e-04 -9.99974919e-01 -1.03686686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.990385723 meters 0.01484881372371992 Centerline is valid? [True, True] Translation: X:250.90, Y:-93.41, Z:-10.37 [[-9.41492652e-01 -3.36956150e-01 7.22078575e-03 2.50903711e+02] [-3.36947100e-01 9.41520335e-01 2.47178683e-03 -9.34143764e+01] [-7.63140040e-03 -1.05853680e-04 -9.99970875e-01 -1.03694862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.050385723 meters 0.01510216446398183 Centerline is valid? [True, True] Translation: X:250.84, Y:-93.41, Z:-10.37 [[-9.14481714e-01 -4.04537712e-01 8.51077323e-03 2.50840768e+02] [-4.04521020e-01 9.14521313e-01 3.67587512e-03 -9.34136782e+01] [-9.27031362e-03 -8.12660815e-05 -9.99957026e-01 -1.03690632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.110385723 meters 0.014736523437400709 Centerline is valid? [True, True] Translation: X:250.77, Y:-93.42, Z:-10.37 [[-8.81141776e-01 -4.72772292e-01 8.69081237e-03 2.50768915e+02] [-4.72750357e-01 8.81184629e-01 4.55504562e-03 -9.34167523e+01] [-9.81170963e-03 -9.49436620e-05 -9.99951860e-01 -1.03676009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.170385723 meters 0.015269118601288 Centerline is valid? [True, True] Translation: X:250.69, Y:-93.44, Z:-10.37 [[-8.43866338e-01 -5.36498353e-01 7.68894385e-03 2.50689560e+02] [-5.36477143e-01 8.43901361e-01 4.77150482e-03 -9.34364190e+01] [-9.04861466e-03 -9.84303371e-05 -9.99959056e-01 -1.03687529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.230385723 meters 0.01502059229413911 Centerline is valid? [True, True] Translation: X:250.61, Y:-93.46, Z:-10.37 [[-8.01889513e-01 -5.97435681e-01 6.61937897e-03 2.50609939e+02] [-5.97416357e-01 8.01916826e-01 4.80621541e-03 -9.34585132e+01] [-8.17959596e-03 -1.00471544e-04 -9.99966541e-01 -1.03708489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.290385723 meters 0.01527137403472477 Centerline is valid? [True, True] Translation: X:250.52, Y:-93.49, Z:-10.37 [[-7.53987924e-01 -6.56869129e-01 5.01575138e-03 2.50521058e+02] [-6.56855708e-01 7.54004597e-01 4.20083357e-03 -9.34947630e+01] [-6.54129748e-03 -1.27247140e-04 -9.99978597e-01 -1.03709033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.350385723 meters 0.014757396013358515 Centerline is valid? [True, True] Translation: X:250.43, Y:-93.54, Z:-10.37 [[-6.99729864e-01 -7.14389408e-01 5.08833418e-03 2.50432138e+02] [-7.14372019e-01 6.99748349e-01 4.98662282e-03 -9.35405841e+01] [-7.12294397e-03 -1.45674653e-04 -9.99974621e-01 -1.03723227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.410385723 meters 0.014634637658053635 Centerline is valid? [True, True] Translation: X:250.34, Y:-93.60, Z:-10.37 [[-6.41325258e-01 -7.67256702e-01 4.36663744e-03 2.50338583e+02] [-7.67240686e-01 6.41340101e-01 4.96033917e-03 -9.35968439e+01] [-6.60635317e-03 -1.69071107e-04 -9.99978164e-01 -1.03721972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.470385723 meters 0.014572605647812131 Centerline is valid? [True, True] Translation: X:250.25, Y:-93.66, Z:-10.37 [[-5.80141716e-01 -8.14504012e-01 4.33639306e-03 2.50250648e+02] [-8.14483481e-01 5.80157896e-01 5.78582302e-03 -9.36618312e+01] [-7.22836873e-03 -1.75323216e-04 -9.99973860e-01 -1.03710890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.530385723 meters 0.014547357514057573 Centerline is valid? [True, True] Translation: X:250.16, Y:-93.75, Z:-10.37 [[-5.16954236e-01 -8.56001149e-01 4.51132335e-03 2.50161450e+02] [-8.55971307e-01 5.16973893e-01 7.14954075e-03 -9.37481228e+01] [-8.45225149e-03 -1.65577967e-04 -9.99964265e-01 -1.03710270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.590385723 meters 0.014769170463836467 Centerline is valid? [True, True] Translation: X:250.08, Y:-93.84, Z:-10.37 [[-4.52584226e-01 -8.91712287e-01 4.08856221e-03 2.50083281e+02] [-8.91678634e-01 4.52602672e-01 7.74826390e-03 -9.38366779e+01] [-8.75971630e-03 -1.38941546e-04 -9.99961623e-01 -1.03711948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.650385723 meters 0.015531353778343112 Centerline is valid? [True, True] Translation: X:250.01, Y:-93.94, Z:-10.37 [[-3.87507528e-01 -9.21857524e-01 4.07689752e-03 2.50006178e+02] [-9.21808586e-01 3.87528966e-01 9.49903610e-03 -9.39415104e+01] [-1.03366738e-02 -7.71711418e-05 -9.99946572e-01 -1.03677561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.710385723 meters 0.01609895438520851 Centerline is valid? [True, True] Translation: X:249.96, Y:-94.01, Z:-10.37 [[-3.18805498e-01 -9.47815421e-01 2.99696091e-03 2.49956960e+02] [-9.47775238e-01 3.18819579e-01 8.72778046e-03 -9.40071867e+01] [-9.22781473e-03 -5.79809456e-05 -9.99957421e-01 -1.03701530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.770385723 meters 0.016417309049865474 Centerline is valid? [True, True] Translation: X:249.90, Y:-94.12, Z:-10.37 [[-2.46460381e-01 -9.69151175e-01 1.81127475e-03 2.49898271e+02] [-9.69127350e-01 2.46467023e-01 6.79597549e-03 -9.41167655e+01] [-7.03274712e-03 -8.04171915e-05 -9.99975267e-01 -1.03726944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.830385723 meters 0.015893552764440072 Centerline is valid? [True, True] Translation: X:249.84, Y:-94.23, Z:-10.37 [[-1.69956461e-01 -9.85451078e-01 9.87343206e-04 2.49841609e+02] [-9.85438260e-01 1.69959288e-01 5.02754827e-03 -9.42303780e+01] [-5.12221100e-03 -1.18501461e-04 -9.99986874e-01 -1.03740459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.890385723 meters 0.015162661141375254 Centerline is valid? [True, True] Translation: X:249.80, Y:-94.35, Z:-10.38 [[-8.82394751e-02 -9.96099131e-01 5.63165327e-04 2.49796704e+02] [-9.96088264e-01 8.82411444e-02 4.65517085e-03 -9.43487321e+01] [-4.68670599e-03 -1.50192540e-04 -9.99989006e-01 -1.03758936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.950385723 meters 0.014989751160827574 Centerline is valid? [True, True] Translation: X:249.76, Y:-94.47, Z:-10.38 [[-7.56677194e-03 -9.99971351e-01 2.02830702e-04 2.49759090e+02] [-9.99960400e-01 7.56763892e-03 4.68279970e-03 -9.44749643e+01] [-4.68420050e-03 -1.67388993e-04 -9.99989015e-01 -1.03755982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.010385723 meters 0.014978895801942957 Centerline is valid? [True, True] Translation: X:249.73, Y:-94.60, Z:-10.37 [[ 7.09623922e-02 -9.97478984e-01 -1.25478882e-04 2.49731475e+02] [-9.97469957e-01 -7.09622843e-02 4.24726981e-03 -9.46040178e+01] [-4.24546664e-03 -1.76235012e-04 -9.99990972e-01 -1.03747358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.070385723 meters 0.014987819903735025 Centerline is valid? [True, True] Translation: X:249.72, Y:-94.72, Z:-10.38 [[ 1.47657573e-01 -9.89038419e-01 -4.96940819e-04 2.49717207e+02] [-9.89028141e-01 -1.47658305e-01 4.51228788e-03 -9.47239397e+01] [-4.53620351e-03 -1.74785022e-04 -9.99989696e-01 -1.03763244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.130385723 meters 0.015581919948255987 Centerline is valid? [True, True] Translation: X:249.71, Y:-94.85, Z:-10.38 [[ 2.19662145e-01 -9.75575535e-01 -9.57971730e-04 2.49714655e+02] [-9.75562992e-01 -2.19664180e-01 4.94938240e-03 -9.48459515e+01] [-5.03892846e-03 -1.52630185e-04 -9.99987293e-01 -1.03775629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.190385723 meters 0.015935309652139473 Centerline is valid? [True, True] Translation: X:249.72, Y:-94.97, Z:-10.38 [[ 2.90794467e-01 -9.56784165e-01 -1.62451179e-03 2.49717157e+02] [-9.56766780e-01 -2.90798978e-01 5.76923327e-03 -9.49698437e+01] [-5.99231741e-03 -1.23382196e-04 -9.99982038e-01 -1.03757420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.250385723 meters 0.016467177372145682 Centerline is valid? [True, True] Translation: X:249.73, Y:-95.09, Z:-10.38 [[ 3.60874624e-01 -9.32612140e-01 -2.02551442e-03 2.49731414e+02] [-9.32595738e-01 -3.60880293e-01 5.53210573e-03 -9.50931742e+01] [-5.89027720e-03 -1.07410463e-04 -9.99982646e-01 -1.03761524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.310385723 meters 0.016585737288202403 Centerline is valid? [True, True] Translation: X:249.75, Y:-95.21, Z:-10.38 [[ 4.27766716e-01 -9.03885632e-01 -2.52994286e-03 2.49751230e+02] [-9.03868715e-01 -4.27774190e-01 5.53066414e-03 -9.52124254e+01] [-6.08133211e-03 -7.90978331e-05 -9.99981505e-01 -1.03765614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.370385723 meters 0.01674841562030276 Centerline is valid? [True, True] Translation: X:249.78, Y:-95.33, Z:-10.38 [[ 4.94550592e-01 -8.69144025e-01 -2.89405874e-03 2.49781612e+02] [-8.69128289e-01 -4.94559054e-01 5.23050357e-03 -9.53291675e+01] [-5.97734388e-03 -7.14403125e-05 -9.99982133e-01 -1.03776026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.430385723 meters 0.016711682173169252 Centerline is valid? [True, True] Translation: X:249.82, Y:-95.45, Z:-10.38 [[ 5.60688510e-01 -8.28022297e-01 -2.73304705e-03 2.49820421e+02] [-8.28011609e-01 -5.60695163e-01 4.20825997e-03 -9.54494100e+01] [-5.01693935e-03 -9.65283331e-05 -9.99987410e-01 -1.03777230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.490385723 meters 0.015577974189671969 Centerline is valid? [True, True] Translation: X:249.86, Y:-95.56, Z:-10.38 [[ 6.26175542e-01 -7.79674225e-01 -3.50612387e-03 2.49859277e+02] [-7.79661000e-01 -6.26185348e-01 4.54257294e-03 -9.55586922e+01] [-5.73721043e-03 -1.10860032e-04 -9.99983536e-01 -1.03777080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.550385723 meters 0.015235940132500222 Centerline is valid? [True, True] Translation: X:249.91, Y:-95.66, Z:-10.38 [[ 6.85425816e-01 -7.28135392e-01 -3.20962230e-03 2.49908355e+02] [-7.28126481e-01 -6.85433317e-01 3.60479467e-03 -9.56639427e+01] [-4.82476064e-03 -1.33808329e-04 -9.99988352e-01 -1.03786647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.610385723 meters 0.015245462149182447 Centerline is valid? [True, True] Translation: X:249.97, Y:-95.76, Z:-10.38 [[ 7.39070243e-01 -6.73620707e-01 -3.21239780e-03 2.49965462e+02] [-6.73613515e-01 -7.39077211e-01 3.11594148e-03 -9.57599738e+01] [-4.47317272e-03 -1.38985054e-04 -9.99989986e-01 -1.03797497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.670385723 meters 0.014999891952074117 Centerline is valid? [True, True] Translation: X:249.98, Y:-95.79, Z:-10.38 [[ 7.90222614e-01 -6.12814765e-01 -2.50705663e-03 2.49980036e+02] [-6.12811021e-01 -7.90226574e-01 2.14799521e-03 -9.57948246e+01] [-3.29746595e-03 -1.61042457e-04 -9.99994550e-01 -1.03796677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.730385723 meters 0.014896421785576939 Centerline is valid? [True, True] Translation: X:250.00, Y:-95.82, Z:-10.38 [[ 8.35667693e-01 -5.49229646e-01 -2.51059926e-03 2.50000256e+02] [-5.49226574e-01 -8.35671449e-01 1.84403380e-03 -9.58239195e+01] [-3.11083415e-03 -1.62111642e-04 -9.99995148e-01 -1.03801232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.790385723 meters 0.015300006063287845 Centerline is valid? [True, True] Translation: X:250.02, Y:-95.85, Z:-10.38 [[ 8.74629570e-01 -4.84785803e-01 -2.41690703e-03 2.50022033e+02] [-4.84783452e-01 -8.74632895e-01 1.51780376e-03 -9.58511269e+01] [-2.84971611e-03 -1.55839519e-04 -9.99995927e-01 -1.03794040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.850385723 meters 0.015491267265932186 Centerline is valid? [True, True] Translation: X:250.05, Y:-95.88, Z:-10.38 [[ 9.09187954e-01 -4.16360290e-01 -4.62314932e-03 2.50046692e+02] [-4.16354243e-01 -9.09199700e-01 2.24704703e-03 -9.58768774e+01] [-5.13894713e-03 -1.18120259e-04 -9.99986789e-01 -1.03783987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.910385723 meters 0.015184315451516509 Centerline is valid? [True, True] Translation: X:250.07, Y:-95.91, Z:-10.38 [[ 9.39288959e-01 -3.43083535e-01 -5.47162520e-03 2.50072077e+02] [-3.43077011e-01 -9.39304889e-01 2.11881124e-03 -9.59055713e+01] [-5.86645355e-03 -1.12987183e-04 -9.99982786e-01 -1.03770472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.970385723 meters 0.014821098230305295 Centerline is valid? [True, True] Translation: X:250.10, Y:-95.93, Z:-10.38 [[ 9.63574281e-01 -2.67343256e-01 -7.22413576e-03 2.50100110e+02] [-2.67334961e-01 -9.63601356e-01 2.10828447e-03 -9.59309495e+01] [-7.52482265e-03 -1.00224637e-04 -9.99971683e-01 -1.03758630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.030385723 meters 0.014678650640552017 Centerline is valid? [True, True] Translation: X:250.13, Y:-95.95, Z:-10.37 [[ 9.81937500e-01 -1.88987459e-01 -9.08224085e-03 2.50130934e+02] [-1.88978438e-01 -9.81979496e-01 1.84918915e-03 -9.59526448e+01] [-9.26804785e-03 -9.94404809e-05 -9.99957046e-01 -1.03743772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.090385723 meters 0.014650780022014512 Centerline is valid? [True, True] Translation: X:250.16, Y:-95.97, Z:-10.38 [[ 9.93833531e-01 -1.10595903e-01 -7.96615401e-03 2.50161256e+02] [-1.10591392e-01 -9.93865450e-01 1.00590570e-03 -9.59668200e+01] [-8.02853428e-03 -1.18714756e-04 -9.99967764e-01 -1.03761640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.150385723 meters 0.014266963028243956 Centerline is valid? [True, True] Translation: X:250.19, Y:-95.98, Z:-10.38 [[ 9.99476788e-01 -3.18952359e-02 -5.37075054e-03 2.50191965e+02] [-3.18939982e-02 -9.99491207e-01 3.15964356e-04 -9.59835252e+01] [-5.37809570e-03 -1.44504331e-04 -9.99985527e-01 -1.03786741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.210385723 meters 0.014149977534052376 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.00, Z:-10.38 [[ 9.98880994e-01 4.70198342e-02 -5.08870462e-03 2.50224173e+02] [ 4.70199843e-02 -9.98893945e-01 -9.02022014e-05 -9.59978357e+01] [-5.08731752e-03 -1.49169546e-04 -9.99987048e-01 -1.03789756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.270385723 meters 0.014006053259128156 Centerline is valid? [True, True] Translation: X:250.26, Y:-96.01, Z:-10.38 [[ 9.91919295e-01 1.26740986e-01 -5.73009023e-03 2.50256379e+02] [ 1.26739760e-01 -9.91935834e-01 -5.77929661e-04 -9.60068499e+01] [-5.75712920e-03 -1.52970681e-04 -9.99983416e-01 -1.03785686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.330385723 meters 0.013771797346624681 Centerline is valid? [True, True] Translation: X:250.29, Y:-96.02, Z:-10.38 [[ 9.78532243e-01 2.05939346e-01 -7.97718555e-03 2.50291033e+02] [ 2.05933783e-01 -9.78564746e-01 -1.52160537e-03 -9.60176952e+01] [-8.11955096e-03 -1.53832081e-04 -9.99967024e-01 -1.03773295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.390385723 meters 0.013759915680294419 Centerline is valid? [True, True] Translation: X:250.32, Y:-96.02, Z:-10.38 [[ 9.59396415e-01 2.81923142e-01 -8.82392137e-03 2.50324592e+02] [ 2.81912642e-01 -9.59436981e-01 -2.43772477e-03 -9.60213191e+01] [-9.15324750e-03 -1.48830587e-04 -9.99958097e-01 -1.03767848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.450385723 meters 0.013675086460812816 Centerline is valid? [True, True] Translation: X:250.36, Y:-96.02, Z:-10.38 [[ 9.33904071e-01 3.57385339e-01 -9.94515848e-03 2.50359063e+02] [ 3.57366854e-01 -9.33957009e-01 -3.63823293e-03 -9.60218160e+01] [-1.05886016e-02 -1.56309459e-04 -9.99943927e-01 -1.03755521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.510385723 meters 0.013669796340840137 Centerline is valid? [True, True] Translation: X:250.39, Y:-96.02, Z:-10.37 [[ 9.02491948e-01 4.30568588e-01 -1.09075690e-02 2.50391358e+02] [ 4.30539380e-01 -9.02557845e-01 -5.01794362e-03 -9.60173727e+01] [-1.20052809e-02 -1.67484301e-04 -9.99927920e-01 -1.03742244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.570385723 meters 0.013726611789589827 Centerline is valid? [True, True] Translation: X:250.42, Y:-96.01, Z:-10.38 [[ 8.65354388e-01 5.01046117e-01 -1.07038416e-02 2.50423608e+02] [ 5.01010391e-01 -8.65420565e-01 -5.98608254e-03 -9.60084152e+01] [-1.22626281e-02 -1.82653092e-04 -9.99924794e-01 -1.03755631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.630385723 meters 0.013750019294170109 Centerline is valid? [True, True] Translation: X:250.46, Y:-96.00, Z:-10.38 [[ 8.20815514e-01 5.71096155e-01 -1.05391345e-02 2.50455483e+02] [ 5.71052835e-01 -8.20883136e-01 -7.03818961e-03 -9.59989395e+01] [-1.26708808e-02 -2.41347422e-04 -9.99919692e-01 -1.03750929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.690385723 meters 0.014168920957236793 Centerline is valid? [True, True] Translation: X:250.48, Y:-95.99, Z:-10.37 [[ 7.70970969e-01 6.36785118e-01 -1.04152964e-02 2.50484033e+02] [ 6.36732192e-01 -7.71041260e-01 -8.21524249e-03 -9.59851880e+01] [-1.32619674e-02 -2.98041018e-04 -9.99912012e-01 -1.03740151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.750385723 meters 0.014506310012222346 Centerline is valid? [True, True] Translation: X:250.51, Y:-95.97, Z:-10.37 [[ 7.17577223e-01 6.96406448e-01 -1.00492494e-02 2.50509451e+02] [ 6.96344428e-01 -7.17647513e-01 -9.29970191e-03 -9.59660416e+01] [-1.36881912e-02 -3.24484524e-04 -9.99906260e-01 -1.03743347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.810385723 meters 0.014551875603254993 Centerline is valid? [True, True] Translation: X:250.53, Y:-95.95, Z:-10.38 [[ 6.60115187e-01 7.51119084e-01 -8.24990872e-03 2.50532268e+02] [ 7.51066403e-01 -6.60166660e-01 -8.90165057e-03 -9.59457811e+01] [-1.21325143e-02 -3.20114536e-04 -9.99926347e-01 -1.03761259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.870385723 meters 0.014714318068433221 Centerline is valid? [True, True] Translation: X:250.55, Y:-95.92, Z:-10.38 [[ 5.98967336e-01 8.00740408e-01 -7.27519064e-03 2.50549827e+02] [ 8.00687708e-01 -5.99011433e-01 -9.19224022e-03 -9.59232024e+01] [-1.17185206e-02 -3.19304084e-04 -9.99931285e-01 -1.03768483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.930385723 meters 0.014527201389781745 Centerline is valid? [True, True] Translation: X:250.57, Y:-95.90, Z:-10.38 [[ 5.35034532e-01 8.44800960e-01 -7.02766315e-03 2.50566300e+02] [ 8.44735812e-01 -5.35080588e-01 -1.04962696e-02 -9.58986092e+01] [-1.26276247e-02 -3.20652075e-04 -9.99920217e-01 -1.03755354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.990385723 meters 0.014286364648165083 Centerline is valid? [True, True] Translation: X:250.58, Y:-95.87, Z:-10.38 [[ 4.68544239e-01 8.83415974e-01 -6.52016910e-03 2.50582737e+02] [ 8.83339415e-01 -4.68589502e-01 -1.16342858e-02 -9.58747496e+01] [-1.33331967e-02 -3.08344748e-04 -9.99911061e-01 -1.03751648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.050385723 meters 0.01412560945979211 Centerline is valid? [True, True] Translation: X:250.59, Y:-95.85, Z:-10.38 [[ 4.01375714e-01 9.15893463e-01 -6.05806564e-03 2.50589711e+02] [ 9.15798897e-01 -4.01421342e-01 -1.31638102e-02 -9.58486263e+01] [-1.44884845e-02 -2.64336130e-04 -9.99895001e-01 -1.03754723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.110385723 meters 0.013908302810176259 Centerline is valid? [True, True] Translation: X:250.60, Y:-95.82, Z:-10.38 [[ 3.32740816e-01 9.43004436e-01 -5.11694635e-03 2.50599453e+02] [ 9.42901930e-01 -3.32780100e-01 -1.39052318e-02 -9.58240370e+01] [-1.48155132e-02 -1.97940390e-04 -9.99890225e-01 -1.03763842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.170385723 meters 0.01409084054368333 Centerline is valid? [True, True] Translation: X:250.61, Y:-95.80, Z:-10.38 [[ 2.61295193e-01 9.65249155e-01 -4.34649063e-03 2.50607304e+02] [ 9.65124514e-01 -2.61331302e-01 -1.55120180e-02 -9.57989366e+01] [-1.61088363e-02 -1.41688918e-04 -9.99870234e-01 -1.03781762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.230385723 meters 0.014233778561529268 Centerline is valid? [True, True] Translation: X:250.62, Y:-95.78, Z:-10.38 [[ 1.86750899e-01 9.82402073e-01 -3.20437914e-03 2.50619177e+02] [ 9.82267302e-01 -1.86778357e-01 -1.62724624e-02 -9.57754681e+01] [-1.65846095e-02 -1.08659870e-04 -9.99862460e-01 -1.03790453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.290385723 meters 0.014667131410477628 Centerline is valid? [True, True] Translation: X:250.63, Y:-95.75, Z:-10.38 [[ 1.09188056e-01 9.94019158e-01 -1.97046019e-03 2.50627545e+02] [ 9.93874629e-01 -1.09205782e-01 -1.69505185e-02 -9.57528026e+01] [-1.70643258e-02 -1.07596226e-04 -9.99854388e-01 -1.03799003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.350385723 meters 0.014823196458274478 Centerline is valid? [True, True] Translation: X:250.64, Y:-95.73, Z:-10.38 [[ 2.85946890e-02 9.99590895e-01 -6.22300247e-04 2.50640972e+02] [ 9.99454219e-01 -2.86010701e-02 -1.65300561e-02 -9.57291651e+01] [-1.65410920e-02 -1.49288795e-04 -9.99863176e-01 -1.03820659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.410385723 meters 0.015090210719304416 Centerline is valid? [True, True] Translation: X:250.65, Y:-95.70, Z:-10.38 [[-5.29667821e-02 9.98596054e-01 6.63769581e-04 2.50652309e+02] [ 9.98463043e-01 5.29705613e-02 -1.62994538e-02 -9.57045375e+01] [-1.63117305e-02 -2.00580221e-04 -9.99866935e-01 -1.03838954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.470385723 meters 0.015419476239845563 Centerline is valid? [True, True] Translation: X:250.66, Y:-95.68, Z:-10.38 [[-1.32450684e-01 9.91187454e-01 2.06112689e-03 2.50660060e+02] [ 9.91039393e-01 1.32466527e-01 -1.71330473e-02 -9.56791196e+01] [-1.72550919e-02 -2.26625898e-04 -9.99851094e-01 -1.03846096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.530385723 meters 0.015478212065391262 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.65, Z:-10.38 [[-2.09647581e-01 9.77770924e-01 3.45146633e-03 2.50665085e+02] [ 9.77620070e-01 2.09675868e-01 -1.71763922e-02 -9.56538279e+01] [-1.75182661e-02 -2.26766339e-04 -9.99846518e-01 -1.03842867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.590385723 meters 0.01549391023539021 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.63, Z:-10.39 [[-2.84674985e-01 9.58611542e-01 4.90563676e-03 2.50670215e+02] [ 9.58456261e-01 2.84717173e-01 -1.72547814e-02 -9.56276805e+01] [-1.79373517e-02 -2.10166379e-04 -9.99839091e-01 -1.03851146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.650385723 meters 0.015631348295414623 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.60, Z:-10.39 [[-3.55743406e-01 9.34564498e-01 5.98571106e-03 2.50670507e+02] [ 9.34425066e-01 3.55793728e-01 -1.61436768e-02 -9.56018240e+01] [-1.72169857e-02 -1.49808108e-04 -9.99851765e-01 -1.03880611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.710385723 meters 0.015965012209398204 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.58, Z:-10.39 [[-4.23474757e-01 9.05883752e-01 6.61495639e-03 2.50667395e+02] [ 9.05770472e-01 4.23526412e-01 -1.43258745e-02 -9.55765156e+01] [-1.57791857e-02 -7.50140695e-05 -9.99875498e-01 -1.03903634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.770385723 meters 0.01639677099407337 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.55, Z:-10.39 [[-4.90157196e-01 8.71602770e-01 7.38474031e-03 2.50665389e+02] [ 8.71503026e-01 4.90212822e-01 -1.31857953e-02 -9.55502272e+01] [-1.51128701e-02 -2.72889082e-05 -9.99885794e-01 -1.03880330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.830385723 meters 0.016747178060718272 Centerline is valid? [True, True] Translation: X:250.66, Y:-95.52, Z:-10.39 [[-5.55010466e-01 8.31802793e-01 8.21563985e-03 2.50660951e+02] [ 8.31711789e-01 5.55071269e-01 -1.23039418e-02 -9.55242186e+01] [-1.47947188e-02 4.22805145e-06 -9.99890552e-01 -1.03861029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.890385723 meters 0.01719819298377663 Centerline is valid? [True, True] Translation: X:250.65, Y:-95.50, Z:-10.39 [[-6.16647939e-01 7.87197094e-01 8.12736316e-03 2.50654497e+02] [ 7.87129061e-01 6.16701496e-01 -1.03492280e-02 -9.54985940e+01] [-1.31590393e-02 1.54535799e-05 -9.99913416e-01 -1.03862916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.950385723 meters 0.019355799736428436 Centerline is valid? [True, True] Translation: X:250.65, Y:-95.47, Z:-10.39 [[-6.75007226e-01 7.37759001e-01 8.76937855e-03 2.50646583e+02] [ 7.37697469e-01 6.75064186e-01 -9.52829284e-03 -9.54727355e+01] [-1.29494772e-02 3.74818468e-05 -9.99916151e-01 -1.03856924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.010385723 meters 0.01785820754775935 Centerline is valid? [True, True] Translation: X:250.64, Y:-95.45, Z:-10.39 [[-7.30468671e-01 6.82901579e-01 7.80729884e-03 2.50636073e+02] [ 6.82862656e-01 7.30510393e-01 -7.29100367e-03 -9.54494172e+01] [-1.06823509e-02 5.46306242e-06 -9.99942942e-01 -1.03863004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.070385723 meters 0.018363023141825235 Centerline is valid? [True, True] Translation: X:250.66, Y:-95.43, Z:-10.38 [[-7.77135175e-01 6.29253926e-01 1.00208253e-02 2.50659870e+02] [ 6.29202515e-01 7.77199777e-01 -8.04374895e-03 -9.54301267e+01] [-1.28497438e-02 5.40482219e-05 -9.99917437e-01 -1.03822315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.130385723 meters 0.017789823711208658 Centerline is valid? [True, True] Translation: X:250.68, Y:-95.41, Z:-10.38 [[-8.20741129e-01 5.71197788e-01 1.08206165e-02 2.50676838e+02] [ 5.71148721e-01 8.20812455e-01 -7.48684712e-03 -9.54060047e+01] [-1.31581673e-02 3.54179410e-05 -9.99913427e-01 -1.03801249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.190385723 meters 0.01775314238668198 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.38, Z:-10.38 [[-8.59062113e-01 5.11761162e-01 1.06206646e-02 2.50691929e+02] [ 5.11722342e-01 8.59127763e-01 -6.30334037e-03 -9.53823939e+01] [-1.23503126e-02 1.98704604e-05 -9.99923732e-01 -1.03805313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.250385723 meters 0.01750433555347473 Centerline is valid? [True, True] Translation: X:250.72, Y:-95.36, Z:-10.38 [[-8.92932819e-01 4.50086170e-01 9.66544613e-03 2.50715707e+02] [ 4.50059836e-01 8.92985128e-01 -4.86877462e-03 -9.53634149e+01] [-1.08224678e-02 2.54045495e-06 -9.99941435e-01 -1.03831241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.310385723 meters 0.017322062338645486 Centerline is valid? [True, True] Translation: X:251.07, Y:-94.66, Z:-11.38 [[-8.74589326e-01 -4.84847431e-01 4.05946376e-03 2.51069254e+02] [ 4.84840669e-01 -8.74598701e-01 -2.57640131e-03 -9.46644751e+01] [ 4.79956328e-03 -2.85099960e-04 9.99988441e-01 -1.13803746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.370385723 meters 0.016899620166306317 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.34, Z:-10.39 [[-8.95867921e-01 4.44251882e-01 7.80603775e-03 2.50669743e+02] [ 4.44234507e-01 8.95901927e-01 -3.92939026e-03 -9.53401211e+01] [-8.73908328e-03 -5.25033431e-05 -9.99961812e-01 -1.03854789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.430385723 meters 0.016460048162169047 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.31, Z:-10.38 [[-9.26849477e-01 3.75341704e-01 8.28567864e-03 2.50689180e+02] [ 3.75325819e-01 9.26886507e-01 -3.45434528e-03 -9.53127421e+01] [-8.97644358e-03 -9.18289914e-05 -9.99959707e-01 -1.03839984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.490385723 meters 0.01621028332063004 Centerline is valid? [True, True] Translation: X:250.98, Y:-94.60, Z:-11.38 [[-9.03795785e-01 -4.27936399e-01 4.85986042e-03 2.50976490e+02] [ 4.27929536e-01 -9.03808843e-01 -2.42623233e-03 -9.45995777e+01] [ 5.43065796e-03 -1.13140736e-04 9.99985247e-01 -1.13819218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.550385723 meters 0.016183239732907907 Centerline is valid? [True, True] Translation: X:250.63, Y:-95.29, Z:-10.39 [[-9.29507672e-01 3.68731425e-01 7.25420470e-03 2.50633288e+02] [ 3.68719131e-01 9.29535970e-01 -3.01373303e-03 -9.52899216e+01] [-7.85430228e-03 -1.26523920e-04 -9.99969146e-01 -1.03863496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.610385723 meters 0.01631006385232295 Centerline is valid? [True, True] Translation: X:250.64, Y:-95.26, Z:-10.39 [[-9.52893129e-01 3.03240201e-01 6.32971888e-03 2.50642599e+02] [ 3.03232667e-01 9.52914144e-01 -2.14099338e-03 -9.52632716e+01] [-6.68091391e-03 -1.20760348e-04 -9.99977675e-01 -1.03855893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.670385723 meters 0.016420686691783513 Centerline is valid? [True, True] Translation: X:250.62, Y:-95.23, Z:-10.39 [[-9.71520102e-01 2.36849285e-01 7.14894272e-03 2.50617380e+02] [ 2.36842091e-01 9.71546399e-01 -1.84880239e-03 -9.52309060e+01] [-7.38341708e-03 -1.02978139e-04 -9.99972737e-01 -1.03861014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.730385723 meters 0.01653665014190257 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.21, Z:-10.39 [[-9.85675887e-01 1.68510881e-01 6.86497589e-03 2.50674555e+02] [ 1.68506110e-01 9.85699789e-01 -1.27176455e-03 -9.52138370e+01] [-6.98111145e-03 -9.67572676e-05 -9.99975627e-01 -1.03856950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.790385723 meters 0.016604999159302827 Centerline is valid? [True, True] Translation: X:250.81, Y:-94.45, Z:-11.38 [[-9.75967320e-01 -2.17898822e-01 2.80962214e-03 2.50809790e+02] [ 2.17897552e-01 -9.75971356e-01 -7.54270291e-04 -9.44532246e+01] [ 2.90646534e-03 -1.23933368e-04 9.99995769e-01 -1.13803962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.850385723 meters 0.016846628664830113 Centerline is valid? [True, True] Translation: X:250.63, Y:-95.21, Z:-10.39 [[-9.85880668e-01 1.67267153e-01 7.81076104e-03 2.50626517e+02] [ 1.67261357e-01 9.85911606e-01 -1.39416795e-03 -9.52071003e+01] [-7.93391847e-03 -6.80447411e-05 -9.99968524e-01 -1.03856322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.910385723 meters 0.017069879658281054 Centerline is valid? [True, True] Translation: X:250.75, Y:-94.44, Z:-11.38 [[-9.77215727e-01 -2.12190438e-01 4.96394608e-03 2.50754679e+02] [ 2.12187283e-01 -9.77228331e-01 -1.15987954e-03 -9.44420698e+01] [ 5.09702409e-03 -8.01662947e-05 9.99987007e-01 -1.13797204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.970385723 meters 0.016732541503895127 Centerline is valid? [True, True] Translation: X:250.56, Y:-95.20, Z:-10.39 [[-9.86413219e-01 1.64017554e-01 9.33829375e-03 2.50557975e+02] [ 1.64009761e-01 9.86457419e-01 -1.59958577e-03 -9.51955483e+01] [-9.47418929e-03 -4.62812263e-05 -9.99955118e-01 -1.03865730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.030385723 meters 0.01659503454583231 Centerline is valid? [True, True] Translation: X:250.69, Y:-94.44, Z:-11.38 [[-9.77680824e-01 -2.10041717e-01 4.76273003e-03 2.50689197e+02] [ 2.10038223e-01 -9.77692404e-01 -1.22786992e-03 -9.44366421e+01] [ 4.91438888e-03 -2.00109517e-04 9.99987904e-01 -1.13787634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.090385723 meters 0.01648814924129218 Centerline is valid? [True, True] Translation: X:250.52, Y:-95.19, Z:-10.39 [[-9.87584334e-01 1.56853687e-01 8.60836045e-03 2.50520330e+02] [ 1.56847001e-01 9.87621848e-01 -1.45064594e-03 -9.51884001e+01] [-8.72934402e-03 -8.24396873e-05 -9.99961895e-01 -1.03906930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.150385723 meters 0.01652980392281006 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.43, Z:-11.38 [[-9.77596321e-01 -2.10371195e-01 7.02798211e-03 2.50642151e+02] [ 2.10365705e-01 -9.77621583e-01 -1.51987706e-03 -9.44346481e+01] [ 7.19044536e-03 -7.37981411e-06 9.99974148e-01 -1.13766540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.210385723 meters 0.016355363322610235 Centerline is valid? [True, True] Translation: X:250.47, Y:-95.18, Z:-10.39 [[-9.88779847e-01 1.48883213e-01 1.21738715e-02 2.50466281e+02] [ 1.48870616e-01 9.88854781e-01 -1.93958974e-03 -9.51771422e+01] [-1.23269634e-02 -1.05495492e-04 -9.99924015e-01 -1.03911123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.270385723 meters 0.01671468337073898 Centerline is valid? [True, True] Translation: X:250.47, Y:-95.15, Z:-10.39 [[-9.96764955e-01 7.94367416e-02 1.22240865e-02 2.50471438e+02] [ 7.94296455e-02 9.96839905e-01 -1.06567363e-03 -9.51483323e+01] [-1.22701109e-02 -9.12712633e-05 -9.99924715e-01 -1.03924044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.330385723 meters 0.01623665227822811 Centerline is valid? [True, True] Translation: X:250.47, Y:-95.12, Z:-10.39 [[-9.99878793e-01 9.26903171e-03 1.25093662e-02 2.50466089e+02] [ 9.26730638e-03 9.99957038e-01 -1.95884162e-04 -9.51166837e+01] [-1.25106444e-02 -7.99322909e-05 -9.99921736e-01 -1.03920578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.390385723 meters 0.016078890767018034 Centerline is valid? [True, True] Translation: X:250.48, Y:-94.37, Z:-11.37 [[-9.97905744e-01 -6.40767984e-02 8.84820700e-03 2.50476720e+02] [ 6.40731096e-02 -9.97944962e-01 -7.00031993e-04 -9.43665404e+01] [ 8.87487941e-03 -1.31633809e-04 9.99960609e-01 -1.13734552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.450385723 meters 0.01603751786604349 Centerline is valid? [True, True] Translation: X:250.40, Y:-95.12, Z:-10.39 [[-9.99894199e-01 6.98944907e-03 1.27569358e-02 2.50400968e+02] [ 6.98824507e-03 9.99975572e-01 -1.38954232e-04 -9.51155578e+01] [-1.27575954e-02 -4.97909366e-05 -9.99918617e-01 -1.03946250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.510385723 meters 0.016192921623942407 Centerline is valid? [True, True] Translation: X:250.40, Y:-95.08, Z:-10.40 [[-9.98056332e-01 -6.12359381e-02 1.15636690e-02 2.50400168e+02] [-6.12321001e-02 9.98123319e-01 6.85995197e-04 -9.50846205e+01] [-1.15839752e-02 -2.34058862e-05 -9.99932903e-01 -1.03960010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.570385723 meters 0.016231030886512943 Centerline is valid? [True, True] Translation: X:250.35, Y:-94.35, Z:-11.37 [[-9.99842354e-01 1.64479437e-02 6.68820458e-03 2.50351921e+02] [-1.64491955e-02 -9.99864694e-01 -1.32196861e-04 -9.43465699e+01] [ 6.68512526e-03 -2.42191606e-04 9.99977625e-01 -1.13708480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.630385723 meters 0.016209044881863578 Centerline is valid? [True, True] Translation: X:250.31, Y:-95.08, Z:-10.40 [[-9.97797941e-01 -6.52730372e-02 1.17770775e-02 2.50311781e+02] [-6.52685753e-02 9.97867441e-01 7.63228265e-04 -9.50830518e+01] [-1.18017804e-02 -7.12547646e-06 -9.99930357e-01 -1.03956542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.690385723 meters 0.016210067568645507 Centerline is valid? [True, True] Translation: X:250.30, Y:-95.05, Z:-10.40 [[-9.90885105e-01 -1.34294532e-01 1.05682168e-02 2.50303040e+02] [-1.34286867e-01 9.90941461e-01 1.43486643e-03 -9.50478422e+01] [-1.06651789e-02 2.61505618e-06 -9.99943125e-01 -1.03959058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.750385723 meters 0.018309311100796623 Centerline is valid? [True, True] Translation: X:250.29, Y:-95.01, Z:-10.39 [[-9.79733498e-01 -2.00065844e-01 9.79439701e-03 2.50289448e+02] [-2.00055435e-01 9.79782454e-01 2.04118125e-03 -9.50142809e+01] [-1.00047490e-02 4.03912869e-05 -9.99949950e-01 -1.03936595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.810385723 meters 0.016983859499222435 Centerline is valid? [True, True] Translation: X:250.26, Y:-94.99, Z:-10.39 [[-9.63274753e-01 -2.68378852e-01 8.63383019e-03 2.50261977e+02] [-2.68367749e-01 9.63313444e-01 2.44137908e-03 -9.49854451e+01] [-8.97229920e-03 3.46772518e-05 -9.99959748e-01 -1.03939704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.870385723 meters 0.017969505319758293 Centerline is valid? [True, True] Translation: X:250.22, Y:-94.96, Z:-10.39 [[-9.42533830e-01 -3.34063336e-01 5.62739052e-03 2.50224372e+02] [-3.34057425e-01 9.42550629e-01 1.98715695e-03 -9.49600501e+01] [-5.96793675e-03 -6.90893788e-06 -9.99982192e-01 -1.03945219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.930385723 meters 0.019763823466785763 Centerline is valid? [True, True] Translation: X:250.16, Y:-94.94, Z:-10.39 [[-9.17835073e-01 -3.96935610e-01 4.57177685e-03 2.50162915e+02] [-3.96930709e-01 9.17846459e-01 1.97241082e-03 -9.49445725e+01] [-4.97910928e-03 -4.33079596e-06 -9.99987604e-01 -1.03939887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.990385723 meters 0.02097736327523503 Centerline is valid? [True, True] Translation: X:250.10, Y:-94.94, Z:-10.39 [[-8.87376130e-01 -4.61031389e-01 3.69619258e-03 2.50097956e+02] [-4.61027474e-01 8.87383828e-01 1.90011986e-03 -9.49390410e+01] [-4.15595642e-03 -1.79253234e-05 -9.99991364e-01 -1.03938992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.050385723 meters 0.020015413731664114 Centerline is valid? [True, True] Translation: X:250.02, Y:-94.94, Z:-10.39 [[-8.52077174e-01 -5.23412917e-01 1.84590251e-03 2.50018298e+02] [-5.23411885e-01 8.52079170e-01 1.04204761e-03 -9.49365059e+01] [-2.11827626e-03 -7.82623283e-05 -9.99997753e-01 -1.03934496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.110385723 meters 0.020332595088012655 Centerline is valid? [True, True] Translation: X:249.94, Y:-94.95, Z:-10.39 [[-8.10651877e-01 -5.85527066e-01 1.26081056e-03 2.49936258e+02] [-5.85526547e-01 8.10652851e-01 7.86112280e-04 -9.49455189e+01] [-1.48236969e-03 -1.00974657e-04 -9.99998896e-01 -1.03925618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.170385723 meters 0.01892516759813579 Centerline is valid? [True, True] Translation: X:249.84, Y:-94.96, Z:-10.39 [[-7.61390817e-01 -6.48288550e-01 2.44537713e-03 2.49844376e+02] [-6.48285468e-01 7.61394741e-01 2.00006722e-03 -9.49614661e+01] [-3.15851796e-03 -6.24696445e-05 -9.99995010e-01 -1.03883868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.230385723 meters 0.017395362104882735 Centerline is valid? [True, True] Translation: X:249.75, Y:-94.99, Z:-10.39 [[-7.05893400e-01 -7.08316222e-01 1.62435783e-03 2.49752645e+02] [-7.08314682e-01 7.05895261e-01 1.48041719e-03 -9.49902452e+01] [-2.19523000e-03 -1.05539775e-04 -9.99997585e-01 -1.03878512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.290385723 meters 0.016722483653724342 Centerline is valid? [True, True] Translation: X:249.67, Y:-95.03, Z:-10.39 [[-6.48831906e-01 -7.60930269e-01 1.51087964e-03 2.49667660e+02] [-7.60928599e-01 6.48833656e-01 1.59839462e-03 -9.50282030e+01] [-2.19657641e-03 -1.12582097e-04 -9.99997581e-01 -1.03873144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.350385723 meters 0.01654759330359341 Centerline is valid? [True, True] Translation: X:249.58, Y:-95.08, Z:-10.39 [[-5.88334535e-01 -8.08615220e-01 1.97515214e-03 2.49583765e+02] [-8.08611238e-01 5.88337841e-01 2.53976328e-03 -9.50766736e+01] [-3.21574799e-03 -1.02899774e-04 -9.99994824e-01 -1.03870852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.410385723 meters 0.01653007329299119 Centerline is valid? [True, True] Translation: X:249.50, Y:-95.13, Z:-10.39 [[-5.27365002e-01 -8.49637478e-01 1.51997745e-03 2.49504843e+02] [-8.49634515e-01 5.27367181e-01 2.24646932e-03 -9.51340296e+01] [-2.71027075e-03 -1.06716004e-04 -9.99996322e-01 -1.03875399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.470385723 meters 0.016941155477823745 Centerline is valid? [True, True] Translation: X:249.43, Y:-95.20, Z:-10.39 [[-4.64854080e-01 -8.85387160e-01 5.11310571e-04 2.49432935e+02] [-8.85386905e-01 4.64854341e-01 6.85971032e-04 -9.51978479e+01] [-8.45034883e-04 -1.33831251e-04 -9.99999634e-01 -1.03889642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.530385723 meters 0.01796389125497431 Centerline is valid? [True, True] Translation: X:249.37, Y:-95.28, Z:-10.39 [[-3.99952463e-01 -9.16535830e-01 3.16275025e-04 2.49365027e+02] [-9.16535763e-01 3.99952564e-01 3.76937626e-04 -9.52762921e+01] [-4.71971847e-04 -1.39120239e-04 -9.99999879e-01 -1.03907004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.590385723 meters 0.0174603140694826 Centerline is valid? [True, True] Translation: X:249.30, Y:-95.36, Z:-10.39 [[-3.29965699e-01 -9.43992829e-01 4.19504521e-04 2.49300532e+02] [-9.43992493e-01 3.29965940e-01 8.07315118e-04 -9.53559652e+01] [-9.00521886e-04 -1.29622822e-04 -9.99999586e-01 -1.03899370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.650385723 meters 0.0169457357041983 Centerline is valid? [True, True] Translation: X:249.24, Y:-95.45, Z:-10.39 [[-2.55566651e-01 -9.66790944e-01 9.78089066e-04 2.49238535e+02] [-9.66785038e-01 2.55568509e-01 3.38029782e-03 -9.54496944e+01] [-3.51801008e-03 -8.17104835e-05 -9.99993808e-01 -1.03890319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.710385723 meters 0.01701503126931356 Centerline is valid? [True, True] Translation: X:249.19, Y:-95.54, Z:-10.39 [[-1.81108782e-01 -9.83462724e-01 8.24660772e-04 2.49188590e+02] [-9.83454299e-01 1.81110645e-01 4.07126868e-03 -9.55415813e+01] [-4.15329583e-03 -7.36736683e-05 -9.99991372e-01 -1.03890243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.770385723 meters 0.01710649100328311 Centerline is valid? [True, True] Translation: X:249.15, Y:-95.64, Z:-10.39 [[-1.04956818e-01 -9.94476638e-01 5.31049808e-04 2.49145575e+02] [-9.94467383e-01 1.04958132e-01 4.29127665e-03 -9.56431318e+01] [-4.32331237e-03 -7.77129712e-05 -9.99990651e-01 -1.03901796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.830385723 meters 0.017438072462286465 Centerline is valid? [True, True] Translation: X:249.11, Y:-95.74, Z:-10.39 [[-2.76496355e-02 -9.99617652e-01 2.18498689e-04 2.49109390e+02] [-9.99604143e-01 2.76503979e-02 5.19731462e-03 -9.57423225e+01] [-5.20136901e-03 -7.47083397e-05 -9.99986470e-01 -1.03905939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.890385723 meters 0.016584002020531917 Centerline is valid? [True, True] Translation: X:249.08, Y:-95.85, Z:-10.39 [[ 4.91299307e-02 -9.98792375e-01 -2.06231272e-04 2.49079604e+02] [-9.98775959e-01 -4.91303057e-02 5.72690117e-03 -9.58477821e+01] [-5.73011742e-03 -7.53834214e-05 -9.99983580e-01 -1.03925260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.950385723 meters 0.016605922754225386 Centerline is valid? [True, True] Translation: X:249.06, Y:-95.95, Z:-10.39 [[ 1.25440167e-01 -9.92101030e-01 -5.57226384e-04 2.49060099e+02] [-9.92087836e-01 -1.25441373e-01 5.11738877e-03 -9.59540122e+01] [-5.14686591e-03 -8.91085831e-05 -9.99986751e-01 -1.03937565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.010385723 meters 0.016525280075160794 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.06, Z:-10.39 [[ 2.01310153e-01 -9.79526751e-01 -1.25129693e-03 2.49049132e+02] [-9.79505192e-01 -2.01314025e-01 6.49939422e-03 -9.60608595e+01] [-6.61823413e-03 -8.27422015e-05 -9.99978096e-01 -1.03938572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.070385723 meters 0.01656209099038368 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.17, Z:-10.40 [[ 2.74272155e-01 -9.61651327e-01 -1.22855501e-03 2.49047780e+02] [-9.61639999e-01 -2.74274889e-01 4.66872328e-03 -9.61654174e+01] [-4.82664573e-03 -9.90731525e-05 -9.99988347e-01 -1.03965968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.130385723 meters 0.0165134605448606 Centerline is valid? [True, True] Translation: X:249.05, Y:-96.27, Z:-10.40 [[ 3.46551516e-01 -9.38029776e-01 -1.47852495e-03 2.49053919e+02] [-9.38019902e-01 -3.46554654e-01 4.30538875e-03 -9.62730677e+01] [-4.55097255e-03 -1.05153169e-04 -9.99989639e-01 -1.03969104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.190385723 meters 0.016633357636774575 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.38, Z:-10.40 [[ 4.15560789e-01 -9.09562045e-01 -2.47332446e-03 2.49070473e+02] [-9.09544669e-01 -4.15568140e-01 5.62279304e-03 -9.63770519e+01] [-6.14211398e-03 -8.70132344e-05 -9.99981133e-01 -1.03968398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.250385723 meters 0.017221759221978376 Centerline is valid? [True, True] Translation: X:249.09, Y:-96.48, Z:-10.40 [[ 4.79727470e-01 -8.77412507e-01 -2.97442546e-03 2.49093653e+02] [-8.77394818e-01 -4.79736686e-01 5.57187747e-03 -9.64764681e+01] [-6.31577600e-03 -6.32371969e-05 -9.99980053e-01 -1.03970089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.310385723 meters 0.01740068863445085 Centerline is valid? [True, True] Translation: X:249.12, Y:-96.57, Z:-10.40 [[ 5.39065562e-01 -8.42253777e-01 -4.11038265e-03 2.49123277e+02] [-8.42229310e-01 -5.39081232e-01 6.41980584e-03 -9.65736618e+01] [-7.62293586e-03 1.18850393e-06 -9.99970945e-01 -1.03970464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.370385723 meters 0.017920710290640966 Centerline is valid? [True, True] Translation: X:249.16, Y:-96.67, Z:-10.40 [[ 5.99447905e-01 -8.00401257e-01 -4.47631629e-03 2.49159880e+02] [-8.00379072e-01 -5.99464618e-01 5.95934512e-03 -9.66683468e+01] [-7.45326055e-03 1.04329314e-05 -9.99972224e-01 -1.03969644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.430385723 meters 0.018544500659687102 Centerline is valid? [True, True] Translation: X:249.20, Y:-96.75, Z:-10.40 [[ 6.55796313e-01 -7.54919717e-01 -5.23621695e-03 2.49198262e+02] [-7.54896154e-01 -6.55817215e-01 5.96467038e-03 -9.67549119e+01] [-7.93684849e-03 4.11911952e-05 -9.99968502e-01 -1.03960746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.490385723 meters 0.018464146069172436 Centerline is valid? [True, True] Translation: X:249.24, Y:-96.84, Z:-10.40 [[ 7.10098917e-01 -7.04088819e-01 -4.29699878e-03 2.49242527e+02] [-7.04075933e-01 -7.10111918e-01 4.25977265e-03 -9.68407593e+01] [-6.05060833e-03 5.53479467e-07 -9.99981695e-01 -1.03976895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.550385723 meters 0.017969526700965112 Centerline is valid? [True, True] Translation: X:249.27, Y:-96.88, Z:-10.40 [[ 7.65337657e-01 -6.43613474e-01 -4.46847160e-03 2.49267210e+02] [-6.43602263e-01 -7.65350701e-01 3.79888958e-03 -9.68774800e+01] [-5.86496439e-03 -3.15148183e-05 -9.99982800e-01 -1.03978608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.610385723 meters 0.017122158148015786 Centerline is valid? [True, True] Translation: X:249.29, Y:-96.91, Z:-10.40 [[ 8.15360185e-01 -5.78942552e-01 -3.64550912e-03 2.49294290e+02] [-5.78936359e-01 -8.15368331e-01 2.67889081e-03 -9.69134944e+01] [-4.52335657e-03 -7.37431271e-05 -9.99989767e-01 -1.03983671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.670385723 meters 0.016611528387312446 Centerline is valid? [True, True] Translation: X:249.32, Y:-96.95, Z:-10.40 [[ 8.60681249e-01 -5.09116680e-01 -5.29101475e-03 2.49324805e+02] [-5.09106509e-01 -8.60697508e-01 3.21903092e-03 -9.69453238e+01] [-6.19282554e-03 -7.68695075e-05 -9.99980821e-01 -1.03961797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.730385723 meters 0.016156681799052497 Centerline is valid? [True, True] Translation: X:249.36, Y:-96.98, Z:-10.40 [[ 8.99720933e-01 -4.36445237e-01 -4.21872642e-03 2.49358099e+02] [-4.36439846e-01 -8.99730817e-01 2.17228058e-03 -9.69758347e+01] [-4.74379967e-03 -1.13226002e-04 -9.99988742e-01 -1.03970722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.790385723 meters 0.01611708073764617 Centerline is valid? [True, True] Translation: X:249.40, Y:-97.00, Z:-10.40 [[ 9.31394321e-01 -3.63997918e-01 -3.18336446e-03 2.49395259e+02] [-3.63995331e-01 -9.31399753e-01 1.37808962e-03 -9.69999032e+01] [-3.46660662e-03 -1.24815046e-04 -9.99993984e-01 -1.03982938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.850385723 meters 0.01605857862127835 Centerline is valid? [True, True] Translation: X:249.43, Y:-97.02, Z:-10.40 [[ 9.57220219e-01 -2.89341882e-01 -3.27541832e-03 2.49434557e+02] [-2.89339732e-01 -9.57225814e-01 1.12273309e-03 -9.70179199e+01] [-3.46016867e-03 -1.26994161e-04 -9.99994006e-01 -1.03985313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.910385723 meters 0.015812138937215742 Centerline is valid? [True, True] Translation: X:249.47, Y:-97.04, Z:-10.40 [[ 9.77033317e-01 -2.13078104e-01 -1.90237007e-03 2.49472957e+02] [-2.13077427e-01 -9.77035160e-01 5.53974605e-04 -9.70386821e+01] [-1.97672230e-03 -1.35899527e-04 -9.99998037e-01 -1.03993295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.970385723 meters 0.015861767325093156 Centerline is valid? [True, True] Translation: X:249.51, Y:-97.05, Z:-10.40 [[ 9.90515537e-01 -1.37399530e-01 -5.82393654e-04 2.49513149e+02] [-1.37399421e-01 -9.90515699e-01 2.23692332e-04 -9.70544531e+01] [-6.07605278e-04 -1.41550180e-04 -9.99999805e-01 -1.04000406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.030385723 meters 0.015936071761036775 Centerline is valid? [True, True] Translation: X:249.55, Y:-97.07, Z:-10.40 [[ 9.98092311e-01 -6.17212481e-02 1.49227617e-03 2.49551921e+02] [-6.17214150e-02 -9.98093414e-01 6.60043921e-05 -9.70656190e+01] [ 1.48535715e-03 -1.57983873e-04 -9.99998884e-01 -1.04010582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.090385723 meters 0.01624492847049126 Centerline is valid? [True, True] Translation: X:249.59, Y:-97.07, Z:-10.40 [[ 9.99922529e-01 1.22463429e-02 2.22790207e-03 2.49589500e+02] [ 1.22459252e-02 -9.99924996e-01 2.01015673e-04 -9.70699499e+01] [ 2.23019667e-03 -1.73717378e-04 -9.99997498e-01 -1.04020921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.150385723 meters 0.016876643499488073 Centerline is valid? [True, True] Translation: X:249.63, Y:-97.07, Z:-10.40 [[ 9.96341498e-01 8.54079035e-02 3.01817474e-03 2.49627038e+02] [ 8.54069038e-02 -9.96346049e-01 4.58818649e-04 -9.70720995e+01] [ 3.04633321e-03 -1.99367101e-04 -9.99995340e-01 -1.04018031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.210385723 meters 0.017520248385177465 Centerline is valid? [True, True] Translation: X:249.66, Y:-97.07, Z:-10.40 [[ 9.86951533e-01 1.61005351e-01 1.98713397e-03 2.49663040e+02] [ 1.61004644e-01 -9.86953516e-01 5.11811154e-04 -9.70733936e+01] [ 2.04361320e-03 -1.85195005e-04 -9.99997895e-01 -1.04002099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.270385723 meters 0.01708953669929864 Centerline is valid? [True, True] Translation: X:249.70, Y:-97.08, Z:-10.40 [[ 9.71735857e-01 2.36067358e-01 1.27546831e-03 2.49700687e+02] [ 2.36066917e-01 -9.71736679e-01 4.88064278e-04 -9.70762295e+01] [ 1.35463539e-03 -1.73173686e-04 -9.99999067e-01 -1.03989264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.330385723 meters 0.017718113139194514 Centerline is valid? [True, True] Translation: X:249.74, Y:-97.07, Z:-10.40 [[ 9.50809480e-01 3.09764647e-01 2.68263632e-03 2.49736437e+02] [ 3.09762779e-01 -9.50813241e-01 1.09647831e-03 -9.70745505e+01] [ 2.89033635e-03 -2.11561094e-04 -9.99995801e-01 -1.03996954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.390385723 meters 0.018003502068331945 Centerline is valid? [True, True] Translation: X:249.77, Y:-97.07, Z:-10.40 [[ 9.24080291e-01 3.82184737e-01 3.23143538e-03 2.49773531e+02] [ 3.82181512e-01 -9.24085912e-01 1.58723163e-03 -9.70707567e+01] [ 3.59273961e-03 -2.31734608e-04 -9.99993519e-01 -1.03995015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.450385723 meters 0.021253386345346525 Centerline is valid? [True, True] Translation: X:249.81, Y:-97.06, Z:-10.40 [[ 8.92847560e-01 4.50357583e-01 1.13233642e-03 2.49808775e+02] [ 4.50356955e-01 -8.92848260e-01 7.73202014e-04 -9.70613586e+01] [ 1.35922199e-03 -1.80395950e-04 -9.99999060e-01 -1.03959498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.510385723 meters 0.019573494285570033 Centerline is valid? [True, True] Translation: X:249.84, Y:-97.05, Z:-10.40 [[ 8.55643666e-01 5.17564955e-01 6.58807034e-04 2.49844327e+02] [ 5.17564641e-01 -8.55643903e-01 5.94283648e-04 -9.70527584e+01] [ 8.71284612e-04 -1.67519813e-04 -9.99999606e-01 -1.03975216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.570385723 meters 0.019359431341092997 Centerline is valid? [True, True] Translation: X:249.88, Y:-97.04, Z:-10.40 [[ 8.13819120e-01 5.81117165e-01 1.13163639e-03 2.49881832e+02] [ 5.81116263e-01 -8.13819885e-01 1.04145141e-03 -9.70439542e+01] [ 1.52615349e-03 -1.89940760e-04 -9.99998817e-01 -1.03976733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.630385723 meters 0.021658454096391926 Centerline is valid? [True, True] Translation: X:249.91, Y:-97.03, Z:-10.40 [[ 7.68430619e-01 6.39931795e-01 1.29673517e-03 2.49914132e+02] [ 6.39930404e-01 -7.68431685e-01 1.35043208e-03 -9.70265889e+01] [ 1.86063682e-03 -2.07893095e-04 -9.99998247e-01 -1.03993833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.690385723 meters 0.021790808657776238 Centerline is valid? [True, True] Translation: X:249.95, Y:-97.01, Z:-10.40 [[ 7.17875982e-01 6.96170359e-01 9.51119491e-04 2.49949060e+02] [ 6.96169354e-01 -7.17876585e-01 1.19987089e-03 -9.70123305e+01] [ 1.51810096e-03 -1.99218254e-04 -9.99998828e-01 -1.03994232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.750385723 meters 0.025744979515699908 Centerline is valid? [True, True] Translation: X:249.98, Y:-96.99, Z:-10.40 [[ 6.64155019e-01 7.47594747e-01 4.52687761e-04 2.49981267e+02] [ 7.47594364e-01 -6.64155150e-01 7.77147398e-04 -9.69944428e+01] [ 8.81646220e-04 -1.77719526e-04 -9.99999596e-01 -1.03956452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.810385723 meters 0.022839391599194833 Centerline is valid? [True, True] Translation: X:250.02, Y:-96.98, Z:-10.40 [[ 6.03145807e-01 7.97630830e-01 4.41320565e-04 2.50015726e+02] [ 7.97630361e-01 -6.03145942e-01 8.83102216e-04 -9.69759946e+01] [ 9.70570261e-04 -1.80628717e-04 -9.99999513e-01 -1.03998729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.870385723 meters 0.021585854081628362 Centerline is valid? [True, True] Translation: X:250.05, Y:-96.96, Z:-10.40 [[ 5.36087368e-01 8.44162349e-01 5.11527199e-04 2.50053725e+02] [ 8.44161579e-01 -5.36087580e-01 1.15599255e-03 -9.69572830e+01] [ 1.25006877e-03 -1.87901398e-04 -9.99999201e-01 -1.03987701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.930385723 meters 0.020283927644396797 Centerline is valid? [True, True] Translation: X:250.09, Y:-96.93, Z:-10.40 [[ 4.64073750e-01 8.85796355e-01 6.09305562e-04 2.50087936e+02] [ 8.85794957e-01 -4.64074108e-01 1.58619547e-03 -9.69335445e+01] [ 1.68780910e-03 -1.96391885e-04 -9.99998556e-01 -1.03993313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.990385723 meters 0.018553613165689577 Centerline is valid? [True, True] Translation: X:250.12, Y:-96.91, Z:-10.40 [[ 3.86874228e-01 9.22132191e-01 7.44249560e-04 2.50121820e+02] [ 9.22129344e-01 -3.86874890e-01 2.30055989e-03 -9.69075809e+01] [ 2.40935180e-03 -2.03732973e-04 -9.99997077e-01 -1.04007076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.050385723 meters 0.017580385279772046 Centerline is valid? [True, True] Translation: X:250.15, Y:-96.88, Z:-10.40 [[ 3.07244200e-01 9.51630631e-01 3.79087757e-04 2.50151939e+02] [ 9.51629054e-01 -3.07244384e-01 1.74124036e-03 -9.68776448e+01] [ 1.77349024e-03 -1.74235077e-04 -9.99998412e-01 -1.04005250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.110385723 meters 0.016537556215350493 Centerline is valid? [True, True] Translation: X:250.18, Y:-96.85, Z:-10.40 [[ 2.26426993e-01 9.74028140e-01 1.27083927e-05 2.50181241e+02] [ 9.74027894e-01 -2.26426945e-01 7.07176516e-04 -9.68451084e+01] [ 6.91687349e-04 -1.47745523e-04 -9.99999750e-01 -1.03997946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.170385723 meters 0.01659545670194445 Centerline is valid? [True, True] Translation: X:250.20, Y:-96.81, Z:-10.40 [[ 1.48224403e-01 9.88953753e-01 -3.88803495e-05 2.50200202e+02] [ 9.88953493e-01 -1.48224335e-01 7.31648575e-04 -9.68095906e+01] [ 7.17803590e-04 -1.46899030e-04 -9.99999732e-01 -1.03995874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.230385723 meters 0.017220782543161263 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.77, Z:-10.40 [[ 7.00097784e-02 9.97546296e-01 -1.35220925e-04 2.50218320e+02] [ 9.97546305e-01 -7.00097753e-02 2.72389254e-05 -9.67724167e+01] [ 1.77053027e-05 -1.36796125e-04 -9.99999990e-01 -1.03984655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.290385723 meters 0.016128706552344628 Centerline is valid? [True, True] Translation: X:250.24, Y:-96.73, Z:-10.40 [[-1.03636872e-02 9.99946290e-01 -1.05138702e-04 2.50235696e+02] [ 9.99945289e-01 1.03635275e-02 -1.42005522e-03 -9.67339291e+01] [-1.41888934e-03 -1.19849958e-04 -9.99998986e-01 -1.03996097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.350385723 meters 0.016221705026798094 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.69, Z:-10.40 [[-9.02411039e-02 9.95919948e-01 9.54505403e-06 2.50247458e+02] [ 9.95918898e-01 9.02410226e-02 -1.45148356e-03 -9.66947594e+01] [-1.44642279e-03 -1.21477379e-04 -9.99998947e-01 -1.04000403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.410385723 meters 0.01612696109604089 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.66, Z:-10.40 [[-1.70000855e-01 9.85443895e-01 1.98203845e-04 2.50251554e+02] [ 9.85442148e-01 1.70000927e-01 -1.85956969e-03 -9.66562357e+01] [-1.86619643e-03 -1.20810014e-04 -9.99998251e-01 -1.03997543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.470385723 meters 0.016039343153153033 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.62, Z:-10.40 [[-2.47491307e-01 9.68889977e-01 5.16185547e-04 2.50248731e+02] [ 9.68886772e-01 2.47491817e-01 -2.49472383e-03 -9.66173060e+01] [-2.54486461e-03 -1.17297113e-04 -9.99996755e-01 -1.03993769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.530385723 meters 0.015967456754571178 Centerline is valid? [True, True] Translation: X:250.24, Y:-96.58, Z:-10.40 [[-3.23419090e-01 9.46255748e-01 3.89727162e-04 2.50242605e+02] [ 9.46254525e-01 3.23419301e-01 -1.52661745e-03 -9.65792256e+01] [-1.57061583e-03 -1.24956138e-04 -9.99998759e-01 -1.04004388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.590385723 meters 0.015814569374739084 Centerline is valid? [True, True] Translation: X:250.24, Y:-96.54, Z:-10.40 [[-3.98059405e-01 9.17358743e-01 1.28338665e-03 2.50235329e+02] [ 9.17352974e-01 3.98061456e-01 -3.25562944e-03 -9.65406344e+01] [-3.49744689e-03 -1.18615357e-04 -9.99993877e-01 -1.03987629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.650385723 meters 0.015833176103314944 Centerline is valid? [True, True] Translation: X:250.23, Y:-96.50, Z:-10.40 [[-4.69885227e-01 8.82724968e-01 2.12222173e-03 2.50225651e+02] [ 8.82714792e-01 4.69890005e-01 -4.24017101e-03 -9.65028440e+01] [-4.74011560e-03 -1.19077201e-04 -9.99988758e-01 -1.03985501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.710385723 meters 0.016666535125468344 Centerline is valid? [True, True] Translation: X:250.21, Y:-96.47, Z:-10.40 [[-5.38769855e-01 8.42450257e-01 2.14662457e-03 2.50214052e+02] [ 8.42442613e-01 5.38774117e-01 -3.59101125e-03 -9.64665294e+01] [-4.18179411e-03 -1.26320596e-04 -9.99991248e-01 -1.03975923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.770385723 meters 0.015822510694558697 Centerline is valid? [True, True] Translation: X:250.20, Y:-96.44, Z:-10.40 [[-6.05428014e-01 7.95898462e-01 1.59907041e-03 2.50196109e+02] [ 7.95895071e-01 6.05430111e-01 -2.32755383e-03 -9.64356350e+01] [-2.82062189e-03 -1.36474042e-04 -9.99996013e-01 -1.04013831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.830385723 meters 0.015736086897788347 Centerline is valid? [True, True] Translation: X:250.18, Y:-96.41, Z:-10.40 [[-6.67212331e-01 7.44858851e-01 3.60531316e-03 2.50176915e+02] [ 7.44846746e-01 6.67222055e-01 -4.24914200e-03 -9.64060300e+01] [-5.57055548e-03 -1.49674164e-04 -9.99984473e-01 -1.03990120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.890385723 meters 0.015580875141330015 Centerline is valid? [True, True] Translation: X:250.15, Y:-96.38, Z:-10.40 [[-7.21561344e-01 6.92329467e-01 5.39770551e-03 2.50153974e+02] [ 6.92308688e-01 7.21581520e-01 -5.36565513e-03 -9.63781570e+01] [-7.60968571e-03 -1.34770910e-04 -9.99971037e-01 -1.03991935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.950385723 meters 0.015694349038011562 Centerline is valid? [True, True] Translation: X:250.16, Y:-96.36, Z:-10.40 [[-7.66407575e-01 6.42324473e-01 6.22102196e-03 2.50163204e+02] [ 6.42302332e-01 7.66432817e-01 -5.33390246e-03 -9.63584144e+01] [-8.19409148e-03 -9.21663348e-05 -9.99966424e-01 -1.03995501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.010385723 meters 0.015745736008272154 Centerline is valid? [True, True] Translation: X:250.17, Y:-96.34, Z:-10.40 [[-8.07257612e-01 5.90168376e-01 6.03622391e-03 2.50173993e+02] [ 5.90151324e-01 8.07280177e-01 -4.48668941e-03 -9.63435334e+01] [-7.52082612e-03 -5.96286484e-05 -9.99971716e-01 -1.04006430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.070385723 meters 0.016191334684597204 Centerline is valid? [True, True] Translation: X:250.18, Y:-96.33, Z:-10.40 [[-8.44770206e-01 5.35103330e-01 5.26546444e-03 2.50182227e+02] [ 5.35092621e-01 8.44786615e-01 -3.38569316e-03 -9.63264734e+01] [-6.25988956e-03 -4.26215393e-05 -9.99980406e-01 -1.04021238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.130385723 meters 0.016612339085514377 Centerline is valid? [True, True] Translation: X:250.19, Y:-96.31, Z:-10.40 [[-8.78919671e-01 4.76943246e-01 5.03516211e-03 2.50190808e+02] [ 4.76935230e-01 8.78934093e-01 -2.76526239e-03 -9.63050206e+01] [-5.74444886e-03 -2.89973088e-05 -9.99983500e-01 -1.04016858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.190385723 meters 0.017721891219239613 Centerline is valid? [True, True] Translation: X:250.20, Y:-96.29, Z:-10.40 [[-9.08219945e-01 4.18434981e-01 6.97836877e-03 2.50196673e+02] [ 4.18422992e-01 9.08246753e-01 -3.16790480e-03 -9.62868352e+01] [-7.66364296e-03 4.27556133e-05 -9.99970633e-01 -1.04008979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.250385723 meters 0.02023963974731045 Centerline is valid? [True, True] Translation: X:250.21, Y:-96.27, Z:-10.40 [[-9.32938730e-01 3.59965060e-01 7.10500679e-03 2.50208594e+02] [ 3.59955414e-01 9.32965780e-01 -2.63699068e-03 -9.62723359e+01] [-7.57795271e-03 9.73349251e-05 -9.99971282e-01 -1.04015605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.310385723 meters 0.019693717590351757 Centerline is valid? [True, True] Translation: X:250.21, Y:-96.25, Z:-10.40 [[-9.54711300e-01 2.97461160e-01 6.57204370e-03 2.50214705e+02] [ 2.97454900e-01 9.54733914e-01 -1.93282820e-03 -9.62471234e+01] [-6.84949433e-03 1.09593679e-04 -9.99976536e-01 -1.04037725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.370385723 meters 0.02192597916906135 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.23, Z:-10.40 [[-9.72142971e-01 2.34317992e-01 5.75528411e-03 2.50217627e+02] [ 2.34314558e-01 9.72160000e-01 -1.27347491e-03 -9.62253270e+01] [-5.89345509e-03 1.10547169e-04 -9.99982627e-01 -1.04048419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.430385723 meters 0.022837006277162394 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.20, Z:-10.40 [[-9.85703425e-01 1.68353297e-01 6.77688199e-03 2.50217887e+02] [ 1.68350521e-01 9.85726705e-01 -9.82144120e-04 -9.61984915e+01] [-6.84550076e-03 1.72788790e-04 -9.99976554e-01 -1.04042740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.490385723 meters 0.024872046654499925 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.17, Z:-10.40 [[-9.95027345e-01 9.92672777e-02 8.16023153e-03 2.50215963e+02] [ 9.92659197e-02 9.95060777e-01 -5.72267586e-04 -9.61711700e+01] [-8.17673377e-03 2.40610991e-04 -9.99966541e-01 -1.04023595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.550385723 meters 0.02261076254575026 Centerline is valid? [True, True] Translation: X:250.21, Y:-96.14, Z:-10.40 [[-9.99544190e-01 2.93785273e-02 6.95082608e-03 2.50211631e+02] [ 2.93791703e-02 9.99568339e-01 -9.60577998e-06 -9.61357442e+01] [-6.94810789e-03 1.94608101e-04 -9.99975843e-01 -1.04031206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.610385723 meters 0.021692188893848326 Centerline is valid? [True, True] Translation: X:250.20, Y:-96.10, Z:-10.40 [[-9.98982676e-01 -4.47311723e-02 5.72151793e-03 2.50200231e+02] [-4.47297317e-02 9.98999053e-01 3.79561937e-04 -9.61028115e+01] [-5.73276924e-03 1.23253837e-04 -9.99983560e-01 -1.04046031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.670385723 meters 0.021202665652041246 Centerline is valid? [True, True] Translation: X:250.18, Y:-96.07, Z:-10.40 [[-9.92800572e-01 -1.19653637e-01 5.48018483e-03 2.50183474e+02] [-1.19651296e-01 9.92815692e-01 7.54234692e-04 -9.60721148e+01] [-5.53106042e-03 9.30934174e-05 -9.99984699e-01 -1.04042611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.730385723 meters 0.01939012284032707 Centerline is valid? [True, True] Translation: X:250.16, Y:-96.04, Z:-10.40 [[-9.80172028e-01 -1.98053304e-01 6.13883300e-03 2.50159397e+02] [-1.98048967e-01 9.80191249e-01 1.31253819e-03 -9.60395468e+01] [-6.27718291e-03 7.07236804e-05 -9.99980296e-01 -1.04034826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.790385723 meters 0.016547277505518283 Centerline is valid? [True, True] Translation: X:250.13, Y:-96.01, Z:-10.40 [[-9.60970281e-01 -2.76610157e-01 4.78949501e-03 2.50130013e+02] [-2.76606799e-01 9.60982217e-01 1.36304895e-03 -9.60090192e+01] [-4.97965271e-03 -1.49573478e-05 -9.99987601e-01 -1.04041037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.850385723 meters 0.016533920666635404 Centerline is valid? [True, True] Translation: X:249.94, Y:-95.45, Z:-11.39 [[-9.69578876e-01 2.44775109e-01 1.39613330e-03 2.49938821e+02] [-2.44775107e-01 -9.69579866e-01 1.74902517e-04 -9.54535241e+01] [ 1.39647452e-03 -1.72156892e-04 9.99999010e-01 -1.13882504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.910385723 meters 0.01512750741842269 Centerline is valid? [True, True] Translation: X:250.01, Y:-96.04, Z:-10.40 [[-9.55288115e-01 -2.95643924e-01 4.39177824e-03 2.50006126e+02] [-2.95641228e-01 9.55298206e-01 1.26567462e-03 -9.60380228e+01] [-4.56964689e-03 -8.93067964e-05 -9.99989555e-01 -1.04017471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.970385723 meters 0.014948649401955994 Centerline is valid? [True, True] Translation: X:249.97, Y:-96.02, Z:-10.40 [[-9.29807818e-01 -3.68001291e-01 5.69833535e-03 2.49970396e+02] [-3.67995075e-01 9.29825273e-01 2.14147311e-03 -9.60219782e+01] [-6.08652109e-03 -1.05800909e-04 -9.99981471e-01 -1.04020118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.030385723 meters 0.014996513586628587 Centerline is valid? [True, True] Translation: X:249.92, Y:-96.01, Z:-10.40 [[-8.99201968e-01 -4.37460953e-01 7.98343936e-03 2.49923622e+02] [-4.37445035e-01 8.99237397e-01 3.73423762e-03 -9.60114282e+01] [-8.81259038e-03 -1.34482094e-04 -9.99961159e-01 -1.03991184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.090385723 meters 0.015147468844034447 Centerline is valid? [True, True] Translation: X:249.86, Y:-96.02, Z:-10.40 [[-8.63379896e-01 -5.04490755e-01 8.01454392e-03 2.49861660e+02] [-5.04470754e-01 8.63417079e-01 4.49511047e-03 -9.60160605e+01] [-9.18763577e-03 -1.62115000e-04 -9.99957780e-01 -1.03994040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.150385723 meters 0.015546968970204873 Centerline is valid? [True, True] Translation: X:249.79, Y:-96.03, Z:-10.40 [[-8.22949301e-01 -5.68053393e-01 8.35411998e-03 2.49794671e+02] [-5.68026376e-01 8.22991682e-01 5.54321120e-03 -9.60281234e+01] [-1.00242112e-02 -1.83578712e-04 -9.99949739e-01 -1.03976101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.210385723 meters 0.015509060069464876 Centerline is valid? [True, True] Translation: X:249.72, Y:-96.06, Z:-10.40 [[-7.77111556e-01 -6.29302598e-01 8.71029041e-03 2.49719774e+02] [-6.29266190e-01 7.77160339e-01 6.77266636e-03 -9.60550076e+01] [-1.10313488e-02 -2.17973968e-04 -9.99939129e-01 -1.03986250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.270385723 meters 0.016425210350080162 Centerline is valid? [True, True] Translation: X:249.64, Y:-96.09, Z:-10.40 [[-7.24787256e-01 -6.88911942e-01 9.15262432e-03 2.49642125e+02] [-6.88862022e-01 7.24844985e-01 8.29833188e-03 -9.60890152e+01] [-1.23510538e-02 -2.90370101e-04 -9.99923681e-01 -1.03967874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.330385723 meters 0.017001605757513725 Centerline is valid? [True, True] Translation: X:249.56, Y:-96.14, Z:-10.40 [[-6.67864764e-01 -7.44237979e-01 8.15405405e-03 2.49563488e+02] [-7.44188587e-01 6.67914454e-01 8.58074718e-03 -9.61386763e+01] [-1.18323285e-02 -3.37375277e-04 -9.99929939e-01 -1.03995752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.390385723 meters 0.017524959057489117 Centerline is valid? [True, True] Translation: X:249.49, Y:-96.20, Z:-10.40 [[-6.08993232e-01 -7.93139921e-01 7.50392587e-03 2.49486144e+02] [-7.93086747e-01 6.09039359e-01 9.19083918e-03 -9.61962910e+01] [-1.18598077e-02 -3.54105297e-04 -9.99929607e-01 -1.04007329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.450385723 meters 0.017569669683690645 Centerline is valid? [True, True] Translation: X:249.41, Y:-96.27, Z:-10.40 [[-5.47244285e-01 -8.36932451e-01 8.23190342e-03 2.49409988e+02] [-8.36848744e-01 5.47306044e-01 1.18437247e-02 -9.62693670e+01] [-1.44177681e-02 -4.07447379e-04 -9.99895976e-01 -1.03988879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.510385723 meters 0.017419522203032372 Centerline is valid? [True, True] Translation: X:249.35, Y:-96.34, Z:-10.40 [[-4.83781759e-01 -8.75161540e-01 6.89124703e-03 2.49345088e+02] [-8.75083280e-01 4.83830700e-01 1.17093177e-02 -9.63433783e+01] [-1.35817414e-02 -3.65660742e-04 -9.99907697e-01 -1.03991281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.570385723 meters 0.017230706341298446 Centerline is valid? [True, True] Translation: X:249.28, Y:-96.43, Z:-10.40 [[-4.17226079e-01 -9.08788178e-01 5.14259971e-03 2.49281370e+02] [-9.08728105e-01 4.17257654e-01 1.04537829e-02 -9.64260950e+01] [-1.16460635e-02 -3.11634025e-04 -9.99932134e-01 -1.04016014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.630385723 meters 0.016656300498028003 Centerline is valid? [True, True] Translation: X:249.22, Y:-96.53, Z:-10.41 [[-3.48708206e-01 -9.37224896e-01 3.47577326e-03 2.49222528e+02] [-9.37185294e-01 3.48725437e-01 8.61942547e-03 -9.65261039e+01] [-9.29043069e-03 -2.51779194e-04 -9.99956811e-01 -1.04060050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.690385723 meters 0.017287846390279634 Centerline is valid? [True, True] Translation: X:248.48, Y:-96.39, Z:-11.39 [[-4.36975778e-01 8.99470290e-01 2.31658458e-03 2.48483930e+02] [-8.99458709e-01 -4.36981910e-01 4.56514142e-03 -9.63944505e+01] [ 5.11851463e-03 -8.88159515e-05 9.99986896e-01 -1.13893841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.750385723 meters 0.017099446871173336 Centerline is valid? [True, True] Translation: X:249.13, Y:-96.80, Z:-10.41 [[-3.41620826e-01 -9.39830755e-01 3.65566260e-03 2.49133462e+02] [-9.39784177e-01 3.41640302e-01 9.35974895e-03 -9.68024981e+01] [-1.00455016e-02 -2.38048699e-04 -9.99949514e-01 -1.04063487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.810385723 meters 0.016586469833503686 Centerline is valid? [True, True] Translation: X:249.08, Y:-96.91, Z:-10.41 [[-2.72559815e-01 -9.62133821e-01 3.10752984e-03 2.49077403e+02] [-9.62079301e-01 2.72577458e-01 1.02443825e-02 -9.69070008e+01] [-1.07035094e-02 -1.97483147e-04 -9.99942696e-01 -1.04058289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.870385723 meters 0.016371058667875606 Centerline is valid? [True, True] Translation: X:249.02, Y:-97.01, Z:-10.40 [[-2.01573260e-01 -9.79470820e-01 2.26589449e-03 2.49022841e+02] [-9.79417252e-01 2.01585936e-01 1.02448452e-02 -9.70085263e+01] [-1.04912993e-02 -1.54169320e-04 -9.99944953e-01 -1.04037761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.930385723 meters 0.016226927496089533 Centerline is valid? [True, True] Translation: X:248.97, Y:-97.12, Z:-10.40 [[-1.29516106e-01 -9.91575929e-01 1.65997614e-03 2.48972655e+02] [-9.91505101e-01 1.29526696e-01 1.18519741e-02 -9.71174679e+01] [-1.19671434e-02 -1.10853280e-04 -9.99928385e-01 -1.04013655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.990385723 meters 0.01606193616121328 Centerline is valid? [True, True] Translation: X:248.93, Y:-97.24, Z:-10.40 [[-5.50662881e-02 -9.98482457e-01 6.98325446e-04 2.48932102e+02] [-9.98420658e-01 5.50706495e-02 1.11091751e-02 -9.72374515e+01] [-1.11307737e-02 -8.54815166e-05 -9.99938047e-01 -1.04028675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.050385723 meters 0.016138877079488273 Centerline is valid? [True, True] Translation: X:248.90, Y:-97.36, Z:-10.40 [[ 1.86897949e-02 -9.99825319e-01 -1.54109704e-04 2.48904500e+02] [-9.99766133e-01 -1.86903653e-02 1.08788294e-02 -9.73552775e+01] [-1.08798094e-02 -4.92494269e-05 -9.99940812e-01 -1.04024963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.110385723 meters 0.016532905423360934 Centerline is valid? [True, True] Translation: X:248.88, Y:-97.48, Z:-10.40 [[ 9.16444668e-02 -9.95791115e-01 -1.16026611e-03 2.48884644e+02] [-9.95712688e-01 -9.16518107e-02 1.24975164e-02 -9.74750271e+01] [-1.25512563e-02 9.96346411e-06 -9.99921230e-01 -1.03988097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.170385723 meters 0.01661079471505027 Centerline is valid? [True, True] Translation: X:248.87, Y:-97.60, Z:-10.40 [[ 1.66744495e-01 -9.85998444e-01 -1.82828067e-03 2.48871409e+02] [-9.85939710e-01 -1.66754518e-01 1.07619131e-02 -9.76026249e+01] [-1.09161036e-02 8.08474974e-06 -9.99940418e-01 -1.03976093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.230385723 meters 0.015718062180945198 Centerline is valid? [True, True] Translation: X:248.87, Y:-97.73, Z:-10.40 [[ 2.44716643e-01 -9.69593010e-01 -1.77760571e-03 2.48870473e+02] [-9.69565903e-01 -2.44723094e-01 7.25035101e-03 -9.77284601e+01] [-7.46491082e-03 -5.07756727e-05 -9.99972136e-01 -1.04031088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.290385723 meters 0.0155146450987239 Centerline is valid? [True, True] Translation: X:248.88, Y:-97.86, Z:-10.40 [[ 3.20570617e-01 -9.47222910e-01 -1.79934471e-03 2.48879378e+02] [-9.47206616e-01 -3.20575658e-01 5.55641600e-03 -9.78588434e+01] [-5.83999065e-03 -7.68724936e-05 -9.99982944e-01 -1.04041563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.350385723 meters 0.015291270205495734 Centerline is valid? [True, True] Translation: X:248.90, Y:-97.99, Z:-10.40 [[ 3.94157217e-01 -9.19040867e-01 -1.99310722e-03 2.48897117e+02] [-9.19027939e-01 -3.94162246e-01 4.87546187e-03 -9.79884366e+01] [-5.26635632e-03 -8.99772637e-05 -9.99986129e-01 -1.04019345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.410385723 meters 0.015260519437230226 Centerline is valid? [True, True] Translation: X:248.92, Y:-98.10, Z:-10.40 [[ 4.63261607e-01 -8.86217385e-01 -2.72567279e-03 2.48921295e+02] [-8.86200975e-01 -4.63269618e-01 5.39378939e-03 -9.80999415e+01] [-6.04279133e-03 -8.32416595e-05 -9.99981739e-01 -1.04013179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.470385723 meters 0.01549830201213242 Centerline is valid? [True, True] Translation: X:248.96, Y:-98.22, Z:-10.40 [[ 5.27708820e-01 -8.49420469e-01 -2.87534570e-03 2.48962102e+02] [-8.49407121e-01 -5.27716649e-01 4.76246470e-03 -9.82170241e+01] [-5.56270279e-03 -7.08555152e-05 -9.99984526e-01 -1.04020976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.530385723 meters 0.0160271127135445 Centerline is valid? [True, True] Translation: X:249.00, Y:-98.32, Z:-10.40 [[ 5.87867168e-01 -8.08950384e-01 -3.38665049e-03 2.49001607e+02] [-8.08936527e-01 -5.87876921e-01 4.73507866e-03 -9.83208855e+01] [-5.82137736e-03 -4.40119948e-05 -9.99983055e-01 -1.03991817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.590385723 meters 0.01626094171971152 Centerline is valid? [True, True] Translation: X:249.05, Y:-98.42, Z:-10.40 [[ 6.45483228e-01 -7.63764994e-01 -3.79945457e-03 2.49050252e+02] [-7.63751560e-01 -6.45494410e-01 4.53015118e-03 -9.84247643e+01] [-5.91249757e-03 -2.22972539e-05 -9.99982521e-01 -1.03983883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.650385723 meters 0.0167145966259701 Centerline is valid? [True, True] Translation: X:249.11, Y:-98.53, Z:-10.40 [[ 6.99480926e-01 -7.14633326e-01 -5.06398661e-03 2.49110615e+02] [-7.14614840e-01 -6.99499256e-01 5.14019933e-03 -9.85253772e+01] [-7.21561261e-03 2.33285869e-05 -9.99973967e-01 -1.03987264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.710385723 meters 0.016686494004651737 Centerline is valid? [True, True] Translation: X:249.12, Y:-98.56, Z:-10.40 [[ 7.53264394e-01 -6.57686327e-01 -6.43806251e-03 2.49123642e+02] [-6.57662805e-01 -7.53291905e-01 5.56250680e-03 -9.85566280e+01] [-8.50812504e-03 4.40359302e-05 -9.99963804e-01 -1.03970461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.770385723 meters 0.016105868785017092 Centerline is valid? [True, True] Translation: X:249.14, Y:-98.59, Z:-10.40 [[ 8.04149013e-01 -5.94399199e-01 -5.82722343e-03 2.49138008e+02] [-5.94383583e-01 -8.04170127e-01 4.30855398e-03 -9.85858322e+01] [-7.24708004e-03 -1.11348884e-06 -9.99973740e-01 -1.03962982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.830385723 meters 0.015893624058630023 Centerline is valid? [True, True] Translation: X:249.16, Y:-98.61, Z:-10.40 [[ 8.48551142e-01 -5.29083668e-01 -5.60644022e-03 2.49157085e+02] [-5.29071998e-01 -8.48569662e-01 3.51407342e-03 -9.86126830e+01] [-6.61669393e-03 -1.56604813e-05 -9.99978109e-01 -1.03970405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.890385723 meters 0.015418272980062661 Centerline is valid? [True, True] Translation: X:249.18, Y:-98.64, Z:-10.40 [[ 8.87473854e-01 -4.60832153e-01 -4.88721885e-03 2.49176826e+02] [-4.60824957e-01 -8.87487310e-01 2.57556863e-03 -9.86412086e+01] [-5.52424955e-03 -3.35974044e-05 -9.99984741e-01 -1.03987157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.950385723 meters 0.015420806426280556 Centerline is valid? [True, True] Translation: X:249.20, Y:-98.67, Z:-10.40 [[ 9.21243242e-01 -3.88970929e-01 -3.53643175e-03 2.49198898e+02] [-3.88967803e-01 -9.21250027e-01 1.56054922e-03 -9.86668072e+01] [-3.86494613e-03 -6.20873347e-05 -9.99992529e-01 -1.04010292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.010385723 meters 0.01547505901629095 Centerline is valid? [True, True] Translation: X:249.22, Y:-98.69, Z:-10.40 [[ 9.49335180e-01 -3.14237277e-01 -4.20113127e-03 2.49222968e+02] [-3.14233914e-01 -9.49344474e-01 1.45497906e-03 -9.86880185e+01] [-4.44552941e-03 -6.11248867e-05 -9.99990117e-01 -1.04012208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.070385723 meters 0.015228687663765356 Centerline is valid? [True, True] Translation: X:249.25, Y:-98.71, Z:-10.40 [[ 9.71018779e-01 -2.38963566e-01 -4.35259386e-03 2.49251236e+02] [-2.38960884e-01 -9.71028532e-01 1.13369883e-03 -9.87057936e+01] [-4.49740555e-03 -6.07431730e-05 -9.99989885e-01 -1.04016693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.130385723 meters 0.01514852305473416 Centerline is valid? [True, True] Translation: X:249.28, Y:-98.72, Z:-10.40 [[ 9.86920484e-01 -1.61153145e-01 -4.19793625e-03 2.49278642e+02] [-1.61151395e-01 -9.86929409e-01 7.54221307e-04 -9.87239569e+01] [-4.26461188e-03 -6.78531765e-05 -9.99990904e-01 -1.04025097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.190385723 meters 0.015179892077257338 Centerline is valid? [True, True] Translation: X:249.30, Y:-98.73, Z:-10.40 [[ 9.96563142e-01 -8.27193209e-02 -4.40663929e-03 2.49304867e+02] [-8.27182070e-02 -9.96572882e-01 4.34748609e-04 -9.87343207e+01] [-4.42749933e-03 -6.87451386e-05 -9.99990196e-01 -1.04038922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.250385723 meters 0.014927805967678327 Centerline is valid? [True, True] Translation: X:249.33, Y:-98.75, Z:-10.41 [[ 9.99986235e-01 -3.03406517e-03 -4.28062570e-03 2.49332823e+02] [-3.03371207e-03 -9.99995394e-01 8.89782507e-05 -9.87498728e+01] [-4.28087595e-03 -7.59908400e-05 -9.99990834e-01 -1.04052569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.310385723 meters 0.015205621806917619 Centerline is valid? [True, True] Translation: X:249.36, Y:-98.76, Z:-10.41 [[ 9.97242424e-01 7.40548829e-02 -4.83973263e-03 2.49360436e+02] [ 7.40543271e-02 -9.97254165e-01 -2.94180439e-04 -9.87591318e+01] [-4.84822902e-03 -6.50339294e-05 -9.99988245e-01 -1.04054796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.370385723 meters 0.015407694037734523 Centerline is valid? [True, True] Translation: X:249.39, Y:-98.77, Z:-10.40 [[ 9.88745807e-01 1.49481510e-01 -6.08335507e-03 2.49389876e+02] [ 1.49478912e-01 -9.88764520e-01 -8.82080351e-04 -9.87650178e+01] [-6.14686036e-03 -3.71800506e-05 -9.99981107e-01 -1.04049711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.430385723 meters 0.01591903951242257 Centerline is valid? [True, True] Translation: X:249.42, Y:-98.77, Z:-10.41 [[ 9.74777950e-01 2.23044951e-01 -7.67454743e-03 2.49420563e+02] [ 2.23037945e-01 -9.74808161e-01 -1.76783765e-03 -9.87712846e+01] [-7.87551873e-03 1.15338755e-05 -9.99968988e-01 -1.04052194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.490385723 meters 0.016811668601820345 Centerline is valid? [True, True] Translation: X:249.45, Y:-98.78, Z:-10.41 [[ 9.55377573e-01 2.95304251e-01 -7.00660234e-03 2.49451412e+02] [ 2.95296084e-01 -9.55403265e-01 -2.19647146e-03 -9.87753117e+01] [-7.34275811e-03 2.94373375e-05 -9.99973041e-01 -1.04057622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.550385723 meters 0.016676221150842455 Centerline is valid? [True, True] Translation: X:249.49, Y:-98.78, Z:-10.41 [[ 9.30430362e-01 3.66418441e-01 -6.07181862e-03 2.49485601e+02] [ 3.66410402e-01 -9.30450173e-01 -2.42740356e-03 -9.87821418e+01] [-6.53897011e-03 3.37524733e-05 -9.99978620e-01 -1.04067344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.610385723 meters 0.01704835481238253 Centerline is valid? [True, True] Translation: X:249.52, Y:-98.78, Z:-10.41 [[ 8.99011270e-01 4.37859400e-01 -7.60798294e-03 2.49518992e+02] [ 4.37842969e-01 -8.99043458e-01 -3.79408095e-03 -9.87828694e+01] [-8.50118130e-03 7.98196931e-05 -9.99963861e-01 -1.04060568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.670385723 meters 0.016634608153873638 Centerline is valid? [True, True] Translation: X:249.56, Y:-98.79, Z:-10.41 [[ 8.61070192e-01 5.08437810e-01 -7.00834653e-03 2.49555952e+02] [ 5.08420420e-01 -8.61098711e-01 -4.20560179e-03 -9.87869011e+01] [-8.17316513e-03 5.81318593e-05 -9.99966597e-01 -1.04059941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.730385723 meters 0.016643790717242576 Centerline is valid? [True, True] Translation: X:249.59, Y:-98.79, Z:-10.40 [[ 8.17601009e-01 5.75748910e-01 -6.46387136e-03 2.49592056e+02] [ 5.75730539e-01 -8.17626559e-01 -4.59958552e-03 -9.87859498e+01] [-7.93323925e-03 3.91776281e-05 -9.99968531e-01 -1.04046013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.790385723 meters 0.01744903257415175 Centerline is valid? [True, True] Translation: X:249.62, Y:-98.78, Z:-10.41 [[ 7.71868850e-01 6.35753373e-01 -6.01064132e-03 2.49624869e+02] [ 6.35733487e-01 -7.71892250e-01 -5.02871679e-03 -9.87768203e+01] [-7.83659112e-03 6.03438791e-05 -9.99969292e-01 -1.04052707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.850385723 meters 0.01856973076466319 Centerline is valid? [True, True] Translation: X:249.66, Y:-98.76, Z:-10.41 [[ 7.22268748e-01 6.91599316e-01 -4.27097110e-03 2.49655318e+02] [ 6.91586884e-01 -7.22281374e-01 -4.14705777e-03 -9.87633450e+01] [-5.95294519e-03 4.15426313e-05 -9.99982280e-01 -1.04066125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.910385723 meters 0.020032376521779652 Centerline is valid? [True, True] Translation: X:249.69, Y:-98.75, Z:-10.41 [[ 6.70263555e-01 7.42118655e-01 -2.58233799e-03 2.49686789e+02] [ 7.42113080e-01 -6.70268530e-01 -2.87654849e-03 -9.87488019e+01] [-3.86560019e-03 1.16588185e-05 -9.99992528e-01 -1.04081551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.970385723 meters 0.019830055446253218 Centerline is valid? [True, True] Translation: X:249.72, Y:-98.74, Z:-10.41 [[ 6.13893679e-01 7.89385288e-01 -2.32743466e-03 2.49723513e+02] [ 7.89379434e-01 -6.13898090e-01 -3.04025145e-03 -9.87364757e+01] [-3.82873746e-03 2.91620950e-05 -9.99992670e-01 -1.04080688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.030385723 meters 0.020158936989119403 Centerline is valid? [True, True] Translation: X:249.76, Y:-98.72, Z:-10.41 [[ 5.51638773e-01 8.34079003e-01 -2.62333638e-03 2.49759524e+02] [ 8.34068914e-01 -5.51645005e-01 -4.10299542e-03 -9.87209513e+01] [-4.86937274e-03 7.53280325e-05 -9.99988142e-01 -1.04069337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.090385723 meters 0.02053832837766906 Centerline is valid? [True, True] Translation: X:249.79, Y:-98.70, Z:-10.41 [[ 4.83498014e-01 8.75341422e-01 -2.65809426e-03 2.49790360e+02] [ 8.75327055e-01 -4.83505311e-01 -5.01616607e-03 -9.87017218e+01] [-5.67606063e-03 9.86045117e-05 -9.99983886e-01 -1.04053415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.150385723 meters 0.02029846488170657 Centerline is valid? [True, True] Translation: X:249.82, Y:-98.68, Z:-10.40 [[ 4.10176648e-01 9.12000500e-01 -3.19465118e-03 2.49823290e+02] [ 9.11969750e-01 -4.10189057e-01 -7.49081754e-03 -9.86796018e+01] [-8.14204030e-03 1.59133193e-04 -9.99966840e-01 -1.04017626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.210385723 meters 0.023260605673440717 Centerline is valid? [True, True] Translation: X:249.85, Y:-98.65, Z:-10.40 [[ 3.33797198e-01 9.42642220e-01 -2.25285848e-03 2.49846267e+02] [ 9.42618791e-01 -3.33804787e-01 -6.64667437e-03 -9.86534829e+01] [-7.01745083e-03 9.50545458e-05 -9.99975373e-01 -1.04007288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.270385723 meters 0.019096687201364156 Centerline is valid? [True, True] Translation: X:249.88, Y:-98.63, Z:-10.40 [[ 2.56181325e-01 9.66626767e-01 -1.95508116e-03 2.49877767e+02] [ 9.66595530e-01 -2.56188765e-01 -7.77162783e-03 -9.86268372e+01] [-8.01313331e-03 1.01173213e-04 -9.99967889e-01 -1.04010436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.330385723 meters 0.01820667694940402 Centerline is valid? [True, True] Translation: X:249.90, Y:-98.60, Z:-10.40 [[ 1.78871306e-01 9.83871651e-01 -1.27709380e-03 2.49902558e+02] [ 9.83843092e-01 -1.78875845e-01 -7.49678100e-03 -9.85958986e+01] [-7.60431153e-03 8.44990901e-05 -9.99971083e-01 -1.04008941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.390385723 meters 0.01884999475037724 Centerline is valid? [True, True] Translation: X:249.92, Y:-98.56, Z:-10.40 [[ 1.01980323e-01 9.94786211e-01 -6.39218675e-04 2.49919680e+02] [ 9.94761849e-01 -1.01982300e-01 -6.96239868e-03 -9.85626559e+01] [-6.99128719e-03 7.41573176e-05 -9.99975558e-01 -1.04024940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.450385723 meters 0.0198282539134779 Centerline is valid? [True, True] Translation: X:249.93, Y:-98.53, Z:-10.40 [[ 2.63648454e-02 9.99652383e-01 -9.20327727e-05 2.49932598e+02] [ 9.99628797e-01 -2.63648556e-02 -6.86754763e-03 -9.85272013e+01] [-6.86758679e-03 8.90632221e-05 -9.99976414e-01 -1.04030898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.510385723 meters 0.018133555895826263 Centerline is valid? [True, True] Translation: X:249.95, Y:-98.49, Z:-10.40 [[-5.10483269e-02 9.98696097e-01 4.17516847e-04 2.49954388e+02] [ 9.98674971e-01 5.10499629e-02 -6.49644858e-03 -9.84899302e+01] [-6.50929206e-03 8.53307941e-05 -9.99978811e-01 -1.04039371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.570385723 meters 0.018172911117837903 Centerline is valid? [True, True] Translation: X:249.97, Y:-98.45, Z:-10.40 [[-1.32428792e-01 9.91192049e-01 9.68253568e-04 2.49965769e+02] [ 9.91169320e-01 1.32432313e-01 -6.71282140e-03 -9.84527870e+01] [-6.78192325e-03 7.07324008e-05 -9.99977000e-01 -1.04045051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.630385723 meters 0.016722810766744374 Centerline is valid? [True, True] Translation: X:249.98, Y:-98.41, Z:-10.41 [[-2.14677808e-01 9.76683824e-01 1.46505810e-03 2.49980932e+02] [ 9.76662147e-01 2.14682804e-01 -6.50727993e-03 -9.84119665e+01] [-6.67007783e-03 3.38981998e-05 -9.99977754e-01 -1.04052002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.690385723 meters 0.0159386945910078 Centerline is valid? [True, True] Translation: X:249.99, Y:-98.37, Z:-10.41 [[-2.94238282e-01 9.55729995e-01 2.00251789e-03 2.49990286e+02] [ 9.55708092e-01 2.94245096e-01 -6.47036994e-03 -9.83703541e+01] [-6.77315770e-03 9.99201957e-06 -9.99977062e-01 -1.04050971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.750385723 meters 0.016101995846159355 Centerline is valid? [True, True] Translation: X:249.99, Y:-98.33, Z:-10.41 [[-3.69803808e-01 9.29107302e-01 2.18288146e-03 2.49989697e+02] [ 9.29090890e-01 3.69810250e-01 -5.52237256e-03 -9.83307389e+01] [-5.93812861e-03 -1.40991193e-05 -9.99982369e-01 -1.04059069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.810385723 meters 0.015923534835591405 Centerline is valid? [True, True] Translation: X:249.98, Y:-98.29, Z:-10.41 [[-4.42993677e-01 8.96522273e-01 2.10168964e-03 2.49984603e+02] [ 8.96511762e-01 4.42998660e-01 -4.34131008e-03 -9.82922672e+01] [-4.82312687e-03 -3.89834294e-05 -9.99988368e-01 -1.04059241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.870385723 meters 0.01568666537259267 Centerline is valid? [True, True] Translation: X:249.98, Y:-98.25, Z:-10.41 [[-5.12949532e-01 8.58413426e-01 3.02787515e-03 2.49975376e+02] [ 8.58398113e-01 5.12958468e-01 -5.12743528e-03 -9.82540758e+01] [-5.95463348e-03 -3.09932131e-05 -9.99982271e-01 -1.04054148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.930385723 meters 0.015464175606391196 Centerline is valid? [True, True] Translation: X:249.97, Y:-98.21, Z:-10.41 [[-5.78590016e-01 8.15610557e-01 3.60726364e-03 2.49965891e+02] [ 8.15594416e-01 5.78601260e-01 -5.13132929e-03 -9.82148379e+01] [-6.27233363e-03 -2.68718168e-05 -9.99980328e-01 -1.04058202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.990385723 meters 0.015477408343273536 Centerline is valid? [True, True] Translation: X:249.95, Y:-98.18, Z:-10.41 [[-6.41012556e-01 7.67522367e-01 3.50976564e-03 2.49951057e+02] [ 7.67510535e-01 6.41022163e-01 -4.26202916e-03 -9.81796380e+01] [-5.52104028e-03 -3.82321068e-05 -9.99984758e-01 -1.04059155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.050385723 meters 0.01547247454266167 Centerline is valid? [True, True] Translation: X:249.93, Y:-98.15, Z:-10.41 [[-6.99538487e-01 7.14577566e-01 4.98059238e-03 2.49932499e+02] [ 7.14559222e-01 6.99556217e-01 -5.12030630e-03 -9.81458406e+01] [-7.14306038e-03 -2.29231068e-05 -9.99974488e-01 -1.04055289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.110385723 meters 0.01962001473188281 Centerline is valid? [True, True] Translation: X:250.26, Y:-97.81, Z:-11.41 [[-6.67686854e-01 -7.44427940e-01 4.61599940e-03 2.50261667e+02] [ 7.44410267e-01 -6.67702810e-01 -5.12953164e-03 -9.78149560e+01] [ 6.90068244e-03 1.12765022e-05 9.99976190e-01 -1.14076253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.170385723 meters 0.016746731146113105 Centerline is valid? [True, True] Translation: X:250.23, Y:-97.77, Z:-11.40 [[-6.68903280e-01 -7.43337473e-01 4.21939951e-03 2.50226010e+02] [ 7.43321842e-01 -6.68916582e-01 -4.82135414e-03 -9.77697020e+01] [ 6.40631950e-03 -8.86477796e-05 9.99979475e-01 -1.14049035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.230385723 meters 0.016509438355211875 Centerline is valid? [True, True] Translation: X:250.19, Y:-97.72, Z:-11.40 [[-6.71681959e-01 -7.40827314e-01 4.27033916e-03 2.50190860e+02] [ 7.40811270e-01 -6.71695525e-01 -4.87688343e-03 -9.77229028e+01] [ 6.48129616e-03 -1.12199240e-04 9.99978990e-01 -1.14041975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.290385723 meters 0.016975387799513082 Centerline is valid? [True, True] Translation: X:250.16, Y:-97.68, Z:-11.40 [[-6.74488513e-01 -7.38270269e-01 4.71760129e-03 2.50155802e+02] [ 7.38250645e-01 -6.74504994e-01 -5.38491701e-03 -9.76761576e+01] [ 7.15756976e-03 -1.49292469e-04 9.99974373e-01 -1.14044065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.350385723 meters 0.017217261872483423 Centerline is valid? [True, True] Translation: X:250.12, Y:-97.63, Z:-11.40 [[-6.75020327e-01 -7.37782087e-01 5.01494830e-03 2.50119320e+02] [ 7.37759922e-01 -6.75038936e-01 -5.72111547e-03 -9.76304653e+01] [ 7.60622188e-03 -1.62041370e-04 9.99971059e-01 -1.14039226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.410385723 meters 0.01718198211896301 Centerline is valid? [True, True] Translation: X:250.08, Y:-97.59, Z:-11.40 [[-6.73853563e-01 -7.38840734e-01 5.97871776e-03 2.50082105e+02] [ 7.38809306e-01 -6.73880062e-01 -6.81693967e-03 -9.75856323e+01] [ 9.06557141e-03 -1.76486762e-04 9.99958891e-01 -1.14045872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.470385723 meters 0.016874816329224846 Centerline is valid? [True, True] Translation: X:250.05, Y:-97.54, Z:-11.41 [[-6.71210982e-01 -7.41239261e-01 6.33842994e-03 2.50045122e+02] [ 7.41204079e-01 -6.71240893e-01 -7.22335822e-03 -9.75422232e+01] [ 9.60885007e-03 -1.50327238e-04 9.99953823e-01 -1.14052290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.530385723 meters 0.016148082829014504 Centerline is valid? [True, True] Translation: X:250.01, Y:-97.50, Z:-11.40 [[-6.68527343e-01 -7.43667862e-01 5.41317544e-03 2.50006692e+02] [ 7.43642310e-01 -6.68549251e-01 -6.16547255e-03 -9.74986697e+01] [ 8.20403818e-03 -9.63206959e-05 9.99966342e-01 -1.14043961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.590385723 meters 0.01591438681713792 Centerline is valid? [True, True] Translation: X:249.97, Y:-97.45, Z:-11.41 [[-6.67341703e-01 -7.44725656e-01 6.22483184e-03 2.49971171e+02] [ 7.44691953e-01 -6.67370728e-01 -7.08565430e-03 -9.74538291e+01] [ 9.43113911e-03 -9.29704282e-05 9.99955521e-01 -1.14053611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.650385723 meters 0.015849066417102972 Centerline is valid? [True, True] Translation: X:249.93, Y:-97.41, Z:-11.41 [[-6.67319605e-01 -7.44740130e-01 6.83255238e-03 2.49934601e+02] [ 7.44699574e-01 -6.67354575e-01 -7.77271819e-03 -9.74093390e+01] [ 1.03483902e-02 -9.86883823e-05 9.99946449e-01 -1.14062238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.710385723 meters 0.01563905540258692 Centerline is valid? [True, True] Translation: X:249.90, Y:-97.36, Z:-11.40 [[-6.67847188e-01 -7.44279827e-01 5.26051051e-03 2.49897732e+02] [ 7.44255798e-01 -6.67867901e-01 -5.98119977e-03 -9.73637488e+01] [ 7.96501244e-03 -7.93619912e-05 9.99968276e-01 -1.14042514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.770385723 meters 0.01887068866515581 Centerline is valid? [True, True] Translation: X:249.86, Y:-97.32, Z:-11.41 [[-6.68888338e-01 -7.43333756e-01 6.58174343e-03 2.49864017e+02] [ 7.43296136e-01 -6.68920710e-01 -7.47916369e-03 -9.73177226e+01] [ 9.96217932e-03 -1.10540910e-04 9.99950370e-01 -1.14088834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.830385723 meters 0.016304369912421523 Centerline is valid? [True, True] Translation: X:249.83, Y:-97.27, Z:-11.41 [[-6.71659745e-01 -7.40839101e-01 5.53288760e-03 2.49827964e+02] [ 7.40812460e-01 -6.71682523e-01 -6.28391240e-03 -9.72712171e+01] [ 8.37171191e-03 -1.21818925e-04 9.99964949e-01 -1.14056251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.890385723 meters 0.016867915103659255 Centerline is valid? [True, True] Translation: X:249.79, Y:-97.22, Z:-11.41 [[-6.74069669e-01 -7.38649927e-01 5.13483386e-03 2.49793207e+02] [ 7.38626943e-01 -6.74089213e-01 -5.82853108e-03 -9.72239354e+01] [ 7.76658017e-03 -1.36109381e-04 9.99969830e-01 -1.14053673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.950385723 meters 0.01966796897734832 Centerline is valid? [True, True] Translation: X:249.76, Y:-97.18, Z:-11.41 [[-6.76463410e-01 -7.36458661e-01 5.08878296e-03 2.49759255e+02] [ 7.36436044e-01 -6.76482532e-01 -5.77381968e-03 -9.71783208e+01] [ 7.69465229e-03 -1.58214558e-04 9.99970383e-01 -1.14078763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.010385723 meters 0.018267375246972067 Centerline is valid? [True, True] Translation: X:249.72, Y:-97.13, Z:-11.41 [[-6.78833529e-01 -7.34274205e-01 5.14110478e-03 2.49724119e+02] [ 7.34251084e-01 -6.78852972e-01 -5.82987467e-03 -9.71316129e+01] [ 7.77078085e-03 -1.82652634e-04 9.99969790e-01 -1.14064957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.070385723 meters 0.020250291527453473 Centerline is valid? [True, True] Translation: X:249.69, Y:-97.09, Z:-11.41 [[-6.81318248e-01 -7.31971567e-01 4.80301861e-03 2.49688991e+02] [ 7.31951352e-01 -6.81335151e-01 -5.44337456e-03 -9.70850687e+01] [ 7.25686081e-03 -1.93094458e-04 9.99973650e-01 -1.14076056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.130385723 meters 0.019150957050528807 Centerline is valid? [True, True] Translation: X:249.65, Y:-97.04, Z:-11.41 [[-6.81857944e-01 -7.31470821e-01 4.49253145e-03 2.49652622e+02] [ 7.31453145e-01 -6.81872719e-01 -5.08841819e-03 -9.70406009e+01] [ 6.78536406e-03 -1.83502113e-04 9.99976962e-01 -1.14074494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.190385723 meters 0.019709518029757258 Centerline is valid? [True, True] Translation: X:249.62, Y:-97.00, Z:-11.41 [[-6.81717779e-01 -7.31590389e-01 6.03102269e-03 2.49615964e+02] [ 7.31558570e-01 -6.81744413e-01 -6.82742238e-03 -9.69961310e+01] [ 9.10649262e-03 -2.42328883e-04 9.99958506e-01 -1.14096186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.250385723 meters 0.01795918872807462 Centerline is valid? [True, True] Translation: X:249.58, Y:-96.95, Z:-11.41 [[-6.81717215e-01 -7.31600596e-01 4.71240497e-03 2.49577559e+02] [ 7.31581193e-01 -6.81733477e-01 -5.33148866e-03 -9.69527504e+01] [ 7.11312450e-03 -1.87060754e-04 9.99974684e-01 -1.14070858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.310385723 meters 0.01864534735913093 Centerline is valid? [True, True] Translation: X:249.54, Y:-96.91, Z:-11.41 [[-6.81020675e-01 -7.32259034e-01 2.74727855e-03 2.49542501e+02] [ 7.32252450e-01 -6.81026208e-01 -3.10702761e-03 -9.69070573e+01] [ 4.14611773e-03 -1.04248586e-04 9.99991399e-01 -1.14053983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.370385723 meters 0.01962921967395022 Centerline is valid? [True, True] Translation: X:249.50, Y:-96.86, Z:-11.41 [[-6.78130676e-01 -7.34933429e-01 3.41193237e-03 2.49502780e+02] [ 7.34923319e-01 -6.78139251e-01 -3.85642998e-03 -9.68648559e+01] [ 5.14798457e-03 -1.07654809e-04 9.99986743e-01 -1.14076746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.430385723 meters 0.017054130920757814 Centerline is valid? [True, True] Translation: X:249.46, Y:-96.82, Z:-11.41 [[-6.75366679e-01 -7.37470148e-01 4.19878358e-03 2.49463726e+02] [ 7.37454894e-01 -6.75379722e-01 -4.74447672e-03 -9.68213720e+01] [ 6.33468324e-03 -1.07847984e-04 9.99979930e-01 -1.14067993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.490385723 meters 0.016539901225393866 Centerline is valid? [True, True] Translation: X:249.42, Y:-96.78, Z:-11.41 [[-6.73127687e-01 -7.39517642e-01 3.57420330e-03 2.49424652e+02] [ 7.39506630e-01 -6.73137172e-01 -4.03628347e-03 -9.67783447e+01] [ 5.39083193e-03 -7.37871142e-05 9.99985467e-01 -1.14054699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.550385723 meters 0.016344273649114234 Centerline is valid? [True, True] Translation: X:249.39, Y:-96.74, Z:-11.40 [[-6.71720964e-01 -7.40802720e-01 1.50902958e-03 2.49387308e+02] [ 7.40800763e-01 -6.71722658e-01 -1.70285498e-03 -9.67355930e+01] [ 2.27512896e-03 -2.59531254e-05 9.99997412e-01 -1.14036300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.610385723 meters 0.016189722476526447 Centerline is valid? [True, True] Translation: X:249.35, Y:-96.69, Z:-11.40 [[-6.70566333e-01 -7.41848920e-01 9.86657999e-04 2.49351958e+02] [ 7.41848086e-01 -6.70567059e-01 -1.11256801e-03 -9.66897406e+01] [ 1.48697773e-03 -1.41003022e-05 9.99998894e-01 -1.14025943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.670385723 meters 0.019180910977828612 Centerline is valid? [True, True] Translation: X:249.32, Y:-96.64, Z:-11.41 [[-6.71198188e-01 -7.41273198e-01 2.65286177e-03 2.49318792e+02] [ 7.41267168e-01 -6.71203430e-01 -2.99027590e-03 -9.66444343e+01] [ 3.99722129e-03 -4.05884333e-05 9.99992010e-01 -1.14061164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.730385723 meters 0.01660650492719156 Centerline is valid? [True, True] Translation: X:249.28, Y:-96.60, Z:-11.40 [[-6.72179373e-01 -7.40386079e-01 1.82879085e-03 2.49282572e+02] [ 7.40383214e-01 -6.72181860e-01 -2.05998710e-03 -9.65996809e+01] [ 2.75446581e-03 -3.06747850e-05 9.99996206e-01 -1.14048022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.790385723 meters 0.017039702806758147 Centerline is valid? [True, True] Translation: X:249.25, Y:-96.55, Z:-11.40 [[-6.74372709e-01 -7.38387981e-01 2.15396548e-03 2.49249826e+02] [ 7.38383999e-01 -6.74376147e-01 -2.42515168e-03 -9.65509130e+01] [ 3.24328579e-03 -4.50024639e-05 9.99994740e-01 -1.14040837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.850385723 meters 0.017196479335114007 Centerline is valid? [True, True] Translation: X:249.21, Y:-96.50, Z:-11.40 [[-6.76014323e-01 -7.36884595e-01 2.39362868e-03 2.49214474e+02] [ 7.36879674e-01 -6.76018558e-01 -2.69357230e-03 -9.65045929e+01] [ 3.60298934e-03 -5.70771337e-05 9.99993508e-01 -1.14039033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.910385723 meters 0.0171426982834465 Centerline is valid? [True, True] Translation: X:249.18, Y:-96.46, Z:-11.40 [[-6.77000294e-01 -7.35976549e-01 3.02025666e-03 2.49178592e+02] [ 7.35968713e-01 -6.77007026e-01 -3.39697359e-03 -9.64592364e+01] [ 4.54482787e-03 -7.69377070e-05 9.99989669e-01 -1.14043240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.970385723 meters 0.01772939751053002 Centerline is valid? [True, True] Translation: X:249.15, Y:-96.41, Z:-11.40 [[-6.76772055e-01 -7.36185163e-01 3.31546910e-03 2.49145975e+02] [ 7.36175735e-01 -6.76780171e-01 -3.72656139e-03 -9.64132579e+01] [ 4.98728294e-03 -8.12647109e-05 9.99987560e-01 -1.14049748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.030385723 meters 0.016788844330924677 Centerline is valid? [True, True] Translation: X:249.11, Y:-96.37, Z:-11.40 [[-6.74457600e-01 -7.38305538e-01 3.44645570e-03 2.49108591e+02] [ 7.38295389e-01 -6.74466402e-01 -3.87181620e-03 -9.63683956e+01] [ 5.18310192e-03 -6.68735129e-05 9.99986565e-01 -1.14045914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.090385723 meters 0.016616189801476187 Centerline is valid? [True, True] Translation: X:249.07, Y:-96.32, Z:-11.40 [[-6.72761628e-01 -7.39850426e-01 3.62490149e-03 2.49072200e+02] [ 7.39839234e-01 -6.72771391e-01 -4.06979837e-03 -9.63240454e+01] [ 5.44977207e-03 -5.61598366e-05 9.99985148e-01 -1.14045557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.150385723 meters 0.01629023327794482 Centerline is valid? [True, True] Translation: X:249.04, Y:-96.28, Z:-11.40 [[-6.71744875e-01 -7.40768032e-01 4.64175154e-03 2.49037771e+02] [ 7.40749724e-01 -6.71760909e-01 -5.20834563e-03 -9.62784315e+01] [ 6.97632318e-03 -6.03033097e-05 9.99975663e-01 -1.14032462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.210385723 meters 0.0162741306523496 Centerline is valid? [True, True] Translation: X:249.00, Y:-96.23, Z:-11.40 [[-6.71354718e-01 -7.41118521e-01 5.11669682e-03 2.49002258e+02] [ 7.41096309e-01 -6.71374213e-01 -5.73820651e-03 -9.62320405e+01] [ 7.68790943e-03 -6.04068810e-05 9.99970446e-01 -1.14034962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.270385723 meters 0.016289954971676606 Centerline is valid? [True, True] Translation: X:248.97, Y:-96.19, Z:-11.40 [[-6.70779499e-01 -7.41639522e-01 5.06786109e-03 2.48967510e+02] [ 7.41617774e-01 -6.70798641e-01 -5.67987047e-03 -9.61858694e+01] [ 7.61193075e-03 -5.15248101e-05 9.99971028e-01 -1.14041734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.330385723 meters 0.016221209085823602 Centerline is valid? [True, True] Translation: X:248.93, Y:-96.14, Z:-11.40 [[-6.71210694e-01 -7.41245414e-01 5.60718247e-03 2.48932287e+02] [ 7.41218806e-01 -6.71234112e-01 -6.28088324e-03 -9.61389409e+01] [ 8.41940804e-03 -5.96469026e-05 9.99964554e-01 -1.14034163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.390385723 meters 0.01637900075222838 Centerline is valid? [True, True] Translation: X:248.90, Y:-96.09, Z:-11.40 [[-6.72986734e-01 -7.39632314e-01 5.73555764e-03 2.48900606e+02] [ 7.39604445e-01 -6.73011169e-01 -6.42112315e-03 -9.60891494e+01] [ 8.60936453e-03 -7.92867746e-05 9.99962936e-01 -1.14034330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.450385723 meters 0.016653644900541463 Centerline is valid? [True, True] Translation: X:248.87, Y:-96.04, Z:-11.40 [[-6.74020318e-01 -7.38692486e-01 5.47917832e-03 2.48867325e+02] [ 7.38667054e-01 -6.74042583e-01 -6.13021938e-03 -9.60424344e+01] [ 8.22154650e-03 -8.46039109e-05 9.99966199e-01 -1.14026723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.510385723 meters 0.01683398997883362 Centerline is valid? [True, True] Translation: X:248.84, Y:-95.99, Z:-11.40 [[-6.75981370e-01 -7.36903068e-01 4.80165024e-03 2.48835846e+02] [ 7.36883515e-01 -6.75998417e-01 -5.36881892e-03 -9.59933229e+01] [ 7.20220709e-03 -9.09646652e-05 9.99974060e-01 -1.14000099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.570385723 meters 0.017216108690896535 Centerline is valid? [True, True] Translation: X:248.80, Y:-95.95, Z:-11.40 [[-6.77174912e-01 -7.35810442e-01 4.13906946e-03 2.48803614e+02] [ 7.35795912e-01 -6.77187556e-01 -4.62491602e-03 -9.59468223e+01] [ 6.20598783e-03 -8.63667175e-05 9.99980739e-01 -1.13990966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.630385723 meters 0.01668567902866234 Centerline is valid? [True, True] Translation: X:248.77, Y:-95.90, Z:-11.40 [[-6.76803922e-01 -7.36147880e-01 4.76972687e-03 2.48767799e+02] [ 7.36128613e-01 -6.76820722e-01 -5.32678296e-03 -9.59010257e+01] [ 7.14954996e-03 -9.40551708e-05 9.99974437e-01 -1.13990354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.690385723 meters 0.016787003801923328 Centerline is valid? [True, True] Translation: X:248.73, Y:-95.86, Z:-11.40 [[-6.76029553e-01 -7.36856311e-01 5.17895786e-03 2.48732082e+02] [ 7.36833647e-01 -6.76049384e-01 -5.77997122e-03 -9.58571139e+01] [ 7.76023954e-03 -9.14009493e-05 9.99969885e-01 -1.14008552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.750385723 meters 0.016639416923355962 Centerline is valid? [True, True] Translation: X:248.70, Y:-95.81, Z:-11.40 [[-6.75181257e-01 -7.37638531e-01 4.43488147e-03 2.48695271e+02] [ 7.37621948e-01 -6.75195818e-01 -4.94666680e-03 -9.58125615e+01] [ 6.64326545e-03 -6.86307974e-05 9.99977931e-01 -1.13991800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.810385723 meters 0.016475502066684664 Centerline is valid? [True, True] Translation: X:248.66, Y:-95.77, Z:-11.40 [[-6.75176516e-01 -7.37650146e-01 2.98894004e-03 2.48657200e+02] [ 7.37642624e-01 -6.75183130e-01 -3.33156620e-03 -9.57701086e+01] [ 4.47561219e-03 -4.46256892e-05 9.99989983e-01 -1.13970828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.870385723 meters 0.016443793165117265 Centerline is valid? [True, True] Translation: X:248.62, Y:-95.73, Z:-11.40 [[-6.75685838e-01 -7.37177124e-01 4.30529375e-03 2.48618473e+02] [ 7.37161526e-01 -6.75699551e-01 -4.79606784e-03 -9.57276029e+01] [ 6.44463656e-03 -6.69382090e-05 9.99979231e-01 -1.13985417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.930385723 meters 0.016504607177862823 Centerline is valid? [True, True] Translation: X:248.58, Y:-95.69, Z:-11.40 [[-6.76619310e-01 -7.36318139e-01 4.68053494e-03 2.48578374e+02] [ 7.36299702e-01 -6.76635494e-01 -5.21128763e-03 -9.56856477e+01] [ 7.00418168e-03 -7.97813531e-05 9.99975467e-01 -1.14003858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.990385723 meters 0.016935387062361407 Centerline is valid? [True, True] Translation: X:248.54, Y:-95.64, Z:-11.40 [[-6.79443506e-01 -7.33710516e-01 5.03992816e-03 2.48539701e+02] [ 7.33689092e-01 -6.79462189e-01 -5.60811425e-03 -9.56429768e+01] [ 7.53917302e-03 -1.12656492e-04 9.99971574e-01 -1.14006268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.050385723 meters 0.018059231095326984 Centerline is valid? [True, True] Translation: X:248.50, Y:-95.60, Z:-11.40 [[-6.82648406e-01 -7.30727174e-01 5.38067743e-03 2.48503958e+02] [ 7.30702682e-01 -6.82669593e-01 -5.98466425e-03 -9.55991730e+01] [ 8.04638166e-03 -1.53746077e-04 9.99967616e-01 -1.14005538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.110385723 meters 0.01889114883379317 Centerline is valid? [True, True] Translation: X:248.46, Y:-95.56, Z:-11.40 [[-6.84606215e-01 -7.28893137e-01 5.39673223e-03 2.48464680e+02] [ 7.28868468e-01 -6.84627464e-01 -5.99928963e-03 -9.55567068e+01] [ 8.06759215e-03 -1.73643013e-04 9.99967441e-01 -1.14019941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.170385723 meters 0.019168038555169173 Centerline is valid? [True, True] Translation: X:248.43, Y:-95.52, Z:-11.40 [[-6.84981536e-01 -7.28534837e-01 6.10619922e-03 2.48425774e+02] [ 7.28503278e-01 -6.85008724e-01 -6.78398047e-03 -9.55152056e+01] [ 9.12516584e-03 -1.98515214e-04 9.99958345e-01 -1.14031342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.230385723 meters 0.018897113219317772 Centerline is valid? [True, True] Translation: X:248.39, Y:-95.47, Z:-11.40 [[-6.84878933e-01 -7.28634613e-01 5.69630228e-03 2.48386043e+02] [ 7.28607185e-01 -6.84902597e-01 -6.32477628e-03 -9.54735376e+01] [ 8.50986315e-03 -1.81339263e-04 9.99963774e-01 -1.14034823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.290385723 meters 0.01744424229581118 Centerline is valid? [True, True] Translation: X:248.34, Y:-95.43, Z:-11.40 [[-6.82972489e-01 -7.30430734e-01 4.41836714e-03 2.48344019e+02] [ 7.30414289e-01 -6.82986770e-01 -4.90296048e-03 -9.54333020e+01] [ 6.59895933e-03 -1.21348631e-04 9.99978219e-01 -1.14014050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.350385723 meters 0.017140516709579733 Centerline is valid? [True, True] Translation: X:248.30, Y:-95.39, Z:-11.40 [[-6.80937152e-01 -7.32334758e-01 3.22448596e-03 2.48304382e+02] [ 7.32326031e-01 -6.80944783e-01 -3.57601009e-03 -9.53914385e+01] [ 4.81453338e-03 -7.36631195e-05 9.99988407e-01 -1.14005879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.410385723 meters 0.016525448257198146 Centerline is valid? [True, True] Translation: X:248.26, Y:-95.35, Z:-11.40 [[-6.78705600e-01 -7.34399173e-01 4.06982859e-03 2.48262320e+02] [ 7.34385321e-01 -6.78717798e-01 -4.51111190e-03 -9.53514121e+01] [ 6.07522195e-03 -7.28945338e-05 9.99981543e-01 -1.14023338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.470385723 meters 0.016271376189305894 Centerline is valid? [True, True] Translation: X:248.22, Y:-95.31, Z:-11.40 [[-6.77169041e-01 -7.35812856e-01 4.64007337e-03 2.48221455e+02] [ 7.35794902e-01 -6.77184935e-01 -5.14059766e-03 -9.53094088e+01] [ 6.92470563e-03 -6.69112601e-05 9.99976022e-01 -1.14028512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.530385723 meters 0.016095761921309643 Centerline is valid? [True, True] Translation: X:248.18, Y:-95.27, Z:-11.40 [[-6.75646671e-01 -7.37213838e-01 4.16332061e-03 2.48183991e+02] [ 7.37199424e-01 -6.75659496e-01 -4.61017741e-03 -9.52680123e+01] [ 6.21167369e-03 -4.56534649e-05 9.99980706e-01 -1.14019760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.590385723 meters 0.016131485426415054 Centerline is valid? [True, True] Translation: X:248.15, Y:-95.23, Z:-11.40 [[-6.75402989e-01 -7.37438409e-01 3.92381892e-03 2.48145336e+02] [ 7.37425626e-01 -6.75414385e-01 -4.34218905e-03 -9.52261069e+01] [ 5.85230073e-03 -3.92028399e-05 9.99982874e-01 -1.14018480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.650385723 meters 0.016220479427906845 Centerline is valid? [True, True] Translation: X:248.11, Y:-95.18, Z:-11.40 [[-6.75168870e-01 -7.37645371e-01 5.12871776e-03 2.48107308e+02] [ 7.37623563e-01 -6.75188348e-01 -5.67225486e-03 -9.51829195e+01] [ 7.64696301e-03 -4.66668395e-05 9.99970760e-01 -1.14022518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.710385723 meters 0.01614445205035083 Centerline is valid? [True, True] Translation: X:248.07, Y:-95.14, Z:-11.40 [[-6.76091852e-01 -7.36795082e-01 5.72839560e-03 2.48068830e+02] [ 7.36767879e-01 -6.76116117e-01 -6.33160666e-03 -9.51398849e+01] [ 8.53815724e-03 -6.02497994e-05 9.99963547e-01 -1.14024355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.770385723 meters 0.016461502328526882 Centerline is valid? [True, True] Translation: X:248.03, Y:-95.10, Z:-11.40 [[-6.77885503e-01 -7.35144792e-01 5.77752329e-03 2.48031364e+02] [ 7.35117094e-01 -6.77910118e-01 -6.38197836e-03 -9.50970687e+01] [ 8.60831966e-03 -7.90944774e-05 9.99962945e-01 -1.14027538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.830385723 meters 0.01697747532897299 Centerline is valid? [True, True] Translation: X:248.00, Y:-95.05, Z:-11.40 [[-6.80698919e-01 -7.32540373e-01 5.79507191e-03 2.47995780e+02] [ 7.32512441e-01 -6.80723578e-01 -6.39795624e-03 -9.50512260e+01] [ 8.63160334e-03 -1.10119625e-04 9.99962741e-01 -1.14019027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.890385723 meters 0.018015332832698856 Centerline is valid? [True, True] Translation: X:247.96, Y:-95.01, Z:-11.40 [[-6.84745918e-01 -7.28754257e-01 6.34509812e-03 2.47960293e+02] [ 7.28720646e-01 -6.84775294e-01 -7.00120099e-03 -9.50057588e+01] [ 9.44712146e-03 -1.70239797e-04 9.99955360e-01 -1.14019146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.950385723 meters 0.018848349277338056 Centerline is valid? [True, True] Translation: X:247.92, Y:-94.96, Z:-11.40 [[-6.86460598e-01 -7.27129755e-01 7.35985836e-03 2.47923382e+02] [ 7.27084470e-01 -6.86500015e-01 -8.11799292e-03 -9.49622583e+01] [ 1.09553771e-02 -2.21443555e-04 9.99939964e-01 -1.14026813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.010385723 meters 0.017821548337299927 Centerline is valid? [True, True] Translation: X:247.88, Y:-94.92, Z:-11.40 [[-6.86251766e-01 -7.27324631e-01 7.57594843e-03 2.47881835e+02] [ 7.27276715e-01 -6.86293546e-01 -8.35150241e-03 -9.49219229e+01] [ 1.12735779e-02 -2.21422387e-04 9.99936427e-01 -1.14019829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.070385723 meters 0.019214260488809205 Centerline is valid? [True, True] Translation: X:247.85, Y:-94.88, Z:-11.40 [[-6.86146283e-01 -7.27425657e-01 7.42915117e-03 2.47845681e+02] [ 7.27379629e-01 -6.86186467e-01 -8.18577581e-03 -9.48783217e+01] [ 1.10523263e-02 -2.12826423e-04 9.99938899e-01 -1.14035110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.130385723 meters 0.0176507398410588 Centerline is valid? [True, True] Translation: X:247.80, Y:-94.84, Z:-11.40 [[-6.87009904e-01 -7.26618004e-01 6.60824496e-03 2.47803527e+02] [ 7.26581590e-01 -6.87041656e-01 -7.27702605e-03 -9.48383997e+01] [ 9.82775770e-03 -1.97959832e-04 9.99951687e-01 -1.14002463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.190385723 meters 0.018183050641636743 Centerline is valid? [True, True] Translation: X:247.76, Y:-94.80, Z:-11.40 [[-6.88340335e-01 -7.25364366e-01 5.84125147e-03 2.47764935e+02] [ 7.25335891e-01 -6.88365093e-01 -6.42987123e-03 -9.47965163e+01] [ 8.68491308e-03 -1.89070372e-04 9.99962268e-01 -1.14002945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.250385723 meters 0.018611941055858474 Centerline is valid? [True, True] Translation: X:247.73, Y:-94.76, Z:-11.40 [[-6.89138525e-01 -7.24611038e-01 5.19013170e-03 2.47726791e+02] [ 7.24588559e-01 -6.89158047e-01 -5.71032935e-03 -9.47558161e+01] [ 7.71458870e-03 -1.74497899e-04 9.99970227e-01 -1.13998528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.310385723 meters 0.018125502529745666 Centerline is valid? [True, True] Translation: X:247.69, Y:-94.72, Z:-11.40 [[-6.89709945e-01 -7.24064670e-01 5.52687558e-03 2.47686508e+02] [ 7.24039193e-01 -6.89732063e-01 -6.07692853e-03 -9.47152903e+01] [ 8.21215254e-03 -1.89643502e-04 9.99966262e-01 -1.14001680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.370385723 meters 0.017812082346803173 Centerline is valid? [True, True] Translation: X:247.65, Y:-94.67, Z:-11.40 [[-6.88467625e-01 -7.25247706e-01 5.30039177e-03 2.47645057e+02] [ 7.25224334e-01 -6.88488008e-01 -5.82475931e-03 -9.46745369e+01] [ 7.87364950e-03 -1.66185115e-04 9.99968989e-01 -1.13998368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.430385723 meters 0.01640596040301322 Centerline is valid? [True, True] Translation: X:247.60, Y:-94.64, Z:-11.40 [[-6.85199948e-01 -7.28333643e-01 5.58005096e-03 2.47600956e+02] [ 7.28307870e-01 -6.85222655e-01 -6.12857180e-03 -9.46360903e+01] [ 8.28722235e-03 -1.35302044e-04 9.99965651e-01 -1.13996013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.490385723 meters 0.01580172135278165 Centerline is valid? [True, True] Translation: X:247.56, Y:-94.60, Z:-11.40 [[-6.83010000e-01 -7.30383331e-01 6.12619134e-03 2.47557871e+02] [ 7.30352380e-01 -6.83037463e-01 -6.72492522e-03 -9.45960234e+01] [ 9.09619147e-03 -1.18912750e-04 9.99958622e-01 -1.14005988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.550385723 meters 0.01599676810063577 Centerline is valid? [True, True] Translation: X:247.52, Y:-94.55, Z:-11.40 [[-6.84527600e-01 -7.28967418e-01 5.33559353e-03 2.47516281e+02] [ 7.28943925e-01 -6.84548383e-01 -5.85367982e-03 -9.45549158e+01] [ 7.91961380e-03 -1.17656906e-04 9.99968632e-01 -1.14000819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.610385723 meters 0.01635586623690593 Centerline is valid? [True, True] Translation: X:247.48, Y:-94.51, Z:-11.40 [[-6.87446111e-01 -7.26221609e-01 4.47423620e-03 2.47477140e+02] [ 7.26205048e-01 -6.87460660e-01 -4.90599678e-03 -9.45121427e+01] [ 6.63870225e-03 -1.23395496e-04 9.99977956e-01 -1.13978052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.670385723 meters 0.017414637497929382 Centerline is valid? [True, True] Translation: X:247.44, Y:-94.47, Z:-11.40 [[-6.89877355e-01 -7.23913166e-01 4.35475025e-03 2.47438552e+02] [ 7.23897450e-01 -6.89891085e-01 -4.77207323e-03 -9.44703177e+01] [ 6.45887001e-03 -1.39752651e-04 9.99979132e-01 -1.13985924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.730385723 meters 0.017808062686523997 Centerline is valid? [True, True] Translation: X:247.40, Y:-94.43, Z:-11.40 [[-6.92553788e-01 -7.21353999e-01 4.20218591e-03 2.47396514e+02] [ 7.21339335e-01 -6.92566519e-01 -4.60232629e-03 -9.44304769e+01] [ 6.23019975e-03 -1.56156518e-04 9.99980580e-01 -1.13992599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.790385723 meters 0.018535428117036373 Centerline is valid? [True, True] Translation: X:247.35, Y:-94.39, Z:-11.40 [[-6.94051522e-01 -7.19907143e-01 5.11768283e-03 2.47353815e+02] [ 7.19885368e-01 -6.94070359e-01 -5.60299927e-03 -9.43914582e+01] [ 7.58567115e-03 -2.04625180e-04 9.99971207e-01 -1.14005687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.850385723 meters 0.018518629884407025 Centerline is valid? [True, True] Translation: X:247.31, Y:-94.35, Z:-11.40 [[-6.93653195e-01 -7.20288145e-01 5.49842748e-03 2.47311733e+02] [ 7.20263053e-01 -6.93674955e-01 -6.01596962e-03 -9.43524243e+01] [ 8.14735303e-03 -2.12682387e-04 9.99966787e-01 -1.14009464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.910385723 meters 0.01832134290209869 Centerline is valid? [True, True] Translation: X:247.27, Y:-94.31, Z:-11.40 [[-6.92660234e-01 -7.21242292e-01 5.59972649e-03 2.47267220e+02] [ 7.21216324e-01 -6.92682839e-01 -6.12356021e-03 -9.43142239e+01] [ 8.29540504e-03 -2.02932490e-04 9.99965572e-01 -1.14021367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.970385723 meters 0.018018728141470805 Centerline is valid? [True, True] Translation: X:247.22, Y:-94.28, Z:-11.40 [[-6.92242786e-01 -7.21637999e-01 6.20675025e-03 2.47224238e+02] [ 7.21606151e-01 -6.92270577e-01 -6.78318657e-03 -9.42765537e+01] [ 9.19175576e-03 -2.16782812e-04 9.99957731e-01 -1.14026745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.030385723 meters 0.01724559128377379 Centerline is valid? [True, True] Translation: X:247.18, Y:-94.24, Z:-11.40 [[-6.91601618e-01 -7.22238731e-01 7.64305858e-03 2.47180353e+02] [ 7.22190525e-01 -6.91643803e-01 -8.34836214e-03 -9.42384914e+01] [ 1.13157846e-02 -2.53996273e-04 9.99935942e-01 -1.14031031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.090385723 meters 0.017041786514077225 Centerline is valid? [True, True] Translation: X:247.14, Y:-94.20, Z:-11.40 [[-6.91189609e-01 -7.22640885e-01 6.86122528e-03 2.47139740e+02] [ 7.22602082e-01 -6.91223628e-01 -7.49188947e-03 -9.41963514e+01] [ 1.01565867e-02 -2.20380483e-04 9.99948396e-01 -1.14013280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.150385723 meters 0.017358726731715218 Centerline is valid? [True, True] Translation: X:247.10, Y:-94.16, Z:-11.40 [[-6.91714800e-01 -7.22148361e-01 5.69039868e-03 2.47097899e+02] [ 7.22121686e-01 -6.91738181e-01 -6.20973066e-03 -9.41555949e+01] [ 8.42061285e-03 -1.86202315e-04 9.99964529e-01 -1.14002313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.210385723 meters 0.017098544565719586 Centerline is valid? [True, True] Translation: X:247.06, Y:-94.12, Z:-11.40 [[-6.92951399e-01 -7.20965206e-01 5.24685815e-03 2.47056283e+02] [ 7.20942516e-01 -6.92971239e-01 -5.72278294e-03 -9.41151281e+01] [ 7.76184918e-03 -1.82927330e-04 9.99969860e-01 -1.13997159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.270385723 meters 0.0182997361613182 Centerline is valid? [True, True] Translation: X:247.02, Y:-94.07, Z:-11.40 [[-6.94450331e-01 -7.19525871e-01 4.61079502e-03 2.47016940e+02] [ 7.19508339e-01 -6.94465616e-01 -5.02589874e-03 -9.40735412e+01] [ 6.81830277e-03 -1.72731579e-04 9.99976740e-01 -1.14005200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.330385723 meters 0.01808258201803373 Centerline is valid? [True, True] Translation: X:246.97, Y:-94.03, Z:-11.40 [[-6.95869350e-01 -7.18146410e-01 5.61980975e-03 2.46974754e+02] [ 7.18120348e-01 -6.95892006e-01 -6.12225665e-03 -9.40340176e+01] [ 8.30745731e-03 -2.24591023e-04 9.99965467e-01 -1.14022594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.390385723 meters 0.018333381664495454 Centerline is valid? [True, True] Translation: X:246.93, Y:-93.99, Z:-11.40 [[-6.95487464e-01 -7.18513585e-01 5.95107183e-03 2.46934800e+02] [ 7.18484409e-01 -6.95512886e-01 -6.47914592e-03 -9.39928233e+01] [ 8.79440151e-03 -2.30412444e-04 9.99961302e-01 -1.14029456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.450385723 meters 0.018195461650117088 Centerline is valid? [True, True] Translation: X:246.89, Y:-93.95, Z:-11.40 [[-6.94201618e-01 -7.19751197e-01 6.50599214e-03 2.46894610e+02] [ 7.19716415e-01 -6.94232066e-01 -7.07965218e-03 -9.39520957e+01] [ 9.61225649e-03 -2.32236660e-04 9.99953774e-01 -1.14042472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.510385723 meters 0.01730084493454327 Centerline is valid? [True, True] Translation: X:246.85, Y:-93.91, Z:-11.40 [[-6.92282741e-01 -7.21588134e-01 7.42772432e-03 2.46853374e+02] [ 7.21542952e-01 -6.92322548e-01 -8.07829053e-03 -9.39113987e+01] [ 1.09715796e-02 -2.33038973e-04 9.99939783e-01 -1.14043215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.570385723 meters 0.01792146947302848 Centerline is valid? [True, True] Translation: X:246.82, Y:-93.87, Z:-11.40 [[-6.91471793e-01 -7.22360307e-01 7.89599102e-03 2.46817105e+02] [ 7.22309359e-01 -6.91516835e-01 -8.58232889e-03 -9.38676743e+01] [ 1.16597445e-02 -2.31090130e-04 9.99931996e-01 -1.14049046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.630385723 meters 0.021367202197649572 Centerline is valid? [True, True] Translation: X:246.78, Y:-93.82, Z:-11.41 [[-6.92294659e-01 -7.21551177e-01 9.59189462e-03 2.46781230e+02] [ 7.21475993e-01 -6.92361042e-01 -1.04200823e-02 -9.38225386e+01] [ 1.41596768e-02 -2.93445642e-04 9.99899704e-01 -1.14064541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.690385723 meters 0.01952011004472459 Centerline is valid? [True, True] Translation: X:246.74, Y:-93.78, Z:-11.40 [[-6.92795696e-01 -7.21075798e-01 9.15510025e-03 2.46741232e+02] [ 7.21007340e-01 -6.92856126e-01 -9.94006106e-03 -9.37810046e+01] [ 1.35107048e-02 -2.85537048e-04 9.99908685e-01 -1.14039863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.750385723 meters 0.017598754250601457 Centerline is valid? [True, True] Translation: X:246.70, Y:-93.74, Z:-11.40 [[-6.93189593e-01 -7.20718223e-01 7.30965648e-03 2.46704115e+02] [ 7.20674614e-01 -6.93228094e-01 -7.93163773e-03 -9.37367924e+01] [ 1.07837351e-02 -2.30244874e-04 9.99941827e-01 -1.14017258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.810385723 meters 0.017276213765720826 Centerline is valid? [True, True] Translation: X:246.67, Y:-93.69, Z:-11.40 [[-6.92817126e-01 -7.21073232e-01 7.60418968e-03 2.46665755e+02] [ 7.21026109e-01 -6.92858818e-01 -8.24672682e-03 -9.36932562e+01] [ 1.12151238e-02 -2.30654285e-04 9.99937082e-01 -1.14019079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.870385723 meters 0.017805370464227453 Centerline is valid? [True, True] Translation: X:246.63, Y:-93.65, Z:-11.40 [[-6.92523770e-01 -7.21338668e-01 9.01962775e-03 2.46629276e+02] [ 7.21272476e-01 -6.92582455e-01 -9.77545246e-03 -9.36505641e+01] [ 1.32982478e-02 -2.64123960e-04 9.99911540e-01 -1.14036292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.930385723 meters 0.018308678004899357 Centerline is valid? [True, True] Translation: X:246.59, Y:-93.61, Z:-11.40 [[-6.93197276e-01 -7.20693532e-01 8.85265019e-03 2.46591375e+02] [ 7.20629790e-01 -6.93253750e-01 -9.58872993e-03 -9.36072668e+01] [ 1.30476686e-02 -2.67398028e-04 9.99914840e-01 -1.14041980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.990385723 meters 0.018715995559739004 Centerline is valid? [True, True] Translation: X:246.55, Y:-93.56, Z:-11.40 [[-6.95959568e-01 -7.18033918e-01 8.22020345e-03 2.46552974e+02] [ 7.17978832e-01 -6.96008051e-01 -8.89884652e-03 -9.35640852e+01] [ 1.21110014e-02 -2.91305306e-04 9.99926617e-01 -1.14036819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.050385723 meters 0.02039453429578177 Centerline is valid? [True, True] Translation: X:246.52, Y:-93.52, Z:-11.40 [[-6.98182451e-01 -7.15854035e-01 9.70908535e-03 2.46515873e+02] [ 7.15777057e-01 -6.98249850e-01 -1.05048714e-02 -9.35194990e+01] [ 1.42993219e-02 -3.84776314e-04 9.99897685e-01 -1.14043526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.110385723 meters 0.01914290479782498 Centerline is valid? [True, True] Translation: X:246.48, Y:-93.48, Z:-11.40 [[-6.98630508e-01 -7.15419168e-01 9.53032433e-03 2.46478389e+02] [ 7.15345038e-01 -6.98695404e-01 -1.03057337e-02 -9.34755166e+01] [ 1.40317132e-02 -3.82429750e-04 9.99901478e-01 -1.14030483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.170385723 meters 0.01936009496302406 Centerline is valid? [True, True] Translation: X:246.44, Y:-93.43, Z:-11.40 [[-6.97773503e-01 -7.16256579e-01 9.41543410e-03 2.46439102e+02] [ 7.16184379e-01 -6.97836933e-01 -1.01759837e-02 -9.34337407e+01] [ 1.38590529e-02 -3.57344954e-04 9.99903895e-01 -1.14042214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.230385723 meters 0.018495784030421843 Centerline is valid? [True, True] Translation: X:246.40, Y:-93.39, Z:-11.40 [[-6.95596936e-01 -7.18374810e-01 9.08490370e-03 2.46399443e+02] [ 7.18307843e-01 -6.95656196e-01 -9.81322721e-03 -9.33916864e+01] [ 1.33695448e-02 -3.00293199e-04 9.99910579e-01 -1.14034134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.290385723 meters 0.01810328583889008 Centerline is valid? [True, True] Translation: X:246.36, Y:-93.35, Z:-11.40 [[-6.93197449e-01 -7.20703217e-01 8.01062048e-03 2.46360690e+02] [ 7.20651360e-01 -6.93243697e-01 -8.64829509e-03 -9.33481520e+01] [ 1.17861662e-02 -2.22111554e-04 9.99930516e-01 -1.14013714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.350385723 meters 0.01751528027058763 Centerline is valid? [True, True] Translation: X:246.32, Y:-93.31, Z:-11.40 [[-6.91843826e-01 -7.22009213e-01 7.40386169e-03 2.46320086e+02] [ 7.21965038e-01 -6.91883417e-01 -7.98878689e-03 -9.33068261e+01] [ 1.08905869e-02 -1.81663596e-04 9.99940679e-01 -1.14013264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.410385723 meters 0.017796043023286582 Centerline is valid? [True, True] Translation: X:246.29, Y:-93.26, Z:-11.40 [[-6.92454127e-01 -7.21430341e-01 6.74873227e-03 2.46285128e+02] [ 7.21393644e-01 -6.92486992e-01 -7.27848421e-03 -9.32623822e+01] [ 9.92432866e-03 -1.71523864e-04 9.99950738e-01 -1.14004257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.470385723 meters 0.01824179954103503 Centerline is valid? [True, True] Translation: X:246.25, Y:-93.22, Z:-11.40 [[-6.93363904e-01 -7.20555714e-01 6.77941250e-03 2.46248534e+02] [ 7.20518682e-01 -6.93397022e-01 -7.30737233e-03 -9.32185493e+01] [ 9.96619333e-03 -1.81974840e-04 9.99950320e-01 -1.14006221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.530385723 meters 0.01779795861589311 Centerline is valid? [True, True] Translation: X:246.21, Y:-93.18, Z:-11.40 [[-6.92029146e-01 -7.21837695e-01 6.78258568e-03 2.46208825e+02] [ 7.21800728e-01 -6.92062365e-01 -7.30698819e-03 -9.31760868e+01] [ 9.96843180e-03 -1.60973512e-04 9.99950301e-01 -1.14020289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.590385723 meters 0.017235036332604113 Centerline is valid? [True, True] Translation: X:246.17, Y:-93.13, Z:-11.40 [[-6.89301302e-01 -7.24425620e-01 8.44019743e-03 2.46171047e+02] [ 7.24368638e-01 -6.89352957e-01 -9.08720578e-03 -9.31342024e+01] [ 1.24012797e-02 -1.50008455e-04 9.99923090e-01 -1.14047103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.650385723 meters 0.0167477755606143 Centerline is valid? [True, True] Translation: X:246.13, Y:-93.09, Z:-11.41 [[-6.86707016e-01 -7.26874769e-01 9.30291484e-03 2.46134150e+02] [ 7.26805843e-01 -6.86770018e-01 -1.00103953e-02 -9.30906397e+01] [ 1.36652668e-02 -1.12795826e-04 9.99906620e-01 -1.14053379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.710385723 meters 0.01668731986328012 Centerline is valid? [True, True] Translation: X:246.10, Y:-93.05, Z:-11.40 [[-6.86462073e-01 -7.27109670e-01 9.01938986e-03 2.46097576e+02] [ 7.27044980e-01 -6.86521316e-01 -9.69945894e-03 -9.30477479e+01] [ 1.32445738e-02 -1.00808572e-04 9.99912282e-01 -1.14049133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.770385723 meters 0.016341414750562572 Centerline is valid? [True, True] Translation: X:246.06, Y:-93.00, Z:-11.40 [[-6.89863645e-01 -7.23891297e-01 8.33916805e-03 2.46063859e+02] [ 7.23835804e-01 -6.89914029e-01 -8.96443326e-03 -9.30004891e+01] [ 1.22425843e-02 -1.48048187e-04 9.99925046e-01 -1.13990930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.830385723 meters 0.017269023930714084 Centerline is valid? [True, True] Translation: X:246.03, Y:-92.95, Z:-11.40 [[-6.94643902e-01 -7.19318014e-01 7.17239887e-03 2.46030418e+02] [ 7.19276765e-01 -6.94680903e-01 -7.70575117e-03 -9.29521570e+01] [ 1.05254142e-02 -1.93813213e-04 9.99944588e-01 -1.13975915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.890385723 meters 0.01784553527331135 Centerline is valid? [True, True] Translation: X:245.99, Y:-92.91, Z:-11.40 [[-6.97953364e-01 -7.16104476e-01 7.44859706e-03 2.45993858e+02] [ 7.16059839e-01 -6.97993064e-01 -7.99938712e-03 -9.29074510e+01] [ 1.09274660e-02 -2.49557939e-04 9.99940262e-01 -1.13979733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.950385723 meters 0.01935575911219872 Centerline is valid? [True, True] Translation: X:245.96, Y:-92.86, Z:-11.40 [[-7.02022656e-01 -7.12095660e-01 9.16304550e-03 2.45960558e+02] [ 7.12027845e-01 -7.02082350e-01 -9.83465671e-03 -9.28601961e+01] [ 1.34364289e-02 -3.79808279e-04 9.99909655e-01 -1.13994231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.010385723 meters 0.020732392031368885 Centerline is valid? [True, True] Translation: X:245.93, Y:-92.81, Z:-11.40 [[-7.05656398e-01 -7.08477930e-01 1.03956949e-02 2.45926235e+02] [ 7.08390348e-01 -7.05732788e-01 -1.11511155e-02 -9.28140335e+01] [ 1.52369019e-02 -5.04646067e-04 9.99883784e-01 -1.14004063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.070385723 meters 0.02110542092705928 Centerline is valid? [True, True] Translation: X:245.89, Y:-92.77, Z:-11.40 [[-7.07356000e-01 -7.06767789e-01 1.12597399e-02 2.45888939e+02] [ 7.06664932e-01 -7.07445372e-01 -1.20714183e-02 -9.27692061e+01] [ 1.64973405e-02 -5.81926813e-04 9.99863740e-01 -1.14009498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.130385723 meters 0.021453020912413 Centerline is valid? [True, True] Translation: X:245.85, Y:-92.73, Z:-11.40 [[-7.06947999e-01 -7.07153829e-01 1.25693202e-02 2.45852331e+02] [ 7.07025865e-01 -7.07059446e-01 -1.34672285e-02 -9.27254859e+01] [ 1.84106588e-02 -6.33795750e-04 9.99830309e-01 -1.14030311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.190385723 meters 0.02046853468293901 Centerline is valid? [True, True] Translation: X:245.81, Y:-92.68, Z:-11.40 [[-7.05216905e-01 -7.08890783e-01 1.19571866e-02 2.45813266e+02] [ 7.08775304e-01 -7.05318047e-01 -1.28070786e-02 -9.26820627e+01] [ 1.75124394e-02 -5.56809770e-04 9.99846490e-01 -1.14022192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.250385723 meters 0.019506744936168618 Centerline is valid? [True, True] Translation: X:245.78, Y:-92.64, Z:-11.40 [[-7.04095567e-01 -7.10053540e-01 8.56752828e-03 2.45776583e+02] [ 7.09994411e-01 -7.04147591e-01 -9.17092994e-03 -9.26370559e+01] [ 1.25446557e-02 -3.74313919e-04 9.99921243e-01 -1.13972377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.310385723 meters 0.018204012032042725 Centerline is valid? [True, True] Translation: X:245.74, Y:-92.60, Z:-11.39 [[-7.03003178e-01 -7.11162360e-01 5.88467495e-03 2.45736817e+02] [ 7.11134536e-01 -7.03027766e-01 -6.29537616e-03 -9.25953357e+01] [ 8.61412445e-03 -2.40873855e-04 9.99962869e-01 -1.13938005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.370385723 meters 0.018154669709720322 Centerline is valid? [True, True] Translation: X:245.70, Y:-92.55, Z:-11.39 [[-7.02771925e-01 -7.11395805e-01 5.25638054e-03 2.45699406e+02] [ 7.11373640e-01 -7.02791551e-01 -5.61964302e-03 -9.25525270e+01] [ 7.69193030e-03 -2.10076788e-04 9.99970395e-01 -1.13928348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.430385723 meters 0.018771568877835706 Centerline is valid? [True, True] Translation: X:245.66, Y:-92.51, Z:-11.39 [[-7.03209885e-01 -7.10965613e-01 4.87394001e-03 2.45662970e+02] [ 7.10946570e-01 -7.03226748e-01 -5.20734973e-03 -9.25089728e+01] [ 7.12973157e-03 -1.96748871e-04 9.99974564e-01 -1.13925777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.490385723 meters 0.01967516117908702 Centerline is valid? [True, True] Translation: X:245.62, Y:-92.47, Z:-11.39 [[-7.04631172e-01 -7.09547875e-01 6.06015836e-03 2.45623830e+02] [ 7.09518410e-01 -7.04657183e-01 -6.47152280e-03 -9.24664209e+01] [ 8.86218936e-03 -2.60242768e-04 9.99960696e-01 -1.13949799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.550385723 meters 0.0200823327275211 Centerline is valid? [True, True] Translation: X:245.58, Y:-92.42, Z:-11.40 [[-7.05420936e-01 -7.08760179e-01 6.34918729e-03 2.45584342e+02] [ 7.08727838e-01 -7.05449452e-01 -6.77660783e-03 -9.24239873e+01] [ 9.28202048e-03 -2.80515255e-04 9.99956882e-01 -1.13960980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.610385723 meters 0.021685094856534443 Centerline is valid? [True, True] Translation: X:245.55, Y:-92.38, Z:-11.40 [[-7.07315021e-01 -7.06853890e-01 7.93976016e-03 2.45548828e+02] [ 7.06803239e-01 -7.07359481e-01 -8.47028719e-03 -9.23796116e+01] [ 1.16035201e-02 -3.79313159e-04 9.99932605e-01 -1.13975362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.670385723 meters 0.023266018384019 Centerline is valid? [True, True] Translation: X:245.51, Y:-92.34, Z:-11.40 [[-7.09329607e-01 -7.04828663e-01 8.25017436e-03 2.45511682e+02] [ 7.04773896e-01 -7.09377456e-01 -8.79659298e-03 -9.23363216e+01] [ 1.20525786e-02 -4.25176311e-04 9.99927275e-01 -1.13988134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.730385723 meters 0.02467501120852873 Centerline is valid? [True, True] Translation: X:245.48, Y:-92.29, Z:-11.40 [[-7.10104369e-01 -7.04054032e-01 7.72689256e-03 2.45475597e+02] [ 7.04006004e-01 -7.10146291e-01 -8.23362880e-03 -9.22925740e+01] [ 1.12841436e-02 -4.06957029e-04 9.99936249e-01 -1.13979040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.790385723 meters 0.024383865085745277 Centerline is valid? [True, True] Translation: X:245.44, Y:-92.25, Z:-11.40 [[-7.09547813e-01 -7.04626828e-01 6.55240802e-03 2.45436520e+02] [ 7.04592351e-01 -7.09577988e-01 -6.97839207e-03 -9.22499708e+01] [ 9.56660677e-03 -3.34726257e-04 9.99954183e-01 -1.13953496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.850385723 meters 0.01953210603227703 Centerline is valid? [True, True] Translation: X:245.39, Y:-92.21, Z:-11.39 [[-7.07411542e-01 -7.06772359e-01 6.46082053e-03 2.45389417e+02] [ 7.06738965e-01 -7.07440982e-01 -6.87696453e-03 -9.22148189e+01] [ 9.43109767e-03 -2.98730473e-04 9.99955482e-01 -1.13928215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.910385723 meters 0.01977424581847998 Centerline is valid? [True, True] Translation: X:245.35, Y:-92.17, Z:-11.39 [[-7.07693409e-01 -7.06494399e-01 5.97514662e-03 2.45349390e+02] [ 7.06465861e-01 -7.07718579e-01 -6.35607731e-03 -9.21742287e+01] [ 8.71925530e-03 -2.76916916e-04 9.99961948e-01 -1.13921669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.970385723 meters 0.018673565522286162 Centerline is valid? [True, True] Translation: X:245.31, Y:-92.13, Z:-11.39 [[-7.09506224e-01 -7.04679169e-01 5.30909438e-03 2.45306762e+02] [ 7.04656613e-01 -7.09526038e-01 -5.64436177e-03 -9.21346892e+01] [ 7.74440486e-03 -2.63621345e-04 9.99969977e-01 -1.13892424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.030385723 meters 0.019510274565717106 Centerline is valid? [True, True] Translation: X:245.26, Y:-92.10, Z:-11.39 [[-7.10904452e-01 -7.03270597e-01 5.03268624e-03 2.45263489e+02] [ 7.03250315e-01 -7.10922217e-01 -5.34750066e-03 -9.20954875e+01] [ 7.33858844e-03 -2.62323839e-04 9.99973038e-01 -1.13897352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.090385723 meters 0.019481293503982332 Centerline is valid? [True, True] Translation: X:245.22, Y:-92.06, Z:-11.39 [[-7.11536052e-01 -7.02629956e-01 5.25273502e-03 2.45221536e+02] [ 7.02607868e-01 -7.11555386e-01 -5.57822645e-03 -9.20558006e+01] [ 7.65704090e-03 -2.78496272e-04 9.99970646e-01 -1.13903480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.150385723 meters 0.020791022400341624 Centerline is valid? [True, True] Translation: X:245.18, Y:-92.02, Z:-11.39 [[-7.13056260e-01 -7.01085517e-01 5.46517213e-03 2.45180309e+02] [ 7.01061588e-01 -7.13077138e-01 -5.80044463e-03 -9.20165310e+01] [ 7.96369702e-03 -3.04621104e-04 9.99968243e-01 -1.13912099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.210385723 meters 0.021233967619985656 Centerline is valid? [True, True] Translation: X:245.14, Y:-91.98, Z:-11.39 [[-7.13583766e-01 -7.00550113e-01 5.26766845e-03 2.45137885e+02] [ 7.00527894e-01 -7.13603146e-01 -5.58735961e-03 -9.19784051e+01] [ 7.67325019e-03 -2.96900425e-04 9.99970516e-01 -1.13910036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.270385723 meters 0.0218415524380626 Centerline is valid? [True, True] Translation: X:245.09, Y:-91.94, Z:-11.39 [[-7.12897907e-01 -7.01259529e-01 3.41274664e-03 2.45094038e+02] [ 7.01250221e-01 -7.12906052e-01 -3.61778448e-03 -9.19405846e+01] [ 4.96997357e-03 -1.85921646e-04 9.99987632e-01 -1.13902062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.330385723 meters 0.020884752812487674 Centerline is valid? [True, True] Translation: X:245.05, Y:-91.90, Z:-11.39 [[-7.10841780e-01 -7.03347762e-01 2.42697965e-03 2.45047873e+02] [ 7.03343070e-01 -7.10845913e-01 -2.57184969e-03 -9.19042359e+01] [ 3.53411328e-03 -1.21178894e-04 9.99993748e-01 -1.13899702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.390385723 meters 0.018601811570869337 Centerline is valid? [True, True] Translation: X:245.00, Y:-91.87, Z:-11.39 [[-7.10367977e-01 -7.03826481e-01 2.37118102e-03 2.44998869e+02] [ 7.03822010e-01 -7.10371925e-01 -2.51114900e-03 -9.18704512e+01] [ 3.45183359e-03 -1.14950439e-04 9.99994036e-01 -1.13906341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.450385723 meters 0.01853636035005271 Centerline is valid? [True, True] Translation: X:244.95, Y:-91.83, Z:-11.39 [[-7.10823738e-01 -7.03366155e-01 2.38036604e-03 2.44953248e+02] [ 7.03361652e-01 -7.10827714e-01 -2.51947327e-03 -9.18331496e+01] [ 3.46414238e-03 -1.16643212e-04 9.99993993e-01 -1.13927388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.510385723 meters 0.018616334269787253 Centerline is valid? [True, True] Translation: X:244.91, Y:-91.80, Z:-11.40 [[-7.10000151e-01 -7.04195773e-01 2.84576108e-03 2.44906083e+02] [ 7.04189350e-01 -7.10005842e-01 -3.01066188e-03 -9.17971594e+01] [ 4.14060236e-03 -1.33615745e-04 9.99991419e-01 -1.13952902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.570385723 meters 0.017916078492634907 Centerline is valid? [True, True] Translation: X:244.86, Y:-91.76, Z:-11.40 [[-7.08069072e-01 -7.06138113e-01 2.67491793e-03 2.44859756e+02] [ 7.06132458e-01 -7.08074115e-01 -2.82826492e-03 -9.17611990e+01] [ 3.89118580e-03 -1.13760542e-04 9.99992423e-01 -1.13964415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.630385723 meters 0.016648704769665672 Centerline is valid? [True, True] Translation: X:244.81, Y:-91.73, Z:-11.40 [[-7.06350334e-01 -7.07861970e-01 7.98054658e-04 2.44811889e+02] [ 7.07861468e-01 -7.06350784e-01 -8.43328053e-04 -9.17258185e+01] [ 1.16066639e-03 -3.07729101e-05 9.99999326e-01 -1.13961798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.690385723 meters 0.015669324423332895 Centerline is valid? [True, True] Translation: X:244.77, Y:-91.69, Z:-11.40 [[-7.04383240e-01 -7.09819610e-01 6.09915479e-04 2.44766476e+02] [ 7.09819318e-01 -7.04383504e-01 -6.43887525e-04 -9.16883889e+01] [ 8.86658394e-04 -2.06137915e-05 9.99999607e-01 -1.13958062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.750385723 meters 0.015559640814816169 Centerline is valid? [True, True] Translation: X:244.72, Y:-91.65, Z:-11.40 [[-7.03957961e-01 -7.10241471e-01 4.91569871e-04 2.44723804e+02] [ 7.10241282e-01 -7.03958133e-01 -5.18544459e-04 -9.16490868e+01] [ 7.14336388e-04 -1.59002848e-05 9.99999745e-01 -1.13960280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.810385723 meters 0.015482657021236747 Centerline is valid? [True, True] Translation: X:244.68, Y:-91.61, Z:-11.40 [[-7.03045303e-01 -7.11144993e-01 -3.18474523e-04 2.44680082e+02] [ 7.11144913e-01 -7.03045375e-01 3.36632894e-04 -9.16104824e+01] [-4.63296837e-04 1.01866383e-05 9.99999893e-01 -1.13964088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.870385723 meters 0.015180615863778316 Centerline is valid? [True, True] Translation: X:244.64, Y:-91.57, Z:-11.40 [[-7.01512934e-01 -7.12654804e-01 -1.65347440e-03 2.44637054e+02] [ 7.12652670e-01 -7.01514881e-01 1.74464000e-03 -9.15716038e+01] [-2.40326298e-03 4.55345792e-05 9.99997111e-01 -1.13959114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.930385723 meters 0.0149783559494183 Centerline is valid? [True, True] Translation: X:244.59, Y:-91.53, Z:-11.40 [[-6.99893122e-01 -7.14247073e-01 -8.58354675e-04 2.44594012e+02] [ 7.14246499e-01 -6.99893648e-01 9.05432458e-04 -9.15324919e+01] [-1.24745947e-03 2.06291286e-05 9.99999222e-01 -1.13973283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.990385723 meters 0.01526916092904741 Centerline is valid? [True, True] Translation: X:244.55, Y:-91.49, Z:-11.40 [[-7.02313026e-01 -7.11867114e-01 -1.27513177e-03 2.44553034e+02] [ 7.11865846e-01 -7.02314183e-01 1.34408571e-03 -9.14903438e+01] [-1.85235354e-03 3.62461471e-05 9.99998284e-01 -1.13968200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.050385723 meters 0.017635955902584002 Centerline is valid? [True, True] Translation: X:244.52, Y:-91.45, Z:-11.40 [[-7.06608220e-01 -7.07604024e-01 -1.17019717e-03 2.44515853e+02] [ 7.07602951e-01 -7.06609187e-01 1.23285823e-03 -9.14459721e+01] [-1.69924752e-03 4.31127849e-05 9.99998555e-01 -1.13978465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.110385723 meters 0.01882687376005532 Centerline is valid? [True, True] Translation: X:244.48, Y:-91.40, Z:-11.40 [[-7.12121705e-01 -7.02055963e-01 3.20592519e-04 2.44478222e+02] [ 7.02055882e-01 -7.12121777e-01 -3.37034298e-04 -9.14032590e+01] [ 4.64917853e-04 -1.49355746e-05 9.99999892e-01 -1.14000157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.170385723 meters 0.019206782747958184 Centerline is valid? [True, True] Translation: X:244.44, Y:-91.36, Z:-11.40 [[-7.12944021e-01 -7.01220750e-01 5.31059992e-04 2.44438852e+02] [ 7.01220528e-01 -7.12944219e-01 -5.58395037e-04 -9.13612006e+01] [ 7.70174337e-04 -2.57142350e-05 9.99999703e-01 -1.14004464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.230385723 meters 0.017822846753609695 Centerline is valid? [True, True] Translation: X:244.40, Y:-91.32, Z:-11.40 [[-7.12389860e-01 -7.01783807e-01 4.19528048e-04 2.44395943e+02] [ 7.01783669e-01 -7.12389983e-01 -4.40665972e-04 -9.13212985e+01] [ 6.08119823e-04 -1.95080371e-05 9.99999815e-01 -1.13994045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.290385723 meters 0.017523511294829548 Centerline is valid? [True, True] Translation: X:244.35, Y:-91.28, Z:-11.40 [[-7.11126251e-01 -7.03063790e-01 8.73289518e-04 2.44353777e+02] [ 7.03063192e-01 -7.11126786e-01 -9.17360976e-04 -9.12807990e+01] [ 1.26598285e-03 -3.83817554e-05 9.99999198e-01 -1.13999923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.350385723 meters 0.018202614061043305 Centerline is valid? [True, True] Translation: X:244.32, Y:-91.24, Z:-11.40 [[-7.10749968e-01 -7.03443945e-01 1.04875083e-03 2.44315402e+02] [ 7.03443084e-01 -7.10750740e-01 -1.10112380e-03 -9.12385711e+01] [ 1.51997930e-03 -4.48871842e-05 9.99998844e-01 -1.14003205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.410385723 meters 0.02072168507849083 Centerline is valid? [True, True] Translation: X:244.28, Y:-91.20, Z:-11.40 [[-7.12049481e-01 -7.02128463e-01 1.07632778e-03 2.44275948e+02] [ 7.02127556e-01 -7.12050293e-01 -1.12947867e-03 -9.11960174e+01] [ 1.55943863e-03 -4.85253041e-05 9.99998783e-01 -1.14008123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.470385723 meters 0.01896413478586417 Centerline is valid? [True, True] Translation: X:244.24, Y:-91.15, Z:-11.40 [[-7.12557559e-01 -7.01613656e-01 -6.17332915e-05 2.44237912e+02] [ 7.01613653e-01 -7.12557561e-01 6.52360073e-05 -9.11546122e+01] [-8.97589973e-05 3.17148995e-06 9.99999996e-01 -1.13978972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.530385723 meters 0.01967394394362705 Centerline is valid? [True, True] Translation: X:244.20, Y:-91.11, Z:-11.40 [[-7.13733175e-01 -7.00417169e-01 -8.62619609e-04 2.44197575e+02] [ 7.00416585e-01 -7.13733695e-01 9.05232485e-04 -9.11122849e+01] [-1.24972106e-03 4.19013757e-05 9.99999218e-01 -1.13976817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.590385723 meters 0.018356635532386548 Centerline is valid? [True, True] Translation: X:244.15, Y:-91.07, Z:-11.40 [[-7.13049864e-01 -7.01112771e-01 -8.79785065e-04 2.44154610e+02] [ 7.01112165e-01 -7.13050405e-01 9.22735526e-04 -9.10729540e+01] [-1.27427276e-03 4.11284291e-05 9.99999187e-01 -1.13981842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.650385723 meters 0.01789332122206115 Centerline is valid? [True, True] Translation: X:244.11, Y:-91.03, Z:-11.40 [[-7.09714065e-01 -7.04489195e-01 -9.59522762e-04 2.44112771e+02] [ 7.04488478e-01 -7.09714712e-01 1.00578456e-03 -9.10346453e+01] [-1.38955177e-03 3.78467149e-05 9.99999034e-01 -1.13990484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.710385723 meters 0.016406102879591516 Centerline is valid? [True, True] Translation: X:244.07, Y:-91.00, Z:-11.40 [[-7.05280650e-01 -7.08926842e-01 -1.39153894e-03 2.44068264e+02] [ 7.08925345e-01 -7.05282022e-01 1.45773318e-03 -9.09975599e+01] [-2.01485358e-03 4.16137833e-05 9.99997969e-01 -1.13999413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.770385723 meters 0.016280942976672787 Centerline is valid? [True, True] Translation: X:244.03, Y:-90.96, Z:-11.40 [[-7.03423302e-01 -7.10770719e-01 -8.01673297e-04 2.44028842e+02] [ 7.10770224e-01 -7.03423759e-01 8.39547463e-04 -9.09558206e+01] [-1.16064180e-03 2.07517401e-05 9.99999326e-01 -1.14000473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.830385723 meters 0.016531411153163478 Centerline is valid? [True, True] Translation: X:243.99, Y:-90.91, Z:-11.40 [[-7.03980920e-01 -7.10217720e-01 -1.28628461e-03 2.43988936e+02] [ 7.10216445e-01 -7.03982094e-01 1.34599784e-03 -9.09147351e+01] [-1.86147285e-03 3.40163142e-05 9.99998267e-01 -1.14006670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.890385723 meters 0.016298719853033935 Centerline is valid? [True, True] Translation: X:243.95, Y:-90.87, Z:-11.40 [[-7.03125881e-01 -7.11065304e-01 -3.59806524e-04 2.43948303e+02] [ 7.11065204e-01 -7.03125973e-01 3.76678128e-04 -9.08736727e+01] [-5.20832060e-04 9.00624047e-06 9.99999864e-01 -1.14016318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.950385723 meters 0.01565255144984938 Centerline is valid? [True, True] Translation: X:243.91, Y:-90.83, Z:-11.40 [[-7.01632453e-01 -7.12538645e-01 7.60960749e-04 2.43907786e+02] [ 7.12538203e-01 -7.01632866e-01 -7.94530418e-04 -9.08314887e+01] [ 1.10004870e-03 -1.52547220e-05 9.99999395e-01 -1.14024037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.010385723 meters 0.01576366262051568 Centerline is valid? [True, True] Translation: X:243.87, Y:-90.79, Z:-11.40 [[-7.01510181e-01 -7.12659365e-01 3.09247667e-04 2.43868317e+02] [ 7.12659292e-01 -7.01510249e-01 -3.22387903e-04 -9.07887110e+01] [ 4.46693166e-04 -5.77017339e-06 9.99999900e-01 -1.14025374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.070385723 meters 0.015998866864531426 Centerline is valid? [True, True] Translation: X:243.83, Y:-90.75, Z:-11.40 [[-7.02188366e-01 -7.11991219e-01 5.38606746e-05 2.43830433e+02] [ 7.11991217e-01 -7.02188368e-01 -5.58344845e-05 -9.07454004e+01] [ 7.75740018e-05 -8.57998243e-07 9.99999997e-01 -1.14031871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.130385723 meters 0.016051753686124444 Centerline is valid? [True, True] Translation: X:243.79, Y:-90.70, Z:-11.40 [[-7.02952792e-01 -7.11236457e-01 -2.74317754e-04 2.43792401e+02] [ 7.11236399e-01 -7.02952845e-01 2.86697083e-04 -9.07012845e+01] [-3.96741863e-04 6.42974368e-06 9.99999921e-01 -1.14022962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.190385723 meters 0.015921526755150014 Centerline is valid? [True, True] Translation: X:243.75, Y:-90.66, Z:-11.40 [[-7.03617106e-01 -7.10579212e-01 -3.89966367e-04 2.43753025e+02] [ 7.10579095e-01 -7.03617214e-01 4.07122936e-04 -9.06591971e+01] [-5.63680143e-04 9.35671365e-06 9.99999841e-01 -1.14032273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.250385723 meters 0.01640477681904551 Centerline is valid? [True, True] Translation: X:243.72, Y:-90.62, Z:-11.40 [[-7.04341043e-01 -7.09861739e-01 -8.18441645e-05 2.43716085e+02] [ 7.09861734e-01 -7.04341048e-01 8.58428925e-05 -9.06153886e+01] [-1.18582790e-04 2.36463189e-06 9.99999993e-01 -1.14040137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.310385723 meters 0.016564540353636383 Centerline is valid? [True, True] Translation: X:243.68, Y:-90.57, Z:-11.40 [[-7.04177647e-01 -7.10023814e-01 1.59919211e-04 2.43679319e+02] [ 7.10023794e-01 -7.04177665e-01 -1.65918618e-04 -9.05722712e+01] [ 2.30417706e-04 -3.28973697e-06 9.99999973e-01 -1.14046021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.370385723 meters 0.016068465390003814 Centerline is valid? [True, True] Translation: X:243.64, Y:-90.53, Z:-11.40 [[-7.03956641e-01 -7.10242938e-01 1.32803282e-04 2.43639016e+02] [ 7.10242924e-01 -7.03956653e-01 -1.37682501e-04 -9.05307622e+01] [ 1.91275778e-04 -2.59992000e-06 9.99999982e-01 -1.14047976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.430385723 meters 0.016286162622536786 Centerline is valid? [True, True] Translation: X:243.60, Y:-90.49, Z:-11.40 [[-7.03448726e-01 -7.10745909e-01 -3.78748685e-04 2.43602309e+02] [ 7.10745799e-01 -7.03448828e-01 3.94406101e-04 -9.04867451e+01] [-5.46752841e-04 8.25043224e-06 9.99999850e-01 -1.14041178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.490385723 meters 0.015982373944123447 Centerline is valid? [True, True] Translation: X:243.56, Y:-90.44, Z:-11.40 [[-7.03217118e-01 -7.10974709e-01 -8.04427650e-04 2.43564788e+02] [ 7.10974217e-01 -7.03217578e-01 8.36926182e-04 -9.04417203e+01] [-1.16072101e-03 1.66134999e-05 9.99999326e-01 -1.14029918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.550385723 meters 0.015903865101444807 Centerline is valid? [True, True] Translation: X:243.53, Y:-90.40, Z:-11.40 [[-7.02477749e-01 -7.11705133e-01 -9.03398232e-04 2.43526876e+02] [ 7.11704513e-01 -7.02478330e-01 9.39302042e-04 -9.03982771e+01] [-1.30312377e-03 1.68861856e-05 9.99999151e-01 -1.14037539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.610385723 meters 0.015732704905973185 Centerline is valid? [True, True] Translation: X:243.49, Y:-90.35, Z:-11.40 [[-7.00463969e-01 -7.13687384e-01 -7.38683160e-04 2.43489170e+02] [ 7.13686971e-01 -7.00464359e-01 7.67711578e-04 -9.03537290e+01] [-1.06532729e-03 1.05657519e-05 9.99999432e-01 -1.14039896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.670385723 meters 0.015607239049572811 Centerline is valid? [True, True] Translation: X:243.45, Y:-90.31, Z:-11.40 [[-6.99573924e-01 -7.14560023e-01 -5.46287691e-04 2.43450857e+02] [ 7.14559797e-01 -6.99574138e-01 5.67581251e-04 -9.03102010e+01] [-7.87739612e-04 6.70982130e-06 9.99999690e-01 -1.14034844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.730385723 meters 0.015534635998443097 Centerline is valid? [True, True] Translation: X:243.41, Y:-90.26, Z:-11.40 [[-6.98935332e-01 -7.15184229e-01 9.59328228e-04 2.43414706e+02] [ 7.15183537e-01 -6.98935990e-01 -9.94707084e-04 -9.02645569e+01] [ 1.38190784e-03 -9.14017068e-06 9.99999045e-01 -1.14049746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.790385723 meters 0.015505575362251717 Centerline is valid? [True, True] Translation: X:243.38, Y:-90.22, Z:-11.41 [[-6.98450555e-01 -7.15655326e-01 2.06815246e-03 2.43377730e+02] [ 7.15652115e-01 -6.98453617e-01 -2.14380198e-03 -9.02201215e+01] [ 2.97873187e-03 -1.72619977e-05 9.99995563e-01 -1.14053716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.850385723 meters 0.015562757113042752 Centerline is valid? [True, True] Translation: X:243.34, Y:-90.17, Z:-11.41 [[-6.98574536e-01 -7.15532905e-01 2.50570345e-03 2.43344005e+02] [ 7.15528197e-01 -6.98579030e-01 -2.59589046e-03 -9.01737656e+01] [ 3.60787693e-03 -2.05215074e-05 9.99993491e-01 -1.14057188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.910385723 meters 0.015548268589466766 Centerline is valid? [True, True] Translation: X:243.31, Y:-90.13, Z:-11.41 [[-6.98722377e-01 -7.15386938e-01 2.92725375e-03 2.43308442e+02] [ 7.15380517e-01 -6.98728509e-01 -3.03102032e-03 -9.01273389e+01] [ 4.21370799e-03 -2.37414196e-05 9.99991122e-01 -1.14065263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.970385723 meters 0.01830778104316692 Centerline is valid? [True, True] Translation: X:243.28, Y:-90.08, Z:-11.41 [[-6.99365509e-01 -7.14753714e-01 3.87463804e-03 2.43275035e+02] [ 7.14742467e-01 -6.99376241e-01 -4.00990642e-03 -9.00788335e+01] [ 5.57592530e-03 -3.50218953e-05 9.99984454e-01 -1.14088536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.030385723 meters 0.015747162832749694 Centerline is valid? [True, True] Translation: X:243.24, Y:-90.03, Z:-11.40 [[-7.00275863e-01 -7.13863634e-01 3.52536505e-03 2.43241032e+02] [ 7.13854319e-01 -7.00284736e-01 -3.64705381e-03 -9.00329825e+01] [ 5.07225842e-03 -3.73466867e-05 9.99987135e-01 -1.14045918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.090385723 meters 0.015862409070557786 Centerline is valid? [True, True] Translation: X:243.20, Y:-89.99, Z:-11.40 [[-7.01739902e-01 -7.12425604e-01 3.29685664e-03 2.43204709e+02] [ 7.12417452e-01 -7.01747645e-01 -3.40834379e-03 -8.99882039e+01] [ 4.74175277e-03 -4.30326292e-05 9.99988757e-01 -1.14047622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.150385723 meters 0.01644287974813572 Centerline is valid? [True, True] Translation: X:243.17, Y:-89.94, Z:-11.41 [[-7.04208459e-01 -7.09981365e-01 4.11201870e-03 2.43170474e+02] [ 7.09968655e-01 -7.04220460e-01 -4.24882663e-03 -8.99415811e+01] [ 5.91235543e-03 -7.26552641e-05 9.99982519e-01 -1.14054938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.210385723 meters 0.01684683693379381 Centerline is valid? [True, True] Translation: X:243.13, Y:-89.90, Z:-11.41 [[-7.07696192e-01 -7.06504921e-01 4.11044093e-03 2.43134547e+02] [ 7.06492176e-01 -7.07708122e-01 -4.24486921e-03 -8.98954779e+01] [ 5.90801342e-03 -1.00083414e-04 9.99982543e-01 -1.14050817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.270385723 meters 0.01748645859374487 Centerline is valid? [True, True] Translation: X:243.10, Y:-89.85, Z:-11.41 [[-7.11733374e-01 -7.02418451e-01 6.62752614e-03 2.43099289e+02] [ 7.02385173e-01 -7.11764198e-01 -6.84065031e-03 -8.98491245e+01] [ 9.52223482e-03 -2.13643030e-04 9.99954640e-01 -1.14061627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.330385723 meters 0.018912858508031292 Centerline is valid? [True, True] Translation: X:243.06, Y:-89.80, Z:-11.41 [[-7.14293911e-01 -6.99798585e-01 8.13318345e-03 2.43064598e+02] [ 6.99748341e-01 -7.14340149e-01 -8.39115730e-03 -8.98041374e+01] [ 1.16819795e-02 -3.02570941e-04 9.99931718e-01 -1.14082696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.390385723 meters 0.019299423353590327 Centerline is valid? [True, True] Translation: X:243.03, Y:-89.76, Z:-11.41 [[-7.16716183e-01 -6.97317105e-01 8.17113916e-03 2.43027129e+02] [ 6.97266288e-01 -7.16762680e-01 -8.42527413e-03 -8.97600803e+01] [ 1.17318554e-02 -3.41070455e-04 9.99931121e-01 -1.14076228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.450385723 meters 0.020683875916346836 Centerline is valid? [True, True] Translation: X:242.99, Y:-89.72, Z:-11.41 [[-7.20077972e-01 -6.93845314e-01 8.14822321e-03 2.42990655e+02] [ 6.93794617e-01 -7.20123965e-01 -8.39668857e-03 -8.97151360e+01] [ 1.16937338e-02 -3.93077081e-04 9.99931549e-01 -1.14067100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.510385723 meters 0.0231930323238211 Centerline is valid? [True, True] Translation: X:242.95, Y:-89.67, Z:-11.41 [[-7.26093286e-01 -6.87547925e-01 8.14801206e-03 2.42953997e+02] [ 6.87496887e-01 -7.26138836e-01 -8.39172900e-03 -8.96700133e+01] [ 1.16863038e-02 -4.91445157e-04 9.99931592e-01 -1.14071184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.570385723 meters 0.0277586825630124 Centerline is valid? [True, True] Translation: X:242.92, Y:-89.62, Z:-11.40 [[-7.31990943e-01 -6.81279699e-01 6.87252494e-03 2.42920733e+02] [ 6.81243154e-01 -7.32023036e-01 -7.07380933e-03 -8.96232699e+01] [ 9.85008926e-03 -4.96103790e-04 9.99951364e-01 -1.14045268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.630385723 meters 0.031544110527787404 Centerline is valid? [True, True] Translation: X:242.88, Y:-89.58, Z:-11.40 [[-7.36715612e-01 -6.76176207e-01 5.98698492e-03 2.42882683e+02] [ 6.76148336e-01 -7.36739776e-01 -6.15871046e-03 -8.95811087e+01] [ 8.57522341e-03 -4.89128250e-04 9.99963112e-01 -1.14024559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.690385723 meters 0.034176009637801846 Centerline is valid? [True, True] Translation: X:242.84, Y:-89.54, Z:-11.40 [[-7.39233410e-01 -6.73419542e-01 6.33124551e-03 2.42840356e+02] [ 6.73388305e-01 -7.39260319e-01 -6.50937682e-03 -8.95419181e+01] [ 9.06398014e-03 -5.48562143e-04 9.99958771e-01 -1.14026996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.750385723 meters 0.03553149540379748 Centerline is valid? [True, True] Translation: X:242.79, Y:-89.51, Z:-11.40 [[-7.40152563e-01 -6.72415679e-01 5.59809990e-03 2.42794990e+02] [ 6.72391255e-01 -7.40173568e-01 -5.75228864e-03 -8.95057127e+01] [ 8.01149465e-03 -4.93457764e-04 9.99967786e-01 -1.14028691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.810385723 meters 0.037839519346180246 Centerline is valid? [True, True] Translation: X:242.75, Y:-89.47, Z:-11.40 [[-7.40684609e-01 -6.71828022e-01 5.78081724e-03 2.42750659e+02] [ 6.71801989e-01 -7.40706990e-01 -5.93655390e-03 -8.94701787e+01] [ 8.27023501e-03 -5.13549585e-04 9.99965669e-01 -1.14038689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.870385723 meters 0.0267789075643534 Centerline is valid? [True, True] Translation: X:242.69, Y:-89.45, Z:-11.40 [[-7.41611343e-01 -6.70809930e-01 5.16265689e-03 2.42691801e+02] [ 6.70789164e-01 -7.41629166e-01 -5.29877557e-03 -8.94462993e+01] [ 7.38324820e-03 -4.66577762e-04 9.99972635e-01 -1.14013284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.930385723 meters 0.029094619358427786 Centerline is valid? [True, True] Translation: X:242.65, Y:-89.41, Z:-11.40 [[-7.42333530e-01 -6.70013851e-01 4.72963910e-03 2.42650084e+02] [ 6.69996426e-01 -7.42348471e-01 -4.85146257e-03 -8.94074740e+01] [ 6.76158748e-03 -4.32562040e-04 9.99977047e-01 -1.14008423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.990385723 meters 0.026405588737290746 Centerline is valid? [True, True] Translation: X:242.60, Y:-89.38, Z:-11.40 [[-7.38631615e-01 -6.74082721e-01 5.98510627e-03 2.42596645e+02] [ 6.74054979e-01 -7.38655696e-01 -6.13583886e-03 -8.93791993e+01] [ 8.55699579e-03 -4.97833888e-04 9.99963264e-01 -1.14024687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.050385723 meters 0.02311469952887453 Centerline is valid? [True, True] Translation: X:242.55, Y:-89.35, Z:-11.40 [[-7.33964687e-01 -6.79158267e-01 6.31564615e-03 2.42548696e+02] [ 6.79127596e-01 -7.33991714e-01 -6.47087638e-03 -8.93456640e+01] [ 9.03038113e-03 -4.60265169e-04 9.99959119e-01 -1.14016643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.110385723 meters 0.02039453325394396 Centerline is valid? [True, True] Translation: X:242.50, Y:-89.31, Z:-11.40 [[-7.24943818e-01 -6.88785906e-01 5.51695914e-03 2.42497506e+02] [ 6.88762803e-01 -7.24964750e-01 -5.64918600e-03 -8.93147614e+01] [ 7.89068060e-03 -2.95466222e-04 9.99968824e-01 -1.14019739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.170385723 meters 0.017945956927807555 Centerline is valid? [True, True] Translation: X:242.45, Y:-89.28, Z:-11.40 [[-7.16210324e-01 -6.97861727e-01 5.63748101e-03 2.42449207e+02] [ 6.97837902e-01 -7.16232483e-01 -5.76991279e-03 -8.92831631e+01] [ 8.06434833e-03 -1.98423186e-04 9.99967463e-01 -1.14026044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.230385723 meters 0.016069503154467413 Centerline is valid? [True, True] Translation: X:242.40, Y:-89.25, Z:-11.40 [[-7.09999840e-01 -7.04180057e-01 5.53841887e-03 2.42403391e+02] [ 7.04157280e-01 -7.10021431e-01 -5.66498246e-03 -8.92481807e+01] [ 7.92156376e-03 -1.22218668e-04 9.99968616e-01 -1.14010465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.290385723 meters 0.014652209498954877 Centerline is valid? [True, True] Translation: X:242.36, Y:-89.21, Z:-11.40 [[-7.05288417e-01 -7.08906127e-01 4.51126426e-03 2.42355205e+02] [ 7.08891129e-01 -7.05302843e-01 -4.61162879e-03 -8.92143072e+01] [ 6.45101941e-03 -5.45331558e-05 9.99979190e-01 -1.14002268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.350385723 meters 0.014408635340827501 Centerline is valid? [True, True] Translation: X:242.31, Y:-89.17, Z:-11.40 [[-7.02813991e-01 -7.11361723e-01 4.12234754e-03 2.42313516e+02] [ 7.11349256e-01 -7.02826080e-01 -4.21164502e-03 -8.91748473e+01] [ 5.89329641e-03 -2.75741905e-05 9.99982634e-01 -1.14004328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.410385723 meters 0.014226037381369034 Centerline is valid? [True, True] Translation: X:242.27, Y:-89.13, Z:-11.40 [[-7.02353667e-01 -7.11816641e-01 4.04922575e-03 2.42273759e+02] [ 7.11804633e-01 -7.02365339e-01 -4.13463658e-03 -8.91327805e+01] [ 5.78713894e-03 -2.17195124e-05 9.99983254e-01 -1.13992762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.470385723 meters 0.014218654489357588 Centerline is valid? [True, True] Translation: X:242.24, Y:-89.09, Z:-11.40 [[-7.01174755e-01 -7.12972816e-01 4.87097785e-03 2.42235214e+02] [ 7.12955490e-01 -7.01191674e-01 -4.97050327e-03 -8.90920868e+01] [ 6.95932282e-03 -1.24010110e-05 9.99975784e-01 -1.14013469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.530385723 meters 0.015144087366186295 Centerline is valid? [True, True] Translation: X:242.20, Y:-89.05, Z:-11.40 [[-7.00242664e-01 -7.13882653e-01 5.63633709e-03 2.42197278e+02] [ 7.13859508e-01 -7.00265348e-01 -5.74851592e-03 -8.90474627e+01] [ 8.05069735e-03 -1.80328648e-06 9.99967593e-01 -1.14015129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.590385723 meters 0.014240673931813054 Centerline is valid? [True, True] Translation: X:242.16, Y:-89.00, Z:-11.40 [[-6.97915634e-01 -7.16166205e-01 4.44228781e-03 2.42161526e+02] [ 7.16151893e-01 -6.97929772e-01 -4.52774071e-03 -8.90023160e+01] [ 6.34301981e-03 2.13717923e-05 9.99979883e-01 -1.13981960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.650385723 meters 0.014171917440083738 Centerline is valid? [True, True] Translation: X:242.13, Y:-88.95, Z:-11.40 [[-6.99743210e-01 -7.14378848e-01 4.72248100e-03 2.42126607e+02] [ 7.14362649e-01 -6.99759145e-01 -4.81085713e-03 -8.89545286e+01] [ 6.74137384e-03 7.19942947e-06 9.99977277e-01 -1.13984419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.710385723 meters 0.014354562335987373 Centerline is valid? [True, True] Translation: X:242.09, Y:-88.91, Z:-11.40 [[-7.02740351e-01 -7.11433134e-01 4.34677609e-03 2.42094341e+02] [ 7.11419371e-01 -7.02753794e-01 -4.42537900e-03 -8.89065004e+01] [ 6.20307464e-03 -1.75116782e-05 9.99980761e-01 -1.13979146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.770385723 meters 0.014651410807100177 Centerline is valid? [True, True] Translation: X:242.06, Y:-88.86, Z:-11.40 [[-7.06728832e-01 -7.07476919e-01 3.28117143e-03 2.42060290e+02] [ 7.07469043e-01 -7.06736448e-01 -3.33848028e-03 -8.88590180e+01] [ 4.68082118e-03 -3.80730566e-05 9.99989044e-01 -1.13959799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.830385723 meters 0.01474771517669596 Centerline is valid? [True, True] Translation: X:242.03, Y:-88.81, Z:-11.40 [[-7.07086580e-01 -7.07119929e-01 3.15822615e-03 2.42025894e+02] [ 7.07112634e-01 -7.07093632e-01 -3.21218795e-03 -8.88121733e+01] [ 4.50456372e-03 -3.80733798e-05 9.99989854e-01 -1.13955574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.890385723 meters 0.014806309386471476 Centerline is valid? [True, True] Translation: X:241.99, Y:-88.76, Z:-11.39 [[-7.07325430e-01 -7.06878667e-01 3.64503614e-03 2.41991692e+02] [ 7.06868958e-01 -7.07334820e-01 -3.70511663e-03 -8.87645019e+01] [ 5.19732889e-03 -4.41603133e-05 9.99986493e-01 -1.13947077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.950385723 meters 0.015003854236269633 Centerline is valid? [True, True] Translation: X:241.96, Y:-88.72, Z:-11.40 [[-7.07910480e-01 -7.06297441e-01 2.58389877e-03 2.41955506e+02] [ 7.06292565e-01 -7.07915195e-01 -2.62474522e-03 -8.87200732e+01] [ 3.68303204e-03 -3.30961625e-05 9.99993217e-01 -1.13951276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.010385723 meters 0.015017409750399483 Centerline is valid? [True, True] Translation: X:241.92, Y:-88.67, Z:-11.39 [[-7.08324463e-01 -7.05880240e-01 3.08905610e-03 2.41920570e+02] [ 7.05873275e-01 -7.08331197e-01 -3.13603373e-03 -8.86739943e+01] [ 4.40173905e-03 -4.08472638e-05 9.99990311e-01 -1.13948486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.070385723 meters 0.015402083891157653 Centerline is valid? [True, True] Translation: X:241.89, Y:-88.63, Z:-11.39 [[-7.09941415e-01 -7.04258361e-01 1.82974806e-03 2.41885583e+02] [ 7.04255915e-01 -7.09943773e-01 -1.85621174e-03 -8.86283716e+01] [ 2.60627088e-03 -2.91906976e-05 9.99996603e-01 -1.13940980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.130385723 meters 0.01550932189691612 Centerline is valid? [True, True] Translation: X:241.85, Y:-88.58, Z:-11.39 [[-7.12167254e-01 -7.02008783e-01 1.21283480e-03 2.41848562e+02] [ 7.02007706e-01 -7.12168287e-01 -1.22954101e-03 -8.85833028e+01] [ 1.72689107e-03 -2.42194716e-05 9.99998509e-01 -1.13939268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.190385723 meters 0.015781457266393267 Centerline is valid? [True, True] Translation: X:241.81, Y:-88.54, Z:-11.39 [[-7.13178227e-01 -7.00981289e-01 1.43134925e-03 2.41811373e+02] [ 7.00979789e-01 -7.13179663e-01 -1.45034200e-03 -8.85379248e+01] [ 2.03747178e-03 -3.10054397e-05 9.99997924e-01 -1.13944560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.250385723 meters 0.015852560835764282 Centerline is valid? [True, True] Translation: X:241.77, Y:-88.49, Z:-11.40 [[-7.12982613e-01 -7.01180377e-01 1.36870235e-03 2.41774425e+02] [ 7.01179007e-01 -7.12983926e-01 -1.38642172e-03 -8.84948197e+01] [ 1.94799447e-03 -2.87892275e-05 9.99998102e-01 -1.13951634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.310385723 meters 0.015705661740217754 Centerline is valid? [True, True] Translation: X:241.73, Y:-88.45, Z:-11.40 [[-7.12718030e-01 -7.01449480e-01 1.27903950e-03 2.41733855e+02] [ 7.01448286e-01 -7.12719178e-01 -1.29470590e-03 -8.84532038e+01] [ 1.81976676e-03 -2.55801730e-05 9.99998344e-01 -1.13953811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.370385723 meters 0.01575247050984931 Centerline is valid? [True, True] Translation: X:241.70, Y:-88.41, Z:-11.40 [[-7.12549059e-01 -7.01622186e-01 3.83076554e-04 2.41695890e+02] [ 7.01622079e-01 -7.12549162e-01 -3.87191677e-04 -8.84094929e+01] [ 5.44623148e-04 -7.11809684e-06 9.99999852e-01 -1.13950756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.430385723 meters 0.01578915884978648 Centerline is valid? [True, True] Translation: X:241.66, Y:-88.37, Z:-11.40 [[-7.12645118e-01 -7.01523995e-01 1.01048564e-03 2.41659062e+02] [ 7.01523251e-01 -7.12645834e-01 -1.02149708e-03 -8.83660049e+01] [ 1.43672310e-03 -1.90857355e-05 9.99998968e-01 -1.13957888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.490385723 meters 0.015996973324358073 Centerline is valid? [True, True] Translation: X:241.62, Y:-88.32, Z:-11.40 [[-7.12862340e-01 -7.01302447e-01 1.47051393e-03 2.41620963e+02] [ 7.01300873e-01 -7.12863856e-01 -1.48590359e-03 -8.83238068e+01] [ 2.09034406e-03 -2.79720099e-05 9.99997815e-01 -1.13985663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.550385723 meters 0.016429178353043087 Centerline is valid? [True, True] Translation: X:241.59, Y:-88.28, Z:-11.40 [[-7.14002642e-01 -7.00138539e-01 2.50045733e-03 2.41585642e+02] [ 7.00133986e-01 -7.14007019e-01 -2.52562579e-03 -8.82786101e+01] [ 3.55363203e-03 -5.26483301e-05 9.99993684e-01 -1.13991217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.610385723 meters 0.016383499646846995 Centerline is valid? [True, True] Translation: X:241.55, Y:-88.24, Z:-11.40 [[-7.15069221e-01 -6.99047142e-01 3.01722586e-03 2.41547057e+02] [ 6.99040508e-01 -7.15075583e-01 -3.04603847e-03 -8.82352006e+01] [ 4.28686902e-03 -6.89652549e-05 9.99990809e-01 -1.14010068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.670385723 meters 0.016930273064501945 Centerline is valid? [True, True] Translation: X:241.51, Y:-88.19, Z:-11.40 [[-7.17256847e-01 -6.96805222e-01 2.25774291e-03 2.41511084e+02] [ 6.96801501e-01 -7.17260398e-01 -2.27792544e-03 -8.81888819e+01] [ 3.20665992e-03 -6.06589733e-05 9.99994857e-01 -1.14004376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.730385723 meters 0.018083160030525323 Centerline is valid? [True, True] Translation: X:241.48, Y:-88.14, Z:-11.40 [[-7.20019131e-01 -6.93949090e-01 2.66665135e-03 2.41476837e+02] [ 6.93943885e-01 -7.20024064e-01 -2.68901114e-03 -8.81420067e+01] [ 3.78608997e-03 -8.56330679e-05 9.99992829e-01 -1.13996583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.790385723 meters 0.018525672216329104 Centerline is valid? [True, True] Translation: X:241.44, Y:-88.10, Z:-11.40 [[-7.22983821e-01 -6.90860088e-01 2.59504493e-03 2.41439050e+02] [ 6.90855144e-01 -7.22988471e-01 -2.61526511e-03 -8.80982025e+01] [ 3.68296985e-03 -9.79942242e-05 9.99993213e-01 -1.14009917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.850385723 meters 0.01838291423882729 Centerline is valid? [True, True] Translation: X:241.40, Y:-88.06, Z:-11.40 [[-7.23122014e-01 -6.90718999e-01 1.34816880e-03 2.41400713e+02] [ 6.90717667e-01 -7.23123269e-01 -1.35754342e-03 -8.80556390e+01] [ 1.91257326e-03 -5.04655224e-05 9.99998170e-01 -1.13983827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.910385723 meters 0.017343510697180865 Centerline is valid? [True, True] Translation: X:241.36, Y:-88.02, Z:-11.40 [[-7.19678569e-01 -6.94305630e-01 1.56492102e-03 2.41356201e+02] [ 6.94303845e-01 -7.19680269e-01 -1.57507036e-03 -8.80179249e+01] [ 2.21982300e-03 -4.70137004e-05 9.99997535e-01 -1.13997031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.970385723 meters 0.016534869148502798 Centerline is valid? [True, True] Translation: X:241.31, Y:-87.98, Z:-11.40 [[-7.16950400e-01 -6.97120939e-01 2.12621401e-03 2.41313591e+02] [ 6.97117659e-01 -7.16953551e-01 -2.13913687e-03 -8.79778608e+01] [ 3.01563379e-03 -5.14337015e-05 9.99995452e-01 -1.13996138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.030385723 meters 0.016159865314426605 Centerline is valid? [True, True] Translation: X:241.27, Y:-87.94, Z:-11.40 [[-7.17097033e-01 -6.96972784e-01 8.85308897e-04 2.41271717e+02] [ 6.96972216e-01 -7.17097579e-01 -8.89754726e-04 -8.79386580e+01] [ 1.25498770e-03 -2.10047699e-05 9.99999212e-01 -1.13984712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.090385723 meters 0.01753778832026087 Centerline is valid? [True, True] Translation: X:241.23, Y:-87.90, Z:-11.40 [[-7.21664516e-01 -6.92242875e-01 3.57432158e-04 2.41230904e+02] [ 6.92242782e-01 -7.21664605e-01 -3.58933630e-04 -8.78979235e+01] [ 5.06415385e-04 -1.15998330e-05 9.99999872e-01 -1.13999715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.150385723 meters 0.018622573455616232 Centerline is valid? [True, True] Translation: X:241.19, Y:-87.85, Z:-11.40 [[-7.25769923e-01 -6.87935536e-01 1.64851659e-03 2.41191868e+02] [ 6.87933546e-01 -7.25771792e-01 -1.65573936e-03 -8.78549193e+01] [ 2.33548879e-03 -6.76159634e-05 9.99997270e-01 -1.14003192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.210385723 meters 0.02060879113334787 Centerline is valid? [True, True] Translation: X:241.15, Y:-87.81, Z:-11.40 [[-7.29790239e-01 -6.83666819e-01 2.42628138e-03 2.41151442e+02] [ 6.83662491e-01 -7.29794263e-01 -2.43568020e-03 -8.78149749e+01] [ 3.43587997e-03 -1.18778069e-04 9.99994090e-01 -1.14025318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.270385723 meters 0.021873496239815743 Centerline is valid? [True, True] Translation: X:241.11, Y:-87.78, Z:-11.40 [[-7.31682292e-01 -6.81640308e-01 2.74116163e-03 2.41108477e+02] [ 6.81634775e-01 -7.31687412e-01 -2.75043834e-03 -8.77760537e+01] [ 3.88048310e-03 -1.43975938e-04 9.99992461e-01 -1.14045714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.330385723 meters 0.02248421736719421 Centerline is valid? [True, True] Translation: X:241.07, Y:-87.74, Z:-11.40 [[-7.31873041e-01 -6.81437092e-01 2.31117729e-03 2.41068063e+02] [ 6.81433162e-01 -7.31876680e-01 -2.31738749e-03 -8.77367766e+01] [ 3.27065056e-03 -1.21120578e-04 9.99994644e-01 -1.14037972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.390385723 meters 0.021203754371979786 Centerline is valid? [True, True] Translation: X:241.02, Y:-87.70, Z:-11.41 [[-7.28591123e-01 -6.84941240e-01 3.23625438e-03 2.41021481e+02] [ 6.84933576e-01 -7.28598296e-01 -3.24342522e-03 -8.77015003e+01] [ 4.57948512e-03 -1.46511542e-04 9.99989503e-01 -1.14059116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.450385723 meters 0.01793227500403659 Centerline is valid? [True, True] Translation: X:240.97, Y:-87.67, Z:-11.41 [[-7.24676338e-01 -6.89084233e-01 2.66925531e-03 2.40974343e+02] [ 6.89079054e-01 -7.24681247e-01 -2.67340592e-03 -8.76677674e+01] [ 3.77656114e-03 -9.80260879e-05 9.99992864e-01 -1.14050775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.510385723 meters 0.01709712334086786 Centerline is valid? [True, True] Translation: X:240.93, Y:-87.63, Z:-11.40 [[-7.23135985e-01 -6.90704428e-01 1.31902114e-03 2.40929551e+02] [ 6.90703168e-01 -7.23137187e-01 -1.32012067e-03 -8.76307431e+01] [ 1.86564643e-03 -4.35746837e-05 9.99998259e-01 -1.14043445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.570385723 meters 0.017470685149547006 Centerline is valid? [True, True] Translation: X:240.89, Y:-87.59, Z:-11.41 [[-7.23886525e-01 -6.89916733e-01 1.78877247e-03 2.40886203e+02] [ 6.89914415e-01 -7.23888733e-01 -1.78948489e-03 -8.75914912e+01] [ 2.52946780e-03 -6.12840875e-05 9.99996799e-01 -1.14054960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.630385723 meters 0.017770608712012158 Centerline is valid? [True, True] Translation: X:240.84, Y:-87.55, Z:-11.40 [[-7.26397061e-01 -6.87273640e-01 1.50089063e-03 2.40843829e+02] [ 6.87272005e-01 -7.26398609e-01 -1.50056600e-03 -8.75518142e+01] [ 2.12154433e-03 -5.84866206e-05 9.99997748e-01 -1.14041522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.690385723 meters 0.018433372085277483 Centerline is valid? [True, True] Translation: X:240.80, Y:-87.51, Z:-11.41 [[-7.27877984e-01 -6.85705595e-01 1.21569424e-03 2.40800601e+02] [ 6.85704521e-01 -7.27878998e-01 -1.21467789e-03 -8.75133734e+01] [ 1.71778973e-03 -5.05302546e-05 9.99998523e-01 -1.14050485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.750385723 meters 0.018757435553730765 Centerline is valid? [True, True] Translation: X:240.26, Y:-88.05, Z:-10.44 [[-7.35993213e-01 6.76979871e-01 3.49929954e-03 2.40263463e+02] [ 6.76972509e-01 7.36001530e-01 -3.15741482e-03 -8.80505752e+01] [-4.71299609e-03 4.50937124e-05 -9.99988893e-01 -1.04408094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.810385723 meters 0.01853973810390296 Centerline is valid? [True, True] Translation: X:240.28, Y:-88.03, Z:-10.44 [[-7.82909042e-01 6.22123428e-01 3.98399373e-03 2.40284757e+02] [ 6.22115686e-01 7.82919177e-01 -3.10403685e-03 -8.80257127e+01] [-5.05023914e-03 4.83264756e-05 -9.99987246e-01 -1.04410547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.870385723 meters 0.01881801917558897 Centerline is valid? [True, True] Translation: X:240.30, Y:-88.00, Z:-10.44 [[-8.25899419e-01 5.63777532e-01 6.71151322e-03 2.40302083e+02] [ 5.63760082e-01 8.25926679e-01 -4.43740632e-03 -8.79984958e+01] [-8.04492782e-03 1.18831944e-04 -9.99967632e-01 -1.04383882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.930385723 meters 0.01876087152026501 Centerline is valid? [True, True] Translation: X:240.32, Y:-87.97, Z:-10.44 [[-8.64023015e-01 5.03394445e-01 7.63302915e-03 2.40321446e+02] [ 5.03376154e-01 8.64056720e-01 -4.29324144e-03 -8.79703741e+01] [-8.75656402e-03 1.32825446e-04 -9.99961652e-01 -1.04364949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.990385723 meters 0.018664814527837564 Centerline is valid? [True, True] Translation: X:240.34, Y:-87.94, Z:-10.44 [[-8.96577110e-01 4.42815687e-01 7.98452544e-03 2.40337775e+02] [ 4.42799644e-01 8.96612650e-01 -3.77244860e-03 -8.79431530e+01] [-8.82952593e-03 1.53253962e-04 -9.99961007e-01 -1.04373594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.050385723 meters 0.01925995071633394 Centerline is valid? [True, True] Translation: X:240.35, Y:-87.91, Z:-10.44 [[-9.24259176e-01 3.81690822e-01 7.55596495e-03 2.40351236e+02] [ 3.81679512e-01 9.24290046e-01 -2.94288991e-03 -8.79140742e+01] [-8.10717727e-03 1.63964011e-04 -9.99967123e-01 -1.04380808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.110385723 meters 0.02051377508722263 Centerline is valid? [True, True] Translation: X:240.36, Y:-87.88, Z:-10.44 [[-9.48547621e-01 3.16527362e-01 8.23649171e-03 2.40363108e+02] [ 3.16517183e-01 9.48583361e-01 -2.54573436e-03 -8.78834322e+01] [-8.61879356e-03 1.92240887e-04 -9.99962839e-01 -1.04370566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.170385723 meters 0.019136297375453446 Centerline is valid? [True, True] Translation: X:240.57, Y:-87.21, Z:-11.41 [[-9.48100875e-01 -3.17917748e-01 5.74777895e-03 2.40566927e+02] [ 3.17910199e-01 -9.48118260e-01 -2.20689853e-03 -8.72113396e+01] [ 6.15118639e-03 -2.65084879e-04 9.99981046e-01 -1.14082661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.230385723 meters 0.021318803644601616 Centerline is valid? [True, True] Translation: X:240.32, Y:-87.86, Z:-10.44 [[-9.49768991e-01 3.12886576e-01 6.39169507e-03 2.40316401e+02] [ 3.12880397e-01 9.49790490e-01 -1.97059316e-03 -8.78614657e+01] [-6.68734334e-03 1.28227808e-04 -9.99977631e-01 -1.04373636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.290385723 meters 0.02005283508917842 Centerline is valid? [True, True] Translation: X:240.32, Y:-87.82, Z:-10.44 [[-9.69939653e-01 2.43251582e-01 6.76292546e-03 2.40319366e+02] [ 2.43246575e-01 9.69963222e-01 -1.56591086e-03 -8.78244399e+01] [-6.94069926e-03 1.26219417e-04 -9.99975905e-01 -1.04364942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.350385723 meters 0.019759426162735332 Centerline is valid? [True, True] Translation: X:240.46, Y:-87.17, Z:-11.41 [[-9.68155530e-01 -2.50307211e-01 4.60106529e-03 2.40462237e+02] [ 2.50303399e-01 -9.68166442e-01 -1.39575391e-03 -8.71704751e+01] [ 4.80396428e-03 -1.99644585e-04 9.99988441e-01 -1.14111469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.410385723 meters 0.017510540485856395 Centerline is valid? [True, True] Translation: X:240.27, Y:-87.80, Z:-10.44 [[-9.71877766e-01 2.35356863e-01 7.79456588e-03 2.40272707e+02] [ 2.35350320e-01 9.71909014e-01 -1.75944847e-03 -8.78027975e+01] [-7.98970712e-03 1.24484722e-04 -9.99968074e-01 -1.04354940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.470385723 meters 0.016941107532482774 Centerline is valid? [True, True] Translation: X:240.27, Y:-87.77, Z:-10.44 [[-9.86495590e-01 1.63607962e-01 7.67374087e-03 2.40271778e+02] [ 1.63603815e-01 9.86525430e-01 -1.16939823e-03 -8.77710018e+01] [-7.76166337e-03 1.01847077e-04 -9.99969873e-01 -1.04361387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.530385723 meters 0.016449518708805032 Centerline is valid? [True, True] Translation: X:240.26, Y:-87.74, Z:-10.44 [[-9.95978349e-01 8.93357106e-02 6.80138867e-03 2.40264140e+02] [ 8.93339871e-02 9.96001570e-01 -5.57398980e-04 -8.77389121e+01] [-6.82398943e-03 5.24378518e-05 -9.99976715e-01 -1.04366392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.590385723 meters 0.01636143802321792 Centerline is valid? [True, True] Translation: X:240.26, Y:-87.71, Z:-10.44 [[-9.99844990e-01 1.69712836e-02 4.68748129e-03 2.40261829e+02] [ 1.69711027e-02 9.99855977e-01 -7.83817749e-05 -8.77074587e+01] [-4.68813642e-03 1.18210135e-06 -9.99989011e-01 -1.04362080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.650385723 meters 0.0169951726073876 Centerline is valid? [True, True] Translation: X:240.25, Y:-87.68, Z:-10.44 [[-9.98651199e-01 -5.18761392e-02 2.15615897e-03 2.40254450e+02] [-5.18761117e-02 9.98653526e-01 6.86977859e-05 -8.76823823e+01] [-2.15681953e-03 -4.32480173e-05 -9.99997673e-01 -1.04379401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.710385723 meters 0.01810834961692922 Centerline is valid? [True, True] Translation: X:240.25, Y:-87.66, Z:-10.44 [[-9.92821548e-01 -1.19570803e-01 2.86308615e-03 2.40246592e+02] [-1.19570358e-01 9.92825676e-01 3.26772911e-04 -8.76565594e+01] [-2.88161794e-03 -1.79130488e-05 -9.99995848e-01 -1.04370268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.770385723 meters 0.019874422441168316 Centerline is valid? [True, True] Translation: X:240.23, Y:-87.63, Z:-10.43 [[-9.82578548e-01 -1.85792898e-01 4.51625426e-03 2.40226612e+02] [-1.85790724e-01 9.82588926e-01 8.99982848e-04 -8.76346655e+01] [-4.60483184e-03 4.52256920e-05 -9.99989397e-01 -1.04345497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.830385723 meters 0.020915719733141252 Centerline is valid? [True, True] Translation: X:240.21, Y:-87.61, Z:-10.43 [[-9.68624557e-01 -2.48442383e-01 6.54591510e-03 2.40206097e+02] [-2.48435575e-01 9.68646662e-01 1.84644067e-03 -8.76138807e+01] [-6.79941293e-03 1.62269597e-04 -9.99976871e-01 -1.04339463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.890385723 meters 0.02225594378565834 Centerline is valid? [True, True] Translation: X:240.16, Y:-87.60, Z:-10.43 [[-9.50152138e-01 -3.11699519e-01 7.37049760e-03 2.40162389e+02] [-3.11688058e-01 9.50180691e-01 2.68499408e-03 -8.75979954e+01] [-7.84021587e-03 2.53856777e-04 -9.99969233e-01 -1.04333923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.950385723 meters 0.026640841615594234 Centerline is valid? [True, True] Translation: X:240.11, Y:-87.60, Z:-10.44 [[-9.29214790e-01 -3.69494789e-01 5.78574226e-03 2.40106727e+02] [-3.69485846e-01 9.29232765e-01 2.58418601e-03 -8.75968924e+01] [-6.33114455e-03 2.63513989e-04 -9.99979923e-01 -1.04350998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.010385723 meters 0.031060685000531156 Centerline is valid? [True, True] Translation: X:240.04, Y:-87.60, Z:-10.44 [[-9.03936806e-01 -4.27659594e-01 2.34993213e-03 2.40038027e+02] [-4.27657906e-01 9.03939857e-01 1.20438521e-03 -8.76029410e+01] [-2.63926420e-03 8.37210690e-05 -9.99996514e-01 -1.04374821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.070385723 meters 0.03048702322506526 Centerline is valid? [True, True] Translation: X:239.95, Y:-87.61, Z:-10.44 [[-8.73391221e-01 -4.87018979e-01 5.37652603e-04 2.39950561e+02] [-4.87018920e-01 8.73391385e-01 2.43722279e-04 -8.76105989e+01] [-5.88278527e-04 -4.89820910e-05 -9.99999826e-01 -1.04380337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.130385723 meters 0.034864978651868175 Centerline is valid? [True, True] Translation: X:239.87, Y:-87.63, Z:-10.44 [[-8.37030829e-01 -5.47155532e-01 -4.63216139e-04 2.39865335e+02] [-5.47155345e-01 8.37030945e-01 -4.74893539e-04 -8.76314767e+01] [ 6.47566870e-04 -1.44049346e-04 -9.99999780e-01 -1.04396346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.190385723 meters 0.032853766972997585 Centerline is valid? [True, True] Translation: X:239.77, Y:-87.65, Z:-10.44 [[-7.92725007e-01 -6.09579376e-01 2.16441165e-04 2.39773474e+02] [-6.09579377e-01 7.92725033e-01 6.99870647e-05 -8.76499712e+01] [-2.14241001e-04 -7.64575744e-05 -9.99999974e-01 -1.04385526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.250385723 meters 0.029152154783688485 Centerline is valid? [True, True] Translation: X:239.67, Y:-87.68, Z:-10.44 [[-7.39858856e-01 -6.72758200e-01 2.29718895e-03 2.39671353e+02] [-6.72754396e-01 7.39862411e-01 2.26604750e-03 -8.76781136e+01] [-3.22410579e-03 1.31111352e-04 -9.99994794e-01 -1.04354567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.310385723 meters 0.02443231593251429 Centerline is valid? [True, True] Translation: X:239.57, Y:-87.72, Z:-10.44 [[-6.79812806e-01 -7.33377294e-01 3.50610123e-03 2.39568467e+02] [-7.33365799e-01 6.79821811e-01 4.11223719e-03 -8.77195951e+01] [-5.39934547e-03 2.24296778e-04 -9.99985398e-01 -1.04353057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.370385723 meters 0.024006991288305992 Centerline is valid? [True, True] Translation: X:239.47, Y:-87.77, Z:-10.43 [[-6.15109286e-01 -7.88431747e-01 3.99326003e-03 2.39473693e+02] [-7.88412580e-01 6.15122203e-01 5.50261486e-03 -8.77730480e+01] [-6.79477915e-03 2.36373057e-04 -9.99976887e-01 -1.04343491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.430385723 meters 0.021035404780584452 Centerline is valid? [True, True] Translation: X:239.38, Y:-87.83, Z:-10.43 [[-5.47633250e-01 -8.36709889e-01 3.79278408e-03 2.39382014e+02] [-8.36687264e-01 5.47646348e-01 6.15631822e-03 -8.78314262e+01] [-7.22815669e-03 1.98030422e-04 -9.99973857e-01 -1.04339368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.490385723 meters 0.020859208397574425 Centerline is valid? [True, True] Translation: X:239.31, Y:-87.90, Z:-10.44 [[-4.79988537e-01 -8.77270143e-01 2.84606841e-03 2.39305748e+02] [-8.77253065e-01 4.79996956e-01 5.47549888e-03 -8.78985976e+01] [-6.16959587e-03 1.31454461e-04 -9.99980959e-01 -1.04354568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.550385723 meters 0.01912735053754421 Centerline is valid? [True, True] Translation: X:239.23, Y:-87.97, Z:-10.44 [[-4.07416365e-01 -9.13239006e-01 2.53465607e-03 2.39227364e+02] [-9.13219741e-01 4.07424236e-01 5.93263401e-03 -8.79723094e+01] [-6.45059310e-03 1.02354226e-04 -9.99979189e-01 -1.04363194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.610385723 meters 0.017643518647780118 Centerline is valid? [True, True] Translation: X:239.15, Y:-88.05, Z:-10.44 [[-3.32124553e-01 -9.43233650e-01 1.88770405e-03 2.39154849e+02] [-9.43217593e-01 3.32129914e-01 5.50381693e-03 -8.80549530e+01] [-5.81834831e-03 4.74370700e-05 -9.99983072e-01 -1.04377339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.670385723 meters 0.017245286046770326 Centerline is valid? [True, True] Translation: X:239.10, Y:-88.14, Z:-10.44 [[-2.57056889e-01 -9.66395850e-01 9.03861293e-04 2.39097173e+02] [-9.66390168e-01 2.57058477e-01 3.31400877e-03 -8.81397947e+01] [-3.43498953e-03 -2.15938837e-05 -9.99994100e-01 -1.04408146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.730385723 meters 0.01700620690667698 Centerline is valid? [True, True] Translation: X:239.05, Y:-88.23, Z:-10.44 [[-1.83530487e-01 -9.83013748e-01 7.28975152e-04 2.39047234e+02] [-9.83006285e-01 1.83531934e-01 3.83062445e-03 -8.82310617e+01] [-3.89934672e-03 -1.35507857e-05 -9.99992397e-01 -1.04408268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.790385723 meters 0.016537980793917998 Centerline is valid? [True, True] Translation: X:239.00, Y:-88.33, Z:-10.44 [[-1.07801790e-01 -9.94172277e-01 5.07979133e-04 2.39003111e+02] [-9.94161472e-01 1.07802987e-01 4.63504532e-03 -8.83318692e+01] [-4.66279523e-03 -5.34709969e-06 -9.99989129e-01 -1.04398002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.850385723 meters 0.016488760079505223 Centerline is valid? [True, True] Translation: X:238.97, Y:-88.43, Z:-10.44 [[-2.96565860e-02 -9.99560134e-01 1.61570443e-04 2.38971392e+02] [-9.99548231e-01 2.96570213e-02 4.87808455e-03 -8.84312248e+01] [-4.88073054e-03 -1.68301165e-05 -9.99988089e-01 -1.04393114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.910385723 meters 0.015889294851454346 Centerline is valid? [True, True] Translation: X:238.95, Y:-88.54, Z:-10.44 [[ 4.72601016e-02 -9.98882571e-01 -3.04822693e-04 2.38945808e+02] [-9.98861339e-01 -4.72610845e-02 6.51269362e-03 -8.85356945e+01] [-6.51982240e-03 -3.31495899e-06 -9.99978746e-01 -1.04382831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.970385723 meters 0.015506101266483895 Centerline is valid? [True, True] Translation: X:238.93, Y:-88.64, Z:-10.44 [[ 1.23838894e-01 -9.92302016e-01 -7.98106920e-04 2.38927214e+02] [-9.92280669e-01 -1.23841465e-01 6.50892447e-03 -8.86384280e+01] [-6.55765761e-03 -1.41119389e-05 -9.99978498e-01 -1.04388632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.030385723 meters 0.015598858963702226 Centerline is valid? [True, True] Translation: X:238.92, Y:-88.75, Z:-10.44 [[ 1.99757568e-01 -9.79844710e-01 -1.12174060e-03 2.38921626e+02] [-9.79828291e-01 -1.99760715e-01 5.67255453e-03 -8.87457816e+01] [-5.78230225e-03 -3.40225254e-05 -9.99983282e-01 -1.04401126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.090385723 meters 0.015899480101756295 Centerline is valid? [True, True] Translation: X:238.92, Y:-88.85, Z:-10.44 [[ 2.72195938e-01 -9.62240521e-01 -1.59703450e-03 2.38923826e+02] [-9.62223356e-01 -2.72200622e-01 5.74758200e-03 -8.88502538e+01] [-5.96527008e-03 -2.77645792e-05 -9.99982207e-01 -1.04401103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.150385723 meters 0.015448183699854458 Centerline is valid? [True, True] Translation: X:238.93, Y:-88.96, Z:-10.44 [[ 3.43751771e-01 -9.39059074e-01 -1.66584923e-03 2.38930843e+02] [-9.39047513e-01 -3.43755806e-01 4.65981081e-03 -8.89553340e+01] [-4.94848297e-03 -3.75066399e-05 -9.99987755e-01 -1.04414434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.210385723 meters 0.015220816214478535 Centerline is valid? [True, True] Translation: X:238.95, Y:-89.06, Z:-10.44 [[ 4.16218813e-01 -9.09262507e-01 -1.89547338e-03 2.38951461e+02] [-9.09252477e-01 -4.16223126e-01 4.27116506e-03 -8.90640296e+01] [-4.67255011e-03 -5.42753895e-05 -9.99989082e-01 -1.04417482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.270385723 meters 0.01484195270096657 Centerline is valid? [True, True] Translation: X:238.98, Y:-89.17, Z:-10.44 [[ 4.89274676e-01 -8.72125639e-01 -2.67618468e-03 2.38978048e+02] [-8.72111636e-01 -4.89281987e-01 4.94289843e-03 -8.91722807e+01] [-5.62023741e-03 -8.45032329e-05 -9.99984203e-01 -1.04416864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.330385723 meters 0.015059716986183882 Centerline is valid? [True, True] Translation: X:239.01, Y:-89.28, Z:-10.44 [[ 5.59487615e-01 -8.28833081e-01 -3.05481339e-03 2.39012693e+02] [-8.28819486e-01 -5.59495941e-01 4.74879331e-03 -8.92751663e+01] [-5.64511268e-03 -1.25002178e-04 -9.99984058e-01 -1.04425331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.390385723 meters 0.016098910043347656 Centerline is valid? [True, True] Translation: X:239.06, Y:-89.37, Z:-10.44 [[ 6.24444771e-01 -7.81061023e-01 -3.52224094e-03 2.39055453e+02] [-7.81047151e-01 -6.24454685e-01 4.65770187e-03 -8.93722557e+01] [-5.83742925e-03 -1.57441325e-04 -9.99982950e-01 -1.04428447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.450385723 meters 0.015666496008793725 Centerline is valid? [True, True] Translation: X:239.11, Y:-89.46, Z:-10.44 [[ 6.81119555e-01 -7.32165813e-01 -3.06170654e-03 2.39108810e+02] [-7.32157470e-01 -6.81126421e-01 3.49821781e-03 -8.94625251e+01] [-4.64668471e-03 -1.41053237e-04 -9.99989194e-01 -1.04448519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.510385723 meters 0.015314502919003534 Centerline is valid? [True, True] Translation: X:239.16, Y:-89.54, Z:-10.45 [[ 7.32380503e-01 -6.80891681e-01 -2.30597471e-03 2.39159989e+02] [-6.80887799e-01 -7.32384124e-01 2.30213198e-03 -8.95412970e+01] [-3.25636178e-03 -1.15926530e-04 -9.99994691e-01 -1.04465236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.570385723 meters 0.014961372138842403 Centerline is valid? [True, True] Translation: X:239.19, Y:-89.56, Z:-10.45 [[ 7.79845136e-01 -6.25968323e-01 -2.28528868e-03 2.39194873e+02] [-6.25965254e-01 -7.79848478e-01 1.96265431e-03 -8.95597990e+01] [-3.01073832e-03 -1.00055113e-04 -9.99995463e-01 -1.04482833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.630385723 meters 0.015126845664436103 Centerline is valid? [True, True] Translation: X:239.23, Y:-89.58, Z:-10.45 [[ 8.25056540e-01 -5.65042221e-01 -2.99918957e-03 2.39226479e+02] [-5.65038073e-01 -8.25061986e-01 2.16694540e-03 -8.95828265e+01] [-3.69893295e-03 -9.31961756e-05 -9.99993155e-01 -1.04486155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.690385723 meters 0.014974996197421491 Centerline is valid? [True, True] Translation: X:239.26, Y:-89.60, Z:-10.45 [[ 8.65773099e-01 -5.00418971e-01 -4.21831058e-03 2.39260544e+02] [-5.00412552e-01 -8.65783372e-01 2.53597698e-03 -8.95998245e+01] [-4.92119415e-03 -8.46850893e-05 -9.99987887e-01 -1.04486709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.750385723 meters 0.015201149997551634 Centerline is valid? [True, True] Translation: X:239.29, Y:-89.62, Z:-10.45 [[ 9.01236952e-01 -4.33246831e-01 -8.31508426e-03 2.39291619e+02] [-4.33227792e-01 -9.01275308e-01 4.06204530e-03 -8.96204039e+01] [-9.25404838e-03 -5.85397375e-05 -9.99957179e-01 -1.04456793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.810385723 meters 0.017797070461924386 Centerline is valid? [True, True] Translation: X:239.32, Y:-89.64, Z:-10.44 [[ 9.31322948e-01 -3.64028413e-01 -1.09945713e-02 2.39322033e+02] [-3.64002826e-01 -9.31387843e-01 4.31610061e-03 -8.96385342e+01] [-1.18113933e-02 -1.76285169e-05 -9.99930243e-01 -1.04414913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.870385723 meters 0.01616608281004244 Centerline is valid? [True, True] Translation: X:239.36, Y:-89.65, Z:-10.44 [[ 9.55270858e-01 -2.95420733e-01 -1.35712495e-02 2.39355980e+02] [-2.95392051e-01 -9.55367251e-01 4.11720726e-03 -8.96512770e+01] [-1.41818357e-02 7.57911023e-05 -9.99899430e-01 -1.04420600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.930385723 meters 0.01753092970207681 Centerline is valid? [True, True] Translation: X:239.39, Y:-89.66, Z:-10.44 [[ 9.74101012e-01 -2.25767273e-01 -1.25042905e-02 2.39388992e+02] [-2.25750487e-01 -9.74181256e-01 2.75647165e-03 -8.96579109e+01] [-1.28037666e-02 1.37767868e-04 -9.99918019e-01 -1.04435538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.990385723 meters 0.017407798718251814 Centerline is valid? [True, True] Translation: X:239.42, Y:-89.67, Z:-10.45 [[ 9.88341868e-01 -1.51838950e-01 -1.11930582e-02 2.39417733e+02] [-1.51830879e-01 -9.88405237e-01 1.57223777e-03 -8.96732802e+01] [-1.13020043e-02 1.45543462e-04 -9.99936120e-01 -1.04453795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.050385723 meters 0.018991443334043488 Centerline is valid? [True, True] Translation: X:239.45, Y:-89.68, Z:-10.45 [[ 9.96778274e-01 -7.93024139e-02 -1.20083224e-02 2.39446003e+02] [-7.92993775e-02 -9.96850579e-01 7.29543681e-04 -8.96795809e+01] [-1.20283577e-02 2.25059198e-04 -9.99927631e-01 -1.04463828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.110385723 meters 0.01885434905168599 Centerline is valid? [True, True] Translation: X:239.48, Y:-89.69, Z:-10.45 [[ 9.99930647e-01 -3.14906318e-03 -1.13483596e-02 2.39475701e+02] [-3.15149261e-03 -9.99995015e-01 -1.96201072e-04 -8.96913066e+01] [-1.13476852e-02 2.31951736e-04 -9.99935586e-01 -1.04485278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.170385723 meters 0.01929867825364738 Centerline is valid? [True, True] Translation: X:239.51, Y:-89.70, Z:-10.45 [[ 9.96972374e-01 7.67395211e-02 -1.25352052e-02 2.39505202e+02] [ 7.67303404e-02 -9.97051145e-01 -1.21240269e-03 -8.97013135e+01] [-1.25912799e-02 2.46901425e-04 -9.99920696e-01 -1.04468986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.230385723 meters 0.018155740447318647 Centerline is valid? [True, True] Translation: X:239.54, Y:-89.71, Z:-10.45 [[ 9.86928027e-01 1.60469923e-01 -1.49155135e-02 2.39536200e+02] [ 1.60448163e-01 -9.87040705e-01 -2.65201202e-03 -8.97080781e+01] [-1.51477871e-02 2.24178247e-04 -9.99885241e-01 -1.04470763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.290385723 meters 0.017410360262261688 Centerline is valid? [True, True] Translation: X:239.57, Y:-89.71, Z:-10.45 [[ 9.71257026e-01 2.37646122e-01 -1.35687201e-02 2.39568281e+02] [ 2.37620125e-01 -9.71351781e-01 -3.52049153e-03 -8.97144315e+01] [-1.40166316e-02 1.95101171e-04 -9.99901743e-01 -1.04489061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.350385723 meters 0.01748753467246377 Centerline is valid? [True, True] Translation: X:239.60, Y:-89.72, Z:-10.45 [[ 9.50174715e-01 3.11448845e-01 -1.29471423e-02 2.39600984e+02] [ 3.11416910e-01 -9.50262897e-01 -4.46491999e-03 -8.97187593e+01] [-1.36937831e-02 2.10495023e-04 -9.99906214e-01 -1.04491887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.410385723 meters 0.019189713342569567 Centerline is valid? [True, True] Translation: X:239.63, Y:-89.71, Z:-10.45 [[ 9.24095309e-01 3.81963139e-01 -1.23296299e-02 2.39630035e+02] [ 3.81925556e-01 -9.24177526e-01 -5.36382394e-03 -8.97131774e+01] [-1.34435499e-02 2.47683782e-04 -9.99909601e-01 -1.04506299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.470385723 meters 0.020537310650670444 Centerline is valid? [True, True] Translation: X:239.66, Y:-89.70, Z:-10.45 [[ 8.92752966e-01 4.50375554e-01 -1.24097782e-02 2.39659304e+02] [ 4.50327246e-01 -8.92839160e-01 -6.60346732e-03 -8.97042855e+01] [-1.40539762e-02 3.06803803e-04 -9.99901191e-01 -1.04496534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.530385723 meters 0.018869233730958335 Centerline is valid? [True, True] Translation: X:239.69, Y:-89.70, Z:-10.45 [[ 8.53839920e-01 5.20349222e-01 -1.39312231e-02 2.39693119e+02] [ 5.20273277e-01 -8.53953492e-01 -8.89668597e-03 -8.97015349e+01] [-1.65260002e-02 3.48302552e-04 -9.99863376e-01 -1.04488429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.590385723 meters 0.01978740824894846 Centerline is valid? [True, True] Translation: X:239.72, Y:-89.69, Z:-10.45 [[ 8.08066010e-01 5.88910501e-01 -1.46200292e-02 2.39721552e+02] [ 5.88806897e-01 -8.08198192e-01 -1.10507658e-02 -8.96909865e+01] [-1.83237932e-02 3.21374195e-04 -9.99832054e-01 -1.04454234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.650385723 meters 0.017167428966450852 Centerline is valid? [True, True] Translation: X:239.76, Y:-89.68, Z:-10.45 [[ 7.56703398e-01 6.53605453e-01 -1.41378802e-02 2.39755869e+02] [ 6.53485102e-01 -7.56835417e-01 -1.25448315e-02 -8.96848719e+01] [-1.88994187e-02 2.53822594e-04 -9.99821358e-01 -1.04462630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.710385723 meters 0.01681646769535809 Centerline is valid? [True, True] Translation: X:239.78, Y:-89.67, Z:-10.45 [[ 7.01145595e-01 7.12886386e-01 -1.37060110e-02 2.39784317e+02] [ 7.12744270e-01 -7.01279513e-01 -1.42355367e-02 -8.96702292e+01] [-1.97600650e-02 2.12303074e-04 -9.99804728e-01 -1.04458550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.770385723 meters 0.016813777098702277 Centerline is valid? [True, True] Translation: X:239.81, Y:-89.65, Z:-10.45 [[ 6.42727642e-01 7.65998775e-01 -1.21266328e-02 2.39810105e+02] [ 7.65856825e-01 -6.42842003e-01 -1.47473193e-02 -8.96531908e+01] [-1.90919375e-02 1.91245260e-04 -9.99817714e-01 -1.04460880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.830385723 meters 0.01769568913468678 Centerline is valid? [True, True] Translation: X:239.83, Y:-89.63, Z:-10.45 [[ 5.82161652e-01 8.13012880e-01 -9.89280735e-03 2.39830899e+02] [ 8.12889824e-01 -5.82245669e-01 -1.41461871e-02 -8.96325780e+01] [-1.72610766e-02 1.93605234e-04 -9.99850998e-01 -1.04463250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.890385723 meters 0.018974064172133345 Centerline is valid? [True, True] Translation: X:239.84, Y:-89.61, Z:-10.45 [[ 5.18537591e-01 8.55008727e-01 -8.87936438e-03 2.39843407e+02] [ 8.54875570e-01 -5.18613557e-01 -1.50909849e-02 -8.96080151e+01] [-1.75078825e-02 2.34491265e-04 -9.99846698e-01 -1.04465870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.950385723 meters 0.017450141814585835 Centerline is valid? [True, True] Translation: X:239.86, Y:-89.59, Z:-10.45 [[ 4.49444386e-01 8.93270533e-01 -8.21576473e-03 2.39864770e+02] [ 8.93111188e-01 -4.49519404e-01 -1.68733650e-02 -8.95868133e+01] [-1.87656254e-02 2.46047791e-04 -9.99823880e-01 -1.04495326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.010385723 meters 0.017557005908573012 Centerline is valid? [True, True] Translation: X:239.88, Y:-89.56, Z:-10.45 [[ 3.77247173e-01 9.26086058e-01 -7.01305740e-03 2.39881540e+02] [ 9.25914314e-01 -3.77312281e-01 -1.78360829e-02 -8.95628963e+01] [-1.91638604e-02 2.35121605e-04 -9.99816329e-01 -1.04491122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.070385723 meters 0.017896480399181205 Centerline is valid? [True, True] Translation: X:239.89, Y:-89.54, Z:-10.45 [[ 3.03802870e-01 9.52717541e-01 -5.75353807e-03 2.39891314e+02] [ 9.52530865e-01 -3.03857244e-01 -1.88607300e-02 -8.95369291e+01] [-1.97172025e-02 2.49521294e-04 -9.99805566e-01 -1.04491650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.130385723 meters 0.018480849610946492 Centerline is valid? [True, True] Translation: X:239.90, Y:-89.51, Z:-10.45 [[ 2.29700517e-01 9.73252928e-01 -4.05098542e-03 2.39897375e+02] [ 9.73080960e-01 -2.29736088e-01 -1.82968484e-02 -8.95117742e+01] [-1.87381188e-02 2.60858766e-04 -9.99824392e-01 -1.04496177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.190385723 meters 0.018984135402126134 Centerline is valid? [True, True] Translation: X:239.90, Y:-89.48, Z:-10.45 [[ 1.53469729e-01 9.88150583e-01 -2.33829087e-03 2.39899571e+02] [ 9.88011309e-01 -1.53487359e-01 -1.65916750e-02 -8.94849664e+01] [-1.67539714e-02 2.36062035e-04 -9.99859615e-01 -1.04497168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.250385723 meters 0.01744600266295244 Centerline is valid? [True, True] Translation: X:239.91, Y:-89.46, Z:-10.45 [[ 7.51052722e-02 9.97175289e-01 -8.00963939e-04 2.39910337e+02] [ 9.97094902e-01 -7.51093884e-02 -1.26624085e-02 -8.94589105e+01] [-1.26868008e-02 1.52376580e-04 -9.99919508e-01 -1.04536218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.310385723 meters 0.017025405905574123 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.43, Z:-10.45 [[-5.00108875e-03 9.99987481e-01 1.63694522e-04 2.39920886e+02] [ 9.99923431e-01 5.00262121e-03 -1.13183798e-02 -8.94330187e+01] [-1.13190570e-02 1.07077766e-04 -9.99935932e-01 -1.04529329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.370385723 meters 0.01672026443763829 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.41, Z:-10.45 [[-8.62306962e-02 9.96274862e-01 8.16406194e-04 2.39922088e+02] [ 9.96234710e-01 8.62345506e-02 -8.94455663e-03 -8.94080706e+01] [-8.98163934e-03 4.20368433e-05 -9.99959663e-01 -1.04534207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.430385723 meters 0.016600166836390887 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.38, Z:-10.45 [[-1.66411273e-01 9.86055483e-01 1.36851443e-03 2.39924709e+02] [ 9.86022673e-01 1.66416900e-01 -8.04381635e-03 -8.93824523e+01] [-8.15939315e-03 1.08045360e-05 -9.99966712e-01 -1.04526440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.490385723 meters 0.01618981666703146 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.36, Z:-10.45 [[-2.47094016e-01 9.68988254e-01 2.51213925e-03 2.39924855e+02] [ 9.68937887e-01 2.47106786e-01 -9.87960572e-03 -8.93562925e+01] [-1.01939886e-02 -7.08456031e-06 -9.99948040e-01 -1.04485050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.550385723 meters 0.01618742170532919 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.33, Z:-10.45 [[-3.22525914e-01 9.46556918e-01 2.65240452e-03 2.39921191e+02] [ 9.46524319e-01 3.22536819e-01 -7.85584980e-03 -8.93312233e+01] [-8.29150709e-03 -2.31497577e-05 -9.99965625e-01 -1.04484236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.610385723 meters 0.016471775861018532 Centerline is valid? [True, True] Translation: X:239.91, Y:-89.31, Z:-10.45 [[-3.93740258e-01 9.19217334e-01 2.84647935e-03 2.39914433e+02] [ 9.19193042e-01 3.93750547e-01 -6.68268558e-03 -8.93074803e+01] [-7.26364322e-03 -1.47783366e-05 -9.99973619e-01 -1.04494729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.670385723 meters 0.017224890009369505 Centerline is valid? [True, True] Translation: X:239.90, Y:-89.29, Z:-10.45 [[-4.59808124e-01 8.88015925e-01 2.05084039e-03 2.39901905e+02] [ 8.88006935e-01 4.59812697e-01 -3.99597496e-03 -8.92866671e+01] [-4.49149185e-03 -1.62212592e-05 -9.99989913e-01 -1.04507039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.730385723 meters 0.019793341292211924 Centerline is valid? [True, True] Translation: X:239.89, Y:-89.27, Z:-10.45 [[-5.24633829e-01 8.51326502e-01 1.59138003e-03 2.39888499e+02] [ 8.51322442e-01 5.24636242e-01 -2.62936867e-03 -8.92688790e+01] [-3.07334687e-03 -2.46782163e-05 -9.99995277e-01 -1.04496915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.790385723 meters 0.018520226430854998 Centerline is valid? [True, True] Translation: X:239.88, Y:-89.25, Z:-10.45 [[-5.88688772e-01 8.08353399e-01 3.21127870e-03 2.39878914e+02] [ 8.08341609e-01 5.88697530e-01 -4.36596148e-03 -8.92482596e+01] [-5.41971164e-03 2.56176846e-05 -9.99985313e-01 -1.04478776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.850385723 meters 0.017466103238536902 Centerline is valid? [True, True] Translation: X:239.87, Y:-89.22, Z:-10.45 [[-6.51933180e-01 7.58264703e-01 4.21528671e-03 2.39874099e+02] [ 7.58249162e-01 6.51946807e-01 -4.85483895e-03 -8.92224485e+01] [-6.42939572e-03 3.12070247e-05 -9.99979331e-01 -1.04475238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.910385723 meters 0.017124883214567788 Centerline is valid? [True, True] Translation: X:239.87, Y:-89.20, Z:-10.45 [[-7.10068953e-01 7.04114672e-01 4.96091128e-03 2.39867673e+02] [ 7.04097812e-01 7.10086282e-01 -4.87271805e-03 -8.91961952e+01] [-6.95362732e-03 3.30009808e-05 -9.99975823e-01 -1.04473923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.970385723 meters 0.017746217324876763 Centerline is valid? [True, True] Translation: X:239.90, Y:-89.18, Z:-10.45 [[-7.57050687e-01 6.53329288e-01 5.92434543e-03 2.39896092e+02] [ 6.53309968e-01 7.57073865e-01 -5.02478751e-03 -8.91806045e+01] [-7.76800793e-03 6.64150889e-05 -9.99969826e-01 -1.04453094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.030385723 meters 0.017904321057393164 Centerline is valid? [True, True] Translation: X:239.92, Y:-89.16, Z:-10.45 [[-8.00106129e-01 5.99831692e-01 5.66778085e-03 2.39917976e+02] [ 5.99817244e-01 8.00126201e-01 -4.16376966e-03 -8.91600707e+01] [-7.03250096e-03 6.81750628e-05 -9.99975269e-01 -1.04461244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.090385723 meters 0.018085898763452877 Centerline is valid? [True, True] Translation: X:239.94, Y:-89.14, Z:-10.45 [[-8.40166158e-01 5.42306544e-01 4.94360596e-03 2.39941906e+02] [ 5.42297497e-01 8.40180701e-01 -3.13298859e-03 -8.91388460e+01] [-5.85256253e-03 4.86741500e-05 -9.99982872e-01 -1.04463095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.150385723 meters 0.017972287402743734 Centerline is valid? [True, True] Translation: X:239.95, Y:-89.11, Z:-10.45 [[-8.77350465e-01 4.79830547e-01 4.33673716e-03 2.39951380e+02] [ 4.79824800e-01 8.77361183e-01 -2.34851571e-03 -8.91084202e+01] [-4.93177442e-03 2.04026935e-05 -9.99987839e-01 -1.04463746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.210385723 meters 0.017578438398252242 Centerline is valid? [True, True] Translation: X:239.97, Y:-89.08, Z:-10.45 [[-9.09618483e-01 4.15428593e-01 3.64692773e-03 2.39967941e+02] [ 4.15425247e-01 9.09625793e-01 -1.66730941e-03 -8.90848162e+01] [-4.00998754e-03 -1.58959968e-06 -9.99991960e-01 -1.04481812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.270385723 meters 0.017684337850925318 Centerline is valid? [True, True] Translation: X:239.99, Y:-89.06, Z:-10.45 [[-9.37008952e-01 3.49274176e-01 4.66626802e-03 2.39990131e+02] [ 3.49269908e-01 9.37020571e-01 -1.72673143e-03 -8.90612510e+01] [-4.97549182e-03 1.18241948e-05 -9.99987622e-01 -1.04469252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.330385723 meters 0.01654791011112902 Centerline is valid? [True, True] Translation: X:240.00, Y:-89.03, Z:-10.45 [[-9.60166628e-01 2.79362670e-01 6.04525984e-03 2.39995618e+02] [ 2.79357243e-01 9.60185658e-01 -1.74138238e-03 -8.90303354e+01] [-6.29104903e-03 1.67698687e-05 -9.99980211e-01 -1.04463055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.390385723 meters 0.016410625510333753 Centerline is valid? [True, True] Translation: X:239.99, Y:-89.00, Z:-10.45 [[-9.77958912e-01 2.08734193e-01 5.13833735e-03 2.39994365e+02] [ 2.08731270e-01 9.77972411e-01 -1.10475883e-03 -8.90016783e+01] [-5.25575310e-03 -7.87706041e-06 -9.99986188e-01 -1.04467331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.450385723 meters 0.01630335587777419 Centerline is valid? [True, True] Translation: X:240.17, Y:-88.23, Z:-11.41 [[-9.67920414e-01 -2.51242289e-01 2.71730077e-03 2.40169259e+02] [ 2.51240958e-01 -9.67924222e-01 -8.26078332e-04 -8.82304644e+01] [ 2.83768705e-03 -1.16880832e-04 9.99995967e-01 -1.14126798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.510385723 meters 0.01594102401425909 Centerline is valid? [True, True] Translation: X:239.95, Y:-89.00, Z:-10.45 [[-9.79082049e-01 2.03410771e-01 4.73278022e-03 2.39953833e+02] [ 2.03408293e-01 9.79093488e-01 -1.00427008e-03 -8.89967500e+01] [-4.83811365e-03 -2.05760671e-05 -9.99988296e-01 -1.04498694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.570385723 meters 0.01596959881424616 Centerline is valid? [True, True] Translation: X:240.12, Y:-88.22, Z:-11.41 [[-9.68541717e-01 -2.48831897e-01 3.10321990e-03 2.40115078e+02] [ 2.48830406e-01 -9.68546686e-01 -8.63932603e-04 -8.82159185e+01] [ 3.22058734e-03 -6.45793002e-05 9.99994812e-01 -1.14099973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.630385723 meters 0.01625786446257165 Centerline is valid? [True, True] Translation: X:239.90, Y:-88.99, Z:-10.45 [[-9.79647322e-01 2.00647543e-01 5.62917807e-03 2.39896286e+02] [ 2.00644202e-01 9.79663495e-01 -1.15776117e-03 -8.89912641e+01] [-5.74700220e-03 -4.73568299e-06 -9.99983486e-01 -1.04488394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.690385723 meters 0.016369553992435896 Centerline is valid? [True, True] Translation: X:240.06, Y:-88.20, Z:-11.41 [[-9.70165940e-01 -2.42428707e-01 2.52409357e-03 2.40059058e+02] [ 2.42427479e-01 -9.70169212e-01 -7.86024104e-04 -8.81990617e+01] [ 2.63935267e-03 -1.50664174e-04 9.99996506e-01 -1.14091798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.750385723 meters 0.016493137546515615 Centerline is valid? [True, True] Translation: X:239.85, Y:-88.99, Z:-10.45 [[-9.80004844e-01 1.98931464e-01 4.09605023e-03 2.39851456e+02] [ 1.98929670e-01 9.80013404e-01 -8.45105013e-04 -8.89868641e+01] [-4.18230210e-03 -1.33810887e-05 -9.99991254e-01 -1.04508554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.810385723 meters 0.016349571340136367 Centerline is valid? [True, True] Translation: X:239.84, Y:-88.96, Z:-10.45 [[-9.91679209e-01 1.28601062e-01 5.84061160e-03 2.39838679e+02] [ 1.28598882e-01 9.91696409e-01 -7.48884377e-04 -8.89563197e+01] [-5.88842088e-03 8.44305620e-06 -9.99982663e-01 -1.04504420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.870385723 meters 0.01640796092449874 Centerline is valid? [True, True] Translation: X:239.86, Y:-88.93, Z:-10.45 [[-9.98261515e-01 5.86600266e-02 5.74018075e-03 2.39860615e+02] [ 5.86591223e-02 9.98278018e-01 -3.25921676e-04 -8.89283250e+01] [-5.74941483e-03 1.13588981e-05 -9.99983472e-01 -1.04499939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.930385723 meters 0.01664975607786023 Centerline is valid? [True, True] Translation: X:239.87, Y:-88.90, Z:-10.45 [[-9.99918912e-01 -1.15012986e-02 5.46707999e-03 2.39866113e+02] [-1.15010583e-02 9.99933858e-01 7.53828101e-05 -8.88997612e+01] [-5.46758538e-03 1.24994918e-05 -9.99985053e-01 -1.04495941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.990385723 meters 0.017529992875608365 Centerline is valid? [True, True] Translation: X:239.85, Y:-88.09, Z:-11.41 [[-9.99747888e-01 -2.21168391e-02 3.87381424e-03 2.39852343e+02] [ 2.21163351e-02 -9.99755389e-01 -1.72875876e-04 -8.80914329e+01] [ 3.87669013e-03 -8.71577182e-05 9.99992482e-01 -1.14110194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.050385723 meters 0.018531898282932696 Centerline is valid? [True, True] Translation: X:239.78, Y:-88.90, Z:-10.45 [[-9.99941398e-01 -9.70000147e-03 4.80740934e-03 2.39780184e+02] [-9.69971471e-03 9.99952953e-01 8.29613150e-05 -8.89031117e+01] [-4.80798789e-03 3.63259542e-05 -9.99988441e-01 -1.04510198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.110385723 meters 0.01947573268069378 Centerline is valid? [True, True] Translation: X:239.76, Y:-88.10, Z:-11.41 [[-9.99940913e-01 -1.03238258e-02 3.40420539e-03 2.39760412e+02] [ 1.03234475e-02 -9.99946704e-01 -1.28685789e-04 -8.80960704e+01] [ 3.40535249e-03 -9.35350496e-05 9.99994197e-01 -1.14115554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.170385723 meters 0.018526494539331084 Centerline is valid? [True, True] Translation: X:239.69, Y:-88.90, Z:-10.45 [[-9.99912274e-01 -1.20443008e-02 5.51165289e-03 2.39690424e+02] [-1.20437343e-02 9.99927462e-01 1.35973001e-04 -8.88988106e+01] [-5.51289078e-03 6.95801894e-05 -9.99984801e-01 -1.04501057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.230385723 meters 0.017701148169304255 Centerline is valid? [True, True] Translation: X:239.67, Y:-88.11, Z:-11.41 [[-9.99968875e-01 -6.83017075e-03 3.94946073e-03 2.39668311e+02] [ 6.82957835e-03 -9.99976665e-01 -1.63462295e-04 -8.81125787e+01] [ 3.95048504e-03 -1.36484056e-04 9.99992187e-01 -1.14113003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.290385723 meters 0.01679991645737422 Centerline is valid? [True, True] Translation: X:239.61, Y:-88.89, Z:-10.45 [[-9.99723466e-01 -2.25751181e-02 6.58452256e-03 2.39607075e+02] [-2.25742211e-02 9.99745148e-01 2.10521077e-04 -8.88859849e+01] [-6.58759702e-03 6.18223929e-05 -9.99978300e-01 -1.04496668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.350385723 meters 0.016294963990968515 Centerline is valid? [True, True] Translation: X:239.58, Y:-88.13, Z:-11.41 [[-9.99957033e-01 -8.30888681e-03 4.11029586e-03 2.39575913e+02] [ 8.30806230e-03 -9.99965464e-01 -2.17631485e-04 -8.81282728e+01] [ 4.11196218e-03 -1.83473540e-04 9.99991529e-01 -1.14111387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.410385723 meters 0.01633713720636379 Centerline is valid? [True, True] Translation: X:239.52, Y:-88.88, Z:-10.45 [[-9.99424906e-01 -3.33471065e-02 6.15048742e-03 2.39524431e+02] [-3.33463618e-02 9.99443830e-01 2.23621662e-04 -8.88761400e+01] [-6.15452384e-03 1.83966801e-05 -9.99981061e-01 -1.04493258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.470385723 meters 0.016347717967355197 Centerline is valid? [True, True] Translation: X:239.49, Y:-88.14, Z:-11.41 [[-9.99977870e-01 -4.93358455e-03 4.46315076e-03 2.39492598e+02] [ 4.93306859e-03 -9.99987824e-01 -1.26604322e-04 -8.81427297e+01] [ 4.46372104e-03 -1.04584491e-04 9.99990032e-01 -1.14109002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.530385723 meters 0.01684462529006148 Centerline is valid? [True, True] Translation: X:239.45, Y:-88.87, Z:-10.45 [[-9.99321928e-01 -3.63043660e-02 6.13816857e-03 2.39445615e+02] [-3.63034886e-02 9.99340779e-01 2.54337629e-04 -8.88703858e+01] [-6.14335573e-03 3.13282366e-05 -9.99981129e-01 -1.04517100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.590385723 meters 0.017827780574667742 Centerline is valid? [True, True] Translation: X:239.44, Y:-88.84, Z:-10.45 [[-9.94379265e-01 -1.05676375e-01 6.51003952e-03 2.39439916e+02] [-1.05673781e-01 9.94400574e-01 7.42206241e-04 -8.88377507e+01] [-6.55202070e-03 5.00940095e-05 -9.99978534e-01 -1.04510367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.650385723 meters 0.018246922389646866 Centerline is valid? [True, True] Translation: X:239.43, Y:-88.81, Z:-10.45 [[-9.84711170e-01 -1.74108601e-01 5.48689971e-03 2.39425486e+02] [-1.74105644e-01 9.84726456e-01 1.01578551e-03 -8.88051267e+01] [-5.57995230e-03 4.49551304e-05 -9.99984431e-01 -1.04511842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.710385723 meters 0.018676551927557523 Centerline is valid? [True, True] Translation: X:239.41, Y:-88.77, Z:-10.45 [[-9.70193299e-01 -2.42292842e-01 4.37506758e-03 2.39405698e+02] [-2.42290230e-01 9.70203163e-01 1.12553240e-03 -8.87745448e+01] [-4.51741285e-03 3.19478678e-05 -9.99989796e-01 -1.04521019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.770385723 meters 0.017866135340662063 Centerline is valid? [True, True] Translation: X:239.37, Y:-88.75, Z:-10.45 [[-9.50468191e-01 -3.10786559e-01 4.68313426e-03 2.39372982e+02] [-3.10782554e-01 9.50479728e-01 1.57845224e-03 -8.87466299e+01] [-4.94178591e-03 4.48322172e-05 -9.99987788e-01 -1.04521863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.830385723 meters 0.01862444617822262 Centerline is valid? [True, True] Translation: X:239.32, Y:-88.73, Z:-10.45 [[-9.26385446e-01 -3.76544939e-01 4.89033443e-03 2.39318404e+02] [-3.76539313e-01 9.26398351e-01 2.05937446e-03 -8.87278306e+01] [-5.30584478e-03 6.63713651e-05 -9.99985922e-01 -1.04512359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.890385723 meters 0.01908640159723602 Centerline is valid? [True, True] Translation: X:239.25, Y:-88.72, Z:-10.45 [[-8.96492416e-01 -4.43033903e-01 4.72315881e-03 2.39250367e+02] [-4.43027347e-01 8.96504855e-01 2.41125077e-03 -8.87245893e+01] [-5.30260064e-03 6.91795168e-05 -9.99985939e-01 -1.04517623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.950385723 meters 0.01862709901511307 Centerline is valid? [True, True] Translation: X:239.17, Y:-88.72, Z:-10.45 [[-8.61076788e-01 -5.08450814e-01 4.95331167e-03 2.39174267e+02] [-5.08441875e-01 8.61091031e-01 3.01587667e-03 -8.87217624e+01] [-5.79867720e-03 7.84303163e-05 -9.99983184e-01 -1.04508049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.010385723 meters 0.018044624241203403 Centerline is valid? [True, True] Translation: X:239.10, Y:-88.73, Z:-10.45 [[-8.19664806e-01 -5.72825646e-01 4.51495682e-03 2.39095348e+02] [-5.72816564e-01 8.19677239e-01 3.22605945e-03 -8.87298488e+01] [-5.54877693e-03 5.80453447e-05 -9.99984604e-01 -1.04518582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.070385723 meters 0.017994783821720213 Centerline is valid? [True, True] Translation: X:239.01, Y:-88.75, Z:-10.45 [[-7.73643980e-01 -6.33606878e-01 4.16124809e-03 2.39010401e+02] [-6.33597406e-01 7.73655170e-01 3.46489009e-03 -8.87510426e+01] [-5.41474930e-03 4.40353626e-05 -9.99985339e-01 -1.04518435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.130385723 meters 0.017698044981439596 Centerline is valid? [True, True] Translation: X:238.92, Y:-88.78, Z:-10.45 [[-7.21950088e-01 -6.91929767e-01 4.61184268e-03 2.38921384e+02] [-6.91915266e-01 7.21964816e-01 4.47973261e-03 -8.87817271e+01] [-6.42924849e-03 4.31389931e-05 -9.99979331e-01 -1.04497230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.190385723 meters 0.017034416889671538 Centerline is valid? [True, True] Translation: X:238.84, Y:-88.82, Z:-10.45 [[-6.66000122e-01 -7.45938238e-01 4.47012113e-03 2.38837408e+02] [-7.45921151e-01 6.66015123e-01 5.04907045e-03 -8.88201778e+01] [-6.74346299e-03 2.83236413e-05 -9.99977262e-01 -1.04511755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.250385723 meters 0.01634780107128838 Centerline is valid? [True, True] Translation: X:238.75, Y:-88.87, Z:-10.45 [[-6.06842285e-01 -7.94811922e-01 4.05580320e-03 2.38751039e+02] [-7.94794006e-01 6.06855838e-01 5.33673788e-03 -8.88711677e+01] [-6.70299074e-03 1.50301381e-05 -9.99977535e-01 -1.04519907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.310385723 meters 0.01640212639870851 Centerline is valid? [True, True] Translation: X:238.67, Y:-88.93, Z:-10.45 [[-5.45092052e-01 -8.38364174e-01 4.49067817e-03 2.38672094e+02] [-8.38335241e-01 5.45110549e-01 6.96516015e-03 -8.89309559e+01] [-8.28725678e-03 3.19596762e-05 -9.99965660e-01 -1.04509776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.370385723 meters 0.01638869741682003 Centerline is valid? [True, True] Translation: X:238.59, Y:-89.00, Z:-10.45 [[-4.81737895e-01 -8.76309108e-01 3.30860999e-03 2.38594664e+02] [-8.76288089e-01 4.81749256e-01 6.06955371e-03 -8.90047043e+01] [-6.91272560e-03 2.46385063e-05 -9.99976107e-01 -1.04514255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.430385723 meters 0.01656136541374411 Centerline is valid? [True, True] Translation: X:238.53, Y:-89.08, Z:-10.45 [[-4.15580090e-01 -9.09553759e-01 2.26880846e-03 2.38527003e+02] [-9.09540036e-01 4.15586283e-01 4.99643346e-03 -8.90825218e+01] [-5.48741051e-03 1.28461428e-05 -9.99984944e-01 -1.04521944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.490385723 meters 0.016549657794049887 Centerline is valid? [True, True] Translation: X:238.46, Y:-89.17, Z:-10.45 [[-3.45762517e-01 -9.38320499e-01 1.70980552e-03 2.38461847e+02] [-9.38308950e-01 3.45766744e-01 4.65552353e-03 -8.91697947e+01] [-4.95956705e-03 5.37970998e-06 -9.99987701e-01 -1.04522175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.550385723 meters 0.016514116399730876 Centerline is valid? [True, True] Translation: X:238.40, Y:-89.26, Z:-10.45 [[-2.72948945e-01 -9.62028092e-01 9.08104200e-04 2.38403866e+02] [-9.62023048e-01 2.72950454e-01 3.11513719e-03 -8.92638886e+01] [-3.24471694e-03 -2.33437620e-05 -9.99994736e-01 -1.04527659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.610385723 meters 0.01655772692441916 Centerline is valid? [True, True] Translation: X:238.35, Y:-89.37, Z:-10.45 [[-1.99190082e-01 -9.79960622e-01 7.01140907e-04 2.38352184e+02] [-9.79954916e-01 1.99191315e-01 3.34408657e-03 -8.93658058e+01] [-3.41673433e-03 -2.09776020e-05 -9.99994163e-01 -1.04528528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.670385723 meters 0.01646593927905659 Centerline is valid? [True, True] Translation: X:238.31, Y:-89.47, Z:-10.45 [[-1.23429606e-01 -9.92353224e-01 4.59271415e-04 2.38310755e+02] [-9.92347001e-01 1.23430459e-01 3.51437524e-03 -8.94723122e+01] [-3.54418968e-03 -2.19786597e-05 -9.99993719e-01 -1.04519888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.730385723 meters 0.0180013831454954 Centerline is valid? [True, True] Translation: X:238.28, Y:-89.59, Z:-10.45 [[-4.85164452e-02 -9.98822358e-01 2.27919972e-04 2.38276988e+02] [-9.98811652e-01 4.85169805e-02 4.62457935e-03 -8.95850032e+01] [-4.63019124e-03 -3.28097325e-06 -9.99989281e-01 -1.04497860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.790385723 meters 0.016707298007894323 Centerline is valid? [True, True] Translation: X:238.25, Y:-89.70, Z:-10.45 [[ 2.82404490e-02 -9.99601148e-01 -1.49075232e-04 2.38249700e+02] [-9.99587500e-01 -2.82408424e-02 5.22338563e-03 -8.97015329e+01] [-5.22551229e-03 1.50298339e-06 -9.99986347e-01 -1.04498361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.850385723 meters 0.016237782497296238 Centerline is valid? [True, True] Translation: X:238.23, Y:-89.82, Z:-10.45 [[ 1.06180204e-01 -9.94346516e-01 -8.77603810e-04 2.38234172e+02] [-9.94314414e-01 -1.06183828e-01 7.99004604e-03 -8.98174811e+01] [-8.03806177e-03 2.42293996e-05 -9.99967694e-01 -1.04484191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.910385723 meters 0.015771098960234417 Centerline is valid? [True, True] Translation: X:238.23, Y:-89.94, Z:-10.45 [[ 1.83777733e-01 -9.82966927e-01 -1.32836605e-03 2.38227518e+02] [-9.82941196e-01 -1.83782534e-01 7.11236334e-03 -8.99350836e+01] [-7.23534842e-03 -1.38829455e-06 -9.99973825e-01 -1.04493616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.970385723 meters 0.015148829289507747 Centerline is valid? [True, True] Translation: X:238.23, Y:-90.06, Z:-10.45 [[ 2.59250966e-01 -9.65808653e-01 -1.60713639e-03 2.38227926e+02] [-9.65789660e-01 -2.59255947e-01 6.05691985e-03 -9.00552154e+01] [-6.26648527e-03 -1.81066199e-05 -9.99980365e-01 -1.04508281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.030385723 meters 0.014928645474122084 Centerline is valid? [True, True] Translation: X:238.24, Y:-90.17, Z:-10.45 [[ 3.33573694e-01 -9.42722478e-01 -1.70868108e-03 2.38242506e+02] [-9.42709570e-01 -3.33578069e-01 4.93339023e-03 -9.01699617e+01] [-5.22079640e-03 -3.48592014e-05 -9.99986371e-01 -1.04524292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.090385723 meters 0.014665868546187946 Centerline is valid? [True, True] Translation: X:238.26, Y:-90.29, Z:-10.45 [[ 4.06607319e-01 -9.13600620e-01 -2.09642399e-03 2.38264185e+02] [-9.13587875e-01 -4.06612721e-01 4.82601469e-03 -9.02861042e+01] [-5.26148268e-03 -4.70253570e-05 -9.99986157e-01 -1.04532876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.150385723 meters 0.01454380903679906 Centerline is valid? [True, True] Translation: X:238.29, Y:-90.40, Z:-10.45 [[ 4.76744636e-01 -8.79038001e-01 -2.59723471e-03 2.38292284e+02] [-8.79024298e-01 -4.76751707e-01 4.90848036e-03 -9.03991001e+01] [-5.55297684e-03 -5.70592590e-05 -9.99984580e-01 -1.04534357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.210385723 meters 0.014433695470482956 Centerline is valid? [True, True] Translation: X:238.33, Y:-90.51, Z:-10.45 [[ 5.43352428e-01 -8.39498788e-01 -3.15025268e-03 2.38331334e+02] [-8.39483990e-01 -5.43361557e-01 4.98483883e-03 -9.05069036e+01] [-5.89649236e-03 -6.39375919e-05 -9.99982613e-01 -1.04523065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.270385723 meters 0.014368073247311632 Centerline is valid? [True, True] Translation: X:238.38, Y:-90.61, Z:-10.45 [[ 6.04412257e-01 -7.96662772e-01 -3.77509182e-03 2.38376840e+02] [-7.96646675e-01 -6.04424044e-01 5.06456209e-03 -9.06093347e+01] [-6.31650434e-03 -5.36690498e-05 -9.99980049e-01 -1.04527044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.330385723 meters 0.014542076520231423 Centerline is valid? [True, True] Translation: X:238.43, Y:-90.70, Z:-10.45 [[ 6.60995860e-01 -7.50371351e-01 -5.22577905e-03 2.38432443e+02] [-7.50347584e-01 -6.61016516e-01 5.97234922e-03 -9.07039095e+01] [-7.93580602e-03 -2.65474247e-05 -9.99968511e-01 -1.04528075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.390385723 meters 0.014866832991792027 Centerline is valid? [True, True] Translation: X:238.50, Y:-90.79, Z:-10.45 [[ 7.13406652e-01 -7.00728584e-01 -5.51374612e-03 2.38495558e+02] [-7.00707674e-01 -7.13427959e-01 5.41333712e-03 -9.07929278e+01] [-7.72694069e-03 1.61351191e-06 -9.99970147e-01 -1.04520125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.450385723 meters 0.01705441877098007 Centerline is valid? [True, True] Translation: X:238.52, Y:-90.82, Z:-10.45 [[ 7.64473413e-01 -6.44619761e-01 -6.76495485e-03 2.38517222e+02] [-6.44594872e-01 -7.64503344e-01 5.66456115e-03 -9.08197308e+01] [-8.82331866e-03 3.02488121e-05 -9.99961073e-01 -1.04509447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.510385723 meters 0.015056553397473062 Centerline is valid? [True, True] Translation: X:238.54, Y:-90.84, Z:-10.45 [[ 8.12322014e-01 -5.83166466e-01 -7.05829624e-03 2.38541004e+02] [-5.83144791e-01 -8.12352677e-01 5.02796668e-03 -9.08437475e+01] [-8.66596741e-03 3.16806699e-05 -9.99962449e-01 -1.04536206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.570385723 meters 0.015068791954229475 Centerline is valid? [True, True] Translation: X:238.56, Y:-90.87, Z:-10.45 [[ 8.55682928e-01 -5.17460998e-01 -6.39083426e-03 2.38564261e+02] [-5.17446690e-01 -8.55706793e-01 3.84796509e-03 -9.08671495e+01] [-7.45985215e-03 1.42779970e-05 -9.99972175e-01 -1.04528526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.630385723 meters 0.014962058465030136 Centerline is valid? [True, True] Translation: X:238.59, Y:-90.88, Z:-10.45 [[ 8.93857232e-01 -4.48309682e-01 -6.13821164e-03 2.38590818e+02] [-4.48299131e-01 -8.93878308e-01 3.07576413e-03 -9.08847638e+01] [-6.86570907e-03 2.46092822e-06 -9.99976431e-01 -1.04543843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.690385723 meters 0.014767504028348572 Centerline is valid? [True, True] Translation: X:238.62, Y:-90.91, Z:-10.45 [[ 9.27044242e-01 -3.74906321e-01 -5.85013221e-03 2.38616966e+02] [-3.74898736e-01 -9.27062700e-01 2.38486030e-03 -9.09050808e+01] [-6.31753856e-03 -1.76638367e-05 -9.99980044e-01 -1.04527949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.750385723 meters 0.014448974320115349 Centerline is valid? [True, True] Translation: X:238.64, Y:-90.92, Z:-10.45 [[ 9.54347348e-01 -2.98630544e-01 -6.39824422e-03 2.38644269e+02] [-2.98623599e-01 -9.54368795e-01 2.03680286e-03 -9.09214723e+01] [-6.71453617e-03 -3.31506849e-05 -9.99977457e-01 -1.04522953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.810385723 meters 0.014405563870801162 Centerline is valid? [True, True] Translation: X:238.67, Y:-90.93, Z:-10.45 [[ 9.75288226e-01 -2.20854114e-01 -6.02793065e-03 2.38673571e+02] [-2.20849579e-01 -9.75306853e-01 1.41629377e-03 -9.09341987e+01] [-6.19187637e-03 -5.00286942e-05 -9.99980829e-01 -1.04522349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.870385723 meters 0.014213002489463842 Centerline is valid? [True, True] Translation: X:238.70, Y:-90.95, Z:-10.45 [[ 9.89940195e-01 -1.41329453e-01 -6.66303310e-03 2.38699164e+02] [-1.41325807e-01 -9.89962616e-01 1.01722813e-03 -9.09458379e+01] [-6.73991797e-03 -6.53364767e-05 -9.99977284e-01 -1.04500833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.930385723 meters 0.014107578454947612 Centerline is valid? [True, True] Translation: X:238.73, Y:-90.95, Z:-10.45 [[ 9.97970627e-01 -6.32361936e-02 -7.47075032e-03 2.38725637e+02] [-6.32339252e-02 -9.97998587e-01 5.39688427e-04 -9.09518742e+01] [-7.48992611e-03 -6.61883309e-05 -9.99971948e-01 -1.04495391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.990385723 meters 0.014134411055642926 Centerline is valid? [True, True] Translation: X:238.75, Y:-90.95, Z:-10.45 [[ 9.99885723e-01 1.32764124e-02 -7.23037289e-03 2.38751323e+02] [ 1.32764489e-02 -9.99911863e-01 -4.29484559e-05 -9.09548391e+01] [-7.23030583e-03 -5.30501284e-05 -9.99973860e-01 -1.04504865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.050385723 meters 0.014168306173558552 Centerline is valid? [True, True] Translation: X:238.78, Y:-90.96, Z:-10.45 [[ 9.95937136e-01 8.97822353e-02 -6.95489658e-03 2.38776702e+02] [ 8.97803340e-02 -9.95961419e-01 -5.85734496e-04 -9.09558120e+01] [-6.97939722e-03 -4.10582015e-05 -9.99975643e-01 -1.04502704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.110385723 meters 0.014229737072354509 Centerline is valid? [True, True] Translation: X:238.80, Y:-90.96, Z:-10.45 [[ 9.85988156e-01 1.66648657e-01 -7.45530405e-03 2.38802352e+02] [ 1.66644142e-01 -9.86016341e-01 -1.22702187e-03 -9.09563004e+01] [-7.55553316e-03 -3.25537187e-05 -9.99971456e-01 -1.04506456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.170385723 meters 0.014418092100335352 Centerline is valid? [True, True] Translation: X:238.83, Y:-90.96, Z:-10.45 [[ 9.70094752e-01 2.42565324e-01 -8.84510998e-03 2.38828109e+02] [ 2.42555411e-01 -9.70135075e-01 -2.19301444e-03 -9.09561324e+01] [-9.11290069e-03 -1.79974917e-05 -9.99958476e-01 -1.04485484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.230385723 meters 0.014339199868984421 Centerline is valid? [True, True] Translation: X:238.85, Y:-90.96, Z:-10.45 [[ 9.48088081e-01 3.17881272e-01 -8.97151643e-03 2.38854362e+02] [ 3.17867208e-01 -9.48130527e-01 -2.99023936e-03 -9.09578040e+01] [-9.45670969e-03 -1.67405790e-05 -9.99955284e-01 -1.04479566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.290385723 meters 0.014614939644907588 Centerline is valid? [True, True] Translation: X:238.88, Y:-90.96, Z:-10.45 [[ 9.21624000e-01 3.87991080e-01 -8.49263971e-03 2.38880785e+02] [ 3.87974470e-01 -9.21663128e-01 -3.59017196e-03 -9.09561368e+01] [-9.22030758e-03 1.38612561e-05 -9.99957492e-01 -1.04494491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.350385723 meters 0.015419539818708536 Centerline is valid? [True, True] Translation: X:238.91, Y:-90.95, Z:-10.45 [[ 8.91121538e-01 4.53685006e-01 -8.50410476e-03 2.38907284e+02] [ 4.53663553e-01 -8.91162112e-01 -4.41256941e-03 -9.09537382e+01] [-9.58045254e-03 7.41332558e-05 -9.99954104e-01 -1.04492787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.410385723 meters 0.01618006558060022 Centerline is valid? [True, True] Translation: X:238.93, Y:-90.95, Z:-10.45 [[ 8.54473425e-01 5.19412939e-01 -9.23934792e-03 2.38931463e+02] [ 5.19380967e-01 -8.54523366e-01 -5.76435504e-03 -9.09482160e+01] [-1.08893193e-02 1.26746733e-04 -9.99940702e-01 -1.04478426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.470385723 meters 0.016346734374588022 Centerline is valid? [True, True] Translation: X:238.96, Y:-90.94, Z:-10.45 [[ 8.11060645e-01 5.84901152e-01 -8.44230994e-03 2.38955606e+02] [ 5.84867957e-01 -8.11104573e-01 -6.23250169e-03 -9.09417957e+01] [-1.04929936e-02 1.17300271e-04 -9.99944940e-01 -1.04470471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.530385723 meters 0.01627337172741819 Centerline is valid? [True, True] Translation: X:238.98, Y:-90.93, Z:-10.45 [[ 7.61821038e-01 6.47747871e-01 -7.16952055e-03 2.38979083e+02] [ 6.47718125e-01 -7.61854769e-01 -6.20822898e-03 -9.09329394e+01] [-9.48350053e-03 8.57310379e-05 -9.99955027e-01 -1.04468327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.590385723 meters 0.015862592979594702 Centerline is valid? [True, True] Translation: X:239.00, Y:-90.92, Z:-10.45 [[ 7.07163898e-01 7.07027697e-01 -5.57295819e-03 2.38999478e+02] [ 7.07005265e-01 -7.07185856e-01 -5.63207700e-03 -9.09188938e+01] [-7.92315164e-03 4.26907434e-05 -9.99968610e-01 -1.04494931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.650385723 meters 0.015041420103619267 Centerline is valid? [True, True] Translation: X:239.03, Y:-90.91, Z:-10.45 [[ 6.48674658e-01 7.61049204e-01 -5.02953579e-03 2.39026878e+02] [ 7.61025954e-01 -6.48694156e-01 -5.94890335e-03 -9.09106372e+01] [-7.79003864e-03 3.12955790e-05 -9.99969657e-01 -1.04492882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.710385723 meters 0.015183499357835516 Centerline is valid? [True, True] Translation: X:239.05, Y:-90.90, Z:-10.45 [[ 5.86776294e-01 8.09735644e-01 -4.66564280e-03 2.39048631e+02] [ 8.09709624e-01 -5.86794842e-01 -6.49145611e-03 -9.08976525e+01] [-7.99413852e-03 3.12166847e-05 -9.99968046e-01 -1.04482367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.770385723 meters 0.015099766515683226 Centerline is valid? [True, True] Translation: X:239.07, Y:-90.88, Z:-10.45 [[ 5.21402185e-01 8.53298656e-01 -4.60058089e-03 2.39070892e+02] [ 8.53264753e-01 -5.21422479e-01 -7.60649563e-03 -9.08821695e+01] [-8.88945880e-03 4.05299206e-05 -9.99960487e-01 -1.04480993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.830385723 meters 0.015440446334530943 Centerline is valid? [True, True] Translation: X:239.09, Y:-90.86, Z:-10.45 [[ 4.54303419e-01 8.90840427e-01 -3.42581102e-03 2.39087558e+02] [ 8.90814480e-01 -4.54316334e-01 -6.79923586e-03 -9.08649437e+01] [-7.61343608e-03 3.71540385e-05 -9.99971017e-01 -1.04488920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.890385723 meters 0.016241728658720995 Centerline is valid? [True, True] Translation: X:239.10, Y:-90.85, Z:-10.45 [[ 3.86091363e-01 9.22457077e-01 -2.53006619e-03 2.39102302e+02] [ 9.22436483e-01 -3.86099650e-01 -6.16394943e-03 -9.08451426e+01] [-6.66283644e-03 4.60222792e-05 -9.99977802e-01 -1.04482473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.950385723 meters 0.01693871802076457 Centerline is valid? [True, True] Translation: X:239.11, Y:-90.82, Z:-10.45 [[ 3.14296404e-01 9.49322626e-01 -2.07910255e-03 2.39113014e+02] [ 9.49300572e-01 -3.14303275e-01 -6.47108852e-03 -9.08249700e+01] [-6.79661948e-03 6.01466118e-05 -9.99976901e-01 -1.04490409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.010385723 meters 0.017621629061207417 Centerline is valid? [True, True] Translation: X:239.12, Y:-90.80, Z:-10.45 [[ 2.39977896e-01 9.70777231e-01 -1.47518356e-03 2.39123814e+02] [ 9.70757337e-01 -2.39982423e-01 -6.21517692e-03 -9.08047368e+01] [-6.38757037e-03 5.94598175e-05 -9.99979597e-01 -1.04478350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.070385723 meters 0.01710551630104661 Centerline is valid? [True, True] Translation: X:239.14, Y:-90.78, Z:-10.45 [[ 1.63484922e-01 9.86545272e-01 -1.05166810e-03 2.39138877e+02] [ 9.86521994e-01 -1.63488289e-01 -6.77749835e-03 -9.07837480e+01] [-6.85824437e-03 7.05250769e-05 -9.99976479e-01 -1.04470015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.130385723 meters 0.016678377309940103 Centerline is valid? [True, True] Translation: X:239.16, Y:-90.76, Z:-10.45 [[ 8.64621050e-02 9.96255005e-01 -5.19630255e-04 2.39155303e+02] [ 9.96231297e-01 -8.64636325e-02 -6.87330805e-03 -9.07612398e+01] [-6.89249666e-03 7.66087594e-05 -9.99976244e-01 -1.04472070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.190385723 meters 0.01701002833301228 Centerline is valid? [True, True] Translation: X:239.17, Y:-90.74, Z:-10.45 [[ 8.88091955e-03 9.99960563e-01 3.56696743e-05 2.39167775e+02] [ 9.99927594e-01 -8.88033707e-03 -8.12070767e-03 -9.07375584e+01] [-8.12007065e-03 1.07786443e-04 -9.99967026e-01 -1.04472137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.250385723 meters 0.017247586764809766 Centerline is valid? [True, True] Translation: X:239.18, Y:-90.71, Z:-10.45 [[-7.08677847e-02 9.97485444e-01 7.39049591e-04 2.39177715e+02] [ 9.97446331e-01 7.08715511e-02 -8.83399686e-03 -9.07144585e+01] [-8.86416087e-03 1.11116516e-04 -9.99960706e-01 -1.04460798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.310385723 meters 0.016974246359474168 Centerline is valid? [True, True] Translation: X:239.18, Y:-90.69, Z:-10.45 [[-1.50193051e-01 9.88656066e-01 1.10973155e-03 2.39183150e+02] [ 9.88632138e-01 1.50197137e-01 -6.87861207e-03 -9.06898438e+01] [-6.96726005e-03 6.39965410e-05 -9.99975726e-01 -1.04480326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.370385723 meters 0.016651965873162564 Centerline is valid? [True, True] Translation: X:239.19, Y:-90.66, Z:-10.45 [[-2.28718125e-01 9.73491375e-01 1.60078457e-03 2.39187875e+02] [ 9.73469039e-01 2.28723722e-01 -6.59464390e-03 -9.06642097e+01] [-6.78596636e-03 4.99996257e-05 -9.99976974e-01 -1.04492318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.430385723 meters 0.01629432235420943 Centerline is valid? [True, True] Translation: X:239.19, Y:-90.64, Z:-10.45 [[-3.06267361e-01 9.51943759e-01 1.83924354e-03 2.39189230e+02] [ 9.51927053e-01 3.06272883e-01 -5.63978594e-03 -9.06389005e+01] [-5.93206945e-03 2.35433229e-05 -9.99982405e-01 -1.04503629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.490385723 meters 0.01617698141064286 Centerline is valid? [True, True] Translation: X:239.19, Y:-90.61, Z:-10.45 [[-3.80373207e-01 9.24831375e-01 1.77493558e-03 2.39187139e+02] [ 9.24821341e-01 3.80377349e-01 -4.30816789e-03 -9.06135709e+01] [-4.65947413e-03 2.78666206e-06 -9.99989145e-01 -1.04519060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.550385723 meters 0.01626496801639135 Centerline is valid? [True, True] Translation: X:239.19, Y:-90.59, Z:-10.45 [[-4.50632789e-01 8.92705689e-01 2.57715412e-03 2.39186808e+02] [ 8.92691390e-01 4.50640158e-01 -5.05274337e-03 -9.05859438e+01] [-5.67198189e-03 2.36714589e-05 -9.99983914e-01 -1.04513865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.610385723 meters 0.01656635508842678 Centerline is valid? [True, True] Translation: X:239.18, Y:-90.56, Z:-10.45 [[-5.16946635e-01 8.56011068e-01 3.35082995e-03 2.39182993e+02] [ 8.55993730e-01 5.16957492e-01 -5.44845294e-03 -9.05586522e+01] [-6.39617267e-03 5.17300124e-05 -9.99979543e-01 -1.04520171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.670385723 meters 0.017022896322045768 Centerline is valid? [True, True] Translation: X:239.18, Y:-90.53, Z:-10.45 [[-5.79499214e-01 8.14964939e-01 3.57901386e-03 2.39179702e+02] [ 8.14950116e-01 5.79510262e-01 -4.91571736e-03 -9.05294958e+01] [-6.08021256e-03 6.80634157e-05 -9.99981513e-01 -1.04525666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.730385723 meters 0.017525638268243344 Centerline is valid? [True, True] Translation: X:239.17, Y:-90.50, Z:-10.45 [[-6.40799222e-01 7.67692802e-01 4.91105971e-03 2.39173739e+02] [ 7.67671522e-01 6.40818032e-01 -5.71699601e-03 -9.05020409e+01] [-7.53599231e-03 1.06634081e-04 -9.99971598e-01 -1.04514178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.790385723 meters 0.017237802644320694 Centerline is valid? [True, True] Translation: X:239.16, Y:-90.47, Z:-10.45 [[-6.99771444e-01 7.14350212e-01 4.86835721e-03 2.39164187e+02] [ 7.14333757e-01 6.99788374e-01 -4.84931863e-03 -9.04748130e+01] [-6.87093156e-03 8.42171933e-05 -9.99976391e-01 -1.04540960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.850385723 meters 0.017175648032183424 Centerline is valid? [True, True] Translation: X:239.19, Y:-90.46, Z:-10.45 [[-7.49220457e-01 6.62303811e-01 4.72950009e-03 2.39191862e+02] [ 6.62291210e-01 7.49235381e-01 -4.08621179e-03 -9.04562529e+01] [-6.24982244e-03 7.08328706e-05 -9.99980467e-01 -1.04538149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.910385723 meters 0.01730272766777467 Centerline is valid? [True, True] Translation: X:239.21, Y:-90.43, Z:-10.45 [[-7.93926786e-01 6.07995154e-01 4.70649249e-03 2.39210432e+02] [ 6.07984963e-01 7.93940733e-01 -3.52087933e-03 -9.04303045e+01] [-5.87735367e-03 6.61562576e-05 -9.99982726e-01 -1.04534223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.970385723 meters 0.017782444004432716 Centerline is valid? [True, True] Translation: X:239.23, Y:-90.41, Z:-10.45 [[-8.34542514e-01 5.50921637e-01 4.91338345e-03 2.39234238e+02] [ 5.50912579e-01 8.34556975e-01 -3.15989496e-03 -9.04095022e+01] [-5.84135294e-03 6.97780629e-05 -9.99982937e-01 -1.04537279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.030385723 meters 0.018463474965420338 Centerline is valid? [True, True] Translation: X:239.25, Y:-90.38, Z:-10.45 [[-8.71363482e-01 4.90603508e-01 5.82057814e-03 2.39248626e+02] [ 4.90593234e-01 8.71382918e-01 -3.17630939e-03 -9.03801941e+01] [-6.63026089e-03 8.78162455e-05 -9.99978016e-01 -1.04519801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.090385723 meters 0.017169637069346134 Centerline is valid? [True, True] Translation: X:239.27, Y:-90.35, Z:-10.45 [[-9.03764358e-01 4.27972482e-01 7.03848369e-03 2.39267958e+02] [ 4.27960485e-01 9.03791758e-01 -3.20651122e-03 -9.03493958e+01] [-7.73362211e-03 1.14262336e-04 -9.99970089e-01 -1.04518251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.150385723 meters 0.019258415741431712 Centerline is valid? [True, True] Translation: X:239.28, Y:-90.32, Z:-10.45 [[-9.31236389e-01 3.64344819e-01 7.18610682e-03 2.39279419e+02] [ 3.64335005e-01 9.31264107e-01 -2.67718710e-03 -9.03242043e+01] [-7.66758260e-03 1.25056211e-04 -9.99970596e-01 -1.04516964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.210385723 meters 0.018356578633546262 Centerline is valid? [True, True] Translation: X:239.29, Y:-90.29, Z:-10.45 [[-9.53618565e-01 3.00942880e-01 6.70933379e-03 2.39293912e+02] [ 3.00936410e-01 9.53642158e-01 -1.97780042e-03 -9.02889019e+01] [-6.99350851e-03 1.33015625e-04 -9.99975536e-01 -1.04532113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.270385723 meters 0.01894210959037081 Centerline is valid? [True, True] Translation: X:239.30, Y:-90.26, Z:-10.45 [[-9.72141547e-01 2.34241137e-01 8.47951186e-03 2.39302994e+02] [ 2.34233954e-01 9.72178508e-01 -1.84455847e-03 -9.02565057e+01] [-8.67567067e-03 1.93017666e-04 -9.99962347e-01 -1.04522314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.330385723 meters 0.018927539389100443 Centerline is valid? [True, True] Translation: X:239.45, Y:-89.59, Z:-11.42 [[-9.69542485e-01 -2.44839656e-01 6.39632802e-03 2.39447009e+02] [ 2.44832513e-01 -9.69563547e-01 -1.88886054e-03 -8.95929526e+01] [ 6.66411445e-03 -2.65301476e-04 9.99977759e-01 -1.14204792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.390385723 meters 0.01772268104008127 Centerline is valid? [True, True] Translation: X:239.25, Y:-90.23, Z:-10.45 [[-9.73621623e-01 2.28037085e-01 7.74743675e-03 2.39251919e+02] [ 2.28031100e-01 9.73652435e-01 -1.65914326e-03 -9.02289286e+01] [-7.92165685e-03 1.51278768e-04 -9.99968612e-01 -1.04525238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.450385723 meters 0.016986450635948037 Centerline is valid? [True, True] Translation: X:239.26, Y:-90.19, Z:-10.45 [[-9.87758724e-01 1.55711174e-01 9.31310020e-03 2.39256906e+02] [ 1.55705822e-01 9.87802614e-01 -1.30141850e-03 -9.01934179e+01] [-9.40215012e-03 1.64616443e-04 -9.99955785e-01 -1.04519962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.510385723 meters 0.01673711109778604 Centerline is valid? [True, True] Translation: X:239.25, Y:-90.15, Z:-10.45 [[-9.96501777e-01 8.29349586e-02 1.02956994e-02 2.39252850e+02] [ 8.29322126e-02 9.96554949e-01 -6.94092916e-04 -9.01547902e+01] [-1.03177947e-02 1.62180305e-04 -9.99946757e-01 -1.04506890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.570385723 meters 0.016861239126098146 Centerline is valid? [True, True] Translation: X:239.25, Y:-90.12, Z:-10.45 [[-9.99881695e-01 1.15034215e-02 1.02110970e-02 2.39245231e+02] [ 1.15044124e-02 9.99933821e-01 3.83062502e-05 -9.01206307e+01] [-1.02099806e-02 1.55774389e-04 -9.99947865e-01 -1.04507636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.630385723 meters 0.016876368603277674 Centerline is valid? [True, True] Translation: X:239.24, Y:-90.09, Z:-10.45 [[-9.98258017e-01 -5.81256253e-02 1.01164752e-02 2.39236735e+02] [-5.81209128e-02 9.98309262e-01 7.59452262e-04 -9.00911056e+01] [-1.01435145e-02 1.70150538e-04 -9.99948539e-01 -1.04520877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.690385723 meters 0.017797329160540727 Centerline is valid? [True, True] Translation: X:239.19, Y:-89.49, Z:-11.42 [[-9.99259560e-01 3.74425508e-02 8.85363900e-03 2.39190815e+02] [-3.74430644e-02 -9.99298757e-01 1.07805813e-04 -8.94900699e+01] [ 8.85146697e-03 -2.23781386e-04 9.99960800e-01 -1.14214823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.750385723 meters 0.018423215058771175 Centerline is valid? [True, True] Translation: X:239.16, Y:-90.09, Z:-10.45 [[-9.98326342e-01 -5.68132929e-02 1.08057496e-02 2.39163873e+02] [-5.68072652e-02 9.98384789e-01 8.64190398e-04 -9.00936210e+01] [-1.08373936e-02 2.48898954e-04 -9.99941243e-01 -1.04519153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.810385723 meters 0.018379468086445885 Centerline is valid? [True, True] Translation: X:239.12, Y:-89.50, Z:-11.42 [[-9.98920674e-01 4.56537731e-02 8.55688445e-03 2.39117968e+02] [-4.56549742e-02 -9.98957267e-01 5.50193453e-05 -8.95002302e+01] [ 8.55047374e-03 -3.35704377e-04 9.99963388e-01 -1.14187525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.870385723 meters 0.017585688289043666 Centerline is valid? [True, True] Translation: X:239.09, Y:-90.09, Z:-10.45 [[-9.97788825e-01 -6.56192484e-02 1.05629180e-02 2.39092206e+02] [-6.56134705e-02 9.97844715e-01 8.92990265e-04 -9.00913965e+01] [-1.05987493e-02 1.97945997e-04 -9.99943812e-01 -1.04538044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.930385723 meters 0.016320473274261258 Centerline is valid? [True, True] Translation: X:239.08, Y:-90.06, Z:-10.45 [[-9.89868143e-01 -1.41653527e-01 9.76411156e-03 2.39076613e+02] [-1.41645346e-01 9.89916290e-01 1.52792460e-03 -9.00589028e+01] [-9.88208900e-03 1.29402930e-04 -9.99951163e-01 -1.04548527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.990385723 meters 0.01621274777637501 Centerline is valid? [True, True] Translation: X:238.98, Y:-89.50, Z:-11.42 [[-9.94152337e-01 1.07665483e-01 8.32315140e-03 2.38981276e+02] [-1.07663466e-01 -9.94187156e-01 6.91323549e-04 -8.94996008e+01] [ 8.34920190e-03 -2.08818403e-04 9.99965123e-01 -1.14180297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.050385723 meters 0.01580639406463812 Centerline is valid? [True, True] Translation: X:239.00, Y:-90.07, Z:-10.46 [[-9.88384817e-01 -1.51589699e-01 1.07710891e-02 2.38996512e+02] [-1.51579677e-01 9.88443501e-01 1.74554251e-03 -9.00697637e+01] [-1.09112192e-02 9.25895167e-05 -9.99940467e-01 -1.04560216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.110385723 meters 0.016074406646373794 Centerline is valid? [True, True] Translation: X:238.98, Y:-90.05, Z:-10.46 [[-9.75174542e-01 -2.21234372e-01 9.48499228e-03 2.38978239e+02] [-2.21223089e-01 9.75220665e-01 2.23585133e-03 -9.00477180e+01] [-9.74460765e-03 8.20460017e-05 -9.99952517e-01 -1.04573905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.170385723 meters 0.016175137831981642 Centerline is valid? [True, True] Translation: X:238.95, Y:-90.03, Z:-10.46 [[-9.57144066e-01 -2.89443743e-01 9.87709360e-03 2.38953739e+02] [-2.89427240e-01 9.57195022e-01 3.09239811e-03 -9.00265880e+01] [-1.03493801e-02 1.01170556e-04 -9.99946439e-01 -1.04565247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.230385723 meters 0.018426690635379772 Centerline is valid? [True, True] Translation: X:238.75, Y:-89.48, Z:-11.42 [[-9.66955694e-01 2.54771715e-01 9.38404077e-03 2.38752818e+02] [-2.54761072e-01 -9.67001218e-01 2.33254911e-03 -8.94827411e+01] [ 9.66864639e-03 -1.35216649e-04 9.99953248e-01 -1.14170596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.290385723 meters 0.01630502729127476 Centerline is valid? [True, True] Translation: X:238.83, Y:-90.07, Z:-10.46 [[-9.56437803e-01 -2.91850916e-01 7.05484927e-03 2.38830481e+02] [-2.91842342e-01 9.56463818e-01 2.23857848e-03 -9.00713265e+01] [-7.40103926e-03 8.21573519e-05 -9.99972609e-01 -1.04591483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.350385723 meters 0.01642177620297573 Centerline is valid? [True, True] Translation: X:238.79, Y:-90.05, Z:-10.46 [[-9.32928831e-01 -3.59976065e-01 7.81211558e-03 2.38793904e+02] [-3.59962529e-01 9.32961533e-01 3.12327698e-03 -9.00545490e+01] [-8.41270829e-03 1.01726256e-04 -9.99964607e-01 -1.04574974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.410385723 meters 0.01632201611865749 Centerline is valid? [True, True] Translation: X:238.74, Y:-90.05, Z:-10.46 [[-9.04143733e-01 -4.27163302e-01 7.45811327e-03 2.38740328e+02] [-4.27147887e-01 9.04174488e-01 3.63017065e-03 -9.00520183e+01] [-8.29411143e-03 9.64787165e-05 -9.99965599e-01 -1.04591790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.470385723 meters 0.01616342646718887 Centerline is valid? [True, True] Translation: X:238.67, Y:-90.06, Z:-10.46 [[-8.69432268e-01 -4.94000555e-01 7.14025347e-03 2.38669349e+02] [-4.93983134e-01 8.69461584e-01 4.14943891e-03 -9.00560194e+01] [-8.25800121e-03 8.04912950e-05 -9.99965899e-01 -1.04578002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.530385723 meters 0.016126936245774565 Centerline is valid? [True, True] Translation: X:238.60, Y:-90.07, Z:-10.46 [[-8.30033763e-01 -5.57681592e-01 5.93245067e-03 2.38599572e+02] [-5.57666871e-01 8.30054961e-01 4.05246128e-03 -9.00704702e+01] [-7.18424317e-03 5.53484833e-05 -9.99974191e-01 -1.04572480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.590385723 meters 0.016251935823131374 Centerline is valid? [True, True] Translation: X:238.52, Y:-90.10, Z:-10.46 [[-7.86830529e-01 -6.17153071e-01 4.45037569e-03 2.38523164e+02] [-6.17142937e-01 7.86843114e-01 3.53682196e-03 -9.00992536e+01] [-5.68450800e-03 3.63615708e-05 -9.99983842e-01 -1.04590910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.650385723 meters 0.016882284365750625 Centerline is valid? [True, True] Translation: X:238.44, Y:-90.13, Z:-10.46 [[-7.39242418e-01 -6.73425362e-01 4.35072655e-03 2.38442573e+02] [-6.73413331e-01 7.39255219e-01 4.02567328e-03 -9.01327588e+01] [-5.92728779e-03 4.61111915e-05 -9.99982432e-01 -1.04566395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.710385723 meters 0.017218938613948045 Centerline is valid? [True, True] Translation: X:238.36, Y:-90.18, Z:-10.46 [[-6.86747658e-01 -7.26888604e-01 3.25757865e-03 2.38362101e+02] [-7.26880240e-01 6.86755384e-01 3.48702793e-03 -9.01785859e+01] [-4.77184054e-03 2.68387118e-05 -9.99988614e-01 -1.04568124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.770385723 meters 0.017028561686141506 Centerline is valid? [True, True] Translation: X:238.28, Y:-90.24, Z:-10.46 [[-6.31311547e-01 -7.75525200e-01 2.52885396e-03 2.38279392e+02] [-7.75518850e-01 6.31316612e-01 3.13837880e-03 -9.02353838e+01] [-4.03039936e-03 2.01208578e-05 -9.99991878e-01 -1.04583806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.830385723 meters 0.016957589695898785 Centerline is valid? [True, True] Translation: X:238.20, Y:-90.30, Z:-10.46 [[-5.73806169e-01 -8.18986266e-01 2.82415885e-03 2.38197654e+02] [-8.18975869e-01 5.73813116e-01 4.12714072e-03 -9.02987393e+01] [-5.00061096e-03 5.52608597e-05 -9.99987495e-01 -1.04557790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.890385723 meters 0.01724377485689106 Centerline is valid? [True, True] Translation: X:238.12, Y:-90.38, Z:-10.46 [[-5.10504237e-01 -8.59869683e-01 3.09059970e-03 2.38120427e+02] [-8.59852919e-01 5.10513585e-01 5.37007022e-03 -9.03753926e+01] [-6.19535371e-03 8.39824255e-05 -9.99980805e-01 -1.04552745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.950385723 meters 0.016764964910268732 Centerline is valid? [True, True] Translation: X:238.05, Y:-90.46, Z:-10.46 [[-4.42881260e-01 -8.96576258e-01 2.68400658e-03 2.38046029e+02] [-8.96558711e-01 4.42889386e-01 5.60973711e-03 -9.04588931e+01] [-6.21827513e-03 7.80779613e-05 -9.99980663e-01 -1.04561728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.010385723 meters 0.017243132884230485 Centerline is valid? [True, True] Translation: X:237.97, Y:-90.55, Z:-10.45 [[-3.68635440e-01 -9.29569720e-01 2.83681166e-03 2.37974708e+02] [-9.29540676e-01 3.68646348e-01 7.34856822e-03 -9.05516409e+01] [-7.87678677e-03 7.20108519e-05 -9.99968975e-01 -1.04542181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.070385723 meters 0.0158085483973937 Centerline is valid? [True, True] Translation: X:237.91, Y:-90.65, Z:-10.45 [[-2.94417314e-01 -9.55674039e-01 2.36163609e-03 2.37913592e+02] [-9.55641739e-01 2.94426780e-01 7.85740080e-03 -9.06512715e+01] [-8.20444287e-03 5.64768154e-05 -9.99966341e-01 -1.04546898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.130385723 meters 0.015711329936778245 Centerline is valid? [True, True] Translation: X:237.86, Y:-90.76, Z:-10.46 [[-2.19611536e-01 -9.75585842e-01 1.74315814e-03 2.37861603e+02] [-9.75553414e-01 2.19618449e-01 7.95445041e-03 -9.07574283e+01] [-8.14307888e-03 4.63451999e-05 -9.99966844e-01 -1.04559879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.190385723 meters 0.01568840192527972 Centerline is valid? [True, True] Translation: X:237.82, Y:-90.87, Z:-10.46 [[-1.43146734e-01 -9.89701024e-01 9.46267639e-04 2.37818128e+02] [-9.89678450e-01 1.43149861e-01 6.68453145e-03 -9.08698249e+01] [-6.75114571e-03 2.03681589e-05 -9.99977211e-01 -1.04573425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.250385723 meters 0.015564018210956711 Centerline is valid? [True, True] Translation: X:237.78, Y:-90.99, Z:-10.46 [[-6.63088284e-02 -9.97799083e-01 3.59474635e-04 2.37782418e+02] [-9.97784259e-01 6.63098028e-02 5.43899366e-03 -9.09852559e+01] [-5.45085958e-03 1.97516487e-06 -9.99985144e-01 -1.04583346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.310385723 meters 0.015861649528161388 Centerline is valid? [True, True] Translation: X:237.76, Y:-91.11, Z:-10.46 [[ 9.65230727e-03 -9.99953414e-01 -4.78178728e-05 2.37755494e+02] [-9.99941161e-01 -9.65242571e-03 4.95025515e-03 -9.11065368e+01] [-4.95048610e-03 3.36754864e-08 -9.99987746e-01 -1.04585902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.370385723 meters 0.01609354563046361 Centerline is valid? [True, True] Translation: X:237.74, Y:-91.22, Z:-10.46 [[ 8.40363738e-02 -9.96462648e-01 -2.80131600e-04 2.37738659e+02] [-9.96456759e-01 -8.40368403e-02 3.42578449e-03 -9.12249317e+01] [-3.43720766e-03 -8.75147939e-06 -9.99994093e-01 -1.04594802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.430385723 meters 0.016675248562571722 Centerline is valid? [True, True] Translation: X:237.73, Y:-91.35, Z:-10.46 [[ 1.57251579e-01 -9.87558497e-01 -3.95978546e-04 2.37731448e+02] [-9.87555172e-01 -1.57252077e-01 2.56254539e-03 -9.13456179e+01] [-2.59293192e-03 -1.19136476e-05 -9.99996638e-01 -1.04587520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.490385723 meters 0.017256662855708243 Centerline is valid? [True, True] Translation: X:237.73, Y:-91.47, Z:-10.46 [[ 2.29731765e-01 -9.73253934e-01 -3.08962257e-04 2.37734103e+02] [-9.73252896e-01 -2.29731971e-01 1.42173030e-03 -9.14707000e+01] [-1.45468312e-03 -2.59182002e-05 -9.99998942e-01 -1.04577651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.550385723 meters 0.017142767004918624 Centerline is valid? [True, True] Translation: X:237.74, Y:-91.59, Z:-10.46 [[ 3.02967566e-01 -9.53000726e-01 -5.19983969e-04 2.37742689e+02] [-9.52999216e-01 -3.02968012e-01 1.69638048e-03 -9.15940751e+01] [-1.77419034e-03 -1.84039522e-05 -9.99998426e-01 -1.04576643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.610385723 meters 0.017227063681434587 Centerline is valid? [True, True] Translation: X:237.76, Y:-91.71, Z:-10.46 [[ 3.74035914e-01 -9.27413407e-01 -1.22789877e-03 2.37762524e+02] [-9.27408535e-01 -3.74037930e-01 3.00599944e-03 -9.17117658e+01] [-3.24708490e-03 1.44120459e-05 -9.99994728e-01 -1.04569238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.670385723 meters 0.01677043142670709 Centerline is valid? [True, True] Translation: X:237.79, Y:-91.84, Z:-10.46 [[ 4.44978341e-01 -8.95540738e-01 -1.03112118e-03 2.37789856e+02] [-8.95538296e-01 -4.44979535e-01 2.09137991e-03 -9.18360470e+01] [-2.33174373e-03 -7.21025595e-06 -9.99997281e-01 -1.04562148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.730385723 meters 0.01671327219941571 Centerline is valid? [True, True] Translation: X:237.82, Y:-91.94, Z:-10.46 [[ 5.13937735e-01 -8.57826407e-01 -1.36378539e-03 2.37822874e+02] [-8.57823356e-01 -5.13939544e-01 2.28786463e-03 -9.19444278e+01] [-2.66349394e-03 -5.93300736e-06 -9.99996453e-01 -1.04557061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.790385723 meters 0.01662872654451771 Centerline is valid? [True, True] Translation: X:237.87, Y:-92.05, Z:-10.45 [[ 5.77676397e-01 -8.16264072e-01 -1.71637400e-03 2.37865219e+02] [-8.16260473e-01 -5.77678946e-01 2.42396454e-03 -9.20544711e+01] [-2.97010829e-03 7.41153265e-07 -9.99995589e-01 -1.04545364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.850385723 meters 0.018903494186671043 Centerline is valid? [True, True] Translation: X:237.92, Y:-92.15, Z:-10.45 [[ 6.36085250e-01 -7.71615569e-01 -2.22905509e-03 2.37916029e+02] [-7.71610941e-01 -6.36089155e-01 2.67254819e-03 -9.21542618e+01] [-3.48005756e-03 1.99948141e-05 -9.99993944e-01 -1.04538024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.910385723 meters 0.01833046316895302 Centerline is valid? [True, True] Translation: X:237.97, Y:-92.25, Z:-10.46 [[ 6.89427497e-01 -7.24354454e-01 -5.92548913e-04 2.37971688e+02] [-7.24354149e-01 -6.89427751e-01 6.64902692e-04 -9.22491080e+01] [-8.90144891e-04 -2.91869344e-05 -9.99999603e-01 -1.04563009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.970385723 meters 0.019553051542017703 Centerline is valid? [True, True] Translation: X:237.99, Y:-92.28, Z:-10.45 [[ 7.40410073e-01 -6.72154563e-01 -1.08074203e-03 2.37990000e+02] [-6.72153831e-01 -7.40410862e-01 9.91691356e-04 -9.22769527e+01] [-1.46676300e-03 -7.83337545e-06 -9.99998924e-01 -1.04547310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.030385723 meters 0.021070816443860718 Centerline is valid? [True, True] Translation: X:238.01, Y:-92.30, Z:-10.45 [[ 7.88481934e-01 -6.15054215e-01 -2.13366411e-03 2.38009953e+02] [-6.15052098e-01 -7.88484820e-01 1.61439136e-03 -9.23011731e+01] [-2.67529997e-03 3.93961689e-05 -9.99996421e-01 -1.04526565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.090385723 meters 0.021184833257576294 Centerline is valid? [True, True] Translation: X:238.03, Y:-92.33, Z:-10.45 [[ 8.33227804e-01 -5.52921904e-01 -2.96565133e-03 2.38029671e+02] [-5.52918717e-01 -8.33233078e-01 1.87886546e-03 -9.23274323e+01] [-3.50994465e-03 7.42411837e-05 -9.99993837e-01 -1.04510122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.150385723 meters 0.022407539600333655 Centerline is valid? [True, True] Translation: X:238.05, Y:-92.35, Z:-10.45 [[ 8.74094730e-01 -4.85742881e-01 -3.50108089e-03 2.38051519e+02] [-4.85739390e-01 -8.74101737e-01 1.84369186e-03 -9.23489352e+01] [-3.95586108e-03 8.90515603e-05 -9.99992172e-01 -1.04503271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.210385723 meters 0.0210254894473109 Centerline is valid? [True, True] Translation: X:238.07, Y:-92.37, Z:-10.45 [[ 9.09686953e-01 -4.15286488e-01 -2.60398458e-03 2.38074334e+02] [-4.15284934e-01 -9.09690679e-01 1.13681522e-03 -9.23736839e+01] [-2.84092450e-03 4.72495920e-05 -9.99995963e-01 -1.04515878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.270385723 meters 0.019822691222393583 Centerline is valid? [True, True] Translation: X:238.10, Y:-92.40, Z:-10.45 [[ 9.40106714e-01 -3.40874646e-01 -1.96013433e-03 2.38097999e+02] [-3.40873941e-01 -9.40108757e-01 6.93590048e-04 -9.24013697e+01] [-2.07916671e-03 1.61100504e-05 -9.99997838e-01 -1.04513341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.330385723 meters 0.02018414359825422 Centerline is valid? [True, True] Translation: X:238.12, Y:-92.42, Z:-10.45 [[ 9.64523889e-01 -2.63982576e-01 -2.62042672e-03 2.38123936e+02] [-2.63981687e-01 -9.64527448e-01 6.85635516e-04 -9.24226925e+01] [-2.70846933e-03 3.04328312e-05 -9.99996332e-01 -1.04505462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.390385723 meters 0.019084119455325652 Centerline is valid? [True, True] Translation: X:238.15, Y:-92.44, Z:-10.45 [[ 9.83001545e-01 -1.83570761e-01 -3.12074530e-03 2.38148957e+02] [-1.83569938e-01 -9.83006498e-01 5.50781777e-04 -9.24430345e+01] [-3.16882034e-03 3.14556821e-05 -9.99994979e-01 -1.04501001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.450385723 meters 0.01795048242935949 Centerline is valid? [True, True] Translation: X:238.18, Y:-92.46, Z:-10.45 [[ 9.94984610e-01 -9.99650771e-02 -3.55099821e-03 2.38175392e+02] [-9.99645134e-02 -9.94990946e-01 3.36312554e-04 -9.24619842e+01] [-3.56683058e-03 2.03479927e-05 -9.99993639e-01 -1.04493316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.510385723 meters 0.016869248517419895 Centerline is valid? [True, True] Translation: X:238.20, Y:-92.48, Z:-10.45 [[ 9.99866677e-01 -1.58014193e-02 -4.11619798e-03 2.38203511e+02] [-1.58013146e-02 -9.99875150e-01 5.79729239e-05 -9.24767042e+01] [-4.11660013e-03 7.07614431e-06 -9.99991527e-01 -1.04492648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.570385723 meters 0.016446202325686384 Centerline is valid? [True, True] Translation: X:238.23, Y:-92.48, Z:-10.45 [[ 9.97800664e-01 6.62000622e-02 -3.37430248e-03 2.38231678e+02] [ 6.61997372e-02 -9.97806370e-01 -2.08048669e-04 -9.24846887e+01] [-3.38067335e-03 -1.57868371e-05 -9.99994285e-01 -1.04502133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.630385723 meters 0.016031078988549618 Centerline is valid? [True, True] Translation: X:238.26, Y:-92.49, Z:-10.45 [[ 9.89352066e-01 1.45513558e-01 -2.88008587e-03 2.38261955e+02] [ 1.45513014e-01 -9.89356257e-01 -3.98547789e-04 -9.24941763e+01] [-2.90742508e-03 -2.47858981e-05 -9.99995773e-01 -1.04506036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.690385723 meters 0.016239120460632188 Centerline is valid? [True, True] Translation: X:238.29, Y:-92.49, Z:-10.45 [[ 9.75305719e-01 2.20834166e-01 -3.32038116e-03 2.38290133e+02] [ 2.20832936e-01 -9.75311371e-01 -7.37171514e-04 -9.24937668e+01] [-3.40119816e-03 -1.42819257e-05 -9.99994216e-01 -1.04502800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.750385723 meters 0.0165986680328831 Centerline is valid? [True, True] Translation: X:238.32, Y:-92.49, Z:-10.45 [[ 9.55627037e-01 2.94555034e-01 -3.78127432e-03 2.38318284e+02] [ 2.94552728e-01 -9.55634518e-01 -1.16542288e-03 -9.24888715e+01] [-3.95679744e-03 -7.50516015e-08 -9.99992172e-01 -1.04505438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.810385723 meters 0.017149071845657206 Centerline is valid? [True, True] Translation: X:238.35, Y:-92.48, Z:-10.45 [[ 9.31240880e-01 3.64388289e-01 -3.40552085e-03 2.38346964e+02] [ 3.64385805e-01 -9.31247107e-01 -1.34573010e-03 -9.24831542e+01] [-3.66174973e-03 1.22754327e-05 -9.99993296e-01 -1.04501447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.870385723 meters 0.017256772009279275 Centerline is valid? [True, True] Translation: X:238.37, Y:-92.48, Z:-10.45 [[ 9.00049282e-01 4.35769990e-01 -3.97574311e-03 2.38374571e+02] [ 4.35765602e-01 -9.00058062e-01 -1.95576113e-03 -9.24758180e+01] [-4.43066164e-03 2.77893119e-05 -9.99990184e-01 -1.04498782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.930385723 meters 0.017177013937302536 Centerline is valid? [True, True] Translation: X:238.40, Y:-92.47, Z:-10.45 [[ 8.62892083e-01 5.05368121e-01 -4.50721139e-03 2.38401923e+02] [ 5.05360987e-01 -8.62903854e-01 -2.68559923e-03 -9.24660006e+01] [-5.24650632e-03 3.96135209e-05 -9.99986236e-01 -1.04493626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.990385723 meters 0.01638160863764992 Centerline is valid? [True, True] Translation: X:238.43, Y:-92.46, Z:-10.45 [[ 8.19791411e-01 5.72631036e-01 -5.97818873e-03 2.38431536e+02] [ 5.72615236e-01 -8.19813206e-01 -4.25425724e-03 -9.24601294e+01] [-7.33711780e-03 6.44015958e-05 -9.99973081e-01 -1.04478850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.050385723 meters 0.015873120044760033 Centerline is valid? [True, True] Translation: X:238.46, Y:-92.45, Z:-10.45 [[ 7.70290226e-01 6.37659465e-01 -6.58596626e-03 2.38457944e+02] [ 6.37635546e-01 -7.70318378e-01 -5.52329474e-03 -9.24485789e+01] [-8.59527201e-03 5.50937608e-05 -9.99963058e-01 -1.04478891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.110385723 meters 0.015337069923988084 Centerline is valid? [True, True] Translation: X:238.48, Y:-92.44, Z:-10.45 [[ 7.16469876e-01 6.97589209e-01 -6.34131813e-03 2.38484894e+02] [ 6.97561396e-01 -7.16497937e-01 -6.22935172e-03 -9.24362131e+01] [-8.88906990e-03 3.96841238e-05 -9.99960491e-01 -1.04478853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.170385723 meters 0.015171565043453421 Centerline is valid? [True, True] Translation: X:238.51, Y:-92.42, Z:-10.45 [[ 6.59483009e-01 7.51697072e-01 -5.80282050e-03 2.38506081e+02] [ 7.51667472e-01 -6.59508537e-01 -6.67095732e-03 -9.24181118e+01] [-8.84154874e-03 3.75915917e-05 -9.99960912e-01 -1.04482698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.230385723 meters 0.015715948318807578 Centerline is valid? [True, True] Translation: X:238.52, Y:-92.40, Z:-10.45 [[ 6.00826297e-01 7.99364863e-01 -4.85560237e-03 2.38521446e+02] [ 7.99338035e-01 -6.00845914e-01 -6.54926111e-03 -9.23976306e+01] [-8.15271806e-03 5.37006383e-05 -9.99966765e-01 -1.04486549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.290385723 meters 0.01589698469990691 Centerline is valid? [True, True] Translation: X:238.54, Y:-92.38, Z:-10.45 [[ 5.38692327e-01 8.42489914e-01 -4.61751262e-03 2.38538618e+02] [ 8.42457606e-01 -5.38712110e-01 -7.37862110e-03 -9.23782353e+01] [-8.70392382e-03 8.47479424e-05 -9.99962117e-01 -1.04491990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.350385723 meters 0.01632213711578019 Centerline is valid? [True, True] Translation: X:238.55, Y:-92.36, Z:-10.45 [[ 4.71755459e-01 8.81720258e-01 -4.02151271e-03 2.38550995e+02] [ 8.81686553e-01 -4.71772591e-01 -7.71003233e-03 -9.23569869e+01] [-8.69533117e-03 9.15361602e-05 -9.99962191e-01 -1.04493162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.410385723 meters 0.016178572112739594 Centerline is valid? [True, True] Translation: X:238.57, Y:-92.34, Z:-10.45 [[ 4.00694267e-01 9.16204729e-01 -3.60534404e-03 2.38566081e+02] [ 9.16165497e-01 -4.00710476e-01 -8.47925515e-03 -9.23361936e+01] [-9.21343279e-03 9.44971117e-05 -9.99957551e-01 -1.04484446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.470385723 meters 0.016191581557466587 Centerline is valid? [True, True] Translation: X:238.58, Y:-92.31, Z:-10.45 [[ 3.26772395e-01 9.45097984e-01 -3.09882311e-03 2.38577774e+02] [ 9.45052743e-01 -3.26787074e-01 -9.24772984e-03 -9.23143310e+01] [-9.75266617e-03 9.33515432e-05 -9.99952437e-01 -1.04468611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.530385723 meters 0.015393335907656128 Centerline is valid? [True, True] Translation: X:238.59, Y:-92.29, Z:-10.45 [[ 2.53189519e-01 9.67414394e-01 -2.11130052e-03 2.38591783e+02] [ 9.67377713e-01 -2.53198306e-01 -8.42484657e-03 -9.22930615e+01] [-8.68489555e-03 9.06577847e-05 -9.99962281e-01 -1.04490595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.590385723 meters 0.015607640596742784 Centerline is valid? [True, True] Translation: X:238.60, Y:-92.27, Z:-10.45 [[ 1.76728249e-01 9.84258821e-01 -1.30339179e-03 2.38603905e+02] [ 9.84228727e-01 -1.76733038e-01 -7.69722099e-03 -9.22713140e+01] [-7.80641005e-03 7.74807386e-05 -9.99969527e-01 -1.04489481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.650385723 meters 0.015452159186229546 Centerline is valid? [True, True] Translation: X:238.61, Y:-92.25, Z:-10.45 [[ 9.71208086e-02 9.95272358e-01 -6.94840403e-04 2.38614662e+02] [ 9.95242109e-01 -9.71232743e-02 -7.75975451e-03 -9.22497447e+01] [-7.79055434e-03 6.20992037e-05 -9.99969651e-01 -1.04489346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.710385723 meters 0.01510426666047848 Centerline is valid? [True, True] Translation: X:238.62, Y:-92.23, Z:-10.45 [[ 1.62751257e-02 9.99867548e-01 -8.44530750e-05 2.38623750e+02] [ 9.99837162e-01 -1.62752896e-02 -7.79511834e-03 -9.22266097e+01] [-7.79546035e-03 4.24272082e-05 -9.99969614e-01 -1.04475899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.770385723 meters 0.016040462437437824 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.20, Z:-10.45 [[-6.23481714e-02 9.98054328e-01 5.13045004e-04 2.38626679e+02] [ 9.98025441e-01 6.23502703e-02 -7.59366196e-03 -9.22044525e+01] [-7.61087568e-03 3.85810288e-05 -9.99971036e-01 -1.04461686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.830385723 meters 0.015254036855818439 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.18, Z:-10.45 [[-1.39271870e-01 9.90253717e-01 9.60159080e-04 2.38632938e+02] [ 9.90231873e-01 1.39275175e-01 -6.57750122e-03 -9.21806552e+01] [-6.64712136e-03 3.47192300e-05 -9.99977907e-01 -1.04486302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.890385723 meters 0.015409075608696608 Centerline is valid? [True, True] Translation: X:238.64, Y:-92.16, Z:-10.45 [[-2.15069523e-01 9.76597947e-01 1.24506409e-03 2.38636566e+02] [ 9.76582384e-01 2.15073125e-01 -5.51355800e-03 -9.21570216e+01] [-5.65230925e-03 3.01093729e-05 -9.99984025e-01 -1.04481611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.950385723 meters 0.015841790300001237 Centerline is valid? [True, True] Translation: X:238.64, Y:-92.13, Z:-10.45 [[-2.89651758e-01 9.57130366e-01 1.82235727e-03 2.38635535e+02] [ 9.57112392e-01 2.89657487e-01 -5.86591228e-03 -9.21339603e+01] [-6.14230220e-03 4.51289213e-05 -9.99981135e-01 -1.04484614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.010385723 meters 0.01638150751311415 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.11, Z:-10.45 [[-3.63012173e-01 9.31781637e-01 2.26776622e-03 2.38634218e+02] [ 9.31764302e-01 3.63019253e-01 -5.68400900e-03 -9.21119482e+01] [-6.11949801e-03 4.96591433e-05 -9.99981274e-01 -1.04479959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.070385723 meters 0.016016518354411143 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.09, Z:-10.45 [[-4.35346581e-01 9.00260299e-01 2.17927113e-03 2.38633755e+02] [ 9.00249347e-01 4.35352034e-01 -4.44059488e-03 -9.20879308e+01] [-4.94644139e-03 2.86896096e-05 -9.99987766e-01 -1.04479963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.130385723 meters 0.015864654666460417 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.06, Z:-10.45 [[-5.05883678e-01 8.62596900e-01 2.87971327e-03 2.38629898e+02] [ 8.62583269e-01 5.05891873e-01 -4.84940506e-03 -9.20644196e+01] [-5.63990531e-03 3.07576176e-05 -9.99984095e-01 -1.04474677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.190385723 meters 0.015588047033884497 Centerline is valid? [True, True] Translation: X:238.63, Y:-92.04, Z:-10.45 [[-5.72311814e-01 8.20025752e-01 4.11748109e-03 2.38625695e+02] [ 8.20005132e-01 5.72326623e-01 -5.81545805e-03 -9.20392594e+01] [-7.12536941e-03 4.81002827e-05 -9.99974613e-01 -1.04460170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.250385723 meters 0.015606394245353693 Centerline is valid? [True, True] Translation: X:238.62, Y:-92.01, Z:-10.45 [[-6.33044730e-01 7.74104823e-01 4.01151188e-03 2.38621399e+02] [ 7.74089790e-01 6.33057438e-01 -4.82469489e-03 -9.20122542e+01] [-6.27433701e-03 5.10227107e-05 -9.99980315e-01 -1.04464191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.310385723 meters 0.016652564537493898 Centerline is valid? [True, True] Translation: X:238.61, Y:-91.99, Z:-10.45 [[-6.89941147e-01 7.23850553e-01 4.64662037e-03 2.38611238e+02] [ 7.23834850e-01 6.89956790e-01 -4.76849906e-03 -9.19898641e+01] [-6.65764796e-03 7.34020465e-05 -9.99977835e-01 -1.04466815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.370385723 meters 0.016613773845874567 Centerline is valid? [True, True] Translation: X:238.60, Y:-91.96, Z:-10.45 [[-7.43084683e-01 6.69182852e-01 4.41189474e-03 2.38602236e+02] [ 6.69171629e-01 7.43097777e-01 -3.87623758e-03 -9.19632600e+01] [-5.87238089e-03 7.19420122e-05 -9.99982755e-01 -1.04472908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.430385723 meters 0.016845760145365134 Centerline is valid? [True, True] Translation: X:238.62, Y:-91.94, Z:-10.45 [[-7.88010529e-01 6.15651615e-01 3.53486350e-03 2.38622613e+02] [ 6.15645711e-01 7.88018456e-01 -2.69658030e-03 -9.19387235e+01] [-4.44569169e-03 5.12898816e-05 -9.99990117e-01 -1.04480167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.490385723 meters 0.01603094712660402 Centerline is valid? [True, True] Translation: X:238.65, Y:-91.91, Z:-10.45 [[-8.31614057e-01 5.55339190e-01 4.05515565e-03 2.38646165e+02] [ 5.55332836e-01 8.31623943e-01 -2.65686368e-03 -9.19123195e+01] [-4.84782505e-03 4.24758988e-05 -9.99988248e-01 -1.04480122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.550385723 meters 0.015750690525031162 Centerline is valid? [True, True] Translation: X:238.67, Y:-91.89, Z:-10.45 [[-8.69787033e-01 4.93414931e-01 3.49614300e-03 2.38665922e+02] [ 4.93411038e-01 8.69794059e-01 -1.96016938e-03 -9.18859740e+01] [-4.00810126e-03 2.01056341e-05 -9.99991967e-01 -1.04469745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.610385723 meters 0.01522180895094985 Centerline is valid? [True, True] Translation: X:238.68, Y:-91.86, Z:-10.45 [[-9.03776096e-01 4.27989129e-01 3.75148160e-03 2.38679048e+02] [ 4.27985489e-01 9.03783882e-01 -1.76529398e-03 -9.18573791e+01] [-4.14605524e-03 1.01491887e-05 -9.99991405e-01 -1.04473863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.670385723 meters 0.016047689800049163 Centerline is valid? [True, True] Translation: X:238.68, Y:-91.82, Z:-10.45 [[-9.32265461e-01 3.61761421e-01 3.12790429e-03 2.38679318e+02] [ 3.61759371e-01 9.32270709e-01 -1.21798554e-03 -9.18227709e+01] [-3.35667373e-03 -3.93716633e-06 -9.99994366e-01 -1.04462691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.730385723 meters 0.01483625939596668 Centerline is valid? [True, True] Translation: X:238.71, Y:-91.80, Z:-10.45 [[-9.55426257e-01 2.95217282e-01 2.72451558e-03 2.38705380e+02] [ 2.95216057e-01 9.55430142e-01 -8.50589744e-04 -9.18002222e+01] [-2.85419310e-03 -8.35502930e-06 -9.99995927e-01 -1.04482397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.790385723 meters 0.014948098244207654 Centerline is valid? [True, True] Translation: X:238.71, Y:-91.77, Z:-10.45 [[-9.73943346e-01 2.26780714e-01 2.20577773e-03 2.38711067e+02] [ 2.26780098e-01 9.73945844e-01 -5.29152793e-04 -9.17712572e+01] [-2.26830970e-03 -1.51383534e-05 -9.99997427e-01 -1.04487006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.850385723 meters 0.014723208789778485 Centerline is valid? [True, True] Translation: X:238.88, Y:-91.05, Z:-11.43 [[-9.62861489e-01 -2.69995198e-01 5.87474023e-04 2.38878554e+02] [ 2.69995103e-01 -9.62861666e-01 -2.37284605e-04 -9.10457631e+01] [ 6.29721920e-04 -6.98570990e-05 9.99999799e-01 -1.14312459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.910385723 meters 0.014716811643631119 Centerline is valid? [True, True] Translation: X:238.66, Y:-91.76, Z:-10.45 [[-9.75214852e-01 2.21251258e-01 1.96798537e-03 2.38663623e+02] [ 2.21250762e-01 9.75216838e-01 -4.68697094e-04 -9.17569851e+01] [-2.02291229e-03 -2.16621042e-05 -9.99997954e-01 -1.04504123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.970385723 meters 0.014655292791755195 Centerline is valid? [True, True] Translation: X:238.66, Y:-91.73, Z:-10.45 [[-9.88711696e-01 1.49818886e-01 1.86660821e-03 2.38664575e+02] [ 1.49818569e-01 9.88713457e-01 -3.09183253e-04 -9.17256224e+01] [-1.89186215e-03 -2.60405263e-05 -9.99998210e-01 -1.04500603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.030385723 meters 0.01438411948457478 Centerline is valid? [True, True] Translation: X:238.67, Y:-91.70, Z:-10.45 [[-9.97090654e-01 7.61200455e-02 3.99573673e-03 2.38668702e+02] [ 7.61193490e-02 9.97098660e-01 -3.26336494e-04 -9.16953153e+01] [-4.00898449e-03 -2.12341898e-05 -9.99991964e-01 -1.04489958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.090385723 meters 0.014519324698796864 Centerline is valid? [True, True] Translation: X:238.66, Y:-91.67, Z:-10.45 [[-9.99981575e-01 4.70990850e-03 3.82961385e-03 2.38664833e+02] [ 4.70978299e-03 9.99988908e-01 -4.17923680e-05 -9.16667704e+01] [-3.82976821e-03 -2.37549479e-05 -9.99992666e-01 -1.04491619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.150385723 meters 0.015024186446616065 Centerline is valid? [True, True] Translation: X:238.65, Y:-91.64, Z:-10.45 [[-9.97817967e-01 -6.57578439e-02 5.93391563e-03 2.38646922e+02] [-6.57567436e-02 9.97835611e-01 3.80538634e-04 -9.16402390e+01] [-5.94609572e-03 -1.04866825e-05 -9.99982322e-01 -1.04477448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.210385723 meters 0.014896215799648942 Centerline is valid? [True, True] Translation: X:238.66, Y:-91.61, Z:-10.45 [[-9.91007871e-01 -1.33664528e-01 6.09858911e-03 2.38656062e+02] [-1.33661938e-01 9.91026636e-01 8.32005297e-04 -9.16146914e+01] [-6.15507385e-03 9.37455669e-06 -9.99981057e-01 -1.04495014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.270385723 meters 0.015343057047412297 Centerline is valid? [True, True] Translation: X:238.65, Y:-91.59, Z:-10.45 [[-9.79519367e-01 -2.01260630e-01 5.99743443e-03 2.38646047e+02] [-2.01256691e-01 9.79537727e-01 1.25943163e-03 -9.15907342e+01] [-6.12818729e-03 2.66138598e-05 -9.99981222e-01 -1.04501641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.330385723 meters 0.015526385958509064 Centerline is valid? [True, True] Translation: X:238.62, Y:-91.57, Z:-10.45 [[-9.63259371e-01 -2.68532222e-01 4.67234113e-03 2.38622060e+02] [-2.68528936e-01 9.63270702e-01 1.32876848e-03 -9.15691843e+01] [-4.85754647e-03 2.52898956e-05 -9.99988202e-01 -1.04514760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.390385723 meters 0.015830683325119492 Centerline is valid? [True, True] Translation: X:238.58, Y:-91.55, Z:-10.45 [[-9.42187884e-01 -3.35061588e-01 3.96536438e-03 2.38581579e+02] [-3.35058499e-01 9.42196228e-01 1.43903902e-03 -9.15545373e+01] [-4.21831806e-03 2.72160932e-05 -9.99991102e-01 -1.04523588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.450385723 meters 0.016076589364207996 Centerline is valid? [True, True] Translation: X:238.52, Y:-91.55, Z:-10.45 [[-9.15681864e-01 -4.01879972e-01 4.38316599e-03 2.38516039e+02] [-4.01875138e-01 9.15692353e-01 1.97179033e-03 -9.15518299e+01] [-4.80605463e-03 4.40472078e-05 -9.99988450e-01 -1.04512638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.510385723 meters 0.015975231463272403 Centerline is valid? [True, True] Translation: X:238.45, Y:-91.55, Z:-10.45 [[-8.82643766e-01 -4.70015950e-01 4.99893434e-03 2.38449425e+02] [-4.70008089e-01 8.82657920e-01 2.71878846e-03 -9.15539876e+01] [-5.69022293e-03 5.01821062e-05 -9.99983809e-01 -1.04506295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.570385723 meters 0.01563578113934956 Centerline is valid? [True, True] Translation: X:238.37, Y:-91.57, Z:-10.45 [[-8.43299371e-01 -5.37409584e-01 6.09186153e-03 2.38365467e+02] [-5.37395153e-01 8.43321372e-01 3.93866298e-03 -9.15716371e+01] [-7.25407226e-03 4.77351598e-05 -9.99973688e-01 -1.04500332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.630385723 meters 0.015320968053461774 Centerline is valid? [True, True] Translation: X:238.29, Y:-91.59, Z:-10.45 [[-7.98609843e-01 -6.01810896e-01 6.77969909e-03 2.38285371e+02] [-6.01788858e-01 7.98638620e-01 5.15037461e-03 -9.15927515e+01] [-8.51408108e-03 3.31924829e-05 -9.99963754e-01 -1.04486551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.690385723 meters 0.015111412596272748 Centerline is valid? [True, True] Translation: X:238.20, Y:-91.63, Z:-10.45 [[-7.49179272e-01 -6.62329405e-01 7.08357512e-03 2.38199058e+02] [-6.62299626e-01 7.49212759e-01 6.28067333e-03 -9.16264079e+01] [-9.46697950e-03 1.39011252e-05 -9.99955187e-01 -1.04472321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.750385723 meters 0.0151207070856076 Centerline is valid? [True, True] Translation: X:238.11, Y:-91.68, Z:-10.45 [[-6.96116892e-01 -7.17902820e-01 6.06753618e-03 2.38106650e+02] [-7.17875587e-01 6.96143334e-01 6.25304480e-03 -9.16790458e+01] [-8.71295336e-03 -2.88598513e-06 -9.99962041e-01 -1.04488937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.810385723 meters 0.0150957388247341 Centerline is valid? [True, True] Translation: X:238.02, Y:-91.73, Z:-10.45 [[-6.39062793e-01 -7.69134625e-01 5.53845876e-03 2.38023394e+02] [-7.69105883e-01 6.39086793e-01 6.64920075e-03 -9.17304528e+01] [-8.65368637e-03 -1.04044079e-05 -9.99962556e-01 -1.04490086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.870385723 meters 0.01512726114290837 Centerline is valid? [True, True] Translation: X:237.94, Y:-91.80, Z:-10.45 [[-5.79212137e-01 -8.15163223e-01 4.71385710e-03 2.37939356e+02] [-8.15136338e-01 5.79231319e-01 6.62048115e-03 -9.17960051e+01] [-8.12718641e-03 -7.77317464e-06 -9.99966974e-01 -1.04499519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.930385723 meters 0.01525126846311703 Centerline is valid? [True, True] Translation: X:237.86, Y:-91.88, Z:-10.45 [[-5.15933857e-01 -8.56616399e-01 4.53865400e-03 2.37856568e+02] [-8.56583241e-01 5.15953820e-01 7.53698149e-03 -9.18765254e+01] [-8.79803782e-03 8.48980015e-07 -9.99961297e-01 -1.04493922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.990385723 meters 0.015356588338315215 Centerline is valid? [True, True] Translation: X:237.78, Y:-91.97, Z:-10.45 [[-4.49559617e-01 -8.93239413e-01 4.41607668e-03 2.37778841e+02] [-8.93196045e-01 4.49581306e-01 8.80191645e-03 -9.19650416e+01] [-9.84760421e-03 1.25639588e-05 -9.99951511e-01 -1.04498304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.050385723 meters 0.015468728008944466 Centerline is valid? [True, True] Translation: X:237.70, Y:-92.08, Z:-10.45 [[-3.80294540e-01 -9.24857591e-01 3.80784674e-03 2.37701820e+02] [-9.24810788e-01 3.80313603e-01 9.30427773e-03 -9.20774851e+01] [-1.00533078e-02 1.68282764e-05 -9.99949464e-01 -1.04493125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.110385723 meters 0.015442236675401799 Centerline is valid? [True, True] Translation: X:237.64, Y:-92.18, Z:-10.45 [[-3.06943139e-01 -9.51723405e-01 2.91026894e-03 2.37637451e+02] [-9.51680601e-01 3.06956936e-01 9.02629288e-03 -9.21812542e+01] [-9.48386143e-03 9.12179133e-07 -9.99955027e-01 -1.04496588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.170385723 meters 0.015301540500790215 Centerline is valid? [True, True] Translation: X:237.58, Y:-92.27, Z:-10.45 [[-2.31426489e-01 -9.72850182e-01 2.07426695e-03 2.37583990e+02] [-9.72811651e-01 2.31435784e-01 8.65848005e-03 -9.22719189e+01] [-8.90346350e-03 -1.40694125e-05 -9.99960363e-01 -1.04491054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.230385723 meters 0.015180775597936564 Centerline is valid? [True, True] Translation: X:237.54, Y:-92.39, Z:-10.45 [[-1.55043922e-01 -9.87906650e-01 1.35409825e-03 2.37536713e+02] [-9.87870283e-01 1.55049834e-01 8.47665993e-03 -9.23879069e+01] [-8.58410142e-03 -2.34188136e-05 -9.99963156e-01 -1.04503267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.290385723 meters 0.015200748294064821 Centerline is valid? [True, True] Translation: X:237.50, Y:-92.50, Z:-10.45 [[-7.89154520e-02 -9.96881146e-01 5.76651300e-04 2.37498208e+02] [-9.96856685e-01 7.89175553e-02 6.98351330e-03 -9.25044286e+01] [-7.00724065e-03 -2.37315952e-05 -9.99975449e-01 -1.04518880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.350385723 meters 0.015310027051701567 Centerline is valid? [True, True] Translation: X:237.47, Y:-92.62, Z:-10.45 [[-2.75362380e-03 -9.99996208e-01 3.58170840e-05 2.37467498e+02] [-9.99972350e-01 2.75380551e-03 6.90772205e-03 -9.26150716e+01] [-6.90779449e-03 -1.67948258e-05 -9.99976141e-01 -1.04510823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.410385723 meters 0.015403703066094537 Centerline is valid? [True, True] Translation: X:237.45, Y:-92.74, Z:-10.45 [[ 7.35766956e-02 -9.97289393e-01 -5.79849686e-04 2.37445890e+02] [-9.97257738e-01 -7.35789802e-02 7.94591325e-03 -9.27383044e+01] [-7.96703975e-03 -6.37445391e-06 -9.99968263e-01 -1.04507651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.470385723 meters 0.015544831632651928 Centerline is valid? [True, True] Translation: X:237.43, Y:-92.86, Z:-10.45 [[ 1.48994618e-01 -9.88837154e-01 -1.29887339e-03 2.37434359e+02] [-9.88800086e-01 -1.49000280e-01 8.56195020e-03 -9.28631871e+01] [-8.65990696e-03 8.64161888e-06 -9.99962502e-01 -1.04503077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.530385723 meters 0.015724721226191993 Centerline is valid? [True, True] Translation: X:237.43, Y:-92.99, Z:-10.45 [[ 2.24008783e-01 -9.74585337e-01 -1.86733680e-03 2.37430147e+02] [-9.74551985e-01 -2.24016565e-01 8.06271500e-03 -9.29917825e+01] [-8.27611819e-03 1.36978119e-05 -9.99965752e-01 -1.04498675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.590385723 meters 0.01563684190313401 Centerline is valid? [True, True] Translation: X:237.43, Y:-93.12, Z:-10.45 [[ 2.97804073e-01 -9.54624317e-01 -2.26892284e-03 2.37434699e+02] [-9.54596987e-01 -2.97812716e-01 7.22350220e-03 -9.31196281e+01] [-7.57144493e-03 1.47185312e-05 -9.99971336e-01 -1.04502244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.650385723 meters 0.01598961967536207 Centerline is valid? [True, True] Translation: X:237.45, Y:-93.25, Z:-10.45 [[ 3.69446306e-01 -9.29248366e-01 -2.62716826e-03 2.37453935e+02] [-9.29225231e-01 -3.69455646e-01 6.55706647e-03 -9.32531825e+01] [-7.06376544e-03 1.87470516e-05 -9.99975051e-01 -1.04506841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.710385723 meters 0.015741612974429085 Centerline is valid? [True, True] Translation: X:237.46, Y:-93.35, Z:-10.45 [[ 4.41018886e-01 -8.97492704e-01 -3.03133812e-03 2.37464186e+02] [-8.97471637e-01 -4.41029304e-01 6.14933541e-03 -9.33515682e+01] [-6.85589261e-03 8.56693122e-06 -9.99976498e-01 -1.04505613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.770385723 meters 0.015429165092641898 Centerline is valid? [True, True] Translation: X:237.50, Y:-93.49, Z:-10.45 [[ 5.11056299e-01 -8.59541687e-01 -3.08980209e-03 2.37502767e+02] [-8.59525811e-01 -5.11065639e-01 5.22420854e-03 -9.34889715e+01] [-6.06951671e-03 -1.41000310e-05 -9.99981580e-01 -1.04504402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.830385723 meters 0.015251249062494228 Centerline is valid? [True, True] Translation: X:237.53, Y:-93.59, Z:-10.45 [[ 5.77940928e-01 -8.16069681e-01 -3.81563137e-03 2.37532211e+02] [-8.16051537e-01 -5.77953523e-01 5.44184744e-03 -9.35931066e+01] [-6.64618430e-03 -3.13145160e-05 -9.99977913e-01 -1.04515265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.890385723 meters 0.01512980067343108 Centerline is valid? [True, True] Translation: X:237.58, Y:-93.70, Z:-10.45 [[ 6.39469076e-01 -7.68806108e-01 -4.05826858e-03 2.37576325e+02] [-7.68790247e-01 -6.39481952e-01 4.93841079e-03 -9.37008381e+01] [-6.39186989e-03 -3.80036784e-05 -9.99979571e-01 -1.04516720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.950385723 meters 0.01521142037204355 Centerline is valid? [True, True] Translation: X:237.64, Y:-93.81, Z:-10.45 [[ 6.96235305e-01 -7.17805044e-01 -3.50982801e-03 2.37635012e+02] [-7.17795648e-01 -6.96244150e-01 3.67303325e-03 -9.38112496e+01] [-5.08021902e-03 -3.79561526e-05 -9.99987095e-01 -1.04528386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.010385723 meters 0.015194457586704263 Centerline is valid? [True, True] Translation: X:237.68, Y:-93.90, Z:-10.45 [[ 7.48201739e-01 -6.63458193e-01 -4.16939867e-03 2.37683991e+02] [-6.63447655e-01 -7.48213355e-01 3.73960602e-03 -9.38995781e+01] [-5.60067202e-03 -3.18019586e-05 -9.99984316e-01 -1.04524262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.070385723 meters 0.015341820958047415 Centerline is valid? [True, True] Translation: X:237.70, Y:-93.93, Z:-10.45 [[ 7.96354516e-01 -6.04814129e-01 -4.39936003e-03 2.37701476e+02] [-6.04804763e-01 -7.96366667e-01 3.36607050e-03 -9.39258503e+01] [-5.53935068e-03 -1.98315472e-05 -9.99984657e-01 -1.04520039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.130385723 meters 0.015625836338445404 Centerline is valid? [True, True] Translation: X:237.72, Y:-93.95, Z:-10.45 [[ 8.39627225e-01 -5.43131751e-01 -5.83299294e-03 2.37722312e+02] [-5.43118692e-01 -8.39647486e-01 3.76632561e-03 -9.39503596e+01] [-6.94326888e-03 5.69797849e-06 -9.99975895e-01 -1.04507177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.190385723 meters 0.016144583069624265 Centerline is valid? [True, True] Translation: X:237.74, Y:-93.97, Z:-10.45 [[ 8.77844788e-01 -4.78876267e-01 -8.12703027e-03 2.37744971e+02] [-4.78856305e-01 -8.77882406e-01 4.37275751e-03 -9.39702172e+01] [-9.22858667e-03 5.30772950e-05 -9.99957414e-01 -1.04491644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.250385723 meters 0.01650188880992223 Centerline is valid? [True, True] Translation: X:237.77, Y:-93.99, Z:-10.45 [[ 9.12048529e-01 -4.09987916e-01 -8.79710233e-03 2.37771062e+02] [-4.09969582e-01 -9.12090951e-01 3.87795990e-03 -9.39882421e+01] [-9.61367413e-03 6.96567358e-05 -9.99953785e-01 -1.04491635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.310385723 meters 0.016875092206870786 Centerline is valid? [True, True] Translation: X:237.80, Y:-94.01, Z:-10.45 [[ 9.40746536e-01 -3.39002416e-01 -8.56254975e-03 2.37797036e+02] [-3.38989134e-01 -9.40785499e-01 3.00185055e-03 -9.40058090e+01] [-9.07315723e-03 7.86308194e-05 -9.99958835e-01 -1.04500657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.370385723 meters 0.01663426345725954 Centerline is valid? [True, True] Translation: X:237.82, Y:-94.03, Z:-10.45 [[ 9.63880825e-01 -2.66147888e-01 -9.95270432e-03 2.37822794e+02] [-2.66134915e-01 -9.63932201e-01 2.63021351e-03 -9.40275156e+01] [-1.02937580e-02 1.13549751e-04 -9.99947011e-01 -1.04498830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.430385723 meters 0.017386848682693426 Centerline is valid? [True, True] Translation: X:237.85, Y:-94.04, Z:-10.45 [[ 9.81349645e-01 -1.91959862e-01 -1.02120004e-02 2.37849781e+02] [-1.91950923e-01 -9.81402768e-01 1.85760798e-03 -9.40403570e+01] [-1.03786717e-02 1.37239981e-04 -9.99946131e-01 -1.04511709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.490385723 meters 0.01701208649200884 Centerline is valid? [True, True] Translation: X:237.87, Y:-94.06, Z:-10.45 [[ 9.93338981e-01 -1.14850155e-01 -9.33331640e-03 2.37874634e+02] [-1.14846249e-01 -9.93382820e-01 9.55142267e-04 -9.40590991e+01] [-9.38125440e-03 1.23116335e-04 -9.99955987e-01 -1.04522154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.550385723 meters 0.016586739133943568 Centerline is valid? [True, True] Translation: X:237.90, Y:-94.08, Z:-10.45 [[ 9.99386440e-01 -3.38136393e-02 -9.13130577e-03 2.37901325e+02] [-3.38130708e-02 -9.99428151e-01 2.16676968e-04 -9.40782943e+01] [-9.13341068e-03 9.22134641e-05 -9.99958285e-01 -1.04529269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.610385723 meters 0.015721828321994476 Centerline is valid? [True, True] Translation: X:237.93, Y:-94.10, Z:-10.46 [[ 9.98606720e-01 5.20696977e-02 -8.56530303e-03 2.37929864e+02] [ 5.20676132e-02 -9.98643453e-01 -4.66330884e-04 -9.40982544e+01] [-8.57796550e-03 1.97062698e-05 -9.99963208e-01 -1.04552519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.670385723 meters 0.015601056579278 Centerline is valid? [True, True] Translation: X:237.96, Y:-94.11, Z:-10.45 [[ 9.91081833e-01 1.32969474e-01 -8.71318459e-03 2.37960641e+02] [ 1.32964374e-01 -9.91120133e-01 -1.16455398e-03 -9.41124756e+01] [-8.79066281e-03 -4.37484711e-06 -9.99961361e-01 -1.04539275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.730385723 meters 0.0156710411981311 Centerline is valid? [True, True] Translation: X:237.99, Y:-94.12, Z:-10.45 [[ 9.77649374e-01 2.09999172e-01 -1.01019386e-02 2.37992358e+02] [ 2.09987921e-01 -9.77701564e-01 -2.17375459e-03 -9.41218485e+01] [-1.03331678e-02 3.88473133e-06 -9.99946611e-01 -1.04535044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.790385723 meters 0.016131750840091098 Centerline is valid? [True, True] Translation: X:238.02, Y:-94.13, Z:-10.45 [[ 9.59699539e-01 2.80830176e-01 -1.05454446e-02 2.38024406e+02] [ 2.80812483e-01 -9.59757473e-01 -3.15306718e-03 -9.41255108e+01] [-1.10065457e-02 6.47046423e-05 -9.99939424e-01 -1.04520908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.850385723 meters 0.018458007935253068 Centerline is valid? [True, True] Translation: X:238.06, Y:-94.13, Z:-10.45 [[ 9.35878918e-01 3.52151876e-01 -1.09410930e-02 2.38056957e+02] [ 3.52126458e-01 -9.35942864e-01 -4.23233084e-03 -9.41267708e+01] [-1.17306611e-02 1.08300883e-04 -9.99931188e-01 -1.04498742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.910385723 meters 0.016857470754321507 Centerline is valid? [True, True] Translation: X:238.09, Y:-94.12, Z:-10.45 [[ 9.06431162e-01 4.22273862e-01 -8.20571183e-03 2.38087659e+02] [ 4.22255601e-01 -9.06468298e-01 -3.92823403e-03 -9.41248446e+01] [-9.09700820e-03 9.57659532e-05 -9.99958617e-01 -1.04523166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.970385723 meters 0.01654602191848658 Centerline is valid? [True, True] Translation: X:238.12, Y:-94.13, Z:-10.45 [[ 8.70312295e-01 4.92438254e-01 -7.81507969e-03 2.38123058e+02] [ 4.92417473e-01 -8.70347378e-01 -4.52482241e-03 -9.41255858e+01] [-9.03002976e-03 8.97267807e-05 -9.99959224e-01 -1.04514877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.030385723 meters 0.016778862077263586 Centerline is valid? [True, True] Translation: X:238.16, Y:-94.12, Z:-10.45 [[ 8.28986042e-01 5.59206564e-01 -8.37623955e-03 2.38155666e+02] [ 5.59176746e-01 -8.29028352e-01 -5.77567547e-03 -9.41212781e+01] [-1.01739357e-02 1.04155975e-04 -9.99948239e-01 -1.04492408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.090385723 meters 0.01680407922992733 Centerline is valid? [True, True] Translation: X:238.19, Y:-94.11, Z:-10.45 [[ 7.82881992e-01 6.22112429e-01 -8.48011929e-03 2.38189583e+02] [ 6.22074280e-01 -7.82927909e-01 -6.89049883e-03 -9.41145310e+01] [-1.09259870e-02 1.19183345e-04 -9.99940303e-01 -1.04482016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.150385723 meters 0.017008813794576354 Centerline is valid? [True, True] Translation: X:238.22, Y:-94.10, Z:-10.45 [[ 7.32210841e-01 6.81027430e-01 -8.30204101e-03 2.38220121e+02] [ 6.80981560e-01 -7.32257893e-01 -7.90528745e-03 -9.41022231e+01] [-1.14629526e-02 1.34800339e-04 -9.99934289e-01 -1.04474754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.210385723 meters 0.01688726613030767 Centerline is valid? [True, True] Translation: X:238.25, Y:-94.09, Z:-10.45 [[ 6.75394842e-01 7.37418157e-01 -7.50135151e-03 2.38249444e+02] [ 7.37370825e-01 -6.75436488e-01 -8.35567320e-03 -9.40881771e+01] [-1.12283117e-02 1.12100830e-04 -9.99936954e-01 -1.04463344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.270385723 meters 0.016262658666396576 Centerline is valid? [True, True] Translation: X:238.28, Y:-94.07, Z:-10.45 [[ 6.12154087e-01 7.90716365e-01 -5.91651366e-03 2.38278259e+02] [ 7.90678655e-01 -6.12182676e-01 -7.72242232e-03 -9.40722889e+01] [-9.72823287e-03 4.92513236e-05 -9.99952678e-01 -1.04470788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.330385723 meters 0.01573411694878571 Centerline is valid? [True, True] Translation: X:238.31, Y:-94.06, Z:-10.45 [[ 5.44607812e-01 8.38681360e-01 -3.98831632e-03 2.38307955e+02] [ 8.38658944e-01 -5.44622416e-01 -6.13183930e-03 -9.40550825e+01] [-7.31478579e-03 -5.38956868e-06 -9.99973247e-01 -1.04491250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.390385723 meters 0.015731889832698104 Centerline is valid? [True, True] Translation: X:238.33, Y:-94.03, Z:-10.45 [[ 4.75966768e-01 8.79457399e-01 -3.21251448e-03 2.38334228e+02] [ 8.79437620e-01 -4.75977608e-01 -5.89814964e-03 -9.40346935e+01] [-6.71625630e-03 -1.78828687e-05 -9.99977446e-01 -1.04491074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.450385723 meters 0.015858425488208556 Centerline is valid? [True, True] Translation: X:238.35, Y:-94.01, Z:-10.45 [[ 4.06027497e-01 9.13857011e-01 -2.65229898e-03 2.38354890e+02] [ 9.13837765e-01 -4.06036159e-01 -5.93096384e-03 -9.40117460e+01] [-6.49698218e-03 -1.56365683e-05 -9.99978894e-01 -1.04479874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.510385723 meters 0.015823280777259648 Centerline is valid? [True, True] Translation: X:238.38, Y:-93.99, Z:-10.45 [[ 3.35028075e-01 9.42206059e-01 -1.98271031e-03 2.38377054e+02] [ 9.42189672e-01 -3.35033942e-01 -5.55693190e-03 -9.39867353e+01] [-5.90005015e-03 -6.36097610e-06 -9.99982595e-01 -1.04484420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.570385723 meters 0.0159264406296094 Centerline is valid? [True, True] Translation: X:238.39, Y:-93.96, Z:-10.45 [[ 2.61494713e-01 9.65203672e-01 -1.54482449e-03 2.38394864e+02] [ 9.65186791e-01 -2.61499276e-01 -5.70851935e-03 -9.39616233e+01] [-5.91385432e-03 1.70343325e-06 -9.99982513e-01 -1.04474661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.630385723 meters 0.016251447584174357 Centerline is valid? [True, True] Translation: X:238.41, Y:-93.93, Z:-10.45 [[ 1.87669998e-01 9.82231407e-01 -1.19787548e-03 2.38406426e+02] [ 9.82210607e-01 -1.87673819e-01 -6.39230558e-03 -9.39330727e+01] [-6.50353317e-03 2.30779696e-05 -9.99978852e-01 -1.04474979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.690385723 meters 0.016739948930860674 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.90, Z:-10.45 [[ 1.13341202e-01 9.93555917e-01 -6.41267901e-04 2.38416307e+02] [ 9.93538094e-01 -1.13343010e-01 -5.95136674e-03 -9.39047157e+01] [-5.98569887e-03 3.74109714e-05 -9.99982085e-01 -1.04476837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.750385723 meters 0.01726548779445073 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.88, Z:-10.45 [[ 3.81603413e-02 9.99271612e-01 -1.81890524e-04 2.38422327e+02] [ 9.99251296e-01 -3.81607254e-02 -6.37238637e-03 -9.38759495e+01] [-6.37468588e-03 6.14180971e-05 -9.99979680e-01 -1.04470676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.810385723 meters 0.017972715179167147 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.85, Z:-10.45 [[-3.82568141e-02 9.99267889e-01 3.19453238e-04 2.38424248e+02] [ 9.99247421e-01 3.82580752e-02 -6.39620455e-03 -9.38474179e+01] [-6.40374349e-03 7.45144160e-05 -9.99979493e-01 -1.04470901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.870385723 meters 0.017881366337662265 Centerline is valid? [True, True] Translation: X:238.43, Y:-93.82, Z:-10.45 [[-1.15744970e-01 9.93278564e-01 8.91745976e-04 2.38429364e+02] [ 9.93254704e-01 1.15748371e-01 -6.88526612e-03 -9.38180984e+01] [-6.94220539e-03 8.87959638e-05 -9.99975899e-01 -1.04470972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.930385723 meters 0.01806523167668018 Centerline is valid? [True, True] Translation: X:238.43, Y:-93.79, Z:-10.45 [[-1.94893084e-01 9.80822888e-01 1.77460091e-03 2.38429975e+02] [ 9.80786952e-01 1.94901135e-01 -8.39661063e-03 -9.37903811e+01] [-8.58145961e-03 1.04064075e-04 -9.99963173e-01 -1.04451192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.990385723 meters 0.01654410172042011 Centerline is valid? [True, True] Translation: X:238.44, Y:-93.76, Z:-10.45 [[-2.76483519e-01 9.61013753e-01 3.07093058e-03 2.38438841e+02] [ 9.60957695e-01 2.76500562e-01 -1.03801802e-02 -9.37581773e+01] [-1.08246099e-02 8.10856250e-05 -9.99941409e-01 -1.04455527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.050385723 meters 0.01644370850121974 Centerline is valid? [True, True] Translation: X:238.44, Y:-93.73, Z:-10.45 [[-3.54654801e-01 9.34989861e-01 3.73246545e-03 2.38439843e+02] [ 9.34939121e-01 3.54674439e-01 -9.74072233e-03 -9.37284154e+01] [-1.04312867e-02 3.50340277e-05 -9.99945592e-01 -1.04468998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.110385723 meters 0.016252813071186784 Centerline is valid? [True, True] Translation: X:238.44, Y:-93.70, Z:-10.45 [[-4.26625478e-01 9.04419112e-01 4.09515440e-03 2.38435035e+02] [ 9.04378139e-01 4.26645131e-01 -8.60890168e-03 -9.36987971e+01] [-9.53323290e-03 3.07913140e-05 -9.99954557e-01 -1.04489114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.170385723 meters 0.016343514607839085 Centerline is valid? [True, True] Translation: X:238.43, Y:-93.67, Z:-10.45 [[-4.95675643e-01 8.68495754e-01 4.55885361e-03 2.38431404e+02] [ 8.68459637e-01 4.95696606e-01 -7.92052721e-03 -9.36677434e+01] [-9.13875251e-03 3.31679377e-05 -9.99958240e-01 -1.04502108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.230385723 meters 0.016564657920921395 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.64, Z:-10.45 [[-5.59494849e-01 8.28818534e-01 5.03501316e-03 2.38420147e+02] [ 8.28785939e-01 5.59517501e-01 -7.35073252e-03 -9.36411174e+01] [-8.90960133e-03 6.02511268e-05 -9.99960307e-01 -1.04531119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.290385723 meters 0.017177089709083024 Centerline is valid? [True, True] Translation: X:238.41, Y:-93.62, Z:-10.45 [[-6.19698816e-01 7.84820142e-01 5.54272714e-03 2.38407983e+02] [ 7.84790086e-01 6.19723596e-01 -6.86915517e-03 -9.36169264e+01] [-8.82601013e-03 9.30699821e-05 -9.99961046e-01 -1.04536474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.350385723 meters 0.017954724062616573 Centerline is valid? [True, True] Translation: X:238.39, Y:-93.59, Z:-10.45 [[-6.76830928e-01 7.36102721e-01 7.25801943e-03 2.38391988e+02] [ 7.36062816e-01 6.76869825e-01 -7.66617380e-03 -9.35939520e+01] [-1.05558257e-02 1.53654687e-04 -9.99944274e-01 -1.04538454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.410385723 meters 0.018642438649129848 Centerline is valid? [True, True] Translation: X:238.37, Y:-93.57, Z:-10.45 [[-7.30761047e-01 6.82564064e-01 9.72579265e-03 2.38374746e+02] [ 6.82507780e-01 7.30825729e-01 -8.76840576e-03 -9.35733498e+01] [-1.30928582e-02 2.30319772e-04 -9.99914258e-01 -1.04525377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.470385723 meters 0.01837698537286242 Centerline is valid? [True, True] Translation: X:238.39, Y:-93.55, Z:-10.45 [[-7.77074401e-01 6.29299772e-01 1.17120383e-02 2.38391267e+02] [ 6.29233555e-01 7.77162610e-01 -9.13296223e-03 -9.35549686e+01] [-1.48495293e-02 2.72616338e-04 -9.99889702e-01 -1.04537598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.530385723 meters 0.018442911553019886 Centerline is valid? [True, True] Translation: X:238.41, Y:-93.54, Z:-10.45 [[-8.19515347e-01 5.72906647e-01 1.31366271e-02 2.38408148e+02] [ 5.72838804e-01 8.19620575e-01 -8.82141646e-03 -9.35371344e+01] [-1.58208980e-02 2.95883597e-04 -9.99874798e-01 -1.04548090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.590385723 meters 0.01881859302220779 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.52, Z:-10.45 [[-8.57637325e-01 5.14065288e-01 1.39677581e-02 2.38420627e+02] [ 5.14003030e-01 8.57751002e-01 -8.00649494e-03 -9.35165571e+01] [-1.60967197e-02 3.12801102e-04 -9.99870390e-01 -1.04549259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.650385723 meters 0.018463084015224476 Centerline is valid? [True, True] Translation: X:238.44, Y:-93.50, Z:-10.46 [[-8.91516098e-01 4.52777233e-01 1.38500458e-02 2.38436733e+02] [ 4.52727981e-01 8.91623621e-01 -6.68540305e-03 -9.34963749e+01] [-1.53760262e-02 3.10158804e-04 -9.99881734e-01 -1.04569858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.710385723 meters 0.018229153349380346 Centerline is valid? [True, True] Translation: X:238.45, Y:-93.47, Z:-10.46 [[-9.21390684e-01 3.88350634e-01 1.49329277e-02 2.38449625e+02] [ 3.88305288e-01 9.21511628e-01 -5.94328073e-03 -9.34719564e+01] [-1.60689434e-02 3.22451291e-04 -9.99870834e-01 -1.04572170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.770385723 meters 0.018318894153929993 Centerline is valid? [True, True] Translation: X:238.46, Y:-93.45, Z:-10.46 [[-9.47020077e-01 3.20821458e-01 1.50520804e-02 2.38460642e+02] [ 3.20785852e-01 9.47139644e-01 -4.78862329e-03 -9.34465543e+01] [-1.57927152e-02 2.93572037e-04 -9.99875244e-01 -1.04570762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.830385723 meters 0.01762158472838957 Centerline is valid? [True, True] Translation: X:238.47, Y:-93.42, Z:-10.46 [[-9.67873889e-01 2.51017035e-01 1.45114596e-02 2.38469094e+02] [ 2.50992641e-01 9.67982638e-01 -3.50809207e-03 -9.34196349e+01] [-1.49274318e-02 2.46878858e-04 -9.99888549e-01 -1.04575235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.890385723 meters 0.017601313895456303 Centerline is valid? [True, True] Translation: X:238.47, Y:-93.39, Z:-10.46 [[-9.83069238e-01 1.82600727e-01 1.52265779e-02 2.38471198e+02] [ 1.82583078e-01 9.83187114e-01 -2.55308163e-03 -9.33913845e+01] [-1.54367698e-02 2.70259456e-04 -9.99880809e-01 -1.04570091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.950385723 meters 0.01758474292290604 Centerline is valid? [True, True] Translation: X:238.61, Y:-92.63, Z:-11.43 [[-9.78230755e-01 -2.07060310e-01 1.38064277e-02 2.38610567e+02] [ 2.07035039e-01 -9.78328127e-01 -3.25084819e-03 -9.26283296e+01] [ 1.41803381e-02 -3.21665395e-04 9.99899402e-01 -1.14303388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.010385723 meters 0.019481194897994065 Centerline is valid? [True, True] Translation: X:238.42, Y:-93.39, Z:-10.46 [[-9.82532761e-01 1.85653333e-01 1.27363167e-02 2.38422853e+02] [ 1.85641853e-01 9.82615256e-01 -2.08814714e-03 -9.33911772e+01] [-1.29025706e-02 3.12720460e-04 -9.99916709e-01 -1.04578808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.070385723 meters 0.01948030520930714 Centerline is valid? [True, True] Translation: X:238.56, Y:-92.62, Z:-11.43 [[-9.80349558e-01 -1.97014151e-01 1.00084481e-02 2.38556500e+02] [ 1.96999670e-01 -9.80400562e-01 -2.42238017e-03 -9.26159427e+01] [ 1.02895313e-02 -4.03118350e-04 9.99946980e-01 -1.14299464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.130385723 meters 0.01839719545281011 Centerline is valid? [True, True] Translation: X:238.36, Y:-93.38, Z:-10.46 [[-9.83126835e-01 1.82608790e-01 1.07544015e-02 2.38355978e+02] [ 1.82600840e-01 9.83185617e-01 -1.72483816e-03 -9.33772541e+01] [-1.08885435e-02 2.68028073e-04 -9.99940682e-01 -1.04585333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.190385723 meters 0.01735390207889471 Centerline is valid? [True, True] Translation: X:238.49, Y:-92.61, Z:-11.43 [[-9.80069019e-01 -1.98388983e-01 1.03212879e-02 2.38489504e+02] [ 1.98374965e-01 -9.80123325e-01 -2.37490093e-03 -9.26142671e+01] [ 1.05872892e-02 -2.80081697e-04 9.99943914e-01 -1.14310612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.250385723 meters 0.01679368542341617 Centerline is valid? [True, True] Translation: X:238.32, Y:-93.36, Z:-10.46 [[-9.85037190e-01 1.71931822e-01 1.18820169e-02 2.38315422e+02] [ 1.71921967e-01 9.85108827e-01 -1.85359015e-03 -9.33630062e+01] [-1.20237708e-02 2.16924481e-04 -9.99927688e-01 -1.04560467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.310385723 meters 0.01585256202096709 Centerline is valid? [True, True] Translation: X:238.43, Y:-92.61, Z:-11.43 [[-9.80106822e-01 -1.98159610e-01 1.11079917e-02 2.38430048e+02] [ 1.98144048e-01 -9.80169735e-01 -2.49544704e-03 -9.26127060e+01] [ 1.13822141e-02 -2.44822228e-04 9.99935191e-01 -1.14318638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.370385723 meters 0.01621366542806889 Centerline is valid? [True, True] Translation: X:238.26, Y:-93.35, Z:-10.46 [[-9.85816928e-01 1.67430454e-01 1.14903564e-02 2.38264388e+02] [ 1.67421478e-01 9.85883868e-01 -1.74548401e-03 -9.33518894e+01] [-1.16204042e-02 2.03004764e-04 -9.99932460e-01 -1.04564686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.430385723 meters 0.016222818002643958 Centerline is valid? [True, True] Translation: X:238.37, Y:-92.61, Z:-11.43 [[-9.80887125e-01 -1.94371348e-01 8.95693122e-03 2.38374987e+02] [ 1.94360357e-01 -9.80927971e-01 -2.08995883e-03 -9.26084159e+01] [ 9.19233248e-03 -3.09141354e-04 9.99957702e-01 -1.14317335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.490385723 meters 0.015706244303976654 Centerline is valid? [True, True] Translation: X:238.21, Y:-93.34, Z:-10.46 [[-9.86621457e-01 1.62680895e-01 1.06313761e-02 2.38208482e+02] [ 1.62673386e-01 9.86678719e-01 -1.57306889e-03 -9.33382050e+01] [-1.07456608e-02 1.77418422e-04 -9.99942248e-01 -1.04568155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.550385723 meters 0.015878759215272882 Centerline is valid? [True, True] Translation: X:238.21, Y:-93.31, Z:-10.46 [[-9.95755331e-01 9.14336828e-02 1.05452238e-02 2.38211945e+02] [ 9.14303159e-02 9.95811154e-01 -8.01946918e-04 -9.33064444e+01] [-1.05743765e-02 1.65610227e-04 -9.99944076e-01 -1.04557249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.610385723 meters 0.016406444589975037 Centerline is valid? [True, True] Translation: X:238.21, Y:-93.28, Z:-10.46 [[-9.99720230e-01 2.20501052e-02 8.55885608e-03 2.38207403e+02] [ 2.20505089e-02 9.99756857e-01 -4.72050350e-05 -9.32770885e+01] [-8.55781593e-03 1.41535303e-04 -9.99963371e-01 -1.04573127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.670385723 meters 0.016788564637434847 Centerline is valid? [True, True] Translation: X:238.21, Y:-93.25, Z:-10.46 [[-9.98803414e-01 -4.80464078e-02 9.12592369e-03 2.38209720e+02] [-4.80429109e-02 9.98845091e-01 6.02139393e-04 -9.32472385e+01] [-9.14431471e-03 1.62982942e-04 -9.99958177e-01 -1.04566220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.730385723 meters 0.015501405876209972 Centerline is valid? [True, True] Translation: X:238.20, Y:-93.22, Z:-10.46 [[-9.92727539e-01 -1.20032114e-01 9.18283182e-03 2.38196653e+02] [-1.20025522e-01 9.92769997e-01 1.26758535e-03 -9.32152278e+01] [-9.26859087e-03 1.56192701e-04 -9.99957033e-01 -1.04565806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.790385723 meters 0.016945772133096847 Centerline is valid? [True, True] Translation: X:238.18, Y:-93.18, Z:-10.45 [[-9.81166003e-01 -1.92909041e-01 9.96874987e-03 2.38183353e+02] [-1.92897529e-01 9.81216632e-01 2.11281234e-03 -9.31843923e+01] [-1.01890838e-02 1.50072425e-04 -9.99948079e-01 -1.04542149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.850385723 meters 0.014256210079193558 Centerline is valid? [True, True] Translation: X:238.16, Y:-93.16, Z:-10.45 [[-9.63546395e-01 -2.67374311e-01 9.45106842e-03 2.38157879e+02] [-2.67360478e-01 9.63592740e-01 2.72146957e-03 -9.31574196e+01] [-9.83463196e-03 9.54200288e-05 -9.99951634e-01 -1.04543123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.910385723 meters 0.014117021543857468 Centerline is valid? [True, True] Translation: X:238.12, Y:-93.14, Z:-10.45 [[-9.41211612e-01 -3.37724390e-01 7.93336388e-03 2.38122971e+02] [-3.37711839e-01 9.41245044e-01 2.91225952e-03 -9.31369476e+01] [-8.45078050e-03 6.18615718e-05 -9.99964290e-01 -1.04545261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.970385723 meters 0.013873927333908112 Centerline is valid? [True, True] Translation: X:238.07, Y:-93.13, Z:-10.45 [[-9.13943172e-01 -4.05779486e-01 7.13349178e-03 2.38068209e+02] [-4.05766673e-01 9.13971009e-01 3.22504155e-03 -9.31264175e+01] [-7.82846038e-03 5.29714787e-05 -9.99969356e-01 -1.04543115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.030385723 meters 0.013954299232797125 Centerline is valid? [True, True] Translation: X:238.00, Y:-93.13, Z:-10.45 [[-8.81748874e-01 -4.71663906e-01 7.21680305e-03 2.38002045e+02] [-4.71647551e-01 8.81778405e-01 3.92836312e-03 -9.31285780e+01] [-8.21648818e-03 6.00422810e-05 -9.99966242e-01 -1.04539648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.090385723 meters 0.014581363090500843 Centerline is valid? [True, True] Translation: X:237.93, Y:-93.14, Z:-10.45 [[-8.45669711e-01 -5.33664477e-01 6.70574574e-03 2.37928452e+02] [-5.33646984e-01 8.45696293e-01 4.32152631e-03 -9.31417346e+01] [-7.97726940e-03 7.60829115e-05 -9.99968178e-01 -1.04544469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.150385723 meters 0.015417503691619733 Centerline is valid? [True, True] Translation: X:237.85, Y:-93.17, Z:-10.46 [[-8.05317848e-01 -5.92815807e-01 5.70803497e-03 2.37845143e+02] [-5.92800158e-01 8.05338073e-01 4.30825226e-03 -9.31671430e+01] [-7.15089792e-03 8.57884068e-05 -9.99974428e-01 -1.04550800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.210385723 meters 0.0158645611145097 Centerline is valid? [True, True] Translation: X:237.76, Y:-93.20, Z:-10.45 [[-7.58842961e-01 -6.51239201e-01 6.69804962e-03 2.37764785e+02] [-6.51212442e-01 7.58872512e-01 5.90482125e-03 -9.31987168e+01] [-8.92841681e-03 1.18978794e-04 -9.99960134e-01 -1.04544665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.270385723 meters 0.016029510023144337 Centerline is valid? [True, True] Translation: X:237.68, Y:-93.24, Z:-10.46 [[-7.07139473e-01 -7.07049628e-01 5.88136732e-03 2.37675778e+02] [-7.07023950e-01 7.07163923e-01 6.02665235e-03 -9.32449495e+01] [-8.42023309e-03 1.03416212e-04 -9.99964544e-01 -1.04555977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.330385723 meters 0.015840337979285378 Centerline is valid? [True, True] Translation: X:237.59, Y:-93.30, Z:-10.46 [[-6.50925035e-01 -7.59121810e-01 5.53870606e-03 2.37588593e+02] [-7.59093039e-01 6.50948591e-01 6.60977786e-03 -9.32967848e+01] [-8.62303944e-03 9.80766644e-05 -9.99962816e-01 -1.04563020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.390385723 meters 0.014971845937725936 Centerline is valid? [True, True] Translation: X:237.50, Y:-93.36, Z:-10.46 [[-5.91314842e-01 -8.06419674e-01 5.83673983e-03 2.37502214e+02] [-8.06378431e-01 5.91343636e-01 8.15657061e-03 -9.33608875e+01] [-1.00291380e-02 1.16480154e-04 -9.99949700e-01 -1.04591423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.450385723 meters 0.015569962856431654 Centerline is valid? [True, True] Translation: X:237.42, Y:-93.44, Z:-10.46 [[-5.29196749e-01 -8.48484394e-01 5.00339015e-03 2.37418988e+02] [-8.48444296e-01 5.29220388e-01 8.24967827e-03 -9.34368754e+01] [-9.64761935e-03 1.20605091e-04 -9.99953453e-01 -1.04597833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.510385723 meters 0.015783804361125642 Centerline is valid? [True, True] Translation: X:237.34, Y:-93.52, Z:-10.46 [[-4.63381205e-01 -8.86147657e-01 4.49320790e-03 2.37339697e+02] [-8.86103257e-01 4.63402971e-01 8.87153530e-03 -9.35188848e+01] [-9.94365611e-03 1.29456565e-04 -9.99950552e-01 -1.04601028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.570385723 meters 0.0164387268028096 Centerline is valid? [True, True] Translation: X:237.27, Y:-93.61, Z:-10.46 [[-3.95502546e-01 -9.18454069e-01 4.45631633e-03 2.37267910e+02] [-9.18390801e-01 3.95527614e-01 1.07816394e-02 -9.36094484e+01] [-1.16650367e-02 1.71525915e-04 -9.99931946e-01 -1.04598254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.630385723 meters 0.01759959136921134 Centerline is valid? [True, True] Translation: X:237.20, Y:-93.71, Z:-10.46 [[-3.27023132e-01 -9.45009261e-01 3.65614822e-03 2.37201582e+02] [-9.44942832e-01 3.27043502e-01 1.12068133e-02 -9.37096258e+01] [-1.17862619e-02 2.10036141e-04 -9.99930518e-01 -1.04592081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.690385723 meters 0.018110764456992785 Centerline is valid? [True, True] Translation: X:237.14, Y:-93.81, Z:-10.46 [[-2.55159796e-01 -9.66894061e-01 3.05827620e-03 2.37144399e+02] [-9.66812284e-01 2.55177999e-01 1.25776001e-02 -9.38119802e+01] [-1.29416116e-02 2.52518879e-04 -9.99916222e-01 -1.04595255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.750385723 meters 0.018399397503538917 Centerline is valid? [True, True] Translation: X:237.09, Y:-93.93, Z:-10.46 [[-1.79552728e-01 -9.83746211e-01 2.05181808e-03 2.37091134e+02] [-9.83665985e-01 1.79564293e-01 1.25656338e-02 -9.39250105e+01] [-1.27298279e-02 2.37890179e-04 -9.99918944e-01 -1.04596083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.810385723 meters 0.018626479700121764 Centerline is valid? [True, True] Translation: X:237.05, Y:-94.04, Z:-10.46 [[-1.02656310e-01 -9.94716499e-01 8.76620726e-04 2.37046481e+02] [-9.94664256e-01 1.02659904e-01 1.01961652e-02 -9.40413399e+01] [-1.02322875e-02 1.74757391e-04 -9.99947634e-01 -1.04609387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.870385723 meters 0.01725376432476107 Centerline is valid? [True, True] Translation: X:237.01, Y:-94.16, Z:-10.46 [[-2.39332221e-02 -9.99713556e-01 8.44969619e-05 2.37007976e+02] [-9.99676849e-01 2.39330675e-02 8.56773632e-03 -9.41576927e+01] [-8.56730442e-03 1.20583880e-04 -9.99963293e-01 -1.04629849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.930385723 meters 0.016958343549283963 Centerline is valid? [True, True] Translation: X:236.98, Y:-94.28, Z:-10.46 [[ 5.60854324e-02 -9.98425750e-01 -6.68476335e-04 2.36980289e+02] [-9.98376574e-01 -5.60893050e-02 9.90993310e-03 -9.42796697e+01] [-9.93182676e-03 1.11588230e-04 -9.99950672e-01 -1.04613146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.990385723 meters 0.01655690959122751 Centerline is valid? [True, True] Translation: X:236.96, Y:-94.40, Z:-10.46 [[ 1.32081612e-01 -9.91237965e-01 -1.32089521e-03 2.36962277e+02] [-9.91196017e-01 -1.32088175e-01 9.11980300e-03 -9.44029569e+01] [-9.21436960e-03 1.04707785e-04 -9.99957541e-01 -1.04624899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.050385723 meters 0.018373538547870473 Centerline is valid? [True, True] Translation: X:236.96, Y:-94.52, Z:-10.46 [[ 2.03088112e-01 -9.79158661e-01 -1.88017503e-03 2.36960363e+02] [-9.79122686e-01 -2.03096770e-01 8.39451198e-03 -9.45249367e+01] [-8.60141659e-03 1.36096433e-04 -9.99962998e-01 -1.04629343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.110385723 meters 0.018609201258307933 Centerline is valid? [True, True] Translation: X:236.96, Y:-94.64, Z:-10.46 [[ 2.73847692e-01 -9.61768892e-01 -2.83538623e-03 2.36960516e+02] [-9.61724413e-01 -2.73862302e-01 9.25164491e-03 -9.46432615e+01] [-9.67444968e-03 1.93318551e-04 -9.99953183e-01 -1.04621477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.170385723 meters 0.018955193724241006 Centerline is valid? [True, True] Translation: X:236.97, Y:-94.77, Z:-10.46 [[ 3.44250970e-01 -9.38871175e-01 -3.49083517e-03 2.36970884e+02] [-9.38829049e-01 -3.44268602e-01 8.89646079e-03 -9.47659752e+01] [-9.55441554e-03 2.14682200e-04 -9.99954332e-01 -1.04619410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.230385723 meters 0.0189804346178954 Centerline is valid? [True, True] Translation: X:236.99, Y:-94.89, Z:-10.46 [[ 4.16769340e-01 -9.09000749e-01 -4.57767609e-03 2.36989976e+02] [-9.08951561e-01 -4.16794422e-01 9.45886008e-03 -9.48859846e+01] [-1.05060608e-02 2.18722952e-04 -9.99944786e-01 -1.04605305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.290385723 meters 0.01748167918307875 Centerline is valid? [True, True] Translation: X:237.02, Y:-95.01, Z:-10.46 [[ 4.88837094e-01 -8.72357853e-01 -5.48376053e-03 2.37018673e+02] [-8.72307013e-01 -4.88867818e-01 9.41976777e-03 -9.50085287e+01] [-1.08982424e-02 1.78790869e-04 -9.99940596e-01 -1.04626197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.350385723 meters 0.017441225470933727 Centerline is valid? [True, True] Translation: X:237.05, Y:-95.12, Z:-10.46 [[ 5.55270444e-01 -8.31651722e-01 -5.49061398e-03 2.37054386e+02] [-8.31613519e-01 -5.55297572e-01 7.97259255e-03 -9.51164390e+01] [-9.67934493e-03 1.39123810e-04 -9.99953144e-01 -1.04640501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.410385723 meters 0.01689549135667067 Centerline is valid? [True, True] Translation: X:237.10, Y:-95.22, Z:-10.47 [[ 6.17361458e-01 -7.86653775e-01 -6.37726199e-03 2.37099476e+02] [-7.86614159e-01 -6.17394379e-01 7.89591627e-03 -9.52239006e+01] [-1.01486380e-02 1.41810195e-04 -9.99948491e-01 -1.04659197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.470385723 meters 0.017588546907022422 Centerline is valid? [True, True] Translation: X:237.15, Y:-95.32, Z:-10.47 [[ 6.74105621e-01 -7.38609900e-01 -6.08504337e-03 2.37149138e+02] [-7.38581600e-01 -6.74133072e-01 6.46695038e-03 -9.53218149e+01] [-8.87868255e-03 1.34893472e-04 -9.99960575e-01 -1.04663097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.530385723 meters 0.017760797628744277 Centerline is valid? [True, True] Translation: X:237.20, Y:-95.41, Z:-10.47 [[ 7.26501760e-01 -6.87143332e-01 -5.40680289e-03 2.37203718e+02] [-6.87125557e-01 -7.26521869e-01 4.94398182e-03 -9.54131177e+01] [-7.32538468e-03 1.23340952e-04 -9.99973161e-01 -1.04670985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.590385723 meters 0.017983634945836886 Centerline is valid? [True, True] Translation: X:237.22, Y:-95.44, Z:-10.47 [[ 7.76442321e-01 -6.30162731e-01 -5.67929497e-03 2.37224709e+02] [-6.30147162e-01 -7.76463079e-01 4.43182817e-03 -9.54417949e+01] [-7.20253580e-03 1.37732649e-04 -9.99974052e-01 -1.04682006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.650385723 meters 0.017554887915194457 Centerline is valid? [True, True] Translation: X:237.24, Y:-95.47, Z:-10.47 [[ 8.24092913e-01 -5.66418733e-01 -6.37886657e-03 2.37244693e+02] [-5.66403053e-01 -8.24117588e-01 4.21681281e-03 -9.54724983e+01] [-7.64541791e-03 1.37963952e-04 -9.99970764e-01 -1.04672303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.710385723 meters 0.017001913180206742 Centerline is valid? [True, True] Translation: X:237.27, Y:-95.50, Z:-10.47 [[ 8.67605198e-01 -4.97193646e-01 -7.72656802e-03 2.37266176e+02] [-4.97175293e-01 -8.67639592e-01 4.27404709e-03 -9.55035796e+01] [-8.82890537e-03 1.33273249e-04 -9.99961016e-01 -1.04658310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.770385723 meters 0.017308777927239023 Centerline is valid? [True, True] Translation: X:237.29, Y:-95.53, Z:-10.46 [[ 9.04643085e-01 -4.26089400e-01 -8.28929345e-03 2.37291393e+02] [-4.26072734e-01 -9.04681054e-01 3.77052906e-03 -9.55265899e+01] [-9.10574919e-03 1.20858879e-04 -9.99958535e-01 -1.04639363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.830385723 meters 0.017321076184336367 Centerline is valid? [True, True] Translation: X:237.32, Y:-95.55, Z:-10.46 [[ 9.34770724e-01 -3.55184360e-01 -6.91116618e-03 2.37319523e+02] [-3.55175446e-01 -9.34796267e-01 2.51831723e-03 -9.55465407e+01] [-7.35499924e-03 1.00627317e-04 -9.99972947e-01 -1.04637232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.890385723 meters 0.017318701240295567 Centerline is valid? [True, True] Translation: X:237.35, Y:-95.57, Z:-10.46 [[ 9.59177707e-01 -2.82771045e-01 -4.32008520e-03 2.37348267e+02] [-2.82768447e-01 -9.59187433e-01 1.21360631e-03 -9.55671132e+01] [-4.48694416e-03 5.75196614e-05 -9.99989932e-01 -1.04646523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.950385723 meters 0.017647885021365158 Centerline is valid? [True, True] Translation: X:237.38, Y:-95.58, Z:-10.46 [[ 9.78158280e-01 -2.07837761e-01 -3.13755437e-03 2.37377555e+02] [-2.07836807e-01 -9.78163312e-01 6.30596170e-04 -9.55829193e+01] [-3.20010226e-03 3.52764157e-05 -9.99994879e-01 -1.04647829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.010385723 meters 0.017621699982513814 Centerline is valid? [True, True] Translation: X:237.40, Y:-95.60, Z:-10.47 [[ 9.91453610e-01 -1.30437930e-01 -2.38457885e-03 2.37404945e+02] [-1.30437597e-01 -9.91456477e-01 2.95202237e-04 -9.55971464e+01] [-2.40271172e-03 1.83594120e-05 -9.99997113e-01 -1.04650138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.070385723 meters 0.017678874117836016 Centerline is valid? [True, True] Translation: X:237.43, Y:-95.61, Z:-10.46 [[ 9.98651540e-01 -5.19060668e-02 -9.28740325e-04 2.37433091e+02] [-5.19060331e-02 -9.98651971e-01 6.03901643e-05 -9.56089122e+01] [-9.30622973e-04 -1.21015045e-05 -9.99999567e-01 -1.04643553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.130385723 meters 0.018225040324564012 Centerline is valid? [True, True] Translation: X:237.46, Y:-95.61, Z:-10.46 [[ 9.99676983e-01 2.54145358e-02 1.77910671e-04 2.37462055e+02] [ 2.54145293e-02 -9.99676998e-01 3.87969375e-05 -9.56144499e+01] [ 1.78839212e-04 -3.42628895e-05 -9.99999983e-01 -1.04636807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.190385723 meters 0.017176602756779086 Centerline is valid? [True, True] Translation: X:237.49, Y:-95.63, Z:-10.46 [[ 9.94698482e-01 1.02817665e-01 1.85969234e-03 2.37493175e+02] [ 1.02817351e-01 -9.94700217e-01 2.63868831e-04 -9.56267642e+01] [ 1.87696676e-03 -7.12612847e-05 -9.99998236e-01 -1.04631470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.250385723 meters 0.016903764909711315 Centerline is valid? [True, True] Translation: X:237.53, Y:-95.64, Z:-10.46 [[ 9.83263525e-01 1.82182321e-01 1.56301982e-03 2.37525635e+02] [ 1.82181990e-01 -9.83264765e-01 3.52823112e-04 -9.56366337e+01] [ 1.60114045e-03 -6.21640345e-05 -9.99998716e-01 -1.04611461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.310385723 meters 0.017073621875877992 Centerline is valid? [True, True] Translation: X:237.56, Y:-95.64, Z:-10.46 [[ 9.64681374e-01 2.63412555e-01 1.91649761e-03 2.37555788e+02] [ 2.63411911e-01 -9.64683276e-01 5.85500666e-04 -9.56379603e+01] [ 2.00304141e-03 -5.99932899e-05 -9.99997992e-01 -1.04611092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.370385723 meters 0.01539514050859252 Centerline is valid? [True, True] Translation: X:237.59, Y:-95.64, Z:-10.46 [[ 9.38810469e-01 3.44432266e-01 1.14739073e-03 2.37588396e+02] [ 3.44431957e-01 -9.38811170e-01 4.63803576e-04 -9.56418124e+01] [ 1.23693215e-03 -4.02256194e-05 -9.99999234e-01 -1.04590594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.430385723 meters 0.015050800361938566 Centerline is valid? [True, True] Translation: X:237.62, Y:-95.64, Z:-10.46 [[ 9.07410405e-01 4.20245509e-01 2.62196828e-04 2.37620076e+02] [ 4.20245481e-01 -9.07410443e-01 1.56028821e-04 -9.56392901e+01] [ 3.03490551e-04 -3.13951442e-05 -9.99999953e-01 -1.04570150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.490385723 meters 0.014710253803761867 Centerline is valid? [True, True] Translation: X:237.65, Y:-95.63, Z:-10.46 [[ 8.70385397e-01 4.92369881e-01 1.07778528e-03 2.37647974e+02] [ 4.92369458e-01 -8.70386063e-01 6.46599739e-04 -9.56295870e+01] [ 1.25645552e-03 -3.21224163e-05 -9.99999210e-01 -1.04593628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.550385723 meters 0.014793163972406187 Centerline is valid? [True, True] Translation: X:237.67, Y:-95.62, Z:-10.46 [[ 8.29806249e-01 5.58048508e-01 1.85780489e-03 2.37673866e+02] [ 5.58047011e-01 -8.29808328e-01 1.29311522e-03 -9.56189768e+01] [ 2.26324299e-03 -3.62926237e-05 -9.99997438e-01 -1.04608372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.610385723 meters 0.01464276678186176 Centerline is valid? [True, True] Translation: X:237.70, Y:-95.61, Z:-10.46 [[ 7.84461741e-01 6.20174643e-01 1.78600128e-03 2.37700870e+02] [ 6.20172920e-01 -7.84463773e-01 1.46244751e-03 -9.56075137e+01] [ 2.30802617e-03 -3.96044887e-05 -9.99997336e-01 -1.04596348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.670385723 meters 0.014534120450703153 Centerline is valid? [True, True] Translation: X:237.73, Y:-95.59, Z:-10.46 [[ 7.33191813e-01 6.80019259e-01 1.89043070e-03 2.37725697e+02] [ 6.80016858e-01 -7.33194249e-01 1.80743886e-03 -9.55935168e+01] [ 2.61514615e-03 -3.96746309e-05 -9.99996580e-01 -1.04602517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.730385723 meters 0.014414319153103077 Centerline is valid? [True, True] Translation: X:237.75, Y:-95.58, Z:-10.46 [[ 6.77542926e-01 7.35483207e-01 1.88647873e-04 2.37749293e+02] [ 7.35483165e-01 -6.77542952e-01 2.50121738e-04 -9.55791463e+01] [ 3.11777374e-04 -3.07208797e-05 -9.99999951e-01 -1.04591581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.790385723 meters 0.014417585212539805 Centerline is valid? [True, True] Translation: X:237.77, Y:-95.56, Z:-10.46 [[ 6.18928296e-01 7.85447295e-01 -5.58333585e-04 2.37770043e+02] [ 7.85447012e-01 -6.18928547e-01 -6.67786095e-04 -9.55621699e+01] [-8.70079376e-04 -2.52297366e-05 -9.99999621e-01 -1.04582962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.850385723 meters 0.014740498098531864 Centerline is valid? [True, True] Translation: X:237.78, Y:-95.54, Z:-10.46 [[ 5.59123728e-01 8.29083707e-01 -9.29773831e-04 2.37784630e+02] [ 8.29082603e-01 -5.59124500e-01 -1.35322809e-03 -9.55414512e+01] [-1.64179869e-03 -1.42373730e-05 -9.99998652e-01 -1.04595143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.910385723 meters 0.015568305794673722 Centerline is valid? [True, True] Translation: X:237.80, Y:-95.52, Z:-10.46 [[ 4.98045662e-01 8.67150289e-01 -9.46157482e-04 2.37800597e+02] [ 8.67148723e-01 -4.98046560e-01 -1.64820553e-03 -9.55221355e+01] [-1.90047238e-03 4.22362068e-07 -9.99998194e-01 -1.04601397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.970385723 meters 0.016076272587079745 Centerline is valid? [True, True] Translation: X:237.82, Y:-95.50, Z:-10.46 [[ 4.32113984e-01 9.01818264e-01 -1.15039054e-03 2.37816237e+02] [ 9.01814920e-01 -4.32115515e-01 -2.45597053e-03 -9.55031553e+01] [-2.71194068e-03 2.38198561e-05 -9.99996322e-01 -1.04609516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.030385723 meters 0.01909792028053058 Centerline is valid? [True, True] Translation: X:237.83, Y:-95.48, Z:-10.46 [[ 3.62896728e-01 9.31828682e-01 -1.12811371e-03 2.37826189e+02] [ 9.31823801e-01 -3.62898479e-01 -3.01613887e-03 -9.54831031e+01] [-3.21991545e-03 4.33437238e-05 -9.99994815e-01 -1.04598041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.090385723 meters 0.016696521243749204 Centerline is valid? [True, True] Translation: X:237.84, Y:-95.46, Z:-10.46 [[ 2.89078676e-01 9.57304515e-01 -1.25889441e-03 2.37844045e+02] [ 9.57294257e-01 -2.89081407e-01 -4.43236100e-03 -9.54643942e+01] [-4.60704216e-03 7.61686566e-05 -9.99989385e-01 -1.04612097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.150385723 meters 0.016008534097698913 Centerline is valid? [True, True] Translation: X:237.86, Y:-95.45, Z:-10.46 [[ 2.09777207e-01 9.77748753e-01 -9.48488510e-04 2.37861414e+02] [ 9.77737328e-01 -2.09779341e-01 -4.72712623e-03 -9.54451765e+01] [-4.82091507e-03 6.42707160e-05 -9.99988377e-01 -1.04610605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.210385723 meters 0.015345241967943284 Centerline is valid? [True, True] Translation: X:237.88, Y:-95.42, Z:-10.46 [[ 1.29638733e-01 9.91561096e-01 -6.26387334e-04 2.37875351e+02] [ 9.91547282e-01 -1.29640233e-01 -5.23428490e-03 -9.54234929e+01] [-5.27131827e-03 5.74734026e-05 -9.99986105e-01 -1.04608067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.270385723 meters 0.014218096255265404 Centerline is valid? [True, True] Translation: X:237.89, Y:-95.40, Z:-10.46 [[ 4.42826207e-02 9.99019015e-01 -2.40785365e-04 2.37891515e+02] [ 9.99000871e-01 -4.42832676e-02 -6.02090781e-03 -9.54010199e+01] [-6.02566415e-03 2.60767868e-05 -9.99981845e-01 -1.04608955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.330385723 meters 0.013893996937936774 Centerline is valid? [True, True] Translation: X:237.90, Y:-95.38, Z:-10.46 [[-3.64049881e-02 9.99337085e-01 2.59596677e-04 2.37901840e+02] [ 9.99314859e-01 3.64059097e-02 -6.66505493e-03 -9.53776537e+01] [-6.67008742e-03 1.67775717e-05 -9.99977755e-01 -1.04597503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.390385723 meters 0.013981401356427538 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.35, Z:-10.46 [[-1.13373526e-01 9.93552120e-01 7.92645831e-04 2.37907480e+02] [ 9.93529389e-01 1.13376294e-01 -6.72081872e-03 -9.53534684e+01] [-6.76735093e-03 2.55540129e-05 -9.99977101e-01 -1.04609018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.450385723 meters 0.015133257399158303 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.33, Z:-10.46 [[-1.83513522e-01 9.83016359e-01 1.27449898e-03 2.37909463e+02] [ 9.82995336e-01 1.83517933e-01 -6.42938238e-03 -9.53294369e+01] [-6.55408148e-03 7.29479523e-05 -9.99978519e-01 -1.04626964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.510385723 meters 0.016117566150026363 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.30, Z:-10.46 [[-2.55294846e-01 9.66862063e-01 1.51444275e-03 2.37911545e+02] [ 9.66846981e-01 2.55299324e-01 -5.40103738e-03 -9.53048980e+01] [-5.60869435e-03 8.53773914e-05 -9.99984268e-01 -1.04633680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.570385723 meters 0.017693879506065355 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.28, Z:-10.47 [[-3.24958618e-01 9.45726357e-01 1.88533788e-03 2.37911358e+02] [ 9.45712409e-01 3.24964068e-01 -5.13752737e-03 -9.52801312e+01] [-5.47136211e-03 1.13503631e-04 -9.99985026e-01 -1.04654540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.630385723 meters 0.01972622457630435 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.26, Z:-10.46 [[-3.96080876e-01 9.18209553e-01 3.34022829e-03 2.37910298e+02] [ 9.18180958e-01 3.96094911e-01 -7.24904174e-03 -9.52568351e+01] [-7.97918681e-03 1.95727212e-04 -9.99968147e-01 -1.04632299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.690385723 meters 0.017755494336206927 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.23, Z:-10.46 [[-4.68805403e-01 8.83285034e-01 5.38921066e-03 2.37914832e+02] [ 8.83232815e-01 4.68836309e-01 -9.60781865e-03 -9.52275761e+01] [-1.10131001e-02 2.55730405e-04 -9.99939321e-01 -1.04629672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.750385723 meters 0.017252331394520388 Centerline is valid? [True, True] Translation: X:237.92, Y:-95.20, Z:-10.46 [[-5.38754496e-01 8.42442337e-01 5.87380933e-03 2.37915716e+02] [ 8.42396587e-01 5.38786471e-01 -8.78227597e-03 -9.51990767e+01] [-1.05632901e-02 2.16586266e-04 -9.99944183e-01 -1.04644294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.810385723 meters 0.017795788043212073 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.17, Z:-10.46 [[-6.04098638e-01 7.96882717e-01 6.53991993e-03 2.37914266e+02] [ 7.96839611e-01 6.04134003e-01 -8.29097720e-03 -9.51690896e+01] [-1.05579244e-02 2.02699223e-04 -9.99944243e-01 -1.04637937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87038572299997 meters 0.017173811591239284 Centerline is valid? [True, True] Translation: X:237.91, Y:-95.14, Z:-10.46 [[-6.65486816e-01 7.46372588e-01 7.43349454e-03 2.37906929e+02] [ 7.46329335e-01 6.65528301e-01 -8.03766901e-03 -9.51425699e+01] [-1.09462968e-02 1.98872274e-04 -9.99940068e-01 -1.04648172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.930385723 meters 0.016740313774591436 Centerline is valid? [True, True] Translation: X:237.90, Y:-95.12, Z:-10.47 [[-7.23348487e-01 6.90444738e-01 7.28223834e-03 2.37898499e+02] [ 6.90411918e-01 7.23385125e-01 -6.73381940e-03 -9.51159842e+01] [-9.91719307e-03 1.56846069e-04 -9.99950811e-01 -1.04656017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.990385723 meters 0.01653292589896908 Centerline is valid? [True, True] Translation: X:237.92, Y:-95.09, Z:-10.46 [[-7.71775888e-01 6.35852548e-01 7.31546738e-03 2.37922030e+02] [ 6.35825560e-01 7.71810547e-01 -5.85978557e-03 -9.50929391e+01] [-9.37211446e-03 1.28919929e-04 -9.99956072e-01 -1.04647851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.050385723 meters 0.016445210054992016 Centerline is valid? [True, True] Translation: X:237.94, Y:-95.07, Z:-10.47 [[-8.16007034e-01 5.77993295e-01 7.50138585e-03 2.37941190e+02] [ 5.77970067e-01 8.16041506e-01 -5.18285571e-03 -9.50717784e+01] [-9.11709806e-03 1.06329764e-04 -9.99958433e-01 -1.04665281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.110385723 meters 0.01663337755697229 Centerline is valid? [True, True] Translation: X:237.96, Y:-95.05, Z:-10.47 [[-8.55127003e-01 5.18354781e-01 8.13207695e-03 2.37959431e+02] [ 5.18332521e-01 8.55165662e-01 -4.80498712e-03 -9.50478690e+01] [-9.44496102e-03 1.06245707e-04 -9.99955390e-01 -1.04659896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.170385723 meters 0.016627422755184113 Centerline is valid? [True, True] Translation: X:237.98, Y:-95.02, Z:-10.46 [[-8.88188778e-01 4.59398385e-01 8.59178147e-03 2.37977333e+02] [ 4.59378410e-01 8.88230322e-01 -4.28630307e-03 -9.50203260e+01] [-9.60060153e-03 1.39832619e-04 -9.99953903e-01 -1.04641176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.230385723 meters 0.01733443906162424 Centerline is valid? [True, True] Translation: X:237.99, Y:-95.00, Z:-10.46 [[-9.17317253e-01 3.98060797e-01 8.75552382e-03 2.37994202e+02] [ 3.98044382e-01 9.17359022e-01 -3.61875561e-03 -9.49975616e+01] [-9.47244350e-03 1.65540117e-04 -9.99955122e-01 -1.04636008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.290385723 meters 0.01763011756735046 Centerline is valid? [True, True] Translation: X:238.01, Y:-94.97, Z:-10.46 [[-9.42052110e-01 3.35391882e-01 7.07867388e-03 2.38005024e+02] [ 3.35383617e-01 9.42078692e-01 -2.35942758e-03 -9.49677845e+01] [-7.46000069e-03 1.51367520e-04 -9.99972162e-01 -1.04635119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.350385723 meters 0.01822126313017895 Centerline is valid? [True, True] Translation: X:238.01, Y:-94.94, Z:-10.46 [[-9.63200483e-01 2.68719497e-01 5.88734340e-03 2.38014620e+02] [ 2.68715266e-01 9.63218468e-01 -1.51307081e-03 -9.49366771e+01] [-6.07738952e-03 1.24628513e-04 -9.99981525e-01 -1.04617624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.410385723 meters 0.018500046181280896 Centerline is valid? [True, True] Translation: X:238.02, Y:-94.91, Z:-10.46 [[-9.79845933e-01 1.99672501e-01 5.73058022e-03 2.38021803e+02] [ 1.99669788e-01 9.79862684e-01 -1.04739915e-03 -9.49060346e+01] [-5.82431852e-03 1.17933944e-04 -9.99983032e-01 -1.04608913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.470385723 meters 0.018416073605293903 Centerline is valid? [True, True] Translation: X:238.03, Y:-94.87, Z:-10.46 [[-9.91686268e-01 1.28595415e-01 4.64394067e-03 2.38026540e+02] [ 1.28594405e-01 9.91697137e-01 -5.16540752e-04 -9.48716279e+01] [-4.67180744e-03 8.49384181e-05 -9.99989083e-01 -1.04599206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.530385723 meters 0.01757684651061264 Centerline is valid? [True, True] Translation: X:238.10, Y:-94.16, Z:-11.44 [[-9.88377602e-01 -1.51953758e-01 4.44639314e-03 2.38104422e+02] [ 1.51951802e-01 -9.88387600e-01 -7.76547665e-04 -9.41573284e+01] [ 4.51275918e-03 -9.18848711e-05 9.99989813e-01 -1.14350351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.590385723 meters 0.01671710235608097 Centerline is valid? [True, True] Translation: X:237.97, Y:-94.85, Z:-10.46 [[-9.92841313e-01 1.19371118e-01 4.08200412e-03 2.37970901e+02] [ 1.19370315e-01 9.92849703e-01 -4.40768000e-04 -9.48525784e+01] [-4.10543154e-03 4.96574364e-05 -9.99991571e-01 -1.04589736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.650385723 meters 0.017085307595011832 Centerline is valid? [True, True] Translation: X:238.05, Y:-94.16, Z:-11.44 [[-9.88901113e-01 -1.48547465e-01 2.87052569e-03 2.38045808e+02] [ 1.48546538e-01 -9.88905274e-01 -5.34673148e-04 -9.41631954e+01] [ 2.91810233e-03 -1.02332216e-04 9.99995737e-01 -1.14364812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.710385723 meters 0.018137935759786512 Centerline is valid? [True, True] Translation: X:237.92, Y:-94.84, Z:-10.46 [[-9.92555211e-01 1.21779044e-01 2.00422455e-03 2.37921471e+02] [ 1.21778847e-01 9.92557235e-01 -2.20660918e-04 -9.48444948e+01] [-2.01617945e-03 2.50540107e-05 -9.99997967e-01 -1.04582627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.770385723 meters 0.01951150084337301 Centerline is valid? [True, True] Translation: X:237.92, Y:-94.81, Z:-10.46 [[-9.98511921e-01 5.45335010e-02 2.02698359e-04 2.37921843e+02] [ 5.45334961e-02 9.98511941e-01 -2.97415802e-05 -9.48139122e+01] [-2.04018645e-04 -1.86434722e-05 -9.99999979e-01 -1.04580921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.830385723 meters 0.02003144093305306 Centerline is valid? [True, True] Translation: X:237.94, Y:-94.13, Z:-11.44 [[-9.97902125e-01 -6.47276558e-02 -1.29600005e-03 2.37940363e+02] [ 6.47276469e-02 -9.97902966e-01 4.88339076e-05 -9.41308731e+01] [-1.29644319e-03 -3.51555732e-05 9.99999159e-01 -1.14363973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.890385723 meters 0.018741684309861947 Centerline is valid? [True, True] Translation: X:237.86, Y:-94.80, Z:-10.46 [[-9.98817515e-01 4.85951495e-02 -1.44303349e-03 2.37857452e+02] [ 4.85951890e-02 9.98818556e-01 7.66104823e-06 -9.48049370e+01] [ 1.44170091e-03 -6.24724958e-05 -9.99998959e-01 -1.04562657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.950385723 meters 0.017847446401297273 Centerline is valid? [True, True] Translation: X:237.85, Y:-94.77, Z:-10.46 [[-9.99635292e-01 -2.68870753e-02 -2.52342254e-03 2.37850125e+02] [-2.68867878e-02 9.99638474e-01 -1.47792902e-04 -9.47702457e+01] [ 2.52648398e-03 -7.98922744e-05 -9.99996805e-01 -1.04558634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.010385723 meters 0.017152598757194867 Centerline is valid? [True, True] Translation: X:237.81, Y:-94.12, Z:-11.44 [[-9.99991219e-01 1.71181255e-04 -4.18724353e-03 2.37813832e+02] [-1.71188893e-04 -9.99999985e-01 1.46573914e-06 -9.41171618e+01] [-4.18724321e-03 2.18253585e-06 9.99991233e-01 -1.14382766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.070385723 meters 0.016699746147369177 Centerline is valid? [True, True] Translation: X:237.77, Y:-94.77, Z:-10.45 [[-9.99299732e-01 -3.73253687e-02 -2.61953515e-03 2.37774906e+02] [-3.73250655e-02 9.99303163e-01 -1.64578729e-04 -9.47664660e+01] [ 2.62385273e-03 -6.66891587e-05 -9.99996555e-01 -1.04542545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.130385723 meters 0.01634673707779389 Centerline is valid? [True, True] Translation: X:237.76, Y:-94.74, Z:-10.45 [[-9.94105278e-01 -1.08403631e-01 -1.82982220e-03 2.37759918e+02] [-1.08403348e-01 9.94106961e-01 -2.53249723e-04 -9.47357134e+01] [ 1.84649217e-03 -5.33980340e-05 -9.99998294e-01 -1.04527155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.190385723 meters 0.016983003403023677 Centerline is valid? [True, True] Translation: X:237.75, Y:-94.71, Z:-10.45 [[-9.84207725e-01 -1.77000031e-01 -2.47832025e-03 2.37747924e+02] [-1.76999293e-01 9.84210843e-01 -5.15833921e-04 -9.47098347e+01] [ 2.53049229e-03 -6.90267978e-05 -9.99996796e-01 -1.04530411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.250385723 meters 0.0169180368967953 Centerline is valid? [True, True] Translation: X:237.73, Y:-94.68, Z:-10.45 [[-9.69708070e-01 -2.44248089e-01 -3.02176595e-03 2.37733715e+02] [-2.44246616e-01 9.69712774e-01 -8.52680260e-04 -9.46808002e+01] [ 3.13851057e-03 -8.87948192e-05 -9.99995071e-01 -1.04518763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.310385723 meters 0.01723526280206913 Centerline is valid? [True, True] Translation: X:237.70, Y:-94.66, Z:-10.45 [[-9.49999941e-01 -3.12237894e-01 -2.75863233e-03 2.37700469e+02] [-3.12236307e-01 9.50003942e-01 -9.99346109e-04 -9.46601010e+01] [ 2.93274531e-03 -8.80335728e-05 -9.99995696e-01 -1.04508752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37038572299997 meters 0.01720853068510513 Centerline is valid? [True, True] Translation: X:237.66, Y:-94.64, Z:-10.45 [[-9.24527404e-01 -3.81112951e-01 -1.41373746e-03 2.37656041e+02] [-3.81112411e-01 9.24528483e-01 -6.43567523e-04 -9.46448088e+01] [ 1.55231246e-03 -5.62029199e-05 -9.99998794e-01 -1.04500433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.430385723 meters 0.01677074983820298 Centerline is valid? [True, True] Translation: X:237.59, Y:-94.64, Z:-10.45 [[-8.93509555e-01 -4.49044140e-01 1.88046752e-04 2.37591827e+02] [-4.49044135e-01 8.93509575e-01 7.20843019e-05 -9.46406938e+01] [-2.00390607e-04 -2.00332784e-05 -9.99999980e-01 -1.04482466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.490385723 meters 0.016234129203323046 Centerline is valid? [True, True] Translation: X:237.52, Y:-94.65, Z:-10.45 [[-8.56540777e-01 -5.16079110e-01 4.99817243e-04 2.37521173e+02] [-5.16079032e-01 8.56540922e-01 2.84146378e-04 -9.46474171e+01] [-5.74755932e-04 -1.45622393e-05 -9.99999835e-01 -1.04479947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.550385723 meters 0.01619706143709956 Centerline is valid? [True, True] Translation: X:237.45, Y:-94.66, Z:-10.45 [[-8.14971387e-01 -5.79500603e-01 8.31097906e-04 2.37446050e+02] [-5.79500313e-01 8.14971810e-01 5.79602136e-04 -9.46643996e+01] [-1.01320115e-03 -9.26234040e-06 -9.99999487e-01 -1.04477600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.610385723 meters 0.01541552476548559 Centerline is valid? [True, True] Translation: X:237.36, Y:-94.69, Z:-10.45 [[-7.65909322e-01 -6.42947300e-01 1.29610151e-03 2.37363431e+02] [-6.42946400e-01 7.65910419e-01 1.07559905e-03 -9.46909089e+01] [-1.68425115e-03 -9.51245910e-06 -9.99998582e-01 -1.04467434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.670385723 meters 0.015123729497965123 Centerline is valid? [True, True] Translation: X:237.28, Y:-94.73, Z:-10.45 [[-7.13677459e-01 -7.00473988e-01 8.22634501e-04 2.37281102e+02] [-7.00473551e-01 7.13677933e-01 7.82465306e-04 -9.47285450e+01] [-1.13519268e-03 -1.78058593e-05 -9.99999356e-01 -1.04470559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.730385723 meters 0.014906755011475663 Centerline is valid? [True, True] Translation: X:237.20, Y:-94.78, Z:-10.45 [[-6.56473227e-01 -7.54349266e-01 2.94158074e-04 2.37196744e+02] [-7.54349206e-01 6.56473293e-01 3.02446748e-04 -9.47797521e+01] [-4.21257402e-04 -2.33497166e-05 -9.99999911e-01 -1.04479441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.790385723 meters 0.014837790110749727 Centerline is valid? [True, True] Translation: X:237.11, Y:-94.84, Z:-10.45 [[-5.96018582e-01 -8.02970571e-01 3.33950968e-04 2.37111539e+02] [-8.02970468e-01 5.96018675e-01 4.08976641e-04 -9.48430657e+01] [-5.27437220e-04 -2.43950874e-05 -9.99999861e-01 -1.04480511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.850385723 meters 0.014884580363943398 Centerline is valid? [True, True] Translation: X:237.04, Y:-94.91, Z:-10.45 [[-5.31531273e-01 -8.47038660e-01 1.20215486e-04 2.37038603e+02] [-8.47038648e-01 5.31531286e-01 1.44928942e-04 -9.49050366e+01] [-1.86658709e-04 -2.47928975e-05 -9.99999982e-01 -1.04488031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.910385723 meters 0.014919000455246101 Centerline is valid? [True, True] Translation: X:236.97, Y:-94.98, Z:-10.45 [[-4.65466557e-01 -8.85065391e-01 3.71110128e-04 2.36965627e+02] [-8.85065154e-01 4.65466705e-01 6.48415445e-04 -9.49839012e+01] [-7.46629478e-04 -2.66409376e-05 -9.99999721e-01 -1.04494897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.970385723 meters 0.014841337009953062 Centerline is valid? [True, True] Translation: X:236.90, Y:-95.08, Z:-10.45 [[-3.99376941e-01 -9.16785617e-01 1.48045101e-03 2.36901470e+02] [-9.16779553e-01 3.99379685e-01 3.33440682e-03 -9.50760841e+01] [-3.64819827e-03 -2.55620190e-05 -9.99993345e-01 -1.04462684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.030385723 meters 0.01486070206100988 Centerline is valid? [True, True] Translation: X:236.84, Y:-95.18, Z:-10.45 [[-3.30755824e-01 -9.43715361e-01 1.37946682e-03 2.36840011e+02] [-9.43707340e-01 3.30758701e-01 3.89081548e-03 -9.51772485e+01] [-4.12809298e-03 -1.49030821e-05 -9.99991479e-01 -1.04467928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.090385723 meters 0.015092294650566091 Centerline is valid? [True, True] Translation: X:236.79, Y:-95.28, Z:-10.45 [[-2.62850417e-01 -9.64836113e-01 9.66571283e-04 2.36794079e+02] [-9.64829530e-01 2.62852194e-01 3.56407129e-03 -9.52752754e+01] [-3.69281007e-03 4.24110889e-06 -9.99993182e-01 -1.04479663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.150385723 meters 0.015628247573080623 Centerline is valid? [True, True] Translation: X:236.75, Y:-95.38, Z:-10.45 [[-1.92914880e-01 -9.81215263e-01 6.75897719e-04 2.36752141e+02] [-9.81208841e-01 1.92916063e-01 3.54994119e-03 -9.53827898e+01] [-3.61364800e-03 2.16396612e-05 -9.99993471e-01 -1.04493248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.210385723 meters 0.017592797335698553 Centerline is valid? [True, True] Translation: X:236.72, Y:-95.50, Z:-10.45 [[-1.20231235e-01 -9.92745781e-01 5.15260699e-04 2.36716720e+02] [-9.92734752e-01 1.20232328e-01 4.67959538e-03 -9.55037977e+01] [-4.70759956e-03 5.11163269e-05 -9.99988918e-01 -1.04466657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.270385723 meters 0.016057478225793297 Centerline is valid? [True, True] Translation: X:236.69, Y:-95.62, Z:-10.45 [[-4.43034134e-02 -9.99018105e-01 1.84860834e-04 2.36686075e+02] [-9.99001049e-01 4.43037373e-02 5.83802129e-03 -9.56200349e+01] [-5.84047899e-03 7.39681034e-05 -9.99982942e-01 -1.04485630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.330385723 meters 0.016166235266314933 Centerline is valid? [True, True] Translation: X:236.66, Y:-95.75, Z:-10.45 [[ 3.30920808e-02 -9.99452270e-01 -2.72675276e-04 2.36664093e+02] [-9.99434306e-01 -3.30931210e-02 5.99278789e-03 -9.57450408e+01] [-5.99852913e-03 7.42072040e-05 -9.99982006e-01 -1.04490297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.390385723 meters 0.016223621202499188 Centerline is valid? [True, True] Translation: X:236.65, Y:-95.88, Z:-10.45 [[ 1.11449503e-01 -9.93769695e-01 -8.95475611e-04 2.36653271e+02] [-9.93743399e-01 -1.11453069e-01 7.22977808e-03 -9.58769052e+01] [-7.28453786e-03 8.41178009e-05 -9.99973464e-01 -1.04492296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.450385723 meters 0.015609807517928093 Centerline is valid? [True, True] Translation: X:236.65, Y:-96.00, Z:-10.45 [[ 1.91429649e-01 -9.81504279e-01 -2.00983774e-03 2.36646905e+02] [-9.81454846e-01 -1.91440180e-01 9.85107592e-03 -9.60029942e+01] [-1.00536369e-02 8.67769876e-05 -9.99949457e-01 -1.04467624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.510385723 meters 0.015501411553198686 Centerline is valid? [True, True] Translation: X:236.65, Y:-96.13, Z:-10.45 [[ 2.70099004e-01 -9.62827340e-01 -3.16895180e-03 2.36654772e+02] [-9.62763636e-01 -2.70117587e-01 1.10757101e-02 -9.61298391e+01] [-1.15199861e-02 5.94132988e-05 -9.99933641e-01 -1.04466051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.570385723 meters 0.0153543746840808 Centerline is valid? [True, True] Translation: X:236.67, Y:-96.26, Z:-10.45 [[ 3.45221292e-01 -9.38513157e-01 -3.91318836e-03 2.36668048e+02] [-9.38454066e-01 -3.45243468e-01 1.05315903e-02 -9.62550157e+01] [-1.12350388e-02 3.66183248e-05 -9.99936884e-01 -1.04481099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.630385723 meters 0.015371149004996695 Centerline is valid? [True, True] Translation: X:236.69, Y:-96.38, Z:-10.45 [[ 4.17588282e-01 -9.08625982e-01 -4.34191192e-03 2.36691029e+02] [-9.08577340e-01 -4.17610854e-01 9.40176024e-03 -9.63802215e+01] [-1.03559132e-02 1.88978778e-05 -9.99946376e-01 -1.04496588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.690385723 meters 0.015492150403983227 Centerline is valid? [True, True] Translation: X:236.72, Y:-96.50, Z:-10.45 [[ 4.85117362e-01 -8.74438622e-01 -4.27096752e-03 2.36721078e+02] [-8.74405168e-01 -4.85136162e-01 7.64894713e-03 -9.64963662e+01] [-8.76053558e-03 2.39190213e-05 -9.99961625e-01 -1.04517413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.750385723 meters 0.015438970324997511 Centerline is valid? [True, True] Translation: X:236.76, Y:-96.61, Z:-10.45 [[ 5.50705237e-01 -8.34683746e-01 -5.17558990e-03 2.36756129e+02] [-8.34647379e-01 -5.50729556e-01 7.79156281e-03 -9.66082772e+01] [-9.35384116e-03 2.89381063e-05 -9.99956251e-01 -1.04510136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.810385723 meters 0.015608937682851431 Centerline is valid? [True, True] Translation: X:236.80, Y:-96.72, Z:-10.45 [[ 6.11802768e-01 -7.90992249e-01 -5.35109129e-03 2.36800708e+02] [-7.90962557e-01 -6.11826168e-01 6.85375379e-03 -9.67182439e+01] [-8.69520381e-03 3.93673010e-05 -9.99962195e-01 -1.04519459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87038572299997 meters 0.016165637499852892 Centerline is valid? [True, True] Translation: X:236.85, Y:-96.82, Z:-10.45 [[ 6.67975066e-01 -7.44154854e-01 -6.54705125e-03 2.36851722e+02] [-7.44120291e-01 -6.68007146e-01 7.17255420e-03 -9.68200474e+01] [-9.71096804e-03 8.07063190e-05 -9.99952844e-01 -1.04521803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.930385723 meters 0.017081734029248487 Centerline is valid? [True, True] Translation: X:236.91, Y:-96.92, Z:-10.45 [[ 7.20347853e-01 -6.93562889e-01 -8.33603022e-03 2.36908892e+02] [-6.93518690e-01 -7.20396071e-01 7.83122854e-03 -9.69181243e+01] [-1.14366929e-02 1.39984096e-04 -9.99934589e-01 -1.04508805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.990385723 meters 0.01825302533126039 Centerline is valid? [True, True] Translation: X:236.93, Y:-96.94, Z:-10.45 [[ 7.69788309e-01 -6.38231665e-01 -9.28986816e-03 2.36926589e+02] [-6.38188217e-01 -7.69844338e-01 7.44951190e-03 -9.69400651e+01] [-1.19062668e-02 1.94137230e-04 -9.99929099e-01 -1.04506110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.050385723 meters 0.019224071966676113 Centerline is valid? [True, True] Translation: X:236.95, Y:-96.96, Z:-10.45 [[ 8.15152385e-01 -5.79167031e-01 -9.59889210e-03 2.36947770e+02] [-5.79130211e-01 -8.15208867e-01 6.53469781e-03 -9.69600573e+01] [-1.16097835e-02 2.32233899e-04 -9.99932577e-01 -1.04514194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.110385723 meters 0.021184210931161376 Centerline is valid? [True, True] Translation: X:236.97, Y:-96.98, Z:-10.45 [[ 8.55778494e-01 -5.17254803e-01 -9.52045499e-03 2.36970689e+02] [-5.17226204e-01 -8.55831408e-01 5.44554682e-03 -9.69767538e+01] [-1.09646397e-02 2.64046942e-04 -9.99939852e-01 -1.04523362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.170385723 meters 0.01986611635312442 Centerline is valid? [True, True] Translation: X:236.99, Y:-97.00, Z:-10.45 [[ 8.94252687e-01 -4.47483990e-01 -8.37914870e-03 2.36991764e+02] [-4.47466492e-01 -8.94291919e-01 3.96252047e-03 -9.70010816e+01] [-9.26656944e-03 2.05893699e-04 -9.99957043e-01 -1.04538314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.230385723 meters 0.01756365620139073 Centerline is valid? [True, True] Translation: X:237.01, Y:-97.03, Z:-10.45 [[ 9.29057287e-01 -3.69837232e-01 -8.54273436e-03 2.37012804e+02] [-3.69822977e-01 -9.29096552e-01 3.25015922e-03 -9.70294415e+01] [-9.13905493e-03 1.39715343e-04 -9.99958228e-01 -1.04536397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.290385723 meters 0.015954278442611502 Centerline is valid? [True, True] Translation: X:237.04, Y:-97.06, Z:-10.45 [[ 9.57746923e-01 -2.87478721e-01 -8.76453709e-03 2.37036178e+02] [-2.87467232e-01 -9.57787023e-01 2.57069423e-03 -9.70558546e+01] [-9.13357978e-03 5.74427320e-05 -9.99958286e-01 -1.04548493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.350385723 meters 0.015517691990934763 Centerline is valid? [True, True] Translation: X:237.06, Y:-97.08, Z:-10.46 [[ 9.78360555e-01 -2.06728276e-01 -8.60484419e-03 2.37063244e+02] [-2.06720368e-01 -9.78398395e-01 1.80827851e-03 -9.70789482e+01] [-8.79278804e-03 9.64819035e-06 -9.99961343e-01 -1.04557863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.410385723 meters 0.015424968700745624 Centerline is valid? [True, True] Translation: X:237.09, Y:-97.10, Z:-10.46 [[ 9.91761851e-01 -1.27855381e-01 -7.83783404e-03 2.37087876e+02] [-1.27851334e-01 -9.91792822e-01 1.01722770e-03 -9.70987149e+01] [-7.90356557e-03 -6.77008819e-06 -9.99968766e-01 -1.04562738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.470385723 meters 0.015540348712246693 Centerline is valid? [True, True] Translation: X:237.11, Y:-97.11, Z:-10.46 [[ 9.98733733e-01 -4.97249318e-02 -7.63952832e-03 2.37114086e+02] [-4.97234156e-02 -9.98762950e-01 3.88391006e-04 -9.71129905e+01] [-7.64939056e-03 -8.03575841e-06 -9.99970743e-01 -1.04556158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.530385723 meters 0.01576435919522388 Centerline is valid? [True, True] Translation: X:237.14, Y:-97.12, Z:-10.46 [[ 9.99694812e-01 2.38682894e-02 -6.37081789e-03 2.37140667e+02] [ 2.38676792e-02 -9.99715112e-01 -1.71803364e-04 -9.71197937e+01] [-6.37310357e-03 1.96942940e-05 -9.99979691e-01 -1.04558625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.590385723 meters 0.01678121126931452 Centerline is valid? [True, True] Translation: X:237.17, Y:-97.12, Z:-10.46 [[ 9.95461141e-01 9.50088352e-02 -5.51712339e-03 2.37168777e+02] [ 9.50070778e-02 -9.95476428e-01 -5.80349648e-04 -9.71221724e+01] [-5.54730463e-03 5.35497514e-05 -9.99984612e-01 -1.04559270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.650385723 meters 0.01703741570667255 Centerline is valid? [True, True] Translation: X:237.20, Y:-97.13, Z:-10.46 [[ 9.85369978e-01 1.70337030e-01 -5.59483950e-03 2.37197189e+02] [ 1.70333886e-01 -9.85385859e-01 -1.03714854e-03 -9.71265686e+01] [-5.68974053e-03 6.89842816e-05 -9.99983811e-01 -1.04558001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.710385723 meters 0.017740394194861803 Centerline is valid? [True, True] Translation: X:237.23, Y:-97.13, Z:-10.45 [[ 9.70320138e-01 2.41728504e-01 -6.79417703e-03 2.37226257e+02] [ 2.41721646e-01 -9.70343915e-01 -1.82533974e-03 -9.71310769e+01] [-7.03392499e-03 1.28864256e-04 -9.99975253e-01 -1.04549542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.770385723 meters 0.02001970073005073 Centerline is valid? [True, True] Translation: X:237.25, Y:-97.13, Z:-10.45 [[ 9.50022613e-01 3.12074601e-01 -8.15341859e-03 2.37253669e+02] [ 3.12061219e-01 -9.50057577e-01 -2.89745174e-03 -9.71311313e+01] [-8.65043821e-03 2.08278931e-04 -9.99962563e-01 -1.04522722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.830385723 meters 0.020831326274071117 Centerline is valid? [True, True] Translation: X:237.28, Y:-97.13, Z:-10.45 [[ 9.23363111e-01 3.83835555e-01 -8.41620363e-03 2.37281098e+02] [ 3.83817228e-01 -9.23401435e-01 -3.75851320e-03 -9.71261163e+01] [-9.21418550e-03 2.40188491e-04 -9.99957520e-01 -1.04521783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.890385723 meters 0.01876446719275952 Centerline is valid? [True, True] Translation: X:237.31, Y:-97.13, Z:-10.45 [[ 8.90396365e-01 4.55125372e-01 -7.43034261e-03 2.37313860e+02] [ 4.55107480e-01 -8.90427341e-01 -4.04131490e-03 -9.71300682e+01] [-8.45548516e-03 2.16767589e-04 -9.99964228e-01 -1.04539848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.950385723 meters 0.018301755170419137 Centerline is valid? [True, True] Translation: X:237.35, Y:-97.13, Z:-10.45 [[ 8.50311338e-01 5.26239577e-01 -6.52193763e-03 2.37345644e+02] [ 5.26222539e-01 -8.50336332e-01 -4.23805187e-03 -9.71297431e+01] [-7.77607115e-03 1.71672982e-04 -9.99969751e-01 -1.04535889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.010385723 meters 0.01762582829551357 Centerline is valid? [True, True] Translation: X:237.38, Y:-97.13, Z:-10.45 [[ 8.04798630e-01 5.93520186e-01 -5.74060577e-03 2.37377494e+02] [ 5.93503861e-01 -8.04819092e-01 -4.40416481e-03 -9.71264934e+01] [-7.23410983e-03 1.37394112e-04 -9.99973824e-01 -1.04539030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.070385723 meters 0.01768442491314368 Centerline is valid? [True, True] Translation: X:237.41, Y:-97.12, Z:-10.45 [[ 7.54958565e-01 6.55748082e-01 -5.65854073e-03 2.37405712e+02] [ 6.55728308e-01 -7.54979758e-01 -5.09427652e-03 -9.71180501e+01] [-7.61264577e-03 1.35502354e-04 -9.99971014e-01 -1.04537127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.130385723 meters 0.01717474443669937 Centerline is valid? [True, True] Translation: X:237.44, Y:-97.11, Z:-10.45 [[ 7.00277781e-01 7.13854061e-01 -4.83817020e-03 2.37437576e+02] [ 7.13835899e-01 -7.00294485e-01 -5.09337352e-03 -9.71098931e+01] [-7.02406929e-03 1.13116737e-04 -9.99975325e-01 -1.04540426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.190385723 meters 0.017275299928005125 Centerline is valid? [True, True] Translation: X:237.47, Y:-97.10, Z:-10.45 [[ 6.42263548e-01 7.66471278e-01 -4.39493833e-03 2.37465551e+02] [ 7.66452121e-01 -6.42278575e-01 -5.42009863e-03 -9.70974219e+01] [-6.97712465e-03 1.12621968e-04 -9.99975653e-01 -1.04541052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.250385723 meters 0.017938160197030716 Centerline is valid? [True, True] Translation: X:237.49, Y:-97.08, Z:-10.45 [[ 5.82850160e-01 8.12568214e-01 -4.31135811e-03 2.37490215e+02] [ 8.12544068e-01 -5.82866086e-01 -6.26598308e-03 -9.70808034e+01] [-7.60448311e-03 1.48960789e-04 -9.99971074e-01 -1.04535593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.310385723 meters 0.018186030784833263 Centerline is valid? [True, True] Translation: X:237.51, Y:-97.06, Z:-10.45 [[ 5.18706333e-01 8.54943294e-01 -3.96291852e-03 2.37513603e+02] [ 8.54915822e-01 -5.18721444e-01 -6.85576396e-03 -9.70622444e+01] [-7.91694024e-03 1.68166436e-04 -9.99968646e-01 -1.04540072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37038572299997 meters 0.01815728802131331 Centerline is valid? [True, True] Translation: X:237.54, Y:-97.04, Z:-10.45 [[ 4.50504446e-01 8.92767596e-01 -3.42969797e-03 2.37537990e+02] [ 8.92738749e-01 -4.50517468e-01 -7.17887950e-03 -9.70434854e+01] [-7.95420984e-03 1.72292860e-04 -9.99968350e-01 -1.04543947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.430385723 meters 0.017948514886230078 Centerline is valid? [True, True] Translation: X:237.56, Y:-97.02, Z:-10.46 [[ 3.77444339e-01 9.26029041e-01 -2.44661504e-03 2.37559663e+02] [ 9.26007278e-01 -3.77452246e-01 -6.35000062e-03 -9.70232577e+01] [-6.80376532e-03 1.31188454e-04 -9.99976846e-01 -1.04553986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.490385723 meters 0.017507815092208775 Centerline is valid? [True, True] Translation: X:237.58, Y:-97.00, Z:-10.46 [[ 3.00313373e-01 9.53839287e-01 -1.57894512e-03 2.37578389e+02] [ 9.53824629e-01 -3.00317512e-01 -5.28848787e-03 -9.70015004e+01] [-5.51855237e-03 8.21668849e-05 -9.99984769e-01 -1.04566824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.550385723 meters 0.01777027318711458 Centerline is valid? [True, True] Translation: X:237.60, Y:-96.98, Z:-10.45 [[ 2.20557049e-01 9.75373359e-01 -1.18270000e-03 2.37601516e+02] [ 9.75357827e-01 -2.20560211e-01 -5.50478916e-03 -9.69783774e+01] [-5.63008126e-03 6.05643489e-05 -9.99984149e-01 -1.04543945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.610385723 meters 0.01599073899626189 Centerline is valid? [True, True] Translation: X:237.62, Y:-96.95, Z:-10.46 [[ 1.39913349e-01 9.90163501e-01 -7.04920819e-04 2.37620276e+02] [ 9.90149580e-01 -1.39915120e-01 -5.25063043e-03 -9.69532327e+01] [-5.29761169e-03 3.66562353e-05 -9.99985967e-01 -1.04582034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.670385723 meters 0.015844154896789187 Centerline is valid? [True, True] Translation: X:237.64, Y:-96.93, Z:-10.46 [[ 5.89681330e-02 9.98259831e-01 -2.63604435e-04 2.37635147e+02] [ 9.98248583e-01 -5.89687199e-02 -4.73876013e-03 -9.69278899e+01] [-4.74605830e-03 1.62930831e-05 -9.99988737e-01 -1.04577776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.730385723 meters 0.01586843645535748 Centerline is valid? [True, True] Translation: X:237.64, Y:-96.90, Z:-10.46 [[-1.76278231e-02 9.99844612e-01 1.08988977e-04 2.37644448e+02] [ 9.99833270e-01 1.76281423e-02 -4.76245677e-03 -9.69007376e+01] [-4.76363802e-03 2.50190596e-05 -9.99988654e-01 -1.04570136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.790385723 meters 0.016585759530013754 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.87, Z:-10.46 [[-9.02877203e-02 9.95915616e-01 4.61965014e-04 2.37646703e+02] [ 9.95905212e-01 9.02888888e-02 -4.55242172e-03 -9.68734921e+01] [-4.57553819e-03 4.90455870e-05 -9.99989531e-01 -1.04585351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.850385723 meters 0.017276583523797982 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.85, Z:-10.46 [[-1.64240848e-01 9.86419925e-01 8.21640259e-04 2.37649539e+02] [ 9.86409549e-01 1.64242889e-01 -4.52495393e-03 -9.68461465e+01] [-4.59845329e-03 6.72915276e-05 -9.99989425e-01 -1.04583780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.910385723 meters 0.017924606244035877 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.82, Z:-10.46 [[-2.37903336e-01 9.71288161e-01 1.14532251e-03 2.37653779e+02] [ 9.71278462e-01 2.37906080e-01 -4.34131621e-03 -9.68173660e+01] [-4.48914822e-03 7.96134712e-05 -9.99989921e-01 -1.04574494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.970385723 meters 0.017290797553850257 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.79, Z:-10.46 [[-3.13228497e-01 9.49677100e-01 1.14620117e-03 2.37658422e+02] [ 9.49671393e-01 3.13230589e-01 -3.29286136e-03 -9.67874032e+01] [-3.48618029e-03 5.70964435e-05 -9.99993922e-01 -1.04588317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.030385723 meters 0.017012602022788682 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.76, Z:-10.46 [[-3.88456792e-01 9.21466072e-01 1.26471811e-03 2.37660205e+02] [ 9.21461547e-01 3.88458848e-01 -2.88814373e-03 -9.67579333e+01] [-3.15261739e-03 4.34700563e-05 -9.99995030e-01 -1.04592824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.090385723 meters 0.016738548805400977 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.73, Z:-10.46 [[-4.61430823e-01 8.87174632e-01 1.66359670e-03 2.37658014e+02] [ 8.87169201e-01 4.61433820e-01 -3.10452004e-03 -9.67299615e+01] [-3.52189120e-03 4.33705155e-05 -9.99993797e-01 -1.04591632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.150385723 meters 0.015610727340271484 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.70, Z:-10.46 [[-5.32024786e-01 8.46727073e-01 1.70038736e-03 2.37659286e+02] [ 8.46722910e-01 5.32027503e-01 -2.65514001e-03 -9.66967013e+01] [-3.15283177e-03 2.71566352e-05 -9.99995029e-01 -1.04588138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.210385723 meters 0.015097842705824515 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.67, Z:-10.46 [[-5.98445589e-01 8.01160247e-01 2.26628458e-03 2.37654712e+02] [ 8.01154680e-01 5.98449880e-01 -2.98680874e-03 -9.66657513e+01] [-3.74917016e-03 2.82019831e-05 -9.99992971e-01 -1.04579678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.270385723 meters 0.015036286088085818 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.64, Z:-10.46 [[-6.59887209e-01 7.51360288e-01 2.56692025e-03 2.37647009e+02] [ 7.51354762e-01 6.59892201e-01 -2.88185107e-03 -9.66357917e+01] [-3.85919910e-03 2.69710893e-05 -9.99992553e-01 -1.04575570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.330385723 meters 0.014804199482343256 Centerline is valid? [True, True] Translation: X:237.64, Y:-96.61, Z:-10.46 [[-7.16803081e-01 6.97270120e-01 2.77891510e-03 2.37636831e+02] [ 6.97265023e-01 7.16808467e-01 -2.66619844e-03 -9.66068075e+01] [-3.85101038e-03 2.65010459e-05 -9.99992584e-01 -1.04571936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.390385723 meters 0.01486107012744174 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.59, Z:-10.46 [[-7.64395702e-01 6.44742424e-01 2.53322167e-03 2.37655148e+02] [ 6.44738976e-01 7.64399899e-01 -2.10883183e-03 -9.65872974e+01] [-3.29604773e-03 2.12847592e-05 -9.99994568e-01 -1.04577904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.450385723 meters 0.01472984641718104 Centerline is valid? [True, True] Translation: X:237.67, Y:-96.56, Z:-10.46 [[-8.08547082e-01 5.88427732e-01 2.10266972e-03 2.37669254e+02] [ 5.88425776e-01 8.08549816e-01 -1.51710613e-03 -9.65633759e+01] [-2.59282053e-03 1.06133317e-05 -9.99996639e-01 -1.04571199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.510385723 meters 0.014666272208554007 Centerline is valid? [True, True] Translation: X:238.09, Y:-95.99, Z:-11.44 [[-7.80701499e-01 -6.24900918e-01 2.00296675e-03 2.38085351e+02] [ 6.24898824e-01 -7.80704068e-01 -1.61797563e-03 -9.59857188e+01] [ 2.57479875e-03 -1.15044387e-05 9.99996685e-01 -1.14417702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.570385723 meters 0.014421857227997163 Centerline is valid? [True, True] Translation: X:237.63, Y:-96.54, Z:-10.46 [[-8.12694627e-01 5.82684563e-01 2.47840668e-03 2.37631336e+02] [ 5.82681872e-01 8.12698406e-01 -1.77082533e-03 -9.65390703e+01] [-3.04602974e-03 4.98241369e-06 -9.99995361e-01 -1.04550699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.630385723 meters 0.014318005219445876 Centerline is valid? [True, True] Translation: X:237.65, Y:-96.52, Z:-10.45 [[-8.52288128e-01 5.23055436e-01 4.23770359e-03 2.37648758e+02] [ 5.23049065e-01 8.52298663e-01 -2.58159499e-03 -9.65177291e+01] [-4.96210639e-03 1.62641432e-05 -9.99987689e-01 -1.04537982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.690385723 meters 0.01436317466279167 Centerline is valid? [True, True] Translation: X:237.66, Y:-96.50, Z:-10.45 [[-8.86856320e-01 4.62004475e-01 6.14259368e-03 2.37662342e+02] [ 4.61993665e-01 8.86877592e-01 -3.16071372e-03 -9.64969326e+01] [-6.90799258e-03 3.47404232e-05 -9.99976139e-01 -1.04515708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.750385723 meters 0.014563084775054639 Centerline is valid? [True, True] Translation: X:238.00, Y:-95.85, Z:-11.45 [[-8.62386808e-01 -5.06214915e-01 5.95423156e-03 2.37999880e+02] [ 5.06202572e-01 -8.62407363e-01 -3.53507525e-03 -9.58530247e+01] [ 6.92448095e-03 -3.45549355e-05 9.99976025e-01 -1.14461452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.810385723 meters 0.015199971824287456 Centerline is valid? [True, True] Translation: X:237.62, Y:-96.49, Z:-10.45 [[-8.86022801e-01 4.63616414e-01 4.83902656e-03 2.37621095e+02] [ 4.63609823e-01 8.86036014e-01 -2.47265749e-03 -9.64888316e+01] [-5.43391640e-03 5.25893300e-05 -9.99985235e-01 -1.04522852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87038572299997 meters 0.015965114597909513 Centerline is valid? [True, True] Translation: X:237.97, Y:-95.82, Z:-11.45 [[-8.67874502e-01 -4.96764339e-01 4.36364906e-03 2.37965804e+02] [ 4.96757660e-01 -8.67885469e-01 -2.57691830e-03 -9.58229572e+01] [ 5.06726872e-03 -6.87655866e-05 9.99987159e-01 -1.14462429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.930385723 meters 0.01585724231820651 Centerline is valid? [True, True] Translation: X:237.58, Y:-96.48, Z:-10.45 [[-8.85547858e-01 4.64528671e-01 4.25500895e-03 2.37575041e+02] [ 4.64523666e-01 8.85558078e-01 -2.15740191e-03 -9.64776216e+01] [-4.77023259e-03 6.60697101e-05 -9.99988620e-01 -1.04517966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.990385723 meters 0.01572821899149173 Centerline is valid? [True, True] Translation: X:237.60, Y:-96.46, Z:-10.45 [[-9.15741462e-01 4.01747055e-01 4.10835836e-03 2.37595601e+02] [ 4.01743315e-01 9.15750676e-01 -1.73471170e-03 -9.64575122e+01] [-4.45914726e-03 6.19580816e-05 -9.99990056e-01 -1.04522832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.050385723 meters 0.01591271684913719 Centerline is valid? [True, True] Translation: X:237.60, Y:-96.43, Z:-10.45 [[-9.42355681e-01 3.34580196e-01 4.67574773e-03 2.37602895e+02] [ 3.34576412e-01 9.42367279e-01 -1.59253428e-03 -9.64326708e+01] [-4.93910210e-03 6.36611775e-05 -9.99987801e-01 -1.04502606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.110385723 meters 0.015602755718730646 Centerline is valid? [True, True] Translation: X:237.61, Y:-96.41, Z:-10.45 [[-9.64394019e-01 2.64423857e-01 4.91942413e-03 2.37614100e+02] [ 2.64420696e-01 9.64406564e-01 -1.29413017e-03 -9.64077758e+01] [-5.08652381e-03 5.27461564e-05 -9.99987062e-01 -1.04496441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.170385723 meters 0.01512018627068526 Centerline is valid? [True, True] Translation: X:237.81, Y:-95.66, Z:-11.45 [[-9.52539078e-01 -3.04394721e-01 3.62746551e-03 2.37812898e+02] [ 3.04392049e-01 -9.52545978e-01 -1.28062685e-03 -9.56594303e+01] [ 3.84514374e-03 -1.15675461e-04 9.99992601e-01 -1.14481387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.230385723 meters 0.015263134149645164 Centerline is valid? [True, True] Translation: X:237.56, Y:-96.40, Z:-10.45 [[-9.66191057e-01 2.57789850e-01 4.38564862e-03 2.37564448e+02] [ 2.57787342e-01 9.66201010e-01 -1.13767067e-03 -9.63966514e+01] [-4.53069808e-03 3.13574679e-05 -9.99989736e-01 -1.04486665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.290385723 meters 0.015721036517181663 Centerline is valid? [True, True] Translation: X:237.76, Y:-95.64, Z:-11.45 [[-9.54280311e-01 -2.98898352e-01 2.97712565e-03 2.37763512e+02] [ 2.98896573e-01 -9.54284950e-01 -1.03597843e-03 -9.56431252e+01] [ 3.15067845e-03 -9.87611623e-05 9.99995032e-01 -1.14495933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.350385723 meters 0.01662303311553858 Centerline is valid? [True, True] Translation: X:237.52, Y:-96.39, Z:-10.45 [[-9.65534967e-01 2.60266067e-01 1.94999970e-03 2.37518219e+02] [ 2.60265571e-01 9.65536936e-01 -5.08318005e-04 -9.63928550e+01] [-2.01509466e-03 1.67189779e-05 -9.99997970e-01 -1.04490106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.410385723 meters 0.01664199849416449 Centerline is valid? [True, True] Translation: X:237.53, Y:-96.37, Z:-10.45 [[-9.81224439e-01 1.92866320e-01 1.08762107e-03 2.37528745e+02] [ 1.92866205e-01 9.81225042e-01 -2.10764182e-04 -9.63662543e+01] [-1.10785034e-03 2.95838068e-06 -9.99999386e-01 -1.04481619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.470385723 meters 0.01714124589804919 Centerline is valid? [True, True] Translation: X:237.65, Y:-95.58, Z:-11.45 [[-9.74996427e-01 -2.22220267e-01 -3.47474904e-04 2.37649874e+02] [ 2.22220277e-01 -9.74996486e-01 1.03220469e-05 -9.55837997e+01] [-3.41080578e-04 -6.71520105e-05 9.99999940e-01 -1.14504426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.530385723 meters 0.01670537755553384 Centerline is valid? [True, True] Translation: X:237.47, Y:-96.35, Z:-10.45 [[-9.82701059e-01 1.85196640e-01 9.12373870e-04 2.37472925e+02] [ 1.85196557e-01 9.82701483e-01 -1.75676900e-04 -9.63529196e+01] [-9.29125927e-04 -3.66937650e-06 -9.99999568e-01 -1.04456231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.590385723 meters 0.01612836170110879 Centerline is valid? [True, True] Translation: X:237.48, Y:-96.32, Z:-10.44 [[-9.93424359e-01 1.14469458e-01 2.18755295e-03 2.37477833e+02] [ 1.14469214e-01 9.93426768e-01 -2.36936135e-04 -9.63207740e+01] [-2.20029561e-03 1.50293380e-05 -9.99997579e-01 -1.04434369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.650385723 meters 0.01670727518020919 Centerline is valid? [True, True] Translation: X:237.56, Y:-95.55, Z:-11.45 [[-9.88770430e-01 -1.49437107e-01 1.26015557e-03 2.37562756e+02] [ 1.49436910e-01 -9.88771231e-01 -2.49192343e-04 -9.55491691e+01] [ 1.28324416e-03 -5.80802648e-05 9.99999175e-01 -1.14539802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.710385723 meters 0.01708869712008975 Centerline is valid? [True, True] Translation: X:237.42, Y:-96.32, Z:-10.44 [[-9.93472760e-01 1.14057730e-01 1.64629243e-03 2.37422827e+02] [ 1.14057595e-01 9.93474123e-01 -1.75766438e-04 -9.63159453e+01] [-1.65559645e-03 1.31529875e-05 -9.99998629e-01 -1.04436740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.770385723 meters 0.016695614459843213 Centerline is valid? [True, True] Translation: X:237.50, Y:-95.55, Z:-11.45 [[-9.89689334e-01 -1.43230106e-01 3.98351683e-04 2.37500335e+02] [ 1.43230066e-01 -9.89689412e-01 -1.27212601e-04 -9.55482233e+01] [ 4.12465117e-04 -6.88450161e-05 9.99999913e-01 -1.14541150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.830385723 meters 0.019905033538854002 Centerline is valid? [True, True] Translation: X:237.37, Y:-96.31, Z:-10.44 [[-9.93704656e-01 1.12030806e-01 -3.94689342e-04 2.37366472e+02] [ 1.12030808e-01 9.93704734e-01 1.84870449e-05 -9.63081015e+01] [ 3.94275786e-04 -2.58467032e-05 -9.99999922e-01 -1.04410846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.890385723 meters 0.01742324882696194 Centerline is valid? [True, True] Translation: X:237.44, Y:-95.55, Z:-11.45 [[-9.90508785e-01 -1.37446647e-01 -8.75569751e-04 2.37436359e+02] [ 1.37446589e-01 -9.90509172e-01 1.26266712e-04 -9.55456565e+01] [-8.84614805e-04 4.72421133e-06 9.99999609e-01 -1.14539094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.950385723 meters 0.01929571249764679 Centerline is valid? [True, True] Translation: X:237.31, Y:-96.30, Z:-10.44 [[-9.94068851e-01 1.08751088e-01 -5.65300523e-04 2.37306106e+02] [ 1.08751087e-01 9.94069012e-01 3.18014227e-05 -9.62972917e+01] [ 5.65406171e-04 -2.98642428e-05 -9.99999840e-01 -1.04418415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.010385723 meters 0.018912567488350036 Centerline is valid? [True, True] Translation: X:237.30, Y:-96.27, Z:-10.44 [[-9.99251371e-01 3.86817335e-02 -6.49118129e-04 2.37303725e+02] [ 3.86817460e-02 9.99251581e-01 -6.78053035e-06 -9.62668675e+01] [ 6.48370034e-04 -3.18844768e-05 -9.99999789e-01 -1.04424664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.070385723 meters 0.01772476119520838 Centerline is valid? [True, True] Translation: X:237.33, Y:-95.52, Z:-11.46 [[-9.98222092e-01 -5.96036180e-02 -2.54367518e-04 2.37325842e+02] [ 5.96036038e-02 -9.98222123e-01 6.32442701e-05 -9.55179876e+01] [-2.57684871e-04 4.79706069e-05 9.99999966e-01 -1.14550328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.130385723 meters 0.020295234086869986 Centerline is valid? [True, True] Translation: X:237.24, Y:-96.26, Z:-10.44 [[-9.99310231e-01 3.71103697e-02 1.37211915e-03 2.37241083e+02] [ 3.71103582e-02 9.99311173e-01 -3.37978054e-05 -9.62610940e+01] [-1.37242824e-03 1.71453403e-05 -9.99999058e-01 -1.04394918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.190385723 meters 0.018677007801242308 Centerline is valid? [True, True] Translation: X:237.24, Y:-96.23, Z:-10.44 [[-9.99400412e-01 -3.45437989e-02 2.35433865e-03 2.37238002e+02] [-3.45436058e-02 9.99403184e-01 1.22654284e-04 -9.62291889e+01] [-2.35717049e-03 4.12533957e-05 -9.99997221e-01 -1.04420050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.250385723 meters 0.018846041386593765 Centerline is valid? [True, True] Translation: X:237.20, Y:-95.50, Z:-11.46 [[-9.99846352e-01 1.74635955e-02 1.51514310e-03 2.37196617e+02] [-1.74636897e-02 -9.99847497e-01 -4.89262721e-05 -9.54977430e+01] [ 1.51405761e-03 -7.53787437e-05 9.99998851e-01 -1.14565271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.310385723 meters 0.019240555026929913 Centerline is valid? [True, True] Translation: X:237.15, Y:-96.23, Z:-10.44 [[-9.99238794e-01 -3.89833713e-02 1.45951509e-03 2.37154607e+02] [-3.89833007e-02 9.99239859e-01 7.68212429e-05 -9.62268901e+01] [-1.46140040e-03 1.98660505e-05 -9.99998932e-01 -1.04402998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37038572299997 meters 0.02109601378757419 Centerline is valid? [True, True] Translation: X:237.14, Y:-96.20, Z:-10.44 [[-9.93737187e-01 -1.11719395e-01 2.27590623e-03 2.37143328e+02] [-1.11719015e-01 9.93739793e-01 2.93830825e-04 -9.61966838e+01] [-2.29448519e-03 3.77286145e-05 -9.99997367e-01 -1.04387821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.430385723 meters 0.019241407974186216 Centerline is valid? [True, True] Translation: X:237.13, Y:-96.16, Z:-10.44 [[-9.82917275e-01 -1.84041124e-01 1.57952223e-03 2.37129423e+02] [-1.84040856e-01 9.82918544e-01 3.14444547e-04 -9.61632439e+01] [-1.61041242e-03 1.83763530e-05 -9.99998703e-01 -1.04397676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.490385723 meters 0.017425442767626625 Centerline is valid? [True, True] Translation: X:237.11, Y:-96.14, Z:-10.44 [[-9.67013812e-01 -2.54718850e-01 1.61066844e-03 2.37107359e+02] [-2.54718466e-01 9.67015153e-01 4.43128196e-04 -9.61378158e+01] [-1.67041389e-03 1.82440936e-05 -9.99998605e-01 -1.04424780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.550385723 meters 0.01681245590432732 Centerline is valid? [True, True] Translation: X:236.89, Y:-95.48, Z:-11.46 [[-9.73174651e-01 2.30061446e-01 1.68226588e-03 2.36889324e+02] [-2.30061130e-01 -9.73176105e-01 3.81509315e-04 -9.54766206e+01] [ 1.72491154e-03 -1.57487956e-05 9.99998512e-01 -1.14554939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.610385723 meters 0.01693028592417 Centerline is valid? [True, True] Translation: X:236.97, Y:-96.17, Z:-10.44 [[-9.65248074e-01 -2.61314771e-01 3.27821438e-03 2.36968301e+02] [-2.61313072e-01 9.65253639e-01 9.43661150e-04 -9.61683032e+01] [-3.41090096e-03 5.42268355e-05 -9.99994181e-01 -1.04416053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.670385723 meters 0.018000631671838983 Centerline is valid? [True, True] Translation: X:236.93, Y:-96.15, Z:-10.44 [[-9.44347731e-01 -3.28928957e-01 3.61987954e-03 2.36931958e+02] [-3.28926258e-01 9.44354667e-01 1.33437115e-03 -9.61505951e+01] [-3.85736344e-03 6.94369367e-05 -9.99992558e-01 -1.04404086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.730385723 meters 0.019088306263399305 Centerline is valid? [True, True] Translation: X:236.87, Y:-96.14, Z:-10.44 [[-9.17959477e-01 -3.96659456e-01 3.41673207e-03 2.36873575e+02] [-3.96656432e-01 9.17965834e-01 1.55020609e-03 -9.61424439e+01] [-3.75134721e-03 6.77576206e-05 -9.99992961e-01 -1.04395371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.790385723 meters 0.017106362815372714 Centerline is valid? [True, True] Translation: X:236.80, Y:-96.14, Z:-10.44 [[-8.85051793e-01 -4.65484798e-01 2.68817541e-03 2.36803869e+02] [-4.65482500e-01 8.85055875e-01 1.46316155e-03 -9.61407560e+01] [-3.06026489e-03 4.36751424e-05 -9.99995316e-01 -1.04424846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.850385723 meters 0.016263780122646048 Centerline is valid? [True, True] Translation: X:236.73, Y:-96.15, Z:-10.44 [[-8.46664248e-01 -5.32122647e-01 2.26714000e-03 2.36725513e+02] [-5.32120650e-01 8.46667283e-01 1.45806184e-03 -9.61506271e+01] [-2.69538099e-03 2.80968251e-05 -9.99996367e-01 -1.04440392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.910385723 meters 0.01698187835989027 Centerline is valid? [True, True] Translation: X:236.65, Y:-96.17, Z:-10.44 [[-8.02202053e-01 -5.97044880e-01 3.04576179e-03 2.36648839e+02] [-5.97040430e-01 8.02207835e-01 2.30554226e-03 -9.61653016e+01] [-3.81984617e-03 3.10678072e-05 -9.99992704e-01 -1.04411292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.970385723 meters 0.01557777742572175 Centerline is valid? [True, True] Translation: X:236.56, Y:-96.20, Z:-10.44 [[-7.51652144e-01 -6.59550085e-01 3.56938982e-03 2.36559420e+02] [-6.59542550e-01 7.51660618e-01 3.15267992e-03 -9.61957255e+01] [-4.76232006e-03 1.55541537e-05 -9.99988660e-01 -1.04415803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.030385723 meters 0.014877355029015209 Centerline is valid? [True, True] Translation: X:236.47, Y:-96.23, Z:-10.44 [[-6.96907276e-01 -7.17154558e-01 3.09642653e-03 2.36474624e+02] [-7.17147523e-01 6.96914155e-01 3.17659927e-03 -9.62346781e+01] [-4.43605613e-03 -6.79947216e-06 -9.99990161e-01 -1.04436808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.090385723 meters 0.014875303953724002 Centerline is valid? [True, True] Translation: X:236.39, Y:-96.29, Z:-10.44 [[-6.39182201e-01 -7.69048780e-01 3.17626884e-03 2.36388866e+02] [-7.69039419e-01 6.39190092e-01 3.79438081e-03 -9.62856946e+01] [-4.94830350e-03 -1.73752642e-05 -9.99987757e-01 -1.04438675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.150385723 meters 0.01484549406081324 Centerline is valid? [True, True] Translation: X:236.30, Y:-96.35, Z:-10.44 [[-5.78221967e-01 -8.15873405e-01 3.15349603e-03 2.36304975e+02] [-8.15861505e-01 5.78230566e-01 4.40650162e-03 -9.63459337e+01] [-5.41859527e-03 -2.48799788e-05 -9.99985319e-01 -1.04443904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.210385723 meters 0.015231110382976983 Centerline is valid? [True, True] Translation: X:236.23, Y:-96.42, Z:-10.44 [[-5.14168768e-01 -8.57683556e-01 3.06541971e-03 2.36225178e+02] [-8.57668662e-01 5.14177904e-01 5.05459813e-03 -9.64168875e+01] [-5.91141678e-03 -3.01979358e-05 -9.99982527e-01 -1.04441210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.270385723 meters 0.014887961992446045 Centerline is valid? [True, True] Translation: X:236.15, Y:-96.50, Z:-10.44 [[-4.47621301e-01 -8.94216613e-01 3.43788445e-03 2.36149212e+02] [-8.94190831e-01 4.47634502e-01 6.79042288e-03 -9.64983067e+01] [-7.61102464e-03 -3.45868305e-05 -9.99971035e-01 -1.04446108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.330385723 meters 0.014838571116452514 Centerline is valid? [True, True] Translation: X:236.08, Y:-96.59, Z:-10.45 [[-3.79440003e-01 -9.25211298e-01 3.05584337e-03 2.36082427e+02] [-9.25181835e-01 3.79452308e-01 7.38362556e-03 -9.65859707e+01] [-7.99096060e-03 -2.55678706e-05 -9.99968071e-01 -1.04450029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.390385723 meters 0.014926861808908837 Centerline is valid? [True, True] Translation: X:236.02, Y:-96.68, Z:-10.45 [[-3.10223964e-01 -9.50659805e-01 2.65101363e-03 2.36021062e+02] [-9.50625222e-01 3.10235291e-01 8.10875622e-03 -9.66815976e+01] [-8.53110659e-03 -4.58991928e-06 -9.99963609e-01 -1.04451703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.450385723 meters 0.015303226070797775 Centerline is valid? [True, True] Translation: X:235.97, Y:-96.78, Z:-10.44 [[-2.41688573e-01 -9.70351376e-01 2.20000569e-03 2.35970038e+02] [-9.70309478e-01 2.41698581e-01 9.01736601e-03 -9.67845561e+01] [-9.28175177e-03 4.47079508e-05 -9.99956923e-01 -1.04448029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.510385723 meters 0.016022058086129012 Centerline is valid? [True, True] Translation: X:235.93, Y:-96.89, Z:-10.45 [[-1.71328295e-01 -9.85212808e-01 1.52913407e-03 2.35926392e+02] [-9.85168764e-01 1.71335096e-01 9.31618338e-03 -9.68939113e+01] [-9.44041752e-03 8.96706920e-05 -9.99955434e-01 -1.04452643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.570385723 meters 0.016089274518921604 Centerline is valid? [True, True] Translation: X:235.89, Y:-97.01, Z:-10.45 [[-9.83424734e-02 -9.95152236e-01 8.86379709e-04 2.35886150e+02] [-9.95098855e-01 9.83463797e-02 1.03081468e-02 -9.70112743e+01] [-1.03453476e-02 1.31693220e-04 -9.99946477e-01 -1.04456264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.630385723 meters 0.018667947692407146 Centerline is valid? [True, True] Translation: X:235.86, Y:-97.13, Z:-10.44 [[-2.32272821e-02 -9.99730205e-01 1.04833234e-04 2.35856735e+02] [-9.99658074e-01 2.32268657e-02 1.20102845e-02 -9.71266700e+01] [-1.20094792e-02 1.74168879e-04 -9.99927868e-01 -1.04411442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.690385723 meters 0.01625844425956691 Centerline is valid? [True, True] Translation: X:235.83, Y:-97.25, Z:-10.44 [[ 5.45874062e-02 -9.98508678e-01 -7.96587590e-04 2.35834329e+02] [-9.98440240e-01 -5.45929920e-02 1.16915738e-02 -9.72529938e+01] [-1.17176260e-02 1.57132416e-04 -9.99931334e-01 -1.04449340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.750385723 meters 0.015984764186197317 Centerline is valid? [True, True] Translation: X:235.82, Y:-97.38, Z:-10.45 [[ 1.33380119e-01 -9.91063716e-01 -1.56703538e-03 2.35821583e+02] [-9.91005400e-01 -1.33389271e-01 1.07517298e-02 -9.73817645e+01] [-1.08646750e-02 1.18873530e-04 -9.99940971e-01 -1.04464744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.810385723 meters 0.01540256338826104 Centerline is valid? [True, True] Translation: X:235.81, Y:-97.50, Z:-10.45 [[ 2.13156155e-01 -9.77016202e-01 -1.94776800e-03 2.35814601e+02] [-9.76977814e-01 -2.13165046e-01 8.66110039e-03 -9.75014784e+01] [-8.87723147e-03 5.67592645e-05 -9.99960595e-01 -1.04478005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87038572299997 meters 0.015012116465109141 Centerline is valid? [True, True] Translation: X:235.82, Y:-97.64, Z:-10.45 [[ 2.90655409e-01 -9.56824737e-01 -2.42000868e-03 2.35822205e+02] [-9.56792253e-01 -2.90665482e-01 7.88433323e-03 -9.76352391e+01] [-8.24733805e-03 2.38214626e-05 -9.99965990e-01 -1.04497607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.930385723 meters 0.014979384257263232 Centerline is valid? [True, True] Translation: X:235.83, Y:-97.75, Z:-10.45 [[ 3.64816459e-01 -9.31073568e-01 -3.31085763e-03 2.35832143e+02] [-9.31035532e-01 -3.64831482e-01 8.41592305e-03 -9.77483454e+01] [-9.04374860e-03 1.22588521e-05 -9.99959104e-01 -1.04489039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.990385723 meters 0.015022776189935281 Centerline is valid? [True, True] Translation: X:235.86, Y:-97.88, Z:-10.45 [[ 4.37088937e-01 -8.99406916e-01 -4.52330368e-03 2.35859917e+02] [-8.99358610e-01 -4.37112341e-01 9.32161485e-03 -9.78766690e+01] [-1.03611167e-02 -6.30261346e-06 -9.99946322e-01 -1.04481553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.050385723 meters 0.014985238851138085 Centerline is valid? [True, True] Translation: X:235.89, Y:-97.98, Z:-10.45 [[ 5.04475304e-01 -8.63409289e-01 -5.39135978e-03 2.35892118e+02] [-8.63359918e-01 -5.04504112e-01 9.23323865e-03 -9.79847065e+01] [-1.06920272e-02 -3.25694561e-06 -9.99942839e-01 -1.04497160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.110385723 meters 0.015061010001278042 Centerline is valid? [True, True] Translation: X:235.94, Y:-98.10, Z:-10.45 [[ 5.69016178e-01 -8.22302210e-01 -6.29795355e-03 2.35936149e+02] [-8.22251811e-01 -5.69051030e-01 9.10409734e-03 -9.80964710e+01] [-1.10701763e-02 -1.87495950e-06 -9.99938724e-01 -1.04514336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.170385723 meters 0.015143113371124804 Centerline is valid? [True, True] Translation: X:235.98, Y:-98.20, Z:-10.45 [[ 6.30983383e-01 -7.75755397e-01 -7.97086744e-03 2.35983646e+02] [-7.75693257e-01 -6.31033727e-01 9.81865253e-03 -9.82020499e+01] [-1.26467589e-02 -1.24584658e-05 -9.99920026e-01 -1.04499686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.230385723 meters 0.015232154313263767 Centerline is valid? [True, True] Translation: X:236.04, Y:-98.30, Z:-10.45 [[ 6.88712549e-01 -7.24976957e-01 -9.13437037e-03 2.36039340e+02] [-7.24912829e-01 -6.88773120e-01 9.64258876e-03 -9.83026774e+01] [-1.32821634e-02 -1.93496131e-05 -9.99911788e-01 -1.04507695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.290385723 meters 0.01525651716948025 Centerline is valid? [True, True] Translation: X:236.10, Y:-98.39, Z:-10.45 [[ 7.41270021e-01 -6.71140171e-01 -9.46710979e-03 2.36097821e+02] [-6.71085339e-01 -7.41330473e-01 8.57891869e-03 -9.83904457e+01] [-1.27759139e-02 -6.05666382e-06 -9.99918385e-01 -1.04529915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.350385723 meters 0.0154164799381313 Centerline is valid? [True, True] Translation: X:236.12, Y:-98.41, Z:-10.45 [[ 7.90065231e-01 -6.12951553e-01 -9.34473116e-03 2.36118949e+02] [-6.12908971e-01 -7.90120493e-01 7.22495851e-03 -9.84120418e+01] [-1.18120131e-02 1.92810532e-05 -9.99930236e-01 -1.04543016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.410385723 meters 0.015371928780495044 Centerline is valid? [True, True] Translation: X:236.14, Y:-98.44, Z:-10.46 [[ 8.35005062e-01 -5.50151031e-01 -1.00194630e-02 2.36138874e+02] [-5.50111882e-01 -8.35065172e-01 6.56320296e-03 -9.84363197e+01] [-1.19776575e-02 3.15179433e-05 -9.99928265e-01 -1.04550788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.470385723 meters 0.015794651272113984 Centerline is valid? [True, True] Translation: X:236.16, Y:-98.45, Z:-10.45 [[ 8.74057447e-01 -4.85672915e-01 -1.20581320e-02 2.36163481e+02] [-4.85627936e-01 -8.74140614e-01 6.61016201e-03 -9.84508962e+01] [-1.37508796e-02 7.81044308e-05 -9.99905449e-01 -1.04544457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.530385723 meters 0.016407391500465184 Centerline is valid? [True, True] Translation: X:236.19, Y:-98.47, Z:-10.45 [[ 9.08352500e-01 -4.17942518e-01 -1.48252337e-02 2.36188602e+02] [-4.17889240e-01 -9.08473464e-01 6.67453528e-03 -9.84657571e+01] [-1.62579035e-02 1.32474850e-04 -9.99867823e-01 -1.04524680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.590385723 meters 0.016115768159652176 Centerline is valid? [True, True] Translation: X:236.21, Y:-98.48, Z:-10.45 [[ 9.38152902e-01 -3.45860586e-01 -1.57983694e-02 2.36212344e+02] [-3.45814074e-01 -9.38285903e-01 5.67367626e-03 -9.84847971e+01] [-1.67856883e-02 1.40522633e-04 -9.99859101e-01 -1.04534579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.650385723 meters 0.016181374218170428 Centerline is valid? [True, True] Translation: X:236.24, Y:-98.50, Z:-10.46 [[ 9.62580112e-01 -2.70585489e-01 -1.49338870e-02 2.36236626e+02] [-2.70554771e-01 -9.62695944e-01 4.07868060e-03 -9.85032069e+01] [-1.54804242e-02 1.14377549e-04 -9.99880165e-01 -1.04550911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.710385723 meters 0.016199789949495322 Centerline is valid? [True, True] Translation: X:236.26, Y:-98.52, Z:-10.45 [[ 9.80954729e-01 -1.93758235e-01 -1.36222808e-02 2.36261112e+02] [-1.93740838e-01 -9.81049305e-01 2.59800369e-03 -9.85197366e+01] [-1.38675137e-02 9.06680825e-05 -9.99903837e-01 -1.04546770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.770385723 meters 0.016043800802192403 Centerline is valid? [True, True] Translation: X:236.28, Y:-98.53, Z:-10.46 [[ 9.93228218e-01 -1.15622262e-01 -1.13666432e-02 2.36284579e+02] [-1.15615418e-01 -9.93293254e-01 1.25954536e-03 -9.85344325e+01] [-1.14360415e-02 6.31432203e-05 -9.99934604e-01 -1.04561051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.830385723 meters 0.016317035967445544 Centerline is valid? [True, True] Translation: X:236.31, Y:-98.55, Z:-10.46 [[ 9.99184348e-01 -3.88890708e-02 -1.08755921e-02 2.36310164e+02] [-3.88875774e-02 -9.99243531e-01 3.48834055e-04 -9.85454124e+01] [-1.08809309e-02 7.43759013e-05 -9.99940798e-01 -1.04553447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.890385723 meters 0.016471357345796998 Centerline is valid? [True, True] Translation: X:236.34, Y:-98.56, Z:-10.46 [[ 9.99235859e-01 3.77191625e-02 -1.02451779e-02 2.36336515e+02] [ 3.77162877e-02 -9.99288375e-01 -4.73734586e-04 -9.85571484e+01] [-1.02557560e-02 8.69625097e-05 -9.99947405e-01 -1.04554450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.950385723 meters 0.01660550409042592 Centerline is valid? [True, True] Translation: X:236.36, Y:-98.56, Z:-10.46 [[ 9.93381659e-01 1.14427103e-01 -9.96579225e-03 2.36363238e+02] [ 1.14420345e-01 -9.93431643e-01 -1.24752461e-03 -9.85643276e+01] [-1.00430840e-02 9.89786806e-05 -9.99949562e-01 -1.04561932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.010385723 meters 0.016660451533599196 Centerline is valid? [True, True] Translation: X:236.39, Y:-98.57, Z:-10.46 [[ 9.81425670e-01 1.91612862e-01 -9.38968161e-03 2.36390508e+02] [ 1.91603157e-01 -9.81470581e-01 -1.93084277e-03 -9.85689971e+01] [-9.58567057e-03 9.58860142e-05 -9.99954052e-01 -1.04555956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.070385723 meters 0.016490224785100625 Centerline is valid? [True, True] Translation: X:236.42, Y:-98.58, Z:-10.46 [[ 9.63835291e-01 2.66349830e-01 -8.90505227e-03 2.36419509e+02] [ 2.66337436e-01 -9.63876422e-01 -2.57169034e-03 -9.85764251e+01] [-9.26833920e-03 1.06937118e-04 -9.99957042e-01 -1.04558718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.130385723 meters 0.016656230500285876 Centerline is valid? [True, True] Translation: X:236.45, Y:-98.58, Z:-10.46 [[ 9.40426004e-01 3.39911095e-01 -7.70571447e-03 2.36447232e+02] [ 3.39898788e-01 -9.40457568e-01 -2.89420688e-03 -9.85792270e+01] [-8.23067052e-03 1.02624397e-04 -9.99966122e-01 -1.04558660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.190385723 meters 0.016679334888944505 Centerline is valid? [True, True] Translation: X:236.48, Y:-98.58, Z:-10.46 [[ 9.10683714e-01 4.13052803e-01 -6.52340603e-03 2.36476424e+02] [ 4.13041547e-01 -9.10707074e-01 -3.05036716e-03 -9.85800587e+01] [-7.20087473e-03 8.34819748e-05 -9.99974070e-01 -1.04563854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.250385723 meters 0.016479982904135916 Centerline is valid? [True, True] Translation: X:236.51, Y:-98.58, Z:-10.46 [[ 8.74694739e-01 4.84640086e-01 -5.75335916e-03 2.36506126e+02] [ 4.84629121e-01 -8.74713658e-01 -3.26062999e-03 -9.85782337e+01] [-6.61277383e-03 6.38105044e-05 -9.99978133e-01 -1.04559798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.310385723 meters 0.016157909872856292 Centerline is valid? [True, True] Translation: X:236.54, Y:-98.58, Z:-10.46 [[ 8.33151222e-01 5.53029866e-01 -4.12419414e-03 2.36536454e+02] [ 5.53022877e-01 -8.33161429e-01 -2.78036182e-03 -9.85759831e+01] [-4.97374261e-03 3.56881327e-05 -9.99987630e-01 -1.04564264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37038572299997 meters 0.015871910889584492 Centerline is valid? [True, True] Translation: X:236.57, Y:-98.57, Z:-10.46 [[ 7.85215144e-01 6.19214556e-01 -3.24200284e-03 2.36568018e+02] [ 6.19209210e-01 -7.85221837e-01 -2.57301616e-03 -9.85723063e+01] [-4.13894048e-03 1.28932391e-05 -9.99991434e-01 -1.04575592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.430385723 meters 0.015840531499357786 Centerline is valid? [True, True] Translation: X:236.60, Y:-98.57, Z:-10.46 [[ 7.33358138e-01 6.79836777e-01 -2.79238427e-03 2.36597304e+02] [ 6.79831822e-01 -7.33363455e-01 -2.59549371e-03 -9.85650759e+01] [-3.81234465e-03 5.07474530e-06 -9.99992733e-01 -1.04559075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.490385723 meters 0.015975237493825505 Centerline is valid? [True, True] Translation: X:236.63, Y:-98.56, Z:-10.46 [[ 6.79267964e-01 7.33886324e-01 -2.42837052e-03 2.36627455e+02] [ 7.33881578e-01 -6.79272304e-01 -2.63928956e-03 -9.85554832e+01] [-3.58646335e-03 1.06484595e-05 -9.99993569e-01 -1.04553577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.550385723 meters 0.016387831224676103 Centerline is valid? [True, True] Translation: X:236.65, Y:-98.54, Z:-10.45 [[ 6.22613472e-01 7.82525589e-01 -2.48325592e-03 2.36652270e+02] [ 7.82519180e-01 -6.22618424e-01 -3.16734499e-03 -9.85418463e+01] [-4.02464939e-03 2.88362725e-05 -9.99991901e-01 -1.04537847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.610385723 meters 0.016815436838836302 Centerline is valid? [True, True] Translation: X:236.68, Y:-98.52, Z:-10.45 [[ 5.61643105e-01 8.27376182e-01 -2.38217826e-03 2.36675033e+02] [ 8.27368409e-01 -5.61648156e-01 -3.58670959e-03 -9.85245171e+01] [-4.30550411e-03 4.35116730e-05 -9.99990730e-01 -1.04534988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.670385723 meters 0.01692319184391785 Centerline is valid? [True, True] Translation: X:236.70, Y:-98.51, Z:-10.45 [[ 4.97999597e-01 8.67175911e-01 -1.53017593e-03 2.36702267e+02] [ 8.67171582e-01 -4.98001946e-01 -2.74032358e-03 -9.85085015e+01] [-3.13837319e-03 3.77549564e-05 -9.99995075e-01 -1.04547405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.730385723 meters 0.017397897027621293 Centerline is valid? [True, True] Translation: X:236.73, Y:-98.49, Z:-10.45 [[ 4.30151186e-01 9.02755679e-01 -1.46317200e-03 2.36726318e+02] [ 9.02750052e-01 -4.30153672e-01 -3.18784301e-03 -9.84905228e+01] [-3.50723219e-03 5.03758530e-05 -9.99993848e-01 -1.04540267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.790385723 meters 0.017360900570573125 Centerline is valid? [True, True] Translation: X:236.75, Y:-98.47, Z:-10.45 [[ 3.59135777e-01 9.33284386e-01 -1.32207435e-03 2.36753169e+02] [ 9.33277425e-01 -3.59138205e-01 -3.60515933e-03 -9.84710174e+01] [-3.83944632e-03 6.08795554e-05 -9.99992627e-01 -1.04528512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.850385723 meters 0.017453418515000183 Centerline is valid? [True, True] Translation: X:236.78, Y:-98.45, Z:-10.45 [[ 2.85673407e-01 9.58326845e-01 -6.02405169e-04 2.36776362e+02] [ 9.58324488e-01 -2.85674041e-01 -2.12537266e-03 -9.84485733e+01] [-2.20889320e-03 2.98628253e-05 -9.99997560e-01 -1.04542504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.910385723 meters 0.018750530339401845 Centerline is valid? [True, True] Translation: X:236.80, Y:-98.42, Z:-10.45 [[ 2.10566700e-01 9.77579473e-01 -1.98036880e-04 2.36795928e+02] [ 9.77579019e-01 -2.10566793e-01 -9.41870824e-04 -9.84241683e+01] [-9.62453574e-04 4.72993280e-06 -9.99999537e-01 -1.04544439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.970385723 meters 0.01710852251621078 Centerline is valid? [True, True] Translation: X:236.82, Y:-98.40, Z:-10.46 [[ 1.31706086e-01 9.91288791e-01 -1.98987838e-04 2.36817743e+02] [ 9.91287460e-01 -1.31706235e-01 -1.62488670e-03 -9.83980663e+01] [-1.63693991e-03 1.67533183e-05 -9.99998660e-01 -1.04551533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.030385723 meters 0.016569859474433107 Centerline is valid? [True, True] Translation: X:236.84, Y:-98.37, Z:-10.45 [[ 5.26706049e-02 9.98611935e-01 -1.03373146e-04 2.36840707e+02] [ 9.98608561e-01 -5.26706956e-02 -2.59618158e-03 -9.83696856e+01] [-2.59802265e-03 3.35131455e-05 -9.99996625e-01 -1.04534150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.090385723 meters 0.017061082850462605 Centerline is valid? [True, True] Translation: X:236.86, Y:-98.34, Z:-10.45 [[-2.32945384e-02 9.99728628e-01 1.88021042e-04 2.36856669e+02] [ 9.99718250e-01 2.32951534e-02 -4.55592541e-03 -9.83397585e+01] [-4.55906903e-03 8.18398879e-05 -9.99989604e-01 -1.04523304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.150385723 meters 0.017457317660735425 Centerline is valid? [True, True] Translation: X:236.87, Y:-98.31, Z:-10.45 [[-9.87375250e-02 9.95113330e-01 6.01247036e-04 2.36871396e+02] [ 9.95100837e-01 9.87392989e-02 -4.98753600e-03 -9.83080200e+01] [-5.02253027e-03 1.05844468e-04 -9.99987381e-01 -1.04523299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.210385723 meters 0.01857499287573006 Centerline is valid? [True, True] Translation: X:236.88, Y:-98.28, Z:-10.45 [[-1.73085961e-01 9.84906397e-01 7.99415075e-04 2.36881347e+02] [ 9.84898311e-01 1.73087780e-01 -3.99207864e-03 -9.82762527e+01] [-4.07019277e-03 9.63697901e-05 -9.99991712e-01 -1.04527577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.270385723 meters 0.01902352857405401 Centerline is valid? [True, True] Translation: X:236.89, Y:-98.24, Z:-10.45 [[-2.48827146e-01 9.68547272e-01 1.11058668e-03 2.36885581e+02] [ 9.68539344e-01 2.48829605e-01 -3.91996878e-03 -9.82440269e+01] [-4.07302192e-03 1.00252248e-04 -9.99991700e-01 -1.04524151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.330385723 meters 0.019359473265637108 Centerline is valid? [True, True] Translation: X:236.89, Y:-98.21, Z:-10.45 [[-3.23404912e-01 9.46259384e-01 1.56255679e-03 2.36889931e+02] [ 9.46249994e-01 3.23408666e-01 -4.21710933e-03 -9.82109185e+01] [-4.49582368e-03 1.14735478e-04 -9.99989887e-01 -1.04523891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.390385723 meters 0.01886851296598355 Centerline is valid? [True, True] Translation: X:236.89, Y:-98.18, Z:-10.45 [[-3.97723422e-01 9.17504098e-01 1.51966746e-03 2.36892905e+02] [ 9.17498195e-01 3.97726316e-01 -3.29227367e-03 -9.81760961e+01] [-3.62508633e-03 8.48778027e-05 -9.99993426e-01 -1.04527873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.450385723 meters 0.01772200664401701 Centerline is valid? [True, True] Translation: X:236.90, Y:-98.14, Z:-10.45 [[-4.71802824e-01 8.81701090e-01 2.29841009e-03 2.36896203e+02] [ 8.81691603e-01 4.71808413e-01 -4.09128318e-03 -9.81383972e+01] [-4.69169805e-03 9.62099212e-05 -9.99988989e-01 -1.04525211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.510385723 meters 0.01686856573298652 Centerline is valid? [True, True] Translation: X:236.89, Y:-98.10, Z:-10.45 [[-5.43500080e-01 8.39403552e-01 3.05617451e-03 2.36894094e+02] [ 8.39391185e-01 5.43508665e-01 -4.55739307e-03 -9.81017941e+01] [-5.48654926e-03 8.83824437e-05 -9.99984945e-01 -1.04519467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.570385723 meters 0.01599698624542767 Centerline is valid? [True, True] Translation: X:236.89, Y:-98.06, Z:-10.45 [[-6.08697751e-01 7.93391027e-01 4.21032919e-03 2.36890769e+02] [ 7.93373211e-01 6.08712303e-01 -5.31797561e-03 -9.80629472e+01] [-6.78211331e-03 1.03322596e-04 -9.99976996e-01 -1.04521703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.630385723 meters 0.01681016533063254 Centerline is valid? [True, True] Translation: X:236.88, Y:-98.03, Z:-10.45 [[-6.68536541e-01 7.43662308e-01 5.02647634e-03 2.36879358e+02] [ 7.43642607e-01 6.68555426e-01 -5.41432654e-03 -9.80306194e+01] [-7.38690861e-03 1.18226829e-04 -9.99972709e-01 -1.04520446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.690385723 meters 0.016578919888483937 Centerline is valid? [True, True] Translation: X:236.87, Y:-98.00, Z:-10.45 [[-7.23689665e-01 6.90106828e-01 5.08280029e-03 2.36865567e+02] [ 6.90090963e-01 7.23707504e-01 -4.68089975e-03 -9.79968818e+01] [-6.90878159e-03 1.20075774e-04 -9.99976127e-01 -1.04534937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.750385723 meters 0.016994023713843356 Centerline is valid? [True, True] Translation: X:236.88, Y:-97.97, Z:-10.45 [[-7.69747412e-01 6.38329713e-01 4.90902078e-03 2.36881203e+02] [ 6.38317711e-01 7.69763056e-01 -3.91624766e-03 -9.79715203e+01] [-6.27864009e-03 1.18993404e-04 -9.99980282e-01 -1.04539635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.810385723 meters 0.016560892527096454 Centerline is valid? [True, True] Translation: X:236.90, Y:-97.94, Z:-10.45 [[-8.12819611e-01 5.82481959e-01 6.24873412e-03 2.36897294e+02] [ 5.82466146e-01 8.12843617e-01 -4.29459325e-03 -9.79425663e+01] [-7.58076673e-03 1.48946459e-04 -9.99971254e-01 -1.04527071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87038572299997 meters 0.016387452741901003 Centerline is valid? [True, True] Translation: X:236.91, Y:-97.91, Z:-10.45 [[-8.52445884e-01 5.22764097e-01 7.32899920e-03 2.36910320e+02] [ 5.22746391e-01 8.52477374e-01 -4.30548352e-03 -9.79131813e+01] [-8.49855820e-03 1.61016178e-04 -9.99963874e-01 -1.04513996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.930385723 meters 0.016555446591801713 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.88, Z:-10.45 [[-8.88002674e-01 4.59780825e-01 7.26932551e-03 2.36918424e+02] [ 4.59766718e-01 8.88032416e-01 -3.60447995e-03 -9.78842552e+01] [-8.11266746e-03 1.41406094e-04 -9.99967082e-01 -1.04522312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.990385723 meters 0.015582377750840133 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.85, Z:-10.45 [[-9.19887787e-01 3.92104464e-01 7.78133764e-03 2.36920523e+02] [ 3.92091486e-01 9.19920690e-01 -3.19230459e-03 -9.78484829e+01] [-8.40993037e-03 1.14434231e-04 -9.99964629e-01 -1.04523977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.050385723 meters 0.015275774265412663 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.82, Z:-10.45 [[-9.46406223e-01 3.22854568e-01 8.95485989e-03 2.36922841e+02] [ 3.22841110e-01 9.46448582e-01 -2.94960344e-03 -9.78156057e+01] [-9.42760739e-03 9.94738490e-05 -9.99955554e-01 -1.04510830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.110385723 meters 0.01457310663566041 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.78, Z:-10.45 [[-9.68069091e-01 2.50497870e-01 9.64636133e-03 2.36920346e+02] [ 2.50486054e-01 9.68117149e-01 -2.43372251e-03 -9.77830497e+01] [-9.94845013e-03 6.02674493e-05 -9.99950511e-01 -1.04511844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.170385723 meters 0.01449360522662654 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.75, Z:-10.45 [[-9.83531182e-01 1.80437836e-01 1.04212361e-02 2.36921618e+02] [ 1.80428325e-01 9.83586389e-01 -1.85353313e-03 -9.77540762e+01] [-1.05846335e-02 5.72785419e-05 -9.99943980e-01 -1.04511226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.230385723 meters 0.014679131051557147 Centerline is valid? [True, True] Translation: X:237.01, Y:-97.23, Z:-11.45 [[-9.72866680e-01 -2.31146091e-01 1.00949258e-02 2.37012776e+02] [ 2.31132924e-01 -9.72919051e-01 -2.46809740e-03 -9.72263680e+01] [ 1.03920367e-02 -6.78600018e-05 9.99945999e-01 -1.14494294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.290385723 meters 0.014867325804735152 Centerline is valid? [True, True] Translation: X:236.87, Y:-97.75, Z:-10.45 [[-9.83386477e-01 1.81231557e-01 1.03033750e-02 2.36871895e+02] [ 1.81222725e-01 9.83440447e-01 -1.79226291e-03 -9.77538341e+01] [-1.04575703e-02 1.04718582e-04 -9.99945313e-01 -1.04539818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.350385723 meters 0.01485099941850699 Centerline is valid? [True, True] Translation: X:236.87, Y:-97.73, Z:-10.45 [[-9.93717609e-01 1.11410709e-01 1.06286581e-02 2.36870002e+02] [ 1.11405540e-01 9.93774442e-01 -1.07903598e-03 -9.77255992e+01] [-1.06827050e-02 1.11834344e-04 -9.99942932e-01 -1.04537395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.410385723 meters 0.015046462587830087 Centerline is valid? [True, True] Translation: X:236.92, Y:-97.18, Z:-11.45 [[-9.87904885e-01 -1.54696639e-01 1.06248693e-02 2.36920643e+02] [ 1.54686525e-01 -9.87962013e-01 -1.77216364e-03 -9.71767169e+01] [ 1.07711151e-02 -1.07205000e-04 9.99941984e-01 -1.14489550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.470385723 meters 0.015786354419394553 Centerline is valid? [True, True] Translation: X:236.81, Y:-97.73, Z:-10.45 [[-9.94155278e-01 1.07248913e-01 1.23674144e-02 2.36814003e+02] [ 1.07242224e-01 9.94232193e-01 -1.20470241e-03 -9.77276623e+01] [-1.24252846e-02 1.28647772e-04 -9.99922795e-01 -1.04509958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.530385723 meters 0.015017556959432393 Centerline is valid? [True, True] Translation: X:236.87, Y:-97.17, Z:-11.45 [[-9.88419442e-01 -1.51244465e-01 1.23336229e-02 2.36867883e+02] [ 1.51231114e-01 -9.88496381e-01 -2.01343661e-03 -9.71661910e+01] [ 1.24962627e-02 -1.24892363e-04 9.99921911e-01 -1.14491645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.590385723 meters 0.015067335849732277 Centerline is valid? [True, True] Translation: X:236.76, Y:-97.73, Z:-10.45 [[-9.94667966e-01 1.02202797e-01 1.37922548e-02 2.36760091e+02] [ 1.02194766e-01 9.94763576e-01 -1.28763804e-03 -9.77277655e+01] [-1.38516329e-02 1.28723934e-04 -9.99904053e-01 -1.04510918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.650385723 meters 0.01847949566384847 Centerline is valid? [True, True] Translation: X:236.81, Y:-97.15, Z:-11.45 [[-9.88716219e-01 -1.49151890e-01 1.39266664e-02 2.36810359e+02] [ 1.49135456e-01 -9.88814290e-01 -2.21704945e-03 -9.71539273e+01] [ 1.41015639e-02 -1.15072998e-04 9.99900561e-01 -1.14539184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.710385723 meters 0.015045898254532453 Centerline is valid? [True, True] Translation: X:236.70, Y:-97.73, Z:-10.45 [[-9.95020732e-01 9.89043748e-02 1.23153500e-02 2.36703595e+02] [ 9.88983071e-02 9.95096935e-01 -1.10223301e-03 -9.77297567e+01] [-1.23639827e-02 1.21222569e-04 -9.99923556e-01 -1.04504735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.770385723 meters 0.01563879605972386 Centerline is valid? [True, True] Translation: X:236.70, Y:-97.71, Z:-10.45 [[-9.99479570e-01 3.02898273e-02 1.10957157e-02 2.36702907e+02] [ 3.02894426e-02 9.99541149e-01 -2.02759465e-04 -9.77052538e+01] [-1.10967660e-02 1.33429101e-04 -9.99938420e-01 -1.04509654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.830385723 meters 0.01858729775874739 Centerline is valid? [True, True] Translation: X:236.70, Y:-97.68, Z:-10.45 [[-9.99275008e-01 -3.64300394e-02 1.10593928e-02 2.36695862e+02] [-3.64257955e-02 9.99336189e-01 5.84991748e-04 -9.76813191e+01] [-1.10733627e-02 1.81720453e-04 -9.99938672e-01 -1.04508973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.890385723 meters 0.016393146966167584 Centerline is valid? [True, True] Translation: X:236.68, Y:-97.66, Z:-10.45 [[-9.94462026e-01 -1.04613275e-01 1.00669020e-02 2.36683373e+02] [-1.04605935e-01 9.94512959e-01 1.25433004e-03 -9.76562502e+01] [-1.01428841e-02 1.94325889e-04 -9.99948541e-01 -1.04535880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.950385723 meters 0.01630461784980982 Centerline is valid? [True, True] Translation: X:236.67, Y:-97.63, Z:-10.45 [[-9.84543259e-01 -1.74895508e-01 9.28075688e-03 2.36665629e+02] [-1.74885981e-01 9.84586983e-01 1.83471428e-03 -9.76310400e+01] [-9.45859571e-03 1.83281306e-04 -9.99955250e-01 -1.04538093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.010385723 meters 0.0157342714066277 Centerline is valid? [True, True] Translation: X:236.55, Y:-97.04, Z:-11.45 [[-9.89042681e-01 1.47338863e-01 9.26471069e-03 2.36551343e+02] [-1.47334187e-01 -9.89086055e-01 1.18900384e-03 -9.70358303e+01] [ 9.33878262e-03 -1.89033074e-04 9.99956375e-01 -1.14479832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.070385723 meters 0.01635255036079297 Centerline is valid? [True, True] Translation: X:236.58, Y:-97.65, Z:-10.45 [[-9.82422517e-01 -1.86415349e-01 9.76294854e-03 2.36576298e+02] [-1.86404808e-01 9.82471018e-01 1.98677196e-03 -9.76477921e+01] [-9.96217878e-03 1.31988961e-04 -9.99950368e-01 -1.04512238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.130385723 meters 0.014570736934742418 Centerline is valid? [True, True] Translation: X:236.56, Y:-97.62, Z:-10.45 [[-9.65576687e-01 -2.59944582e-01 9.51189247e-03 2.36556227e+02] [-2.59931037e-01 9.65623532e-01 2.65520390e-03 -9.76229074e+01] [-9.87511308e-03 9.13669176e-05 -9.99951236e-01 -1.04526904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.190385723 meters 0.01449229672079909 Centerline is valid? [True, True] Translation: X:236.52, Y:-97.60, Z:-10.45 [[-9.44175906e-01 -3.29319419e-01 8.97651092e-03 2.36522587e+02] [-3.29303719e-01 9.44218573e-01 3.21675497e-03 -9.76048249e+01] [-9.53512821e-03 8.11841121e-05 -9.99954536e-01 -1.04525942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.250385723 meters 0.014564108463193216 Centerline is valid? [True, True] Translation: X:236.48, Y:-97.59, Z:-10.45 [[-9.18256569e-01 -3.95916029e-01 7.44121384e-03 2.36479599e+02] [-3.95902381e-01 9.18286716e-01 3.28813964e-03 -9.75943786e+01] [-8.13499501e-03 7.33615471e-05 -9.99966908e-01 -1.04537850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.310385723 meters 0.014833010401567393 Centerline is valid? [True, True] Translation: X:236.42, Y:-97.60, Z:-10.46 [[-8.87854244e-01 -4.60088387e-01 5.78933027e-03 2.36420446e+02] [-4.60078072e-01 8.87873116e-01 3.08167813e-03 -9.75957434e+01] [-6.55803503e-03 7.25370969e-05 -9.99978493e-01 -1.04551085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37038572299997 meters 0.015489736931298107 Centerline is valid? [True, True] Translation: X:236.35, Y:-97.61, Z:-10.46 [[-8.53900709e-01 -5.20416781e-01 4.46681611e-03 2.36353517e+02] [-5.20409173e-01 8.53912389e-01 2.81507594e-03 -9.76073911e+01] [-5.27928238e-03 7.92232644e-05 -9.99986061e-01 -1.04570356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.430385723 meters 0.01615502576848114 Centerline is valid? [True, True] Translation: X:236.28, Y:-97.63, Z:-10.45 [[-8.14657422e-01 -5.79916293e-01 5.51164451e-03 2.36277496e+02] [-5.79901952e-01 8.14676057e-01 4.08029921e-03 -9.76282511e+01] [-6.85643681e-03 1.27832628e-04 -9.99976486e-01 -1.04549282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.490385723 meters 0.016294022954457376 Centerline is valid? [True, True] Translation: X:236.20, Y:-97.66, Z:-10.45 [[-7.70518833e-01 -6.37387205e-01 6.18701551e-03 2.36195931e+02] [-6.37364832e-01 7.70543653e-01 5.34325757e-03 -9.76581433e+01] [-8.17308954e-03 1.73694486e-04 -9.99966585e-01 -1.04543292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.550385723 meters 0.016474881550655792 Centerline is valid? [True, True] Translation: X:236.11, Y:-97.70, Z:-10.45 [[-7.20816224e-01 -6.93096834e-01 6.38356932e-03 2.36110247e+02] [-6.93067212e-01 7.20844463e-01 6.41084174e-03 -9.77000492e+01] [-9.04489471e-03 1.96796145e-04 -9.99959075e-01 -1.04535615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.610385723 meters 0.016697685902689125 Centerline is valid? [True, True] Translation: X:236.03, Y:-97.75, Z:-10.45 [[-6.66067148e-01 -7.45860682e-01 6.81156151e-03 2.36027550e+02] [-7.45818226e-01 6.66101940e-01 7.96116335e-03 -9.77513801e+01] [-1.04751131e-02 2.22482657e-04 -9.99945110e-01 -1.04529252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.670385723 meters 0.016902236549087315 Centerline is valid? [True, True] Translation: X:235.94, Y:-97.81, Z:-10.45 [[-6.07994359e-01 -7.93911577e-01 6.87521672e-03 2.35942621e+02] [-7.93856116e-01 6.08033179e-01 9.38726040e-03 -9.78132183e+01] [-1.16330146e-02 2.49468525e-04 -9.99932303e-01 -1.04520053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.730385723 meters 0.01726360814737346 Centerline is valid? [True, True] Translation: X:235.86, Y:-97.88, Z:-10.45 [[-5.47834113e-01 -8.36556986e-01 7.08483936e-03 2.35862667e+02] [-8.36479382e-01 5.47879830e-01 1.13989053e-02 -9.78831547e+01] [-1.34174745e-02 3.18387135e-04 -9.99909931e-01 -1.04521251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.790385723 meters 0.01894664993995797 Centerline is valid? [True, True] Translation: X:235.79, Y:-97.97, Z:-10.45 [[-4.86798219e-01 -8.73494185e-01 5.95004046e-03 2.35789136e+02] [-8.73419545e-01 4.86834444e-01 1.14246763e-02 -9.79653938e+01] [-1.28760729e-02 3.64630444e-04 -9.99917033e-01 -1.04548001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.850385723 meters 0.0187577412354716 Centerline is valid? [True, True] Translation: X:235.72, Y:-98.05, Z:-10.46 [[-4.20471358e-01 -9.07291627e-01 5.07345182e-03 2.35715493e+02] [-9.07214072e-01 4.20501786e-01 1.18690587e-02 -9.80539130e+01] [-1.29020931e-02 3.87892324e-04 -9.99916689e-01 -1.04562943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.910385723 meters 0.01925892915900905 Centerline is valid? [True, True] Translation: X:235.65, Y:-98.15, Z:-10.46 [[-3.51289139e-01 -9.36257050e-01 4.32180880e-03 2.35647740e+02] [-9.36170763e-01 3.51315469e-01 1.27178392e-02 -9.81527497e+01] [-1.34254849e-02 4.21687747e-04 -9.99909785e-01 -1.04570854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.970385723 meters 0.018548016073550954 Centerline is valid? [True, True] Translation: X:235.59, Y:-98.25, Z:-10.46 [[-2.78838028e-01 -9.60332812e-01 3.20055370e-03 2.35585254e+02] [-9.60251933e-01 2.78856104e-01 1.24699189e-02 -9.82519855e+01] [-1.28677663e-02 4.03749734e-04 -9.99917125e-01 -1.04596976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.030385723 meters 0.019880571300247278 Centerline is valid? [True, True] Translation: X:235.53, Y:-98.36, Z:-10.46 [[-2.04210960e-01 -9.78924249e-01 2.28004156e-03 2.35533033e+02] [-9.78839130e-01 2.04223285e-01 1.29153814e-02 -9.83634188e+01] [-1.31088176e-02 4.05668538e-04 -9.99913993e-01 -1.04594615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.090385723 meters 0.018463961842907932 Centerline is valid? [True, True] Translation: X:235.48, Y:-98.48, Z:-10.46 [[-1.28751392e-01 -9.91675887e-01 1.41903613e-03 2.35484597e+02] [-9.91571300e-01 1.28758432e-01 1.44091563e-02 -9.84760005e+01] [-1.44719257e-02 4.48123437e-04 -9.99895176e-01 -1.04608408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.150385723 meters 0.019010928433520816 Centerline is valid? [True, True] Translation: X:235.45, Y:-98.59, Z:-10.46 [[-5.25231597e-02 -9.98619654e-01 3.21741873e-04 2.35448062e+02] [-9.98508388e-01 5.25221126e-02 1.49139954e-02 -9.85934202e+01] [-1.49103075e-02 4.62068203e-04 -9.99888728e-01 -1.04604132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.210385723 meters 0.01987662682726847 Centerline is valid? [True, True] Translation: X:235.42, Y:-98.72, Z:-10.46 [[ 2.27019787e-02 -9.99741911e-01 -8.55374234e-04 2.35422602e+02] [-9.99621405e-01 -2.27125299e-02 1.55302359e-02 -9.87167138e+01] [-1.55456555e-02 5.02483307e-04 -9.99879033e-01 -1.04601934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.270385723 meters 0.020783470789651773 Centerline is valid? [True, True] Translation: X:235.41, Y:-98.84, Z:-10.46 [[ 9.59824101e-02 -9.95381150e-01 -1.93482958e-03 2.35407779e+02] [-9.95273911e-01 -9.60004880e-02 1.46201636e-02 -9.88364230e+01] [-1.47383798e-02 5.22406865e-04 -9.99891248e-01 -1.04616128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.330385723 meters 0.02144634383740777 Centerline is valid? [True, True] Translation: X:235.40, Y:-98.96, Z:-10.46 [[ 1.65988587e-01 -9.86124151e-01 -2.63590693e-03 2.35399270e+02] [-9.86045192e-01 -1.66008682e-01 1.24898989e-02 -9.89561894e+01] [-1.27541743e-02 5.25942687e-04 -9.99918524e-01 -1.04638262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.390385723 meters 0.021956866265910625 Centerline is valid? [True, True] Translation: X:235.40, Y:-99.08, Z:-10.46 [[ 2.40139553e-01 -9.70733142e-01 -3.18775382e-03 2.35397583e+02] [-9.70671990e-01 -2.40160240e-01 1.09062589e-02 -9.90751828e+01] [-1.13526387e-02 4.75239206e-04 -9.99935444e-01 -1.04648314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.450385723 meters 0.02255104804375698 Centerline is valid? [True, True] Translation: X:235.41, Y:-99.20, Z:-10.46 [[ 3.17400266e-01 -9.48285231e-01 -3.49164236e-03 2.35405539e+02] [-9.48240087e-01 -3.17419253e-01 9.26043036e-03 -9.92024210e+01] [-9.88984385e-03 3.71652197e-04 -9.99951025e-01 -1.04632325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.510385723 meters 0.019764215576345917 Centerline is valid? [True, True] Translation: X:235.42, Y:-99.32, Z:-10.46 [[ 3.92169168e-01 -9.19885130e-01 -3.83287264e-03 2.35416580e+02] [-9.19848533e-01 -3.92187779e-01 8.21113171e-03 -9.93238607e+01] [-9.05650377e-03 3.05509589e-04 -9.99958942e-01 -1.04631731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.570385723 meters 0.01930707434025853 Centerline is valid? [True, True] Translation: X:235.44, Y:-99.44, Z:-10.46 [[ 4.64932480e-01 -8.85336160e-01 -4.20386729e-03 2.35439136e+02] [-8.85304710e-01 -4.64951418e-01 7.46661090e-03 -9.94436935e+01] [-8.56505468e-03 2.50233585e-04 -9.99963288e-01 -1.04609957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.630385723 meters 0.01861311850411287 Centerline is valid? [True, True] Translation: X:235.47, Y:-99.56, Z:-10.46 [[ 5.32980399e-01 -8.46117416e-01 -4.14885443e-03 2.35468432e+02] [-8.46094600e-01 -5.32996511e-01 6.21667200e-03 -9.95552649e+01] [-7.47135939e-03 1.96959007e-04 -9.99972070e-01 -1.04607409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.690385723 meters 0.019435189520611084 Centerline is valid? [True, True] Translation: X:235.51, Y:-99.66, Z:-10.46 [[ 5.96267483e-01 -8.02773138e-01 -4.51413204e-03 2.35510056e+02] [-8.02752460e-01 -5.96284541e-01 5.76482524e-03 -9.96608628e+01] [-7.31955400e-03 1.86352764e-04 -9.99973194e-01 -1.04603342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.750385723 meters 0.019831455266108588 Centerline is valid? [True, True] Translation: X:235.56, Y:-99.76, Z:-10.46 [[ 6.57351582e-01 -7.53566478e-01 -5.14405023e-03 2.35556651e+02] [-7.53545445e-01 -6.57371686e-01 5.63286170e-03 -9.97643771e+01] [-7.62628873e-03 1.73505068e-04 -9.99970904e-01 -1.04580114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.810385723 meters 0.016810282352888138 Centerline is valid? [True, True] Translation: X:235.60, Y:-99.86, Z:-10.46 [[ 7.15025476e-01 -6.99076250e-01 -5.56466714e-03 2.35602690e+02] [-6.99056634e-01 -7.15047114e-01 5.23901610e-03 -9.98629822e+01] [-7.64147090e-03 1.43987501e-04 -9.99970793e-01 -1.04586825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87038572299997 meters 0.016641837390667352 Centerline is valid? [True, True] Translation: X:235.62, Y:-99.90, Z:-10.46 [[ 7.69275701e-01 -6.38892341e-01 -5.60998419e-03 2.35622156e+02] [-6.38876427e-01 -7.69296148e-01 4.51087923e-03 -9.98964751e+01] [-7.19770542e-03 1.13976875e-04 -9.99974090e-01 -1.04586577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.930385723 meters 0.01665356242122686 Centerline is valid? [True, True] Translation: X:235.65, Y:-99.93, Z:-10.46 [[ 8.17218172e-01 -5.76302288e-01 -5.48929980e-03 2.35645581e+02] [-5.76290108e-01 -8.17236601e-01 3.74823477e-03 -9.99263003e+01] [-6.64617299e-03 1.00303604e-04 -9.99977909e-01 -1.04581236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.990385723 meters 0.016398232816440008 Centerline is valid? [True, True] Translation: X:235.67, Y:-99.96, Z:-10.46 [[ 8.59477327e-01 -5.11121320e-01 -7.32938416e-03 2.35671014e+02] [-5.11104080e-01 -8.59508568e-01 4.20025558e-03 -9.99560923e+01] [-8.44650865e-03 1.36053701e-04 -9.99964318e-01 -1.04572377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.050385723 meters 0.016617516758843265 Centerline is valid? [True, True] Translation: X:235.70, Y:-99.98, Z:-10.46 [[ 8.96120400e-01 -4.43720424e-01 -8.96740428e-03 2.35700079e+02] [-4.43700180e-01 -8.96165249e-01 4.24221280e-03 -9.99810211e+01] [-9.91863255e-03 1.77305463e-04 -9.99950793e-01 -1.04562883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.110385723 meters 0.01679049950375309 Centerline is valid? [True, True] Translation: X:235.73, Y:-100.01, Z:-10.46 [[ 9.27701261e-01 -3.73207301e-01 -9.31025578e-03 2.35730108e+02] [-3.73190532e-01 -9.27747959e-01 3.54273593e-03 -1.00006050e+02] [-9.95974571e-03 1.87898725e-04 -9.99950383e-01 -1.04563771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.170385723 meters 0.01780114722369793 Centerline is valid? [True, True] Translation: X:235.76, Y:-100.02, Z:-10.46 [[ 9.52613361e-01 -3.04054252e-01 -8.87672485e-03 2.35763288e+02] [-3.04043172e-01 -9.52654693e-01 2.60485955e-03 -1.00022384e+02] [-9.24847221e-03 2.17483566e-04 -9.99957208e-01 -1.04560329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.230385723 meters 0.01886399697234197 Centerline is valid? [True, True] Translation: X:235.80, Y:-100.04, Z:-10.46 [[ 9.72797447e-01 -2.31466785e-01 -9.39434493e-03 2.35797202e+02] [-2.31458506e-01 -9.72842774e-01 1.97412693e-03 -1.00035170e+02] [-9.59616540e-03 2.53975409e-04 -9.99953923e-01 -1.04557040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.290385723 meters 0.019392107557574333 Centerline is valid? [True, True] Translation: X:235.83, Y:-100.05, Z:-10.46 [[ 9.87371733e-01 -1.58086167e-01 -1.02871114e-02 2.35828334e+02] [-1.58080876e-01 -9.87425271e-01 1.33054827e-03 -1.00046703e+02] [-1.03680950e-02 3.12449828e-04 -9.99946201e-01 -1.04554713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.350385723 meters 0.020227481348174085 Centerline is valid? [True, True] Translation: X:235.86, Y:-100.05, Z:-10.46 [[ 9.96565872e-01 -8.21337672e-02 -1.05122618e-02 2.35859892e+02] [-8.21327589e-02 -9.96621257e-01 5.28323976e-04 -1.00054153e+02] [-1.05201368e-02 3.36891419e-04 -9.99944605e-01 -1.04560299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.410385723 meters 0.0188390414338961 Centerline is valid? [True, True] Translation: X:235.89, Y:-100.07, Z:-10.46 [[ 9.99948203e-01 -2.96377841e-03 -9.73686901e-03 2.35891456e+02] [-2.96658130e-03 -9.99995562e-01 -2.73432467e-04 -1.00065961e+02] [-9.73601541e-03 3.02303518e-04 -9.99952558e-01 -1.04590504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.470385723 meters 0.018470774034100225 Centerline is valid? [True, True] Translation: X:235.92, Y:-100.07, Z:-10.46 [[ 9.96866214e-01 7.86312776e-02 -8.65292819e-03 2.35923019e+02] [ 7.86262273e-02 -9.96903739e-01 -9.22819638e-04 -1.00073512e+02] [-8.69869896e-03 2.39580620e-04 -9.99962137e-01 -1.04601037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.530385723 meters 0.018357153864775638 Centerline is valid? [True, True] Translation: X:235.95, Y:-100.08, Z:-10.46 [[ 9.87289162e-01 1.58707410e-01 -8.48930576e-03 2.35954386e+02] [ 1.58699639e-01 -9.87325636e-01 -1.58554308e-03 -1.00075968e+02] [-8.63334663e-03 2.18139735e-04 -9.99962708e-01 -1.04611458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.590385723 meters 0.017608023912633053 Centerline is valid? [True, True] Translation: X:235.99, Y:-100.08, Z:-10.46 [[ 9.71893362e-01 2.35280062e-01 -8.16001565e-03 2.35987597e+02] [ 2.35269904e-01 -9.71927593e-01 -2.19680214e-03 -1.00079088e+02] [-8.44780811e-03 2.15251320e-04 -9.99964293e-01 -1.04630168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.650385723 meters 0.020332285630349327 Centerline is valid? [True, True] Translation: X:236.02, Y:-100.07, Z:-10.46 [[ 9.51364728e-01 3.07968957e-01 -7.76374499e-03 2.36017351e+02] [ 3.07956695e-01 -9.51396378e-01 -2.75796365e-03 -1.00073455e+02] [-8.23576605e-03 2.32932093e-04 -9.99966058e-01 -1.04642103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.710385723 meters 0.01799782941428696 Centerline is valid? [True, True] Translation: X:236.05, Y:-100.08, Z:-10.47 [[ 9.23935807e-01 3.82487439e-01 -6.78115569e-03 2.36051799e+02] [ 3.82475533e-01 -9.23960669e-01 -3.02457303e-03 -1.00076613e+02] [-7.42238234e-03 2.00885185e-04 -9.99972434e-01 -1.04663692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.770385723 meters 0.017587678480614013 Centerline is valid? [True, True] Translation: X:236.09, Y:-100.07, Z:-10.46 [[ 8.89493420e-01 4.56872246e-01 -8.31911220e-03 2.36086042e+02] [ 4.56849876e-01 -8.89532293e-01 -4.52663159e-03 -1.00073890e+02] [-9.46821129e-03 2.25823639e-04 -9.99955150e-01 -1.04645561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.830385723 meters 0.017477803890173626 Centerline is valid? [True, True] Translation: X:236.12, Y:-100.07, Z:-10.46 [[ 8.49848654e-01 5.26951981e-01 -8.88117472e-03 2.36117187e+02] [ 5.26920346e-01 -8.49895027e-01 -5.77863444e-03 -1.00067803e+02] [-1.05931291e-02 2.31293047e-04 -9.99943864e-01 -1.04630038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.890385723 meters 0.017767111331154734 Centerline is valid? [True, True] Translation: X:236.15, Y:-100.05, Z:-10.46 [[ 8.05690351e-01 5.92271821e-01 -8.78336373e-03 2.36145424e+02] [ 5.92233398e-01 -8.05738192e-01 -6.75048584e-03 -1.00053917e+02] [-1.10752142e-02 2.36999967e-04 -9.99938640e-01 -1.04633732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.950385723 meters 0.01684370886474421 Centerline is valid? [True, True] Translation: X:236.18, Y:-100.04, Z:-10.46 [[ 7.56091089e-01 6.54411196e-01 -8.50015100e-03 2.36177826e+02] [ 6.54366369e-01 -7.56138832e-01 -7.66303394e-03 -1.00043501e+02] [-1.14420695e-02 2.31738730e-04 -9.99934511e-01 -1.04640476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.010385723 meters 0.01637948952166348 Centerline is valid? [True, True] Translation: X:236.21, Y:-100.03, Z:-10.46 [[ 7.00743564e-01 7.13364433e-01 -8.34524942e-03 2.36208749e+02] [ 7.13310147e-01 -7.00793221e-01 -8.80315714e-03 -1.00030196e+02] [-1.21281534e-02 2.16004613e-04 -9.99926428e-01 -1.04636095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.070385723 meters 0.016429767288706352 Centerline is valid? [True, True] Translation: X:236.23, Y:-100.01, Z:-10.46 [[ 6.42069465e-01 7.66616745e-01 -6.75041404e-03 2.36234301e+02] [ 7.66571400e-01 -6.42104924e-01 -8.33992740e-03 -1.00011145e+02] [-1.07280021e-02 1.80138378e-04 -9.99942437e-01 -1.04645789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.130385723 meters 0.016534342323198142 Centerline is valid? [True, True] Translation: X:236.26, Y:-99.99, Z:-10.46 [[ 5.78813698e-01 8.15436283e-01 -6.19444854e-03 2.36258252e+02] [ 8.15386461e-01 -5.78846819e-01 -9.01546220e-03 -9.99912758e+01] [-1.09371718e-02 1.67403542e-04 -9.99940173e-01 -1.04633574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.190385723 meters 0.017872927067620562 Centerline is valid? [True, True] Translation: X:236.29, Y:-99.97, Z:-10.46 [[ 5.11676250e-01 8.59148408e-01 -7.17130769e-03 2.36287718e+02] [ 8.59058537e-01 -5.11726463e-01 -1.24280409e-02 -9.99726025e+01] [-1.43472795e-02 1.98560285e-04 -9.99897053e-01 -1.04630036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.250385723 meters 0.015611686268501776 Centerline is valid? [True, True] Translation: X:236.31, Y:-99.95, Z:-10.46 [[ 4.43368138e-01 8.96324940e-01 -5.12791591e-03 2.36313758e+02] [ 8.96260516e-01 -4.43397759e-01 -1.07478069e-02 -9.99506153e+01] [-1.19072338e-02 1.69286576e-04 -9.99929092e-01 -1.04632140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.310385723 meters 0.016151286348929213 Centerline is valid? [True, True] Translation: X:236.34, Y:-99.93, Z:-10.46 [[ 3.74070832e-01 9.27387478e-01 -4.84556056e-03 2.36335693e+02] [ 9.27301645e-01 -3.74102145e-01 -1.26192164e-02 -9.99260618e+01] [-1.35156379e-02 2.27184508e-04 -9.99908634e-01 -1.04628708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37038572299997 meters 0.017524126424837687 Centerline is valid? [True, True] Translation: X:236.35, Y:-99.90, Z:-10.46 [[ 3.04632194e-01 9.52460572e-01 -4.25261194e-03 2.36352700e+02] [ 9.52352550e-01 -3.04661706e-01 -1.43480404e-02 -9.99002195e+01] [-1.49615508e-02 3.20889191e-04 -9.99888018e-01 -1.04616856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.430385723 meters 0.018781078337528918 Centerline is valid? [True, True] Translation: X:236.37, Y:-99.87, Z:-10.46 [[ 2.33196450e-01 9.72425077e-01 -2.98075166e-03 2.36365850e+02] [ 9.72324364e-01 -2.33215212e-01 -1.39998826e-02 -9.98728275e+01] [-1.43089935e-02 3.66465457e-04 -9.99897554e-01 -1.04615755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.490385723 meters 0.019109562105262365 Centerline is valid? [True, True] Translation: X:236.38, Y:-99.84, Z:-10.46 [[ 1.59983313e-01 9.87118273e-01 -1.68957776e-03 2.36378734e+02] [ 9.87035616e-01 -1.59991791e-01 -1.27796689e-02 -9.98448975e+01] [-1.28853633e-02 3.76860351e-04 -9.99916909e-01 -1.04641574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.550385723 meters 0.01903652613298555 Centerline is valid? [True, True] Translation: X:236.39, Y:-99.82, Z:-10.47 [[ 8.34028801e-02 9.96515694e-01 -6.56632501e-04 2.36394116e+02] [ 9.96439168e-01 -8.34046166e-02 -1.23553791e-02 -9.98158930e+01] [-1.23670954e-02 3.76179861e-04 -9.99923454e-01 -1.04651355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.610385723 meters 0.019791367719361304 Centerline is valid? [True, True] Translation: X:236.40, Y:-99.79, Z:-10.46 [[ 6.03832910e-03 9.99981710e-01 3.44937212e-04 2.36403469e+02] [ 9.99889603e-01 -6.03308900e-03 -1.35788003e-02 -9.97869248e+01] [-1.35764709e-02 4.26892396e-04 -9.99907744e-01 -1.04649199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.670385723 meters 0.02043328058895245 Centerline is valid? [True, True] Translation: X:236.41, Y:-99.76, Z:-10.47 [[-7.03464105e-02 9.97521463e-01 1.52090666e-03 2.36409401e+02] [ 9.97414915e-01 7.03611381e-02 -1.45876051e-02 -9.97562560e+01] [-1.46584620e-02 4.90789331e-04 -9.99892439e-01 -1.04651288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.730385723 meters 0.022326062440425676 Centerline is valid? [True, True] Translation: X:236.41, Y:-99.73, Z:-10.46 [[-1.45463888e-01 9.89359717e-01 2.75819990e-03 2.36411491e+02] [ 9.89246753e-01 1.45488987e-01 -1.49604939e-02 -9.97277643e+01] [-1.52025977e-02 5.52328692e-04 -9.99884281e-01 -1.04645110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.790385723 meters 0.023198238979295505 Centerline is valid? [True, True] Translation: X:236.41, Y:-99.70, Z:-10.46 [[-2.20365274e-01 9.75407301e-01 4.44331181e-03 2.36411340e+02] [ 9.75265444e-01 2.20409063e-01 -1.66480593e-02 -9.96976398e+01] [-1.72179848e-02 6.64754325e-04 -9.99851539e-01 -1.04625530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.850385723 meters 0.021218808196362206 Centerline is valid? [True, True] Translation: X:236.42, Y:-99.67, Z:-10.46 [[-2.94933252e-01 9.55500121e-01 5.82206644e-03 2.36415738e+02] [ 9.55357888e-01 2.94989891e-01 -1.65006188e-02 -9.96651459e+01] [-1.74837940e-02 6.95575943e-04 -9.99846905e-01 -1.04638191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.910385723 meters 0.02193677233376125 Centerline is valid? [True, True] Translation: X:236.41, Y:-99.63, Z:-10.46 [[-3.68811171e-01 9.29477697e-01 7.03785801e-03 2.36414003e+02] [ 9.29342570e-01 3.68877670e-01 -1.58635372e-02 -9.96340243e+01] [-1.73409127e-02 6.89931310e-04 -9.99849397e-01 -1.04635666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.970385723 meters 0.02262123105147785 Centerline is valid? [True, True] Translation: X:236.41, Y:-99.61, Z:-10.46 [[-4.42190616e-01 8.96886172e-01 7.91536766e-03 2.36409359e+02] [ 8.96767052e-01 4.42261007e-01 -1.46306553e-02 -9.96051735e+01] [-1.66226909e-02 6.28702450e-04 -9.99861636e-01 -1.04627657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.030385723 meters 0.02194688028677517 Centerline is valid? [True, True] Translation: X:236.40, Y:-99.57, Z:-10.46 [[-5.11953688e-01 8.58972966e-01 8.29851795e-03 2.36403546e+02] [ 8.58877366e-01 5.12020634e-01 -1.28273328e-02 -9.95739653e+01] [-1.52673445e-02 5.60408915e-04 -9.99883290e-01 -1.04634316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.090385723 meters 0.022295110189933468 Centerline is valid? [True, True] Translation: X:236.39, Y:-99.55, Z:-10.46 [[-5.79041905e-01 8.15267922e-01 6.97767169e-03 2.36393193e+02] [ 8.15216847e-01 5.79083807e-01 -9.13440037e-03 -9.95464830e+01] [-1.14876403e-02 3.99114926e-04 -9.99933935e-01 -1.04638425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.150385723 meters 0.02180114888468012 Centerline is valid? [True, True] Translation: X:236.38, Y:-99.52, Z:-10.46 [[-6.40550392e-01 7.67891305e-01 6.17567397e-03 2.36383265e+02] [ 7.67860428e-01 6.40580079e-01 -6.89388095e-03 -9.95165522e+01] [-9.24976496e-03 3.26177507e-04 -9.99957167e-01 -1.04645067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.210385723 meters 0.021738451402425744 Centerline is valid? [True, True] Translation: X:236.37, Y:-99.49, Z:-10.47 [[-6.98026954e-01 7.16040837e-01 6.62511557e-03 2.36371887e+02] [ 7.16013012e-01 6.98058314e-01 -6.32109584e-03 -9.94863027e+01] [-9.15087976e-03 3.31373684e-04 -9.99958075e-01 -1.04654145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.270385723 meters 0.0213683267870975 Centerline is valid? [True, True] Translation: X:236.39, Y:-99.46, Z:-10.47 [[-7.45738757e-01 6.66202432e-01 6.93014834e-03 2.36392015e+02] [ 6.66177866e-01 7.45770878e-01 -5.73135739e-03 -9.94597404e+01] [-8.98654704e-03 3.42616098e-04 -9.99959561e-01 -1.04651799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.330385723 meters 0.023973276828513312 Centerline is valid? [True, True] Translation: X:236.81, Y:-98.96, Z:-11.44 [[-7.54153554e-01 -6.56662148e-01 6.87314565e-03 2.36811813e+02] [ 6.56630771e-01 -7.54184799e-01 -6.42800926e-03 -9.89642554e+01] [ 9.40465234e-03 -3.34587103e-04 9.99955719e-01 -1.14402954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.390385723 meters 0.022428116817936328 Centerline is valid? [True, True] Translation: X:236.36, Y:-99.43, Z:-10.46 [[-7.47318534e-01 6.64415011e-01 8.22810465e-03 2.36364820e+02] [ 6.64380818e-01 7.47363712e-01 -6.75360623e-03 -9.94313280e+01] [-1.06365842e-02 4.19499786e-04 -9.99943342e-01 -1.04612097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.450385723 meters 0.02216138758692231 Centerline is valid? [True, True] Translation: X:236.38, Y:-99.40, Z:-10.46 [[-7.94571590e-01 6.07103790e-01 8.99875165e-03 2.36380329e+02] [ 6.07070441e-01 7.94622446e-01 -6.37562884e-03 -9.94011428e+01] [-1.10212785e-02 3.96982590e-04 -9.99939185e-01 -1.04599891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.510385723 meters 0.019409826747761177 Centerline is valid? [True, True] Translation: X:236.39, Y:-99.37, Z:-10.46 [[-8.39230997e-01 5.43700585e-01 9.00044874e-03 2.36392864e+02] [ 5.43673216e-01 8.39279202e-01 -5.46399626e-03 -9.93659130e+01] [-1.05246674e-02 3.07747885e-04 -9.99944567e-01 -1.04611131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.570385723 meters 0.01752205497472426 Centerline is valid? [True, True] Translation: X:236.40, Y:-99.33, Z:-10.46 [[-8.78274845e-01 4.78108772e-01 6.73035950e-03 2.36397905e+02] [ 4.78096268e-01 8.78300615e-01 -3.46230151e-03 -9.93278231e+01] [-7.56663561e-03 1.76907433e-04 -9.99971357e-01 -1.04635054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.630385723 meters 0.01706237316153562 Centerline is valid? [True, True] Translation: X:236.68, Y:-98.80, Z:-11.44 [[-8.67741268e-01 -4.97000275e-01 3.97718452e-03 2.36675135e+02] [ 4.96993487e-01 -8.67750334e-01 -2.61372847e-03 -9.88037599e+01] [ 4.75022696e-03 -2.91405258e-04 9.99988675e-01 -1.14406475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.690385723 meters 0.01695168940507636 Centerline is valid? [True, True] Translation: X:236.36, Y:-99.30, Z:-10.46 [[-8.82460958e-01 4.70363260e-01 4.58920126e-03 2.36362386e+02] [ 4.70357434e-01 8.82472887e-01 -2.34283758e-03 -9.93041581e+01] [-5.15183041e-03 9.11022366e-05 -9.99986725e-01 -1.04630957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.750385723 meters 0.01733769260875946 Centerline is valid? [True, True] Translation: X:236.37, Y:-99.28, Z:-10.46 [[-9.13110052e-01 4.07693990e-01 3.95517582e-03 2.36370230e+02] [ 4.07690539e-01 9.13118614e-01 -1.67931477e-03 -9.92757592e+01] [-4.29619120e-03 7.90885635e-05 -9.99990768e-01 -1.04638013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.810385723 meters 0.0179292102995018 Centerline is valid? [True, True] Translation: X:236.60, Y:-98.74, Z:-11.44 [[-9.02791406e-01 -4.30073863e-01 2.03712916e-03 2.36600596e+02] [ 4.30072367e-01 -9.02793690e-01 -1.14538548e-03 -9.87390141e+01] [ 2.33170771e-03 -1.57931210e-04 9.99997269e-01 -1.14392842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87038572299997 meters 0.017795895968894016 Centerline is valid? [True, True] Translation: X:236.33, Y:-99.26, Z:-10.46 [[-9.14667364e-01 4.04185483e-01 4.20815085e-03 2.36325028e+02] [ 4.04181627e-01 9.14677041e-01 -1.76736838e-03 -9.92563924e+01] [-4.56344361e-03 8.43030817e-05 -9.99989584e-01 -1.04624420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.930385723 meters 0.017857153070959402 Centerline is valid? [True, True] Translation: X:236.55, Y:-98.72, Z:-11.44 [[-9.03369562e-01 -4.28839078e-01 4.52532543e-03 2.36552610e+02] [ 4.28833340e-01 -9.03380895e-01 -2.21930452e-03 -9.87203282e+01] [ 5.03981704e-03 -6.42417322e-05 9.99987298e-01 -1.14434018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.990385723 meters 0.018016312071713426 Centerline is valid? [True, True] Translation: X:236.28, Y:-99.24, Z:-10.46 [[-9.16492092e-01 4.00034002e-01 3.87840773e-03 2.36284840e+02] [ 4.00030755e-01 9.16500296e-01 -1.61326169e-03 -9.92420422e+01] [-4.19992136e-03 7.29407874e-05 -9.99991178e-01 -1.04606402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.050385723 meters 0.018931271596543522 Centerline is valid? [True, True] Translation: X:236.29, Y:-99.22, Z:-10.46 [[-9.41968594e-01 3.35698281e-01 1.35375364e-03 2.36290346e+02] [ 3.35697966e-01 9.41969566e-01 -4.60497987e-04 -9.92189196e+01] [-1.42978311e-03 2.06777024e-05 -9.99998978e-01 -1.04632532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.110385723 meters 0.019795115390683612 Centerline is valid? [True, True] Translation: X:236.29, Y:-99.19, Z:-10.46 [[-9.63087267e-01 2.69188787e-01 5.59797855e-04 2.36290272e+02] [ 2.69188743e-01 9.63087430e-01 -1.53276470e-04 -9.91925845e+01] [-5.80394584e-04 3.07266472e-06 -9.99999832e-01 -1.04638552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.170385723 meters 0.01726033506021513 Centerline is valid? [True, True] Translation: X:236.44, Y:-98.61, Z:-11.44 [[-9.56682891e-01 -2.91130601e-01 9.05470846e-04 2.36435295e+02] [ 2.91130483e-01 -9.56683319e-01 -2.63162763e-04 -9.86149588e+01] [ 9.42863588e-04 1.18468511e-05 9.99999555e-01 -1.14414849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.230385723 meters 0.016665481019446707 Centerline is valid? [True, True] Translation: X:236.24, Y:-99.17, Z:-10.46 [[-9.65355194e-01 2.60935840e-01 1.35561852e-03 2.36242049e+02] [ 2.60935604e-01 9.65356145e-01 -3.51095862e-04 -9.91738392e+01] [-1.40026816e-03 1.47969242e-05 -9.99999020e-01 -1.04609834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.290385723 meters 0.01607884616828164 Centerline is valid? [True, True] Translation: X:236.24, Y:-99.14, Z:-10.46 [[-9.82143156e-01 1.88132033e-01 1.07646677e-03 2.36240007e+02] [ 1.88131926e-01 9.82143746e-01 -2.00874157e-04 -9.91423323e+01] [-1.09503597e-03 5.23058823e-06 -9.99999400e-01 -1.04601971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.350385723 meters 0.015510828418310207 Centerline is valid? [True, True] Translation: X:236.23, Y:-99.11, Z:-10.46 [[-9.93337085e-01 1.15237593e-01 1.31638000e-03 2.36234222e+02] [ 1.15237498e-01 9.93337957e-01 -1.47875406e-04 -9.91122134e+01] [-1.32465102e-03 4.80621254e-06 -9.99999123e-01 -1.04588670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.410385723 meters 0.015106365806348514 Centerline is valid? [True, True] Translation: X:236.29, Y:-98.53, Z:-11.45 [[-9.87278637e-01 -1.58994853e-01 1.23649977e-03 2.36289712e+02] [ 1.58994717e-01 -9.87279412e-01 -2.07741187e-04 -9.85304792e+01] [ 1.25380055e-03 -8.50150470e-06 9.99999214e-01 -1.14451609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.470385723 meters 0.016042208920639938 Centerline is valid? [True, True] Translation: X:236.18, Y:-99.12, Z:-10.46 [[-9.93092059e-01 1.17337185e-01 3.84510673e-04 2.36184409e+02] [ 1.17337175e-01 9.93092133e-01 -4.90104268e-05 -9.91171520e+01] [-3.87605270e-04 -3.55446943e-06 -9.99999925e-01 -1.04592941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.530385723 meters 0.01769203739032688 Centerline is valid? [True, True] Translation: X:236.18, Y:-99.10, Z:-10.46 [[-9.98519833e-01 5.43568305e-02 -1.86484942e-03 2.36181090e+02] [ 5.43568429e-02 9.98521573e-01 4.40637578e-05 -9.90957712e+01] [ 1.86448754e-03 -5.73687907e-05 -9.99998260e-01 -1.04610522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.590385723 meters 0.02111783407738318 Centerline is valid? [True, True] Translation: X:236.18, Y:-99.07, Z:-10.46 [[-9.99930012e-01 -1.14982725e-02 -2.78593186e-03 2.36178566e+02] [-1.14979618e-02 9.99933888e-01 -1.27522718e-04 -9.90731657e+01] [ 2.78721397e-03 -9.54812543e-05 -9.99996111e-01 -1.04612863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.650385723 meters 0.02074390218492427 Centerline is valid? [True, True] Translation: X:236.16, Y:-98.44, Z:-11.44 [[-9.99950915e-01 9.28658844e-03 -3.45342578e-03 2.36155987e+02] [-9.28679127e-03 -9.99956876e-01 4.27039851e-05 -9.84429986e+01] [-3.45288028e-03 7.47731335e-05 9.99994036e-01 -1.14413916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.710385723 meters 0.01988389511580438 Centerline is valid? [True, True] Translation: X:236.11, Y:-99.08, Z:-10.46 [[-9.99927693e-01 -1.17054479e-02 -2.75519246e-03 2.36112784e+02] [-1.17051100e-02 9.99931483e-01 -1.38756968e-04 -9.90773008e+01] [ 2.75662790e-03 -1.06497104e-04 -9.99996195e-01 -1.04615369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.770385723 meters 0.018727920375071663 Centerline is valid? [True, True] Translation: X:236.10, Y:-99.05, Z:-10.46 [[-9.96520322e-01 -8.33354566e-02 -1.56520008e-03 2.36102286e+02] [-8.33352524e-02 9.96521549e-01 -1.95333363e-04 -9.90460775e+01] [ 1.57603380e-03 -6.42173218e-05 -9.99998756e-01 -1.04600151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.830385723 meters 0.018760251969377664 Centerline is valid? [True, True] Translation: X:236.09, Y:-99.02, Z:-10.46 [[-9.87820162e-01 -1.55593450e-01 -1.41632595e-03 2.36086127e+02] [-1.55593206e-01 9.87821176e-01 -2.81239537e-04 -9.90179118e+01] [ 1.44283579e-03 -5.74433896e-05 -9.99998957e-01 -1.04601823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.890385723 meters 0.018166261361818425 Centerline is valid? [True, True] Translation: X:236.06, Y:-98.99, Z:-10.46 [[-9.73679379e-01 -2.27915156e-01 -1.77444359e-03 2.36062071e+02] [-2.27914653e-01 9.73680994e-01 -4.83338341e-04 -9.89910724e+01] [ 1.83790213e-03 -6.61948807e-05 -9.99998309e-01 -1.04611319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.950385723 meters 0.01787356478453883 Centerline is valid? [True, True] Translation: X:235.89, Y:-98.40, Z:-11.44 [[-9.75690089e-01 2.19149830e-01 -1.48384567e-03 2.35892986e+02] [-2.19149699e-01 -9.75691214e-01 -2.52188817e-04 -9.84041883e+01] [-1.50304232e-03 7.91262029e-05 9.99998867e-01 -1.14426573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.010385723 meters 0.017029040071079887 Centerline is valid? [True, True] Translation: X:235.95, Y:-99.01, Z:-10.46 [[-9.71586032e-01 -2.36677545e-01 -2.07875652e-03 2.35947431e+02] [-2.36676849e-01 9.71588254e-01 -5.78449260e-04 -9.90145656e+01] [ 2.15660136e-03 -7.00196804e-05 -9.99997672e-01 -1.04613080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.070385723 meters 0.017638056016410646 Centerline is valid? [True, True] Translation: X:235.91, Y:-98.99, Z:-10.46 [[-9.52525244e-01 -3.04455741e-01 -1.53641832e-03 2.35914263e+02] [-3.04455247e-01 9.52526482e-01 -5.51541186e-04 -9.89930372e+01] [ 1.63139902e-03 -5.75862821e-05 -9.99998668e-01 -1.04606445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.130385723 meters 0.019618129249649712 Centerline is valid? [True, True] Translation: X:235.87, Y:-98.98, Z:-10.46 [[-9.29315489e-01 -3.69284198e-01 -1.37949486e-03 2.35870355e+02] [-3.69283696e-01 9.29316511e-01 -6.12108084e-04 -9.89787984e+01] [ 1.50802920e-03 -5.94165617e-05 -9.99998861e-01 -1.04598852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.190385723 meters 0.02072606010840415 Centerline is valid? [True, True] Translation: X:235.81, Y:-98.97, Z:-10.46 [[-9.01206626e-01 -4.33376821e-01 -3.33908503e-03 2.35808620e+02] [-4.33373244e-01 9.01212800e-01 -1.76649929e-03 -9.89707564e+01] [ 3.77478602e-03 -1.44910753e-04 -9.99992865e-01 -1.04595570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.250385723 meters 0.019792413210880384 Centerline is valid? [True, True] Translation: X:235.73, Y:-98.97, Z:-10.46 [[-8.66883968e-01 -4.98502805e-01 -2.67189059e-03 2.35731749e+02] [-4.98499995e-01 8.66888077e-01 -1.67818945e-03 -9.89736400e+01] [ 3.15281224e-03 -1.22858078e-04 -9.99995022e-01 -1.04580306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.310385723 meters 0.018853780108034065 Centerline is valid? [True, True] Translation: X:235.66, Y:-98.98, Z:-10.46 [[-8.27058071e-01 -5.62111878e-01 -2.27702625e-03 2.35656731e+02] [-5.62109384e-01 8.27061198e-01 -1.67785056e-03 -9.89828681e+01] [ 2.82637979e-03 -1.07742027e-04 -9.99996000e-01 -1.04568192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37038572299997 meters 0.019175085772985212 Centerline is valid? [True, True] Translation: X:235.58, Y:-99.00, Z:-10.46 [[-7.82694503e-01 -6.22397968e-01 -3.17571847e-03 2.35576874e+02] [-6.22392050e-01 7.82700931e-01 -2.71839981e-03 -9.90047341e+01] [ 4.17756432e-03 -1.51134655e-04 -9.99991263e-01 -1.04571362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.430385723 meters 0.01910417760888104 Centerline is valid? [True, True] Translation: X:235.50, Y:-99.03, Z:-10.46 [[-7.34096430e-01 -6.79035837e-01 -3.57249317e-03 2.35495555e+02] [-6.79026590e-01 7.34105101e-01 -3.54822101e-03 -9.90342691e+01] [ 5.03195468e-03 -1.78918528e-04 -9.99987324e-01 -1.04568687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.490385723 meters 0.020120434152983875 Centerline is valid? [True, True] Translation: X:235.41, Y:-99.07, Z:-10.46 [[-6.80555362e-01 -7.32688208e-01 -3.51972127e-03 2.35412419e+02] [-7.32676988e-01 6.80564439e-01 -4.05905384e-03 -9.90745870e+01] [ 5.36941801e-03 -1.83592077e-04 -9.99985568e-01 -1.04566846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.550385723 meters 0.020529124065434907 Centerline is valid? [True, True] Translation: X:235.33, Y:-99.12, Z:-10.46 [[-6.25455741e-01 -7.80254485e-01 -2.83823145e-03 2.35329437e+02] [-7.80245161e-01 6.25462156e-01 -3.81834802e-03 -9.91241030e+01] [ 4.75448953e-03 -1.73691330e-04 -9.99988682e-01 -1.04560776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.610385723 meters 0.021819911915729802 Centerline is valid? [True, True] Translation: X:235.25, Y:-99.18, Z:-10.45 [[-5.71413290e-01 -8.20660544e-01 -1.76737124e-03 2.35248828e+02] [-8.20655783e-01 5.71416004e-01 -2.79945640e-03 -9.91805974e+01] [ 3.30730762e-03 -1.49243165e-04 -9.99994520e-01 -1.04546535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.670385723 meters 0.025589856487825646 Centerline is valid? [True, True] Translation: X:235.17, Y:-99.25, Z:-10.45 [[-5.18087428e-01 -8.55326722e-01 -1.27108342e-03 2.35173921e+02] [-8.55323370e-01 5.18088963e-01 -2.39982232e-03 -9.92466845e+01] [ 2.71116645e-03 -1.56130421e-04 -9.99996313e-01 -1.04547447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.730385723 meters 0.029758365280854376 Centerline is valid? [True, True] Translation: X:235.10, Y:-99.32, Z:-10.45 [[-4.59426942e-01 -8.88215206e-01 -7.95846615e-04 2.35103695e+02] [-8.88213332e-01 4.59427611e-01 -1.82952751e-03 -9.93218993e+01] [ 1.99064807e-03 -1.33652657e-04 -9.99998010e-01 -1.04546804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.790385723 meters 0.03421259889594667 Centerline is valid? [True, True] Translation: X:235.03, Y:-99.40, Z:-10.45 [[-3.99086481e-01 -9.16913269e-01 -1.93314254e-04 2.35033083e+02] [-9.16913089e-01 3.99086524e-01 -5.77489889e-04 -9.94028058e+01] [ 6.06657256e-04 -5.32160377e-05 -9.99999815e-01 -1.04540997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.850385723 meters 0.03456051293315515 Centerline is valid? [True, True] Translation: X:234.96, Y:-99.49, Z:-10.46 [[-3.28023542e-01 -9.44669300e-01 -6.85188614e-04 2.34958784e+02] [-9.44665833e-01 3.28024199e-01 -2.56701323e-03 -9.94908080e+01] [ 2.64973703e-03 -1.94766497e-04 -9.99996470e-01 -1.04557695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.910385723 meters 0.03201670111563965 Centerline is valid? [True, True] Translation: X:234.89, Y:-99.59, Z:-10.46 [[-2.48637985e-01 -9.68596032e-01 -9.38148306e-04 2.34885475e+02] [-9.68583493e-01 2.48639549e-01 -4.93882613e-03 -9.95899869e+01] [ 5.01698817e-03 -3.19304812e-04 -9.99987364e-01 -1.04577933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.970385723 meters 0.027584561763988574 Centerline is valid? [True, True] Translation: X:234.82, Y:-99.68, Z:-10.46 [[-1.68377190e-01 -9.85722424e-01 -6.51951859e-04 2.34824967e+02] [-9.85705750e-01 1.68378140e-01 -5.74254728e-03 -9.96792166e+01] [ 5.77033206e-03 -3.24281279e-04 -9.99983299e-01 -1.04576021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.030385723 meters 0.026767635321743467 Centerline is valid? [True, True] Translation: X:234.77, Y:-99.78, Z:-10.46 [[-8.39559020e-02 -9.96469449e-01 -2.08244137e-04 2.34771362e+02] [-9.96454635e-01 8.39557905e-02 -5.43932011e-03 -9.97781955e+01] [ 5.43759961e-03 -2.49157190e-04 -9.99985185e-01 -1.04573564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.090385723 meters 0.024323103604179167 Centerline is valid? [True, True] Translation: X:234.72, Y:-99.88, Z:-10.45 [[-1.09303844e-03 -9.99999396e-01 1.19583638e-04 2.34720520e+02] [-9.99994296e-01 1.09265067e-03 -3.19608782e-03 -9.98774205e+01] [ 3.19595523e-03 -1.23076403e-04 -9.99994885e-01 -1.04525027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.150385723 meters 0.022593975060813426 Centerline is valid? [True, True] Translation: X:234.69, Y:-99.97, Z:-10.45 [[ 7.84536345e-02 -9.96917662e-01 4.50999698e-04 2.34688635e+02] [-9.96909464e-01 -7.84548193e-02 -4.04509830e-03 -9.99696079e+01] [ 4.06801304e-03 -1.32253203e-04 -9.99991717e-01 -1.04549181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.210385723 meters 0.0183589199504762 Centerline is valid? [True, True] Translation: X:234.65, Y:-100.07, Z:-10.46 [[ 1.61548637e-01 -9.86864556e-01 6.21024219e-04 2.34652395e+02] [-9.86859002e-01 -1.61549812e-01 -3.31187694e-03 -1.00065923e+02] [ 3.36870032e-03 -7.78341346e-05 -9.99994323e-01 -1.04559891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.270385723 meters 0.016488237161339923 Centerline is valid? [True, True] Translation: X:234.63, Y:-100.15, Z:-10.45 [[ 2.38846028e-01 -9.71057362e-01 4.17744438e-04 2.34631251e+02] [-9.71056116e-01 -2.38846391e-01 -1.55589339e-03 -1.00153549e+02] [ 1.61063848e-03 -3.40343349e-05 -9.99998702e-01 -1.04535221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.330385723 meters 0.015805156401562277 Centerline is valid? [True, True] Translation: X:234.62, Y:-100.25, Z:-10.45 [[ 3.15345287e-01 -9.48976989e-01 -1.57332241e-04 2.34622453e+02] [-9.48976862e-01 -3.15345326e-01 4.89942120e-04 -1.00246851e+02] [-5.14557785e-04 -5.19628189e-06 -9.99999868e-01 -1.04515529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.390385723 meters 0.015754780582076102 Centerline is valid? [True, True] Translation: X:234.62, Y:-100.33, Z:-10.45 [[ 3.85794663e-01 -9.22584574e-01 -4.26719356e-04 2.34622596e+02] [-9.22584005e-01 -3.85794899e-01 1.02453728e-03 -1.00333072e+02] [-1.10984844e-03 -1.57656312e-06 -9.99999384e-01 -1.04508849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.450385723 meters 0.015824039721896402 Centerline is valid? [True, True] Translation: X:234.63, Y:-100.41, Z:-10.45 [[ 4.52074798e-01 -8.91979811e-01 -6.28090528e-04 2.34625709e+02] [-8.91978954e-01 -4.52075234e-01 1.23629189e-03 -1.00405727e+02] [-1.38669158e-03 1.34712409e-06 -9.99999039e-01 -1.04512856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.510385723 meters 0.016019965915203938 Centerline is valid? [True, True] Translation: X:234.64, Y:-100.49, Z:-10.45 [[ 5.14514222e-01 -8.57481810e-01 2.46584134e-04 2.34641958e+02] [-8.57481725e-01 -5.14514280e-01 -3.82833444e-04 -1.00486309e+02] [ 4.55143773e-04 -1.44681368e-05 -9.99999896e-01 -1.04529265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.570385723 meters 0.017327861170563143 Centerline is valid? [True, True] Translation: X:234.66, Y:-100.56, Z:-10.45 [[ 5.70687786e-01 -8.21167127e-01 -1.66811837e-05 2.34662426e+02] [-8.21167126e-01 -5.70687786e-01 3.97938664e-05 -1.00556626e+02] [-4.21971627e-05 -9.01183381e-06 -9.99999999e-01 -1.04531417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.630385723 meters 0.01830782698670018 Centerline is valid? [True, True] Translation: X:234.69, Y:-100.63, Z:-10.45 [[ 6.25018641e-01 -7.80609713e-01 4.17355421e-04 2.34687660e+02] [-7.80609564e-01 -6.25018780e-01 -4.82413080e-04 -1.00629307e+02] [ 6.37431312e-04 -2.42744652e-05 -9.99999797e-01 -1.04537487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.690385723 meters 0.019334511156809134 Centerline is valid? [True, True] Translation: X:234.71, Y:-100.70, Z:-10.45 [[ 6.76898749e-01 -7.36075724e-01 7.81985739e-04 2.34714184e+02] [-7.36075302e-01 -6.76899200e-01 -7.89904881e-04 -1.00695365e+02] [ 1.11075533e-03 -4.09147628e-05 -9.99999382e-01 -1.04548330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.750385723 meters 0.018599934837025874 Centerline is valid? [True, True] Translation: X:234.75, Y:-100.77, Z:-10.46 [[ 7.30823330e-01 -6.82566293e-01 7.17999291e-04 2.34751341e+02] [-6.82566009e-01 -7.30823682e-01 -6.23925569e-04 -1.00772037e+02] [ 9.50601449e-04 -3.41025485e-05 -9.99999548e-01 -1.04554906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.810385723 meters 0.017293934942782502 Centerline is valid? [True, True] Translation: X:234.61, Y:-101.02, Z:-11.45 [[ 7.59297335e-01 6.50743826e-01 1.71261022e-04 2.34610133e+02] [-6.50743808e-01 7.59297355e-01 -1.51893213e-04 -1.01020132e+02] [-2.28881612e-04 3.88506229e-06 9.99999974e-01 -1.14497833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87038572299997 meters 0.01631108769929449 Centerline is valid? [True, True] Translation: X:234.66, Y:-101.06, Z:-11.45 [[ 7.57197392e-01 6.53186081e-01 -2.29746912e-04 2.34656900e+02] [-6.53186050e-01 7.57197427e-01 2.03624144e-04 -1.01056930e+02] [ 3.06968227e-04 -4.11619252e-06 9.99999953e-01 -1.14501722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.930385723 meters 0.015791360753174045 Centerline is valid? [True, True] Translation: X:234.70, Y:-101.09, Z:-11.45 [[ 7.53026128e-01 6.57989427e-01 -1.25110076e-03 2.34703137e+02] [-6.57988493e-01 7.53027167e-01 1.10847910e-03 -1.01093939e+02] [ 1.67148038e-03 -1.15038203e-05 9.99998603e-01 -1.14512444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.990385723 meters 0.018003275163792153 Centerline is valid? [True, True] Translation: X:234.75, Y:-101.13, Z:-11.45 [[ 7.46864953e-01 6.64974674e-01 -1.19362215e-03 2.34747507e+02] [-6.64973834e-01 7.46865907e-01 1.05729973e-03 -1.01131601e+02] [ 1.59455323e-03 4.06738780e-06 9.99998729e-01 -1.14539025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.050385723 meters 0.016405230842814197 Centerline is valid? [True, True] Translation: X:234.79, Y:-101.17, Z:-11.45 [[ 7.40190653e-01 6.72392624e-01 -2.44036470e-03 2.34791460e+02] [-6.72389154e-01 7.40194675e-01 2.16059252e-03 -1.01170538e+02] [ 3.25911144e-03 4.16243676e-05 9.99994688e-01 -1.14509034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.110385723 meters 0.01924233523431715 Centerline is valid? [True, True] Translation: X:234.83, Y:-101.21, Z:-11.45 [[ 7.35119420e-01 6.77931371e-01 -2.91473153e-03 2.34833696e+02] [-6.77926465e-01 7.35125194e-01 2.58034994e-03 -1.01211032e+02] [ 3.89199275e-03 7.91082903e-05 9.99992423e-01 -1.14538163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.170385723 meters 0.019262581387886654 Centerline is valid? [True, True] Translation: X:234.87, Y:-101.26, Z:-11.45 [[ 7.32201240e-01 6.81085399e-01 -2.00581238e-03 2.34874843e+02] [-6.81083088e-01 7.32203985e-01 1.77558149e-03 -1.01255015e+02] [ 2.67798644e-03 6.60419189e-05 9.99996412e-01 -1.14507971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.230385723 meters 0.021530406572534758 Centerline is valid? [True, True] Translation: X:234.91, Y:-101.30, Z:-11.45 [[ 7.28633423e-01 6.84899450e-01 -2.46545002e-03 2.34912794e+02] [-6.84895981e-01 7.28637587e-01 2.18216086e-03 -1.01299897e+02] [ 3.29098032e-03 9.85814713e-05 9.99994580e-01 -1.14513954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.290385723 meters 0.021199540634387774 Centerline is valid? [True, True] Translation: X:234.95, Y:-101.35, Z:-11.45 [[ 7.25336315e-01 6.88383304e-01 -3.95685508e-03 2.34947938e+02] [-6.88374420e-01 7.25347084e-01 3.50208447e-03 -1.01350347e+02] [ 5.28086978e-03 1.83608785e-04 9.99986039e-01 -1.14517138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.350385723 meters 0.022204544740896077 Centerline is valid? [True, True] Translation: X:234.98, Y:-101.40, Z:-11.45 [[ 7.23262132e-01 6.90562375e-01 -3.93641394e-03 2.34982953e+02] [-6.90553616e-01 7.23272817e-01 3.48374243e-03 -1.01401189e+02] [ 5.25284264e-03 1.98645905e-04 9.99986184e-01 -1.14495078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.410385723 meters 0.022746266115126 Centerline is valid? [True, True] Translation: X:235.02, Y:-101.45, Z:-11.45 [[ 7.22487851e-01 6.91371251e-01 -4.13510176e-03 2.35019754e+02] [-6.91361602e-01 7.22499652e-01 3.65905752e-03 -1.01448043e+02] [ 5.51737676e-03 2.15225977e-04 9.99984756e-01 -1.14490999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.470385723 meters 0.02398157914975749 Centerline is valid? [True, True] Translation: X:235.05, Y:-101.50, Z:-11.45 [[ 7.21481582e-01 6.92422540e-01 -3.91827306e-03 2.35052389e+02] [-6.92413894e-01 7.21492191e-01 3.46658174e-03 -1.01497942e+02] [ 5.22734275e-03 2.11991828e-04 9.99986315e-01 -1.14490199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.530385723 meters 0.023280854301162935 Centerline is valid? [True, True] Translation: X:235.09, Y:-101.55, Z:-11.45 [[ 7.20807629e-01 6.93107788e-01 -6.16095216e-03 2.35085099e+02] [-6.93086426e-01 7.20833878e-01 5.45220528e-03 -1.01554174e+02] [ 8.21998897e-03 3.40081161e-04 9.99966157e-01 -1.14506676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.590385723 meters 0.022717308816011094 Centerline is valid? [True, True] Translation: X:235.12, Y:-101.61, Z:-11.45 [[ 7.20816445e-01 6.93078675e-01 -8.09956105e-03 2.35118341e+02] [-6.93041714e-01 7.20861813e-01 7.17140429e-03 -1.01610553e+02] [ 1.08090116e-02 4.44067531e-04 9.99941482e-01 -1.14510477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.650385723 meters 0.022991591804420203 Centerline is valid? [True, True] Translation: X:235.16, Y:-101.66, Z:-11.45 [[ 7.21219315e-01 6.92647659e-01 -9.05095805e-03 2.35156370e+02] [-6.92601424e-01 7.21275942e-01 8.01773556e-03 -1.01661444e+02] [ 1.20817041e-02 4.86160680e-04 9.99926895e-01 -1.14497917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.710385723 meters 0.022849828334407803 Centerline is valid? [True, True] Translation: X:235.19, Y:-101.72, Z:-11.45 [[ 7.22310706e-01 6.91504676e-01 -9.40891313e-03 2.35189907e+02] [-6.91454563e-01 7.22371823e-01 8.33889620e-03 -1.01717123e+02] [ 1.25631194e-02 4.82561909e-04 9.99920964e-01 -1.14477676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.770385723 meters 0.022967962953506945 Centerline is valid? [True, True] Translation: X:235.22, Y:-101.77, Z:-11.45 [[ 7.22524602e-01 6.91280549e-01 -9.45528552e-03 2.35223498e+02] [-6.91229870e-01 7.22586310e-01 8.38406086e-03 -1.01772339e+02] [ 1.26279981e-02 4.78085543e-04 9.99920149e-01 -1.14454691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.830385723 meters 0.024192071095637445 Centerline is valid? [True, True] Translation: X:235.26, Y:-101.82, Z:-11.45 [[ 7.21713808e-01 6.92114301e-01 -1.03427788e-02 2.35259642e+02] [-6.92053685e-01 7.21787716e-01 9.17547146e-03 -1.01824901e+02] [ 1.38157657e-02 5.35693713e-04 9.99904414e-01 -1.14466050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.890385723 meters 0.02338430361551019 Centerline is valid? [True, True] Translation: X:235.30, Y:-101.87, Z:-11.44 [[ 7.20779994e-01 6.93103337e-01 -9.16321424e-03 2.35299549e+02] [-6.93055790e-01 7.20838072e-01 8.13300575e-03 -1.01872937e+02] [ 1.22422071e-02 4.88510843e-04 9.99924942e-01 -1.14427827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.950385723 meters 0.022808340131282072 Centerline is valid? [True, True] Translation: X:235.34, Y:-101.93, Z:-11.44 [[ 7.21524489e-01 6.92298372e-01 -1.11971280e-02 2.35335351e+02] [-6.92227205e-01 7.21611136e-01 9.94309557e-03 -1.01926360e+02] [ 1.49635611e-02 5.76769665e-04 9.99887873e-01 -1.14431223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.010385723 meters 0.021199847456202507 Centerline is valid? [True, True] Translation: X:235.37, Y:-101.98, Z:-11.44 [[ 7.24428649e-01 6.89255628e-01 -1.13934991e-02 2.35368462e+02] [-6.89181556e-01 7.24518051e-01 1.01181546e-02 -1.01981409e+02] [ 1.52287908e-02 5.22308358e-04 9.99883899e-01 -1.14409019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.070385723 meters 0.02207137252913114 Centerline is valid? [True, True] Translation: X:235.41, Y:-102.03, Z:-11.44 [[ 7.26934249e-01 6.86615484e-01 -1.12149739e-02 2.35405464e+02] [-6.86543389e-01 7.27020610e-01 9.96031000e-03 -1.02031472e+02] [ 1.49924202e-02 4.59075713e-04 9.99887502e-01 -1.14414564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.130385723 meters 0.01983877763792125 Centerline is valid? [True, True] Translation: X:235.44, Y:-102.08, Z:-11.44 [[ 7.28913921e-01 6.84514672e-01 -1.11426738e-02 2.35441128e+02] [-6.84443243e-01 7.28998967e-01 9.89713944e-03 -1.02084468e+02] [ 1.48977349e-02 4.12365102e-04 9.99888938e-01 -1.14403527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.190385723 meters 0.01810181712228263 Centerline is valid? [True, True] Translation: X:235.48, Y:-102.13, Z:-11.44 [[ 7.32316804e-01 6.80874545e-01 -1.10432598e-02 2.35479115e+02] [-6.80803947e-01 7.32399988e-01 9.81035719e-03 -1.02134870e+02] [ 1.47677058e-02 3.34005443e-04 9.99890896e-01 -1.14390002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.250385723 meters 0.016747681652361155 Centerline is valid? [True, True] Translation: X:235.52, Y:-102.18, Z:-11.44 [[ 7.38751002e-01 6.73881613e-01 -1.14249180e-02 2.35520353e+02] [-6.73805192e-01 7.38839314e-01 1.01504198e-02 -1.02181045e+02] [ 1.52813598e-02 1.99536245e-04 9.99883213e-01 -1.14404259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.310385723 meters 0.016202654729390333 Centerline is valid? [True, True] Translation: X:235.57, Y:-102.22, Z:-11.44 [[ 7.43273536e-01 6.68898760e-01 -1.09041021e-02 2.35567810e+02] [-6.68828545e-01 7.43353510e-01 9.69211083e-03 -1.02219790e+02] [ 1.45886435e-02 8.90852815e-05 9.99893576e-01 -1.14429022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37038572299997 meters 0.01774172871205038 Centerline is valid? [True, True] Translation: X:235.62, Y:-102.26, Z:-11.44 [[ 7.45947315e-01 6.65903621e-01 -1.16177067e-02 2.35615249e+02] [-6.65823458e-01 7.46037779e-01 1.03322402e-02 -1.02261831e+02] [ 1.55475243e-02 2.80348590e-05 9.99879130e-01 -1.14423032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.430385723 meters 0.01574715494180081 Centerline is valid? [True, True] Translation: X:235.66, Y:-102.30, Z:-11.44 [[ 7.46268266e-01 6.65549453e-01 -1.12960796e-02 2.35661550e+02] [-6.65473542e-01 7.46353753e-01 1.00518408e-02 -1.02304242e+02] [ 1.51208685e-02 1.58723100e-05 9.99885673e-01 -1.14403156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.490385723 meters 0.01589097965875166 Centerline is valid? [True, True] Translation: X:235.71, Y:-102.34, Z:-11.45 [[ 7.48253362e-01 6.63285934e-01 -1.29875222e-02 2.35710169e+02] [-6.63185147e-01 7.48366065e-01 1.15625747e-02 -1.02343522e+02] [ 1.73887140e-02 -3.86035785e-05 9.99848804e-01 -1.14458467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.550385723 meters 0.016197898771824218 Centerline is valid? [True, True] Translation: X:235.75, Y:-102.38, Z:-11.45 [[ 7.50740588e-01 6.60453351e-01 -1.37819167e-02 2.35754772e+02] [-6.60339277e-01 7.50867071e-01 1.22752391e-02 -1.02384959e+02] [ 1.84556102e-02 -1.14779254e-04 9.99829674e-01 -1.14473750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.610385723 meters 0.0162204539508126 Centerline is valid? [True, True] Translation: X:235.80, Y:-102.43, Z:-11.44 [[ 7.51646050e-01 6.59450538e-01 -1.23774993e-02 2.35800122e+02] [-6.59358306e-01 7.51747944e-01 1.10296893e-02 -1.02427934e+02] [ 1.65782942e-02 -1.29215462e-04 9.99862562e-01 -1.14431893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.670385723 meters 0.015973508014401915 Centerline is valid? [True, True] Translation: X:235.85, Y:-102.47, Z:-11.44 [[ 7.51023768e-01 6.60206020e-01 -9.55574832e-03 2.35847651e+02] [-6.60151057e-01 7.51084552e-01 8.51929732e-03 -1.02468289e+02] [ 1.28016663e-02 -8.99574173e-05 9.99918051e-01 -1.14403711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.730385723 meters 0.01573195263715973 Centerline is valid? [True, True] Translation: X:235.90, Y:-102.51, Z:-11.44 [[ 7.49328499e-01 6.62130918e-01 -9.45765977e-03 2.35895568e+02] [-6.62077180e-01 7.49388180e-01 8.43589443e-03 -1.02507387e+02] [ 1.26731250e-02 -5.95554081e-05 9.99919691e-01 -1.14417439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.790385723 meters 0.015672619211580457 Centerline is valid? [True, True] Translation: X:235.94, Y:-102.55, Z:-11.44 [[ 7.46406555e-01 6.65411868e-01 -1.02127965e-02 2.35941986e+02] [-6.65349448e-01 7.46476420e-01 9.11405253e-03 -1.02547996e+02] [ 1.36882105e-02 -7.71003138e-06 9.99906312e-01 -1.14436214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.850385723 meters 0.01565337959636293 Centerline is valid? [True, True] Translation: X:235.99, Y:-102.59, Z:-11.44 [[ 7.44813371e-01 6.67192335e-01 -1.03648647e-02 2.35988137e+02] [-6.67128146e-01 7.44885486e-01 9.25467884e-03 -1.02590047e+02] [ 1.38952881e-02 2.16844305e-05 9.99903456e-01 -1.14437061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.910385723 meters 0.01566259542517701 Centerline is valid? [True, True] Translation: X:236.03, Y:-102.63, Z:-11.44 [[ 7.43663908e-01 6.68469764e-01 -1.05908995e-02 2.36034520e+02] [-6.68402803e-01 7.43739318e-01 9.46149816e-03 -1.02632453e+02] [ 1.42015938e-02 4.28121926e-05 9.99899151e-01 -1.14439033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.970385723 meters 0.01569413165193741 Centerline is valid? [True, True] Translation: X:236.08, Y:-102.68, Z:-11.44 [[ 7.43875409e-01 6.68228130e-01 -1.09791127e-02 2.36079225e+02] [-6.68156066e-01 7.43956426e-01 9.81358909e-03 -1.02676209e+02] [ 1.47256978e-02 3.56731703e-05 9.99891570e-01 -1.14447755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.030385723 meters 0.017132486952842755 Centerline is valid? [True, True] Translation: X:236.12, Y:-102.72, Z:-11.45 [[ 7.45292565e-01 6.66639331e-01 -1.14452579e-02 2.36124142e+02] [-6.66560742e-01 7.45380441e-01 1.02359671e-02 -1.02721059e+02] [ 1.53547696e-02 1.69436346e-07 9.99882109e-01 -1.14451963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.090385723 meters 0.015788581346427934 Centerline is valid? [True, True] Translation: X:236.17, Y:-102.77, Z:-11.44 [[ 7.48177695e-01 6.63413308e-01 -1.06263510e-02 2.36167800e+02] [-6.63345162e-01 7.48253151e-01 9.50884365e-03 -1.02766890e+02] [ 1.42594940e-02 -6.53662185e-05 9.99898326e-01 -1.14435639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.150385723 meters 0.01586763896434059 Centerline is valid? [True, True] Translation: X:236.21, Y:-102.81, Z:-11.44 [[ 7.49047877e-01 6.62442226e-01 -9.87801000e-03 2.36213761e+02] [-6.62383192e-01 7.49113002e-01 8.84403668e-03 -1.02809188e+02] [ 1.32584091e-02 -8.15791043e-05 9.99912100e-01 -1.14430782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.210385723 meters 0.015842043204777882 Centerline is valid? [True, True] Translation: X:236.26, Y:-102.85, Z:-11.44 [[ 7.49779138e-01 6.61623971e-01 -9.21771041e-03 2.36262204e+02] [-6.61572447e-01 7.49835791e-01 8.25740654e-03 -1.02849720e+02] [ 1.23750673e-02 -9.30479310e-05 9.99923422e-01 -1.14433305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.270385723 meters 0.015834916440227293 Centerline is valid? [True, True] Translation: X:236.31, Y:-102.89, Z:-11.44 [[ 7.49642053e-01 6.61772950e-01 -9.66209806e-03 2.36310465e+02] [-6.61716289e-01 7.49704311e-01 8.66023530e-03 -1.02890415e+02] [ 1.29748260e-02 -9.85088935e-05 9.99915819e-01 -1.14444289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.330385723 meters 0.01593968756014136 Centerline is valid? [True, True] Translation: X:236.36, Y:-102.93, Z:-11.45 [[ 7.49782065e-01 6.61607245e-01 -1.01345279e-02 2.36358028e+02] [-6.61544834e-01 7.49850546e-01 9.08797144e-03 -1.02930997e+02] [ 1.36120490e-02 -1.09553409e-04 9.99907346e-01 -1.14453342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.390385723 meters 0.015917917512536614 Centerline is valid? [True, True] Translation: X:236.41, Y:-102.97, Z:-11.44 [[ 7.50643065e-01 6.60639133e-01 -9.53545643e-03 2.36406647e+02] [-6.60583744e-01 7.50703617e-01 8.55548494e-03 -1.02971492e+02] [ 1.28103898e-02 -1.23147922e-04 9.99917936e-01 -1.14448400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.450385723 meters 0.01608251524236184 Centerline is valid? [True, True] Translation: X:236.45, Y:-103.01, Z:-11.44 [[ 7.51531107e-01 6.59636456e-01 -8.98564540e-03 2.36453978e+02] [-6.59587145e-01 7.51584811e-01 8.06660256e-03 -1.03012447e+02] [ 1.20744997e-02 -1.35486549e-04 9.99927091e-01 -1.14445573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.510385723 meters 0.016118698832112973 Centerline is valid? [True, True] Translation: X:236.50, Y:-103.05, Z:-11.44 [[ 7.52907351e-01 6.58064295e-01 -9.05009288e-03 2.36500499e+02] [-6.58014112e-01 7.52961723e-01 8.12844391e-03 -1.03053241e+02] [ 1.21634122e-02 -1.64876345e-04 9.99926009e-01 -1.14443345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.570385723 meters 0.016577195167526874 Centerline is valid? [True, True] Translation: X:236.55, Y:-103.09, Z:-11.44 [[ 7.53947785e-01 6.56875964e-01 -8.75811908e-03 2.36545738e+02] [-6.56828863e-01 7.53998631e-01 7.86827771e-03 -1.03094136e+02] [ 1.17720923e-02 -1.79685162e-04 9.99930690e-01 -1.14449741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.630385723 meters 0.017028725189498318 Centerline is valid? [True, True] Translation: X:236.59, Y:-103.14, Z:-11.44 [[ 7.54887148e-01 6.55821911e-01 -6.55862325e-03 2.36591733e+02] [-6.55795430e-01 7.54915624e-01 5.89529320e-03 -1.03135539e+02] [ 8.81746961e-03 -1.49165912e-04 9.99961114e-01 -1.14429656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.690385723 meters 0.016527557649242224 Centerline is valid? [True, True] Translation: X:236.64, Y:-103.17, Z:-11.44 [[ 7.54237008e-01 6.56583962e-01 -4.90272739e-03 2.36640042e+02] [-6.56569167e-01 7.54252935e-01 4.40899649e-03 -1.03174466e+02] [ 6.59277291e-03 -1.06448677e-04 9.99978262e-01 -1.14415341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.750385723 meters 0.01598495427334718 Centerline is valid? [True, True] Translation: X:236.69, Y:-103.21, Z:-11.44 [[ 7.51950127e-01 6.59207369e-01 -4.08068132e-03 2.36688809e+02] [-6.59197148e-01 7.51961196e-01 3.67150663e-03 -1.03213604e+02] [ 5.48879824e-03 -7.08163867e-05 9.99984934e-01 -1.14410774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.810385723 meters 0.015757821126853575 Centerline is valid? [True, True] Translation: X:236.74, Y:-103.25, Z:-11.44 [[ 7.49969157e-01 6.61456682e-01 -4.61751205e-03 2.36737300e+02] [-6.61443626e-01 7.49983369e-01 4.15647848e-03 -1.03251900e+02] [ 6.21238771e-03 -6.30067492e-05 9.99980701e-01 -1.14423827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87038572299997 meters 0.015490790937639403 Centerline is valid? [True, True] Translation: X:236.79, Y:-103.29, Z:-11.44 [[ 7.49303823e-01 6.62209830e-01 -4.68205098e-03 2.36785921e+02] [-6.62196406e-01 7.49318449e-01 4.21692463e-03 -1.03292386e+02] [ 6.30083612e-03 -5.93204168e-05 9.99980148e-01 -1.14422475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.930385723 meters 0.015858169229054156 Centerline is valid? [True, True] Translation: X:236.83, Y:-103.33, Z:-11.44 [[ 7.50532616e-01 6.60824127e-01 -3.50235971e-03 2.36831797e+02] [-6.60816593e-01 7.50540786e-01 3.15583215e-03 -1.03332402e+02] [ 4.71411383e-03 -5.41375512e-05 9.99988887e-01 -1.14424281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.990385723 meters 0.016700129252039547 Centerline is valid? [True, True] Translation: X:236.88, Y:-103.38, Z:-11.44 [[ 7.53231758e-01 6.57740590e-01 -4.38574158e-03 2.36876329e+02] [-6.57728714e-01 7.53244520e-01 3.95367615e-03 -1.03375595e+02] [ 5.90402910e-03 -9.34062617e-05 9.99982567e-01 -1.14433304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.050385723 meters 0.018414697287383208 Centerline is valid? [True, True] Translation: X:236.92, Y:-103.42, Z:-11.44 [[ 7.55436441e-01 6.55212908e-01 -3.43926604e-03 2.36922568e+02] [-6.55205571e-01 7.55444265e-01 3.10190814e-03 -1.03417207e+02] [ 4.63058406e-03 -8.98681732e-05 9.99989275e-01 -1.14439300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.110385723 meters 0.017645034113455842 Centerline is valid? [True, True] Translation: X:236.97, Y:-103.46, Z:-11.44 [[ 7.55429206e-01 6.55224921e-01 -2.64909650e-03 2.36969035e+02] [-6.55220565e-01 7.55433847e-01 2.39044129e-03 -1.03458859e+02] [ 3.56749387e-03 -7.00666623e-05 9.99993634e-01 -1.14424727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.170385723 meters 0.017198430952114666 Centerline is valid? [True, True] Translation: X:237.02, Y:-103.50, Z:-11.44 [[ 7.54665940e-01 6.56106990e-01 -1.71383617e-03 2.37016329e+02] [-6.56105167e-01 7.54667885e-01 1.54722959e-03 -1.03499598e+02] [ 2.30852526e-03 -4.31847083e-05 9.99997334e-01 -1.14411985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.230385723 meters 0.016697828352154713 Centerline is valid? [True, True] Translation: X:237.06, Y:-103.54, Z:-11.44 [[ 7.53280776e-01 6.57697457e-01 -1.45865068e-03 2.37064479e+02] [-6.57696138e-01 7.53282188e-01 1.31747355e-03 -1.03538766e+02] [ 1.96527458e-03 -3.30785805e-05 9.99998068e-01 -1.14406571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.290385723 meters 0.01823506744085006 Centerline is valid? [True, True] Translation: X:237.11, Y:-103.58, Z:-11.44 [[ 7.53152512e-01 6.57843508e-01 -1.79238765e-03 2.37112005e+02] [-6.57841515e-01 7.53154644e-01 1.61979018e-03 -1.03579287e+02] [ 2.41551353e-03 -4.08420369e-05 9.99997082e-01 -1.14419353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.350385723 meters 0.016576656516330113 Centerline is valid? [True, True] Translation: X:237.16, Y:-103.62, Z:-11.44 [[ 7.52633542e-01 6.58438328e-01 -1.31124918e-03 2.37158624e+02] [-6.58437261e-01 7.52634684e-01 1.18550160e-03 -1.03618643e+02] [ 1.76747130e-03 -2.88729487e-05 9.99998438e-01 -1.14400637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.410385723 meters 0.01598777573534396 Centerline is valid? [True, True] Translation: X:237.21, Y:-103.66, Z:-11.44 [[ 7.51933021e-01 6.59238994e-01 -8.25172306e-04 2.37208125e+02] [-6.59238572e-01 7.51933473e-01 7.46417663e-04 -1.03655961e+02] [ 1.11254231e-03 -1.72706758e-05 9.99999381e-01 -1.14405222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.470385723 meters 0.01633308034296959 Centerline is valid? [True, True] Translation: X:237.26, Y:-103.70, Z:-11.44 [[ 7.52553468e-01 6.58530473e-01 -9.45443503e-04 2.37255357e+02] [-6.58529917e-01 7.52554062e-01 8.55578067e-04 -1.03695347e+02] [ 1.27492158e-03 -2.12654096e-05 9.99999187e-01 -1.14400965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.530385723 meters 0.016815292106537174 Centerline is valid? [True, True] Translation: X:237.30, Y:-103.74, Z:-11.44 [[ 7.54632030e-01 6.56147552e-01 -9.43363124e-04 2.37302291e+02] [-6.56146996e-01 7.54632619e-01 8.54107314e-04 -1.03735725e+02] [ 1.27231301e-03 -2.55518558e-05 9.99999190e-01 -1.14400590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.590385723 meters 0.017422612525691963 Centerline is valid? [True, True] Translation: X:237.35, Y:-103.78, Z:-11.44 [[ 7.55913562e-01 6.54670195e-01 -1.27400023e-03 2.37348143e+02] [-6.54669179e-01 7.55914635e-01 1.15395019e-03 -1.03776759e+02] [ 1.71849221e-03 -3.82379104e-05 9.99998523e-01 -1.14400096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.650385723 meters 0.01827171377236088 Centerline is valid? [True, True] Translation: X:237.39, Y:-103.82, Z:-11.44 [[ 7.56229547e-01 6.54304673e-01 -1.50541108e-03 2.37392575e+02] [-6.54303253e-01 7.56231044e-01 1.36413644e-03 -1.03818135e+02] [ 2.03099944e-03 -4.66049188e-05 9.99997936e-01 -1.14405595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.710385723 meters 0.018306065866799046 Centerline is valid? [True, True] Translation: X:237.44, Y:-103.86, Z:-11.44 [[ 7.56943540e-01 6.53478409e-01 -1.56409371e-03 2.37440526e+02] [-6.53476873e-01 7.56945154e-01 1.41797209e-03 -1.03857442e+02] [ 2.11054730e-03 -5.12257440e-05 9.99997771e-01 -1.14407320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.770385723 meters 0.01820414650090045 Centerline is valid? [True, True] Translation: X:237.49, Y:-103.90, Z:-11.44 [[ 7.55812477e-01 6.54782915e-01 -2.61423219e-03 2.37488739e+02] [-6.54778627e-01 7.55816994e-01 2.37105806e-03 -1.03896818e+02] [ 3.52840942e-03 -8.03318999e-05 9.99993772e-01 -1.14421066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.830385723 meters 0.01785381564517535 Centerline is valid? [True, True] Translation: X:237.54, Y:-103.94, Z:-11.44 [[ 7.53871772e-01 6.57014394e-01 -3.07198681e-03 2.37536340e+02] [-6.57008488e-01 7.53878027e-01 2.78692780e-03 -1.03935009e+02] [ 4.14695503e-03 -8.26647908e-05 9.99991398e-01 -1.14432698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.890385723 meters 0.01575853997793511 Centerline is valid? [True, True] Translation: X:237.59, Y:-103.97, Z:-11.44 [[ 7.51597036e-01 6.59611933e-01 -3.74093520e-03 2.37586616e+02] [-6.59603198e-01 7.51606341e-01 3.39547340e-03 -1.03971880e+02] [ 5.05140539e-03 -8.44949213e-05 9.99987238e-01 -1.14422506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.950385723 meters 0.016872376112856108 Centerline is valid? [True, True] Translation: X:237.63, Y:-104.01, Z:-11.44 [[ 7.50603245e-01 6.60741850e-01 -3.86990474e-03 2.37630442e+02] [-6.60732510e-01 7.50613217e-01 3.51409353e-03 -1.04014914e+02] [ 5.22671031e-03 -8.07181344e-05 9.99986337e-01 -1.14428532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.010385723 meters 0.01535170329865291 Centerline is valid? [True, True] Translation: X:237.68, Y:-104.05, Z:-11.44 [[ 7.50231744e-01 6.61164204e-01 -3.77159168e-03 2.37680204e+02] [-6.61155329e-01 7.50241220e-01 3.42674761e-03 -1.04053227e+02] [ 5.09524640e-03 -7.72469045e-05 9.99987016e-01 -1.14420072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.070385723 meters 0.015395940528795699 Centerline is valid? [True, True] Translation: X:237.73, Y:-104.10, Z:-11.44 [[ 7.51173649e-01 6.60092974e-01 -3.92624697e-03 2.37726139e+02] [-6.60083331e-01 7.51183904e-01 3.56903038e-03 -1.04095434e+02] [ 5.30522540e-03 -8.93113951e-05 9.99985923e-01 -1.14425076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.130385723 meters 0.015929748130515228 Centerline is valid? [True, True] Translation: X:237.77, Y:-104.14, Z:-11.44 [[ 7.52872385e-01 6.58158284e-01 -3.29321745e-03 2.37769926e+02] [-6.58151475e-01 7.52879582e-01 2.99507204e-03 -1.04139229e+02] [ 4.45062765e-03 -8.74711121e-05 9.99990092e-01 -1.14419466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.190385723 meters 0.01625775800956579 Centerline is valid? [True, True] Translation: X:237.81, Y:-104.18, Z:-11.44 [[ 7.53643767e-01 6.57277048e-01 -2.82033041e-03 2.37814868e+02] [-6.57272043e-01 7.53649040e-01 2.56624855e-03 -1.04181833e+02] [ 3.81227558e-03 -8.03128945e-05 9.99992730e-01 -1.14418655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.250385723 meters 0.01631971935524938 Centerline is valid? [True, True] Translation: X:237.86, Y:-104.22, Z:-11.44 [[ 7.53691477e-01 6.57222654e-01 -2.74606933e-03 2.37860744e+02] [-6.57217903e-01 7.53696475e-01 2.50007845e-03 -1.04224726e+02] [ 3.71281097e-03 -7.95218948e-05 9.99993104e-01 -1.14421380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.310385723 meters 0.01637354017548103 Centerline is valid? [True, True] Translation: X:237.91, Y:-104.27, Z:-11.44 [[ 7.52535197e-01 6.58542758e-01 -3.49466465e-03 2.37905988e+02] [-6.58535072e-01 7.52543306e-01 3.18316078e-03 -1.04266765e+02] [ 4.72613397e-03 -9.40812917e-05 9.99988827e-01 -1.14438091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37038572299997 meters 0.017077442246648696 Centerline is valid? [True, True] Translation: X:237.95, Y:-104.31, Z:-11.45 [[ 7.51210732e-01 6.60049343e-01 -4.15944656e-03 2.37951679e+02] [-6.60038467e-01 7.51222240e-01 3.79052052e-03 -1.04309004e+02] [ 5.62659934e-03 -1.02084968e-04 9.99984165e-01 -1.14454247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.430385723 meters 0.01537302940749616 Centerline is valid? [True, True] Translation: X:238.00, Y:-104.35, Z:-11.45 [[ 7.49012943e-01 6.62543126e-01 -4.02715593e-03 2.37998494e+02] [-6.62532957e-01 7.49023764e-01 3.67173509e-03 -1.04350141e+02] [ 5.44911834e-03 -8.20535765e-05 9.99985150e-01 -1.14454946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.490385723 meters 0.014819336808613625 Centerline is valid? [True, True] Translation: X:238.04, Y:-104.39, Z:-11.45 [[ 7.46731021e-01 6.65115729e-01 -3.72135404e-03 2.38044813e+02] [-6.65107069e-01 7.46740291e-01 3.39460268e-03 -1.04391986e+02] [ 5.03668864e-03 -5.97562477e-05 9.99987314e-01 -1.14453450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.550385723 meters 0.017764767606193176 Centerline is valid? [True, True] Translation: X:238.09, Y:-104.44, Z:-11.45 [[ 7.46374447e-01 6.65512832e-01 -4.22546571e-03 2.38088092e+02] [-6.65501662e-01 7.46386405e-01 3.85646139e-03 -1.04436625e+02] [ 5.72035471e-03 -6.63097860e-05 9.99983636e-01 -1.14473959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.610385723 meters 0.015533239167257564 Centerline is valid? [True, True] Translation: X:238.13, Y:-104.48, Z:-11.45 [[ 7.47619878e-01 6.64117181e-01 -3.58997085e-03 2.38132384e+02] [-6.64109095e-01 7.47628494e-01 3.27803606e-03 -1.04480893e+02] [ 4.86096457e-03 -6.65926306e-05 9.99988183e-01 -1.14456214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.670385723 meters 0.01557420459854094 Centerline is valid? [True, True] Translation: X:238.18, Y:-104.52, Z:-11.45 [[ 7.48284415e-01 6.63370883e-01 -3.08308609e-03 2.38177429e+02] [-6.63364907e-01 7.48290764e-01 2.81656701e-03 -1.04524270e+02] [ 4.17547339e-03 -6.23820821e-05 9.99991281e-01 -1.14456333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.730385723 meters 0.016029095166731806 Centerline is valid? [True, True] Translation: X:238.22, Y:-104.57, Z:-11.45 [[ 7.48820850e-01 6.62766620e-01 -2.78247602e-03 2.38219810e+02] [-6.62761743e-01 7.48826017e-01 2.54316919e-03 -1.04569614e+02] [ 3.76911808e-03 -6.02594579e-05 9.99992895e-01 -1.14461210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.790385723 meters 0.019348064189297996 Centerline is valid? [True, True] Translation: X:238.26, Y:-104.61, Z:-11.45 [[ 7.48999623e-01 6.62559628e-01 -3.78197577e-03 2.38262819e+02] [-6.62550608e-01 7.49009167e-01 3.45834647e-03 -1.04614870e+02] [ 5.12409528e-03 -8.45498573e-05 9.99986868e-01 -1.14506846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.850385723 meters 0.01633443452220044 Centerline is valid? [True, True] Translation: X:238.31, Y:-104.66, Z:-11.45 [[ 7.49112726e-01 6.62432234e-01 -3.69592789e-03 2.38306664e+02] [-6.62423608e-01 7.49121838e-01 3.38153168e-03 -1.04659702e+02] [ 5.00873588e-03 -8.48785278e-05 9.99987453e-01 -1.14496081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.910385723 meters 0.016863662178524426 Centerline is valid? [True, True] Translation: X:238.35, Y:-104.70, Z:-11.45 [[ 7.49267157e-01 6.62260870e-01 -3.04415456e-03 2.38349552e+02] [-6.62255011e-01 7.49273338e-01 2.78662281e-03 -1.04704934e+02] [ 4.12637509e-03 -7.19183399e-05 9.99991484e-01 -1.14495068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.970385723 meters 0.016241433416638976 Centerline is valid? [True, True] Translation: X:238.39, Y:-104.75, Z:-11.45 [[ 7.48386593e-01 6.63260868e-01 -1.58997810e-03 2.38393427e+02] [-6.63259271e-01 7.48388281e-01 1.45618666e-03 -1.04749356e+02] [ 2.15575260e-03 -3.52228601e-05 9.99997676e-01 -1.14480468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.030385723 meters 0.016089705813352635 Centerline is valid? [True, True] Translation: X:238.44, Y:-104.79, Z:-11.45 [[ 7.47157663e-01 6.64646641e-01 -5.19110765e-04 2.38435741e+02] [-6.64646471e-01 7.47157843e-01 4.75568620e-04 -1.04793257e+02] [ 7.03942766e-04 -1.02996014e-05 9.99999752e-01 -1.14482076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.090385723 meters 0.016745591810333454 Centerline is valid? [True, True] Translation: X:238.48, Y:-104.84, Z:-11.45 [[ 7.46606851e-01 6.65265002e-01 -8.29154095e-04 2.38479194e+02] [-6.65264568e-01 7.46607311e-01 7.60047128e-04 -1.04838723e+02] [ 1.12468526e-03 -1.58495519e-05 9.99999367e-01 -1.14501484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.150385723 meters 0.015393558572083544 Centerline is valid? [True, True] Translation: X:238.52, Y:-104.88, Z:-11.45 [[ 7.45395117e-01 6.66622675e-01 -5.73818849e-04 2.38521328e+02] [-6.66622467e-01 7.45395337e-01 5.26235966e-04 -1.04882492e+02] [ 7.78522721e-04 -9.73318256e-06 9.99999697e-01 -1.14493616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.210385723 meters 0.015318819704218433 Centerline is valid? [True, True] Translation: X:238.57, Y:-104.93, Z:-11.45 [[ 7.44897403e-01 6.67178940e-01 -3.48037181e-04 2.38566166e+02] [-6.67178864e-01 7.44897484e-01 3.19376833e-04 -1.04926887e+02] [ 4.72333518e-04 -5.69992272e-06 9.99999888e-01 -1.14500649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.270385723 meters 0.015330544925914714 Centerline is valid? [True, True] Translation: X:238.61, Y:-104.97, Z:-11.45 [[ 7.45402990e-01 6.66613761e-01 -6.90884710e-04 2.38607886e+02] [-6.66613459e-01 7.45403310e-01 6.34212736e-04 -1.04971748e+02] [ 9.37762686e-04 -1.21910232e-05 9.99999560e-01 -1.14513790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.330385723 meters 0.01881344117336236 Centerline is valid? [True, True] Translation: X:238.65, Y:-105.02, Z:-11.46 [[ 7.48291271e-01 6.63365156e-01 -2.61612147e-03 2.38648136e+02] [-6.63360811e-01 7.48295841e-01 2.40170953e-03 -1.05019997e+02] [ 3.55084324e-03 -6.17458181e-05 9.99993694e-01 -1.14556907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.390385723 meters 0.016295213359126485 Centerline is valid? [True, True] Translation: X:238.69, Y:-105.06, Z:-11.45 [[ 7.49360769e-01 6.62158025e-01 -2.27761407e-03 2.38692479e+02] [-6.62154723e-01 7.49364228e-01 2.09197601e-03 -1.05063849e+02] [ 3.09198121e-03 -5.95118413e-05 9.99995218e-01 -1.14540384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.450385723 meters 0.01623456314207317 Centerline is valid? [True, True] Translation: X:238.74, Y:-105.11, Z:-11.45 [[ 7.50575196e-01 6.60784178e-01 -1.06997388e-03 2.38735330e+02] [-6.60783448e-01 7.50575958e-01 9.83268598e-04 -1.05108691e+02] [ 1.45282500e-03 -3.09959948e-05 9.99998944e-01 -1.14531873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.510385723 meters 0.017206316432923915 Centerline is valid? [True, True] Translation: X:238.78, Y:-105.15, Z:-11.45 [[ 7.50307028e-01 6.61089006e-01 -8.30138175e-04 2.38777616e+02] [-6.61088566e-01 7.50307487e-01 7.63272807e-04 -1.05154385e+02] [ 1.12745015e-03 -2.38940957e-05 9.99999364e-01 -1.14535858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.570385723 meters 0.016903156317333468 Centerline is valid? [True, True] Translation: X:238.82, Y:-105.20, Z:-11.45 [[ 7.49643732e-01 6.61840735e-01 -1.05708507e-03 2.38822876e+02] [-6.61840021e-01 7.49644477e-01 9.72370781e-04 -1.05196587e+02] [ 1.43599257e-03 -2.93104587e-05 9.99998969e-01 -1.14533109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.630385723 meters 0.015680580259038852 Centerline is valid? [True, True] Translation: X:238.87, Y:-105.24, Z:-11.45 [[ 7.46774467e-01 6.65076968e-01 -7.22827292e-04 2.38869509e+02] [-6.65076636e-01 7.46774817e-01 6.64962344e-04 -1.05237662e+02] [ 9.82040358e-04 -1.58413564e-05 9.99999518e-01 -1.14523665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.690385723 meters 0.014553394347987114 Centerline is valid? [True, True] Translation: X:238.92, Y:-105.28, Z:-11.45 [[ 7.42691650e-01 6.69633419e-01 -4.43130100e-04 2.38917616e+02] [-6.69633295e-01 7.42691782e-01 4.07862724e-04 -1.05275612e+02] [ 6.02227595e-04 -6.18157025e-06 9.99999819e-01 -1.14523799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.750385723 meters 0.013937352941259019 Centerline is valid? [True, True] Translation: X:238.97, Y:-105.31, Z:-11.45 [[ 7.40290883e-01 6.72286030e-01 -9.50236305e-04 2.38966412e+02] [-6.72285460e-01 7.40291493e-01 8.74981606e-04 -1.05314151e+02] [ 1.29168976e-03 -8.91085338e-06 9.99999166e-01 -1.14540310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.810385723 meters 0.013809392266881819 Centerline is valid? [True, True] Translation: X:239.01, Y:-105.36, Z:-11.45 [[ 7.39582633e-01 6.73064265e-01 -1.42235913e-03 2.39013220e+02] [-6.73062990e-01 7.39584001e-01 1.31042181e-03 -1.05355842e+02] [ 1.93395215e-03 -1.18279268e-05 9.99998130e-01 -1.14546207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87038572299997 meters 0.014175114213447877 Centerline is valid? [True, True] Translation: X:239.06, Y:-105.40, Z:-11.45 [[ 7.41991049e-01 6.70407314e-01 -1.82116006e-03 2.39056594e+02] [-6.70405214e-01 7.41993284e-01 1.67822625e-03 -1.05398835e+02] [ 2.47638369e-03 -2.43136533e-05 9.99996933e-01 -1.14547307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.930385723 meters 0.01663304229568417 Centerline is valid? [True, True] Translation: X:239.10, Y:-105.44, Z:-11.46 [[ 7.45259058e-01 6.66770875e-01 -2.35321262e-03 2.39102332e+02] [-6.66767347e-01 7.45262772e-01 2.16954544e-03 -1.05441220e+02] [ 3.20035147e-03 -4.78280583e-05 9.99994878e-01 -1.14575823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.990385723 meters 0.015963814146819907 Centerline is valid? [True, True] Translation: X:239.15, Y:-105.48, Z:-11.46 [[ 7.47583353e-01 6.64165789e-01 -1.71336517e-03 2.39147525e+02] [-6.64163910e-01 7.47585315e-01 1.58032771e-03 -1.05483242e+02] [ 2.33048624e-03 -4.34713728e-05 9.99997283e-01 -1.14564360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.050385723 meters 0.016825427040979994 Centerline is valid? [True, True] Translation: X:239.19, Y:-105.53, Z:-11.46 [[ 7.48482618e-01 6.63149561e-01 -2.53579754e-03 2.39191698e+02] [-6.63145437e-01 7.48486910e-01 2.33987578e-03 -1.05525745e+02] [ 3.44969887e-03 -6.97537809e-05 9.99994047e-01 -1.14573013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.110385723 meters 0.01580906496119989 Centerline is valid? [True, True] Translation: X:239.24, Y:-105.57, Z:-11.46 [[ 7.48730594e-01 6.62864406e-01 -3.64376650e-03 2.39239901e+02] [-6.62855878e-01 7.48739453e-01 3.36385443e-03 -1.05565248e+02] [ 4.95801110e-03 -1.03328682e-04 9.99987704e-01 -1.14589368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.170385723 meters 0.015514272632081707 Centerline is valid? [True, True] Translation: X:239.29, Y:-105.61, Z:-11.46 [[ 7.47303705e-01 6.64474018e-01 -3.38415267e-03 2.39285771e+02] [-6.64466672e-01 7.47311362e-01 3.12569585e-03 -1.05607164e+02] [ 4.60595942e-03 -8.71874301e-05 9.99989389e-01 -1.14581466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.230385723 meters 0.01691656059715779 Centerline is valid? [True, True] Translation: X:239.33, Y:-105.65, Z:-11.46 [[ 7.45554303e-01 6.66436288e-01 -3.38459418e-03 2.39331079e+02] [-6.66428953e-01 7.45561982e-01 3.12761676e-03 -1.05649150e+02] [ 4.60778205e-03 -7.62165822e-05 9.99989381e-01 -1.14586269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.290385723 meters 0.014674324400642591 Centerline is valid? [True, True] Translation: X:239.38, Y:-105.69, Z:-11.46 [[ 7.42319001e-01 6.70042833e-01 -2.25900514e-03 2.39376692e+02] [-6.70039579e-01 7.42322437e-01 2.08842299e-03 -1.05690129e+02] [ 3.07624306e-03 -3.66532180e-05 9.99995268e-01 -1.14566713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.350385723 meters 0.014144391853672321 Centerline is valid? [True, True] Translation: X:239.42, Y:-105.73, Z:-11.46 [[ 7.40178663e-01 6.72407029e-01 -2.08172147e-03 2.39423783e+02] [-6.72404273e-01 7.40181590e-01 1.92545607e-03 -1.05730386e+02] [ 2.83554211e-03 -2.54230902e-05 9.99995980e-01 -1.14567469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.410385723 meters 0.014216357692236357 Centerline is valid? [True, True] Translation: X:239.47, Y:-105.77, Z:-11.46 [[ 7.40382299e-01 6.72182920e-01 -2.04287494e-03 2.39470083e+02] [-6.72180262e-01 7.40385117e-01 1.89057531e-03 -1.05773493e+02] [ 2.78332664e-03 -2.65682792e-05 9.99996126e-01 -1.14575839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.470385723 meters 0.015611653929704716 Centerline is valid? [True, True] Translation: X:239.52, Y:-105.82, Z:-11.46 [[ 7.41105290e-01 6.71384418e-01 -2.43178531e-03 2.39515056e+02] [-6.71380643e-01 7.41109278e-01 2.25156948e-03 -1.05815716e+02] [ 3.31388732e-03 -3.59964622e-05 9.99994508e-01 -1.14589474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.530385723 meters 0.014570153579823693 Centerline is valid? [True, True] Translation: X:239.56, Y:-105.86, Z:-11.46 [[ 7.42324972e-01 6.70037078e-01 -1.98731766e-03 2.39560664e+02] [-6.70034550e-01 7.42327631e-01 1.84094476e-03 -1.05857221e+02] [ 2.70874206e-03 -3.50077699e-05 9.99996331e-01 -1.14578393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.590385723 meters 0.014875571855934744 Centerline is valid? [True, True] Translation: X:239.61, Y:-105.90, Z:-11.46 [[ 7.43013444e-01 6.69271525e-01 -2.57827764e-03 2.39606897e+02] [-6.69267262e-01 7.43017916e-01 2.38952683e-03 -1.05898292e+02] [ 3.51494874e-03 -4.98937467e-05 9.99993821e-01 -1.14593946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.650385723 meters 0.015101317213679005 Centerline is valid? [True, True] Translation: X:239.65, Y:-105.94, Z:-11.46 [[ 7.43419606e-01 6.68820484e-01 -2.53970186e-03 2.39653192e+02] [-6.68816340e-01 7.43423942e-01 2.35491812e-03 -1.05939624e+02] [ 3.46309264e-03 -5.20981933e-05 9.99994002e-01 -1.14597854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.710385723 meters 0.015195522139747708 Centerline is valid? [True, True] Translation: X:239.70, Y:-105.98, Z:-11.46 [[ 7.43837495e-01 6.68356467e-01 -2.32677914e-03 2.39699519e+02] [-6.68352983e-01 7.43841133e-01 2.15853463e-03 -1.05981593e+02] [ 3.17342461e-03 -5.04892116e-05 9.99994963e-01 -1.14589777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.770385723 meters 0.015150188783306942 Centerline is valid? [True, True] Translation: X:239.75, Y:-106.02, Z:-11.46 [[ 7.43717324e-01 6.68491386e-01 -1.95154130e-03 2.39746077e+02] [-6.68488933e-01 7.43719884e-01 1.81145619e-03 -1.06023195e+02] [ 2.66234292e-03 -4.26275918e-05 9.99996455e-01 -1.14580657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.830385723 meters 0.014890108851593581 Centerline is valid? [True, True] Translation: X:239.79, Y:-106.06, Z:-11.46 [[ 7.42139147e-01 6.70243877e-01 -1.62265616e-03 2.39792031e+02] [-6.70242184e-01 7.42140920e-01 1.50657913e-03 -1.06062977e+02] [ 2.21401498e-03 -3.05187408e-05 9.99997549e-01 -1.14587710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.890385723 meters 0.01454492738868158 Centerline is valid? [True, True] Translation: X:239.84, Y:-106.10, Z:-11.46 [[ 7.40368046e-01 6.72199667e-01 -1.66245913e-03 2.39838574e+02] [-6.72197894e-01 7.40369913e-01 1.54422896e-03 -1.06102650e+02] [ 2.26886492e-03 -2.57962515e-05 9.99997426e-01 -1.14588504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.950385723 meters 0.013976420814781022 Centerline is valid? [True, True] Translation: X:239.89, Y:-106.14, Z:-11.46 [[ 7.37418883e-01 6.75433544e-01 -1.70856934e-03 2.39886847e+02] [-6.75431678e-01 7.37420862e-01 1.58780547e-03 -1.06142183e+02] [ 2.33239174e-03 -1.68558781e-05 9.99997280e-01 -1.14579317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.010385723 meters 0.013700850036157402 Centerline is valid? [True, True] Translation: X:239.93, Y:-106.18, Z:-11.46 [[ 7.35471081e-01 6.77553967e-01 -1.70607413e-03 2.39933991e+02] [-6.77552111e-01 7.35473060e-01 1.58616527e-03 -1.06181321e+02] [ 2.32948413e-03 -1.06245548e-05 9.99997287e-01 -1.14578059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.070385723 meters 0.013562196421487415 Centerline is valid? [True, True] Translation: X:239.98, Y:-106.22, Z:-11.46 [[ 7.35440971e-01 6.77584923e-01 -2.29139948e-03 2.39982187e+02] [-6.77581570e-01 7.35444541e-01 2.13153201e-03 -1.06221855e+02] [ 3.12949119e-03 -1.50059176e-05 9.99995103e-01 -1.14580030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.130385723 meters 0.01362734024465856 Centerline is valid? [True, True] Translation: X:240.03, Y:-106.26, Z:-11.46 [[ 7.35909603e-01 6.77074975e-01 -2.55647589e-03 2.40028388e+02] [-6.77070794e-01 7.35914043e-01 2.37942242e-03 -1.06264252e+02] [ 3.49239388e-03 -2.01246507e-05 9.99993901e-01 -1.14581045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.190385723 meters 0.014053584248406756 Centerline is valid? [True, True] Translation: X:240.07, Y:-106.31, Z:-11.46 [[ 7.37573914e-01 6.75260409e-01 -2.84651727e-03 2.40072217e+02] [-6.75255207e-01 7.37579406e-01 2.65053023e-03 -1.06306620e+02] [ 3.88933064e-03 -3.28363429e-05 9.99992436e-01 -1.14565546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.250385723 meters 0.014475193140671761 Centerline is valid? [True, True] Translation: X:240.12, Y:-106.35, Z:-11.46 [[ 7.38803746e-01 6.73911196e-01 -3.56723811e-03 2.40116450e+02] [-6.73903005e-01 7.38812356e-01 3.32305939e-03 -1.06349568e+02] [ 4.87496652e-03 -5.11162465e-05 9.99988116e-01 -1.14566330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.310385723 meters 0.015154320610008924 Centerline is valid? [True, True] Translation: X:240.16, Y:-106.39, Z:-11.46 [[ 7.40470385e-01 6.72074691e-01 -4.38391211e-03 2.40160349e+02] [-6.72062278e-01 7.40483358e-01 4.08556588e-03 -1.06391623e+02] [ 5.99201939e-03 -7.89785810e-05 9.99982045e-01 -1.14562154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37038572299997 meters 0.014999895377903713 Centerline is valid? [True, True] Translation: X:240.21, Y:-106.43, Z:-11.45 [[ 7.41433984e-01 6.71010797e-01 -4.48971323e-03 2.40208279e+02] [-6.70997745e-01 7.41447572e-01 4.18622222e-03 -1.06430806e+02] [ 6.13788728e-03 -9.12199677e-05 9.99981159e-01 -1.14546947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.430385723 meters 0.016268649644492022 Centerline is valid? [True, True] Translation: X:240.25, Y:-106.47, Z:-11.46 [[ 7.41356136e-01 6.71094285e-01 -4.85173395e-03 2.40251780e+02] [-6.71079030e-01 7.41372005e-01 4.52611351e-03 -1.06474308e+02] [ 6.63438864e-03 -9.95651151e-05 9.99977987e-01 -1.14556404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.490385723 meters 0.0170078507420762 Centerline is valid? [True, True] Translation: X:240.30, Y:-106.52, Z:-11.45 [[ 7.41563976e-01 6.70863489e-01 -5.00485481e-03 2.40298914e+02] [-6.70847234e-01 7.41580857e-01 4.67131869e-03 -1.06515875e+02] [ 6.84532168e-03 -1.06588655e-04 9.99976565e-01 -1.14529888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.550385723 meters 0.01659826099286929 Centerline is valid? [True, True] Translation: X:240.35, Y:-106.55, Z:-11.45 [[ 7.42055745e-01 6.70321196e-01 -4.77141862e-03 2.40347870e+02] [-6.70306403e-01 7.42071077e-01 4.45458916e-03 -1.06553747e+02] [ 6.52673728e-03 -1.07241023e-04 9.99978695e-01 -1.14499150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.610385723 meters 0.017120645300971463 Centerline is valid? [True, True] Translation: X:240.39, Y:-106.59, Z:-11.45 [[ 7.42209873e-01 6.70135130e-01 -6.58874597e-03 2.40394493e+02] [-6.70106891e-01 7.42239102e-01 6.15394619e-03 -1.06594022e+02] [ 9.01440042e-03 -1.52355541e-04 9.99959358e-01 -1.14491246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.670385723 meters 0.017857829796216335 Centerline is valid? [True, True] Translation: X:240.44, Y:-106.63, Z:-11.45 [[ 7.42126189e-01 6.70206514e-01 -8.48223583e-03 2.40441444e+02] [-6.70159692e-01 7.42174636e-01 7.92444918e-03 -1.06633917e+02] [ 1.16063178e-02 -1.96488724e-04 9.99932625e-01 -1.14497292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.730385723 meters 0.01752426843621598 Centerline is valid? [True, True] Translation: X:240.49, Y:-106.67, Z:-11.45 [[ 7.42034269e-01 6.70296323e-01 -9.37998528e-03 2.40488450e+02] [-6.70239018e-01 7.42093520e-01 8.76736829e-03 -1.06673952e+02] [ 1.28375610e-02 -2.18855593e-04 9.99917571e-01 -1.14482501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.790385723 meters 0.017698464627499813 Centerline is valid? [True, True] Translation: X:240.54, Y:-106.71, Z:-11.45 [[ 7.41378792e-01 6.71000003e-01 -1.07927508e-02 2.40536002e+02] [-6.70924143e-01 7.41457307e-01 1.00923586e-02 -1.06713322e+02] [ 1.47743366e-02 -2.41143554e-04 9.99890824e-01 -1.14469329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.850385723 meters 0.01799255334398833 Centerline is valid? [True, True] Translation: X:240.58, Y:-106.75, Z:-11.45 [[ 7.40429594e-01 6.72012371e-01 -1.27824170e-02 2.40581749e+02] [-6.71906034e-01 7.40539873e-01 1.19573616e-02 -1.06753189e+02] [ 1.75013844e-02 -2.65001322e-04 9.99846804e-01 -1.14464595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.910385723 meters 0.018085818563720036 Centerline is valid? [True, True] Translation: X:240.63, Y:-106.79, Z:-11.44 [[ 7.39933620e-01 6.72534682e-01 -1.39764000e-02 2.40627914e+02] [-6.72407523e-01 7.40065553e-01 1.30805333e-02 -1.06794093e+02] [ 1.91405645e-02 -2.80889853e-04 9.99816763e-01 -1.14439324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.970385723 meters 0.018179824349765002 Centerline is valid? [True, True] Translation: X:240.67, Y:-106.84, Z:-11.44 [[ 7.40709824e-01 6.71656378e-01 -1.50554556e-02 2.40674091e+02] [-6.71508501e-01 7.40862740e-01 1.40972774e-02 -1.06835438e+02] [ 2.06225523e-02 -3.32125437e-04 9.99787277e-01 -1.14415520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.030385723 meters 0.019373995232415567 Centerline is valid? [True, True] Translation: X:240.72, Y:-106.88, Z:-11.44 [[ 7.41558272e-01 6.70709513e-01 -1.54944787e-02 2.40717349e+02] [-6.70552542e-01 7.41720034e-01 1.45148051e-02 -1.06879123e+02] [ 2.12277832e-02 -3.73711757e-04 9.99774595e-01 -1.14430385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.090385723 meters 0.020270947366537985 Centerline is valid? [True, True] Translation: X:240.76, Y:-106.92, Z:-11.44 [[ 7.42389582e-01 6.69765539e-01 -1.64872984e-02 2.40761788e+02] [-6.69587425e-01 7.42572513e-01 1.54513293e-02 -1.06920648e+02] [ 2.25917825e-02 -4.31218243e-04 9.99744680e-01 -1.14441160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.150385723 meters 0.01912087248336147 Centerline is valid? [True, True] Translation: X:240.81, Y:-106.96, Z:-11.44 [[ 7.42790097e-01 6.69305567e-01 -1.71151714e-02 2.40808814e+02] [-6.69113324e-01 7.42987106e-01 1.60474604e-02 -1.06961671e+02] [ 2.34570063e-02 -4.67905471e-04 9.99724737e-01 -1.14418575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.210385723 meters 0.019031318892863067 Centerline is valid? [True, True] Translation: X:240.85, Y:-107.01, Z:-11.44 [[ 7.42284177e-01 6.69860650e-01 -1.73467693e-02 2.40854538e+02] [-6.69663107e-01 7.42486697e-01 1.62735417e-02 -1.07005430e+02] [ 2.37807507e-02 -4.63101149e-04 9.99717091e-01 -1.14420112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.270385723 meters 0.018956387889858237 Centerline is valid? [True, True] Translation: X:240.90, Y:-107.05, Z:-11.44 [[ 7.40770787e-01 6.71532068e-01 -1.74161275e-02 2.40900767e+02] [-6.71333219e-01 7.40975376e-01 1.63463148e-02 -1.07047128e+02] [ 2.38819962e-02 -4.16847547e-04 9.99714698e-01 -1.14439093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.330385723 meters 0.018647735212745098 Centerline is valid? [True, True] Translation: X:240.95, Y:-107.09, Z:-11.44 [[ 7.39773539e-01 6.72602567e-01 -1.84634195e-02 2.40946296e+02] [-6.72379201e-01 7.40003795e-01 1.73376056e-02 -1.07089173e+02] [ 2.53243186e-02 -4.11482618e-04 9.99679203e-01 -1.14444022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.390385723 meters 0.019015649896595016 Centerline is valid? [True, True] Translation: X:240.99, Y:-107.13, Z:-11.45 [[ 7.39387741e-01 6.73007197e-01 -1.91593791e-02 2.40989460e+02] [-6.72766583e-01 7.39635814e-01 1.79996575e-02 -1.07134244e+02] [ 2.62848620e-02 -4.18936146e-04 9.99654406e-01 -1.14456821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.450385723 meters 0.019526329820711348 Centerline is valid? [True, True] Translation: X:241.03, Y:-107.18, Z:-11.45 [[ 7.39581185e-01 6.72804649e-01 -1.88035701e-02 2.41032716e+02] [-6.72572673e-01 7.39820063e-01 1.76712732e-02 -1.07178878e+02] [ 2.58005731e-02 -4.22573737e-04 9.99667020e-01 -1.14470527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.510385723 meters 0.01860502721901747 Centerline is valid? [True, True] Translation: X:241.08, Y:-107.22, Z:-11.44 [[ 7.38475797e-01 6.74055321e-01 -1.74046374e-02 2.41078103e+02] [-6.73856862e-01 7.38680784e-01 1.63593996e-02 -1.07222092e+02] [ 2.38836115e-02 -3.52786321e-04 9.99714684e-01 -1.14446959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.570385723 meters 0.018923284570808295 Centerline is valid? [True, True] Translation: X:241.12, Y:-107.26, Z:-11.45 [[ 7.36328645e-01 6.76439318e-01 -1.58106279e-02 2.41121029e+02] [-6.76276088e-01 7.36498327e-01 1.48616134e-02 -1.07264156e+02] [ 2.16974807e-02 -2.50682053e-04 9.99764551e-01 -1.14458283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.630385723 meters 0.01798063326929269 Centerline is valid? [True, True] Translation: X:241.17, Y:-107.31, Z:-11.44 [[ 7.35098428e-01 6.77808470e-01 -1.43519768e-02 2.41166714e+02] [-6.77674102e-01 7.35238492e-01 1.34970939e-02 -1.07306626e+02] [ 1.97005704e-02 -1.95729540e-04 9.99805906e-01 -1.14431092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.690385723 meters 0.018282138680960878 Centerline is valid? [True, True] Translation: X:241.21, Y:-107.35, Z:-11.44 [[ 7.34782750e-01 6.78168667e-01 -1.34747957e-02 2.41208051e+02] [-6.78050180e-01 7.34906271e-01 1.26777772e-02 -1.07351765e+02] [ 1.85003832e-02 -1.78824348e-04 9.99828837e-01 -1.14449577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.750385723 meters 0.017840412700966927 Centerline is valid? [True, True] Translation: X:241.25, Y:-107.40, Z:-11.44 [[ 7.34491868e-01 6.78522019e-01 -1.13827177e-02 2.41252870e+02] [-6.78437433e-01 7.34580049e-01 1.07144968e-02 -1.07395238e+02] [ 1.56315393e-02 -1.47249010e-04 9.99877809e-01 -1.14436995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.810385723 meters 0.01765713397916117 Centerline is valid? [True, True] Translation: X:241.30, Y:-107.44, Z:-11.44 [[ 7.33717303e-01 6.79376786e-01 -1.03005677e-02 2.41296493e+02] [-6.79307569e-01 7.33789594e-01 9.69836790e-03 -1.07440235e+02] [ 1.41472954e-02 -1.18606730e-04 9.99899915e-01 -1.14422843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87038572299997 meters 0.01921834498196878 Centerline is valid? [True, True] Translation: X:241.34, Y:-107.48, Z:-11.44 [[ 7.33407228e-01 6.79721377e-01 -9.62747825e-03 2.41341395e+02] [-6.79660882e-01 7.33470407e-01 9.06902737e-03 -1.07483760e+02] [ 1.32258822e-02 -1.07869860e-04 9.99912528e-01 -1.14433415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.930385723 meters 0.017534704059998706 Centerline is valid? [True, True] Translation: X:241.38, Y:-107.53, Z:-11.44 [[ 7.33787421e-01 6.79329399e-01 -8.22119703e-03 2.41384603e+02] [-6.79285221e-01 7.33833467e-01 7.74801429e-03 -1.07528391e+02] [ 1.12964434e-02 -1.00857784e-04 9.99936188e-01 -1.14424793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.990385723 meters 0.017796753177230583 Centerline is valid? [True, True] Translation: X:241.43, Y:-107.58, Z:-11.44 [[ 7.35618555e-01 6.77363667e-01 -6.61848230e-03 2.41426630e+02] [-6.77334924e-01 7.35648320e-01 6.24093615e-03 -1.07575503e+02] [ 9.09625878e-03 -1.08019222e-04 9.99958622e-01 -1.14421051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.050385723 meters 0.019470766334553878 Centerline is valid? [True, True] Translation: X:241.47, Y:-107.62, Z:-11.44 [[ 7.38406829e-01 6.74331174e-01 -5.72919680e-03 2.41467710e+02] [-6.74309525e-01 7.38429043e-01 5.40488699e-03 -1.07622084e+02] [ 7.87528910e-03 -1.27753491e-04 9.99968981e-01 -1.14438400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.110385723 meters 0.01916325355209535 Centerline is valid? [True, True] Translation: X:241.51, Y:-107.67, Z:-11.44 [[ 7.39554297e-01 6.73077189e-01 -5.15165659e-03 2.41509804e+02] [-6.73059638e-01 7.39572229e-01 4.86226874e-03 -1.07668416e+02] [ 7.08270432e-03 -1.28539618e-04 9.99974909e-01 -1.14441177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.170385723 meters 0.019039958374584647 Centerline is valid? [True, True] Translation: X:241.55, Y:-107.71, Z:-11.44 [[ 7.39071909e-01 6.73612362e-01 -4.37030376e-03 2.41553277e+02] [-6.73599729e-01 7.39084823e-01 4.12669349e-03 -1.07713319e+02] [ 6.00981693e-03 -1.06087804e-04 9.99981935e-01 -1.14438132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.230385723 meters 0.018064435806431033 Centerline is valid? [True, True] Translation: X:241.60, Y:-107.76, Z:-11.44 [[ 7.36751705e-01 6.76151289e-01 -4.04482361e-03 2.41599482e+02] [-6.76140501e-01 7.36762804e-01 3.82030869e-03 -1.07755729e+02] [ 5.56318223e-03 -7.97498803e-05 9.99984522e-01 -1.14447415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.290385723 meters 0.017672972626600367 Centerline is valid? [True, True] Translation: X:241.64, Y:-107.80, Z:-11.45 [[ 7.34266781e-01 6.78843490e-01 -4.87962453e-03 2.41642515e+02] [-6.78827835e-01 7.34282991e-01 4.61075115e-03 -1.07799102e+02] [ 6.71300370e-03 -7.30964425e-05 9.99977465e-01 -1.14472667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.350385723 meters 0.017441359050440797 Centerline is valid? [True, True] Translation: X:241.69, Y:-107.84, Z:-11.45 [[ 7.33535664e-01 6.79636763e-01 -4.39318984e-03 2.41686674e+02] [-6.79624084e-01 7.33548817e-01 4.15177960e-03 -1.07843605e+02] [ 6.04432126e-03 -5.97607843e-05 9.99981731e-01 -1.14473497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.410385723 meters 0.017231642192620765 Centerline is valid? [True, True] Translation: X:241.73, Y:-107.89, Z:-11.45 [[ 7.33592463e-01 6.79579409e-01 -3.73164178e-03 2.41730620e+02] [-6.79570250e-01 7.33601952e-01 3.52852077e-03 -1.07888428e+02] [ 5.13544976e-03 -5.25835037e-05 9.99986812e-01 -1.14464466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.470385723 meters 0.017853765814259973 Centerline is valid? [True, True] Translation: X:241.77, Y:-107.93, Z:-11.45 [[ 7.34999983e-01 6.78065800e-01 -1.34030268e-03 2.41770900e+02] [-6.78064615e-01 7.35001204e-01 1.26791291e-03 -1.07934434e+02] [ 1.84485246e-03 -2.31041428e-05 9.99998298e-01 -1.14456621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.530385723 meters 0.017368253707335055 Centerline is valid? [True, True] Translation: X:241.81, Y:-107.98, Z:-11.44 [[ 7.36468344e-01 6.76472006e-01 -5.71491228e-05 2.41813816e+02] [-6.76472004e-01 7.36468346e-01 5.40991253e-05 -1.07978672e+02] [ 7.86850637e-05 -1.18251165e-06 9.99999997e-01 -1.14439623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.590385723 meters 0.018500939847343432 Centerline is valid? [True, True] Translation: X:241.85, Y:-108.02, Z:-11.44 [[ 7.36853368e-01 6.76052561e-01 2.20349105e-04 2.41854784e+02] [-6.76052529e-01 7.36853401e-01 -2.08550197e-04 -1.08024400e+02] [-3.03355883e-04 4.70334513e-06 9.99999954e-01 -1.14439418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.650385723 meters 0.017601892526987767 Centerline is valid? [True, True] Translation: X:241.90, Y:-108.07, Z:-11.44 [[ 7.36726207e-01 6.76190330e-01 1.06453960e-03 2.41902052e+02] [-6.76189579e-01 7.36726976e-01 -1.00824323e-03 -1.08066374e+02] [-1.46603936e-03 2.29686322e-05 9.99998925e-01 -1.14441811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.710385723 meters 0.019124972036847494 Centerline is valid? [True, True] Translation: X:241.94, Y:-108.11, Z:-11.45 [[ 7.35863083e-01 6.77129273e-01 1.21255496e-03 2.41944956e+02] [-6.77128299e-01 7.35864082e-01 -1.14877729e-03 -1.08109934e+02] [-1.67014637e-03 2.42875226e-05 9.99998605e-01 -1.14457754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.770385723 meters 0.017382409389776365 Centerline is valid? [True, True] Translation: X:241.99, Y:-108.15, Z:-11.45 [[ 7.34639268e-01 6.78457035e-01 1.09451264e-03 2.41991297e+02] [-6.78456242e-01 7.34640083e-01 -1.03741745e-03 -1.08150920e+02] [-1.50791602e-03 1.95486575e-05 9.99998863e-01 -1.14452842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.830385723 meters 0.016835078730891004 Centerline is valid? [True, True] Translation: X:242.04, Y:-108.19, Z:-11.45 [[ 7.31717354e-01 6.81606391e-01 1.56245867e-03 2.42037894e+02] [-6.81604781e-01 7.31719022e-01 -1.48169511e-03 -1.08191453e+02] [-2.15321359e-03 1.92027198e-05 9.99997682e-01 -1.14452081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.890385723 meters 0.01671801857996835 Centerline is valid? [True, True] Translation: X:242.08, Y:-108.23, Z:-11.45 [[ 7.30314343e-01 6.83109091e-01 1.71204066e-03 2.42083663e+02] [-6.83107161e-01 7.30316349e-01 -1.62401439e-03 -1.08232578e+02] [-2.35971028e-03 1.65337706e-05 9.99997216e-01 -1.14452576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.950385723 meters 0.018440985570701146 Centerline is valid? [True, True] Translation: X:242.13, Y:-108.27, Z:-11.45 [[ 7.28392805e-01 6.85158539e-01 1.30292726e-03 2.42129861e+02] [-6.85157423e-01 7.28393971e-01 -1.23645317e-03 -1.08272707e+02] [-1.79621081e-03 7.91330607e-06 9.99998387e-01 -1.14485645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.010385723 meters 0.01642100395688338 Centerline is valid? [True, True] Translation: X:242.18, Y:-108.31, Z:-11.45 [[ 7.28097968e-01 6.85470821e-01 1.76159397e-03 2.42176702e+02] [-6.85468780e-01 7.28100099e-01 -1.67264985e-03 -1.08314731e+02] [-2.42916941e-03 1.03352820e-05 9.99997050e-01 -1.14457865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.070385723 meters 0.01640566712796789 Centerline is valid? [True, True] Translation: X:242.22, Y:-108.36, Z:-11.45 [[ 7.28212357e-01 6.85349794e-01 1.55651253e-03 2.42223447e+02] [-6.85348199e-01 7.28214020e-01 -1.47872911e-03 -1.08356329e+02] [-2.14692094e-03 1.00757462e-05 9.99997695e-01 -1.14469542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.130385723 meters 0.016327639705928022 Centerline is valid? [True, True] Translation: X:242.27, Y:-108.40, Z:-11.45 [[ 7.29784165e-01 6.83677090e-01 8.41385492e-04 2.42268823e+02] [-6.83676623e-01 7.29784650e-01 -7.99677456e-04 -1.08398025e+02] [-1.16075137e-03 8.35635311e-06 9.99999326e-01 -1.14472323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.190385723 meters 0.01642963196240153 Centerline is valid? [True, True] Translation: X:242.31, Y:-108.44, Z:-11.45 [[ 7.30689724e-01 6.82709694e-01 -1.22709445e-05 2.42314877e+02] [-6.82709694e-01 7.30689724e-01 1.17121142e-05 -1.08440314e+02] [ 1.69622269e-05 -1.80428686e-07 1.00000000e+00 -1.14486294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.250385723 meters 0.01658113981385648 Centerline is valid? [True, True] Translation: X:242.36, Y:-108.48, Z:-11.45 [[ 7.31690961e-01 6.81634364e-01 -1.71216545e-03 2.42361743e+02] [-6.81632418e-01 7.31692964e-01 1.62897949e-03 -1.08481560e+02] [ 2.36314781e-03 -2.48420926e-05 9.99997207e-01 -1.14508169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.310385723 meters 0.016953396988285345 Centerline is valid? [True, True] Translation: X:242.41, Y:-108.52, Z:-11.45 [[ 7.33495917e-01 6.79688791e-01 -2.62417811e-03 2.42406038e+02] [-6.79684204e-01 7.33500610e-01 2.49758170e-03 -1.08523050e+02] [ 3.62241453e-03 -4.83535740e-05 9.99993438e-01 -1.14514237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37038572299997 meters 0.018216629872918267 Centerline is valid? [True, True] Translation: X:242.45, Y:-108.57, Z:-11.45 [[ 7.36559417e-01 6.76367194e-01 -2.76477831e-03 2.42449618e+02] [-6.76362076e-01 7.36564603e-01 2.63199179e-03 -1.08565325e+02] [ 3.81663074e-03 -6.86271394e-05 9.99992714e-01 -1.14511048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.430385723 meters 0.018433270122943986 Centerline is valid? [True, True] Translation: X:242.50, Y:-108.61, Z:-11.45 [[ 7.39502095e-01 6.73150329e-01 -2.29903950e-03 2.42497981e+02] [-6.73146774e-01 7.39505666e-01 2.18891523e-03 -1.08605105e+02] [ 3.17362174e-03 -7.11163817e-05 9.99994962e-01 -1.14505289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.490385723 meters 0.019129514590811317 Centerline is valid? [True, True] Translation: X:242.54, Y:-108.65, Z:-11.45 [[ 7.40575404e-01 6.71971539e-01 -1.52402923e-03 2.42543961e+02] [-6.71969973e-01 7.40576970e-01 1.45173992e-03 -1.08646904e+02] [ 2.10418886e-03 -5.10209936e-05 9.99997785e-01 -1.14496826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.550385723 meters 0.01962946943475462 Centerline is valid? [True, True] Translation: X:242.59, Y:-108.68, Z:-11.45 [[ 7.40620686e-01 6.71922976e-01 -7.17292308e-04 2.42592733e+02] [-6.71922628e-01 7.40621033e-01 6.83630995e-04 -1.08684983e+02] [ 9.90589142e-04 -2.43463235e-05 9.99999509e-01 -1.14488470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.610385723 meters 0.018405001218579287 Centerline is valid? [True, True] Translation: X:242.64, Y:-108.72, Z:-11.45 [[ 7.39531243e-01 6.73121655e-01 -8.82092653e-04 2.42642345e+02] [-6.73121130e-01 7.39531768e-01 8.41083805e-04 -1.08723250e+02] [ 1.21848726e-03 -2.82525480e-05 9.99999257e-01 -1.14491431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.670385723 meters 0.017552403031346087 Centerline is valid? [True, True] Translation: X:242.69, Y:-108.76, Z:-11.45 [[ 7.36684628e-01 6.76234070e-01 -1.80012720e-03 2.42693903e+02] [-6.76231892e-01 7.36686826e-01 1.71720576e-03 -1.08759282e+02] [ 2.48736304e-03 -4.77356684e-05 9.99996905e-01 -1.14516241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.730385723 meters 0.016926045725190086 Centerline is valid? [True, True] Translation: X:242.74, Y:-108.80, Z:-11.45 [[ 7.33884857e-01 6.79267858e-01 -2.86252629e-03 2.42743742e+02] [-6.79262367e-01 7.33890437e-01 2.73192060e-03 -1.08796431e+02] [ 3.95648653e-03 -6.05087799e-05 9.99992171e-01 -1.14538204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.790385723 meters 0.017827574453306145 Centerline is valid? [True, True] Translation: X:242.79, Y:-108.83, Z:-11.45 [[ 7.31465102e-01 6.81864743e-01 -4.39056229e-03 2.42794316e+02] [-6.81851859e-01 7.31478276e-01 4.19228218e-03 -1.08833750e+02] [ 6.07017034e-03 -7.27950527e-05 9.99981574e-01 -1.14549595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.850385723 meters 0.015808106940714335 Centerline is valid? [True, True] Translation: X:242.84, Y:-108.87, Z:-11.45 [[ 7.28824581e-01 6.84692184e-01 -3.36794020e-03 2.42841991e+02] [-6.84684626e-01 7.28832362e-01 3.21729721e-03 -1.08872704e+02] [ 4.65752206e-03 -3.88684154e-05 9.99989153e-01 -1.14537742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.910385723 meters 0.01554174856400106 Centerline is valid? [True, True] Translation: X:242.89, Y:-108.91, Z:-11.45 [[ 7.27210391e-01 6.86404729e-01 -3.68733930e-03 2.42891314e+02] [-6.86395682e-01 7.27219738e-01 3.52415800e-03 -1.08911036e+02] [ 5.10050463e-03 -3.18305425e-05 9.99986992e-01 -1.14527006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.970385723 meters 0.015684078825942156 Centerline is valid? [True, True] Translation: X:242.94, Y:-108.95, Z:-11.45 [[ 7.27376373e-01 6.86228189e-01 -3.80577678e-03 2.42937878e+02] [-6.86218539e-01 7.27386329e-01 3.63942621e-03 -1.08952811e+02] [ 5.26574685e-03 -3.56380510e-05 9.99986135e-01 -1.14526801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.030385723 meters 0.015782205904776598 Centerline is valid? [True, True] Translation: X:242.98, Y:-108.99, Z:-11.45 [[ 7.28536605e-01 6.84990078e-01 -4.79662133e-03 2.42984255e+02] [-6.84974707e-01 7.28552393e-01 4.58924376e-03 -1.08993854e+02] [ 6.63817640e-03 -5.78677793e-05 9.99977965e-01 -1.14524467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.090385723 meters 0.01613728426984816 Centerline is valid? [True, True] Translation: X:243.03, Y:-109.03, Z:-11.45 [[ 7.30070765e-01 6.83358591e-01 -4.20883236e-03 2.43030709e+02] [-6.83346718e-01 7.30082894e-01 4.02871497e-03 -1.09033303e+02] [ 5.82585350e-03 -6.51552363e-05 9.99983027e-01 -1.14522145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.150385723 meters 0.016238181301784872 Centerline is valid? [True, True] Translation: X:243.08, Y:-109.08, Z:-11.45 [[ 7.30336223e-01 6.83069042e-01 -5.06815130e-03 2.43076447e+02] [-6.83051803e-01 7.30353803e-01 4.85359852e-03 -1.09075365e+02] [ 7.01688647e-03 -8.29489244e-05 9.99975378e-01 -1.14526602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.210385723 meters 0.016328000524359038 Centerline is valid? [True, True] Translation: X:243.12, Y:-109.12, Z:-11.45 [[ 7.29560939e-01 6.83890144e-01 -5.92511346e-03 2.43123868e+02] [-6.83866584e-01 7.29584993e-01 5.67740951e-03 -1.09116535e+02] [ 8.20559827e-03 -9.00291119e-05 9.99966329e-01 -1.14538965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.270385723 meters 0.016337725067874533 Centerline is valid? [True, True] Translation: X:243.17, Y:-109.16, Z:-11.45 [[ 7.28863541e-01 6.84631273e-01 -6.16112109e-03 2.43169332e+02] [-6.84605797e-01 7.28889575e-01 5.90678095e-03 -1.09159973e+02] [ 8.53474390e-03 -8.72980654e-05 9.99963575e-01 -1.14538050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.330385723 meters 0.017392570436278218 Centerline is valid? [True, True] Translation: X:243.22, Y:-109.20, Z:-11.45 [[ 7.27009143e-01 6.86599854e-01 -6.19242282e-03 2.43215357e+02] [-6.86574167e-01 7.27035512e-01 5.93938786e-03 -1.09200571e+02] [ 8.58009413e-03 -6.64317428e-05 9.99963188e-01 -1.14547121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.390385723 meters 0.01577820086540528 Centerline is valid? [True, True] Translation: X:243.26, Y:-109.24, Z:-11.45 [[ 7.23883227e-01 6.89904181e-01 -5.02944048e-03 2.43262234e+02] [-6.89887311e-01 7.23900698e-01 4.82472478e-03 -1.09242105e+02] [ 6.96941327e-03 -2.27901784e-05 9.99975713e-01 -1.14534221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.450385723 meters 0.01588159998853324 Centerline is valid? [True, True] Translation: X:243.31, Y:-109.29, Z:-11.45 [[ 7.21744704e-01 6.92142988e-01 -4.76096342e-03 2.43308078e+02] [-6.92127902e-01 7.21760407e-01 4.56975841e-03 -1.09285910e+02] [ 6.59920113e-03 -3.00330524e-06 9.99978225e-01 -1.14527226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.510385723 meters 0.01594368497089595 Centerline is valid? [True, True] Translation: X:243.35, Y:-109.33, Z:-11.45 [[ 7.21545794e-01 6.92349253e-01 -4.91727141e-03 2.43351241e+02] [-6.92333154e-01 7.21562549e-01 4.72138945e-03 -1.09330297e+02] [ 6.81696935e-03 -2.30867515e-06 9.99976764e-01 -1.14543422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.570385723 meters 0.01789316824081709 Centerline is valid? [True, True] Translation: X:243.39, Y:-109.38, Z:-11.46 [[ 7.22659710e-01 6.91183121e-01 -5.37000792e-03 2.43393489e+02] [-6.91163868e-01 7.22679662e-01 5.15887286e-03 -1.09376855e+02] [ 7.44652135e-03 -1.65541203e-05 9.99972274e-01 -1.14558910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.630385723 meters 0.016185609193526383 Centerline is valid? [True, True] Translation: X:243.44, Y:-109.42, Z:-11.45 [[ 7.24285160e-01 6.89484775e-01 -4.66385156e-03 2.43436072e+02] [-6.89470203e-01 7.24300175e-01 4.48286327e-03 -1.09423969e+02] [ 6.46889447e-03 -3.12846555e-05 9.99979076e-01 -1.14539400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.690385723 meters 0.01639439796054686 Centerline is valid? [True, True] Translation: X:243.48, Y:-109.47, Z:-11.45 [[ 7.25248276e-01 6.88469798e-01 -4.92710401e-03 2.43479035e+02] [-6.88453495e-01 7.25265011e-01 4.73806063e-03 -1.09468422e+02] [ 6.83546779e-03 -4.41883248e-05 9.99976637e-01 -1.14548185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.750385723 meters 0.01853450559616091 Centerline is valid? [True, True] Translation: X:243.52, Y:-109.51, Z:-11.46 [[ 7.26789823e-01 6.86838677e-01 -5.40231886e-03 2.43519670e+02] [-6.86819016e-01 7.26809898e-01 5.19721089e-03 -1.09514132e+02] [ 7.49610426e-03 -6.68646580e-05 9.99971902e-01 -1.14575536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.810385723 meters 0.016799238315891724 Centerline is valid? [True, True] Translation: X:243.56, Y:-109.56, Z:-11.46 [[ 7.27752763e-01 6.85817957e-01 -5.44482993e-03 2.43562952e+02] [-6.85797938e-01 7.27773127e-01 5.24065569e-03 -1.09558160e+02] [ 7.55673668e-03 -7.98485259e-05 9.99971444e-01 -1.14555422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87038572299997 meters 0.01711519155511193 Centerline is valid? [True, True] Translation: X:243.60, Y:-109.60, Z:-11.46 [[ 7.28727609e-01 6.84786533e-01 -4.84518508e-03 2.43603523e+02] [-6.84770644e-01 7.28743712e-01 4.66556475e-03 -1.09603875e+02] [ 6.72581407e-03 -8.20853347e-05 9.99977378e-01 -1.14552475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.930385723 meters 0.01721046718658915 Centerline is valid? [True, True] Translation: X:243.65, Y:-109.65, Z:-11.46 [[ 7.28250435e-01 6.85290333e-01 -5.33514319e-03 2.43646028e+02] [-6.85271060e-01 7.28269972e-01 5.14018904e-03 -1.09650260e+02] [ 7.40794644e-03 -8.73256678e-05 9.99972557e-01 -1.14555903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.990385723 meters 0.016957716048080152 Centerline is valid? [True, True] Translation: X:243.69, Y:-109.69, Z:-11.45 [[ 7.27609280e-01 6.85974557e-01 -4.86237362e-03 2.43689613e+02] [-6.85958549e-01 7.27625523e-01 4.68699761e-03 -1.09693991e+02] [ 6.75314826e-03 -7.49162081e-05 9.99977194e-01 -1.14549146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.050385723 meters 0.016725318931820155 Centerline is valid? [True, True] Translation: X:243.73, Y:-109.74, Z:-11.45 [[ 7.26098797e-01 6.87579712e-01 -3.83117733e-03 2.43732774e+02] [-6.87569786e-01 7.26108902e-01 3.69481715e-03 -1.09738037e+02] [ 5.32233327e-03 -4.86005084e-05 9.99985835e-01 -1.14534846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.110385723 meters 0.01666189255633279 Centerline is valid? [True, True] Translation: X:243.78, Y:-109.78, Z:-11.45 [[ 7.23358293e-01 6.90463273e-01 -3.63989980e-03 2.43776229e+02] [-6.90454342e-01 7.23367450e-01 3.51192228e-03 -1.09780792e+02] [ 5.05783839e-03 -2.71934817e-05 9.99987209e-01 -1.14539988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.170385723 meters 0.01669410483925323 Centerline is valid? [True, True] Translation: X:243.82, Y:-109.82, Z:-11.45 [[ 7.20842078e-01 6.93083777e-01 -4.64502282e-03 2.43821457e+02] [-6.93069282e-01 7.20857044e-01 4.48243447e-03 -1.09824130e+02] [ 6.45510003e-03 -1.18047428e-05 9.99979166e-01 -1.14543649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.230385723 meters 0.016737997967747744 Centerline is valid? [True, True] Translation: X:243.86, Y:-109.87, Z:-11.46 [[ 7.20467346e-01 6.93467567e-01 -5.43471487e-03 2.43864868e+02] [-6.93447714e-01 7.20487844e-01 5.24744136e-03 -1.09869219e+02] [ 7.55457640e-03 -1.19195530e-05 9.99971464e-01 -1.14551471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.290385723 meters 0.016865320468135086 Centerline is valid? [True, True] Translation: X:243.91, Y:-109.92, Z:-11.46 [[ 7.22411010e-01 6.91439599e-01 -5.79780041e-03 2.43906760e+02] [-6.91416916e-01 7.22434274e-01 5.60072361e-03 -1.09915493e+02] [ 8.06109181e-03 -3.73271185e-05 9.99967508e-01 -1.14560664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.350385723 meters 0.017192037072278274 Centerline is valid? [True, True] Translation: X:243.95, Y:-109.96, Z:-11.46 [[ 7.24233695e-01 6.89524780e-01 -6.41346640e-03 2.43946454e+02] [-6.89496923e-01 7.24262088e-01 6.19841652e-03 -1.09964121e+02] [ 8.91899236e-03 -6.70367461e-05 9.99960223e-01 -1.14555770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.410385723 meters 0.01738975782091584 Centerline is valid? [True, True] Translation: X:243.99, Y:-110.01, Z:-11.46 [[ 7.24714525e-01 6.89019039e-01 -6.45149427e-03 2.43987365e+02] [-6.88990802e-01 7.24743236e-01 6.23831903e-03 -1.10010305e+02] [ 8.97399742e-03 -7.59802065e-05 9.99959730e-01 -1.14562140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.470385723 meters 0.018920019853056788 Centerline is valid? [True, True] Translation: X:244.03, Y:-110.06, Z:-11.46 [[ 7.24392256e-01 6.89361871e-01 -6.00577973e-03 2.44029201e+02] [-6.89337387e-01 7.24417149e-01 5.81047790e-03 -1.10057925e+02] [ 8.35621174e-03 -6.90566960e-05 9.99965084e-01 -1.14561668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.530385723 meters 0.01708763126133141 Centerline is valid? [True, True] Translation: X:244.07, Y:-110.10, Z:-11.45 [[ 7.22619799e-01 6.91222801e-01 -5.62718252e-03 2.44070745e+02] [-6.91201342e-01 7.22641707e-01 5.44675755e-03 -1.10104736e+02] [ 7.83135979e-03 -4.64187352e-05 9.99969333e-01 -1.14531237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.590385723 meters 0.016979881902723523 Centerline is valid? [True, True] Translation: X:244.11, Y:-110.15, Z:-11.45 [[ 7.20983472e-01 6.92929175e-01 -5.65617336e-03 2.44114080e+02] [-6.92907526e-01 7.21005657e-01 5.47744963e-03 -1.10148786e+02] [ 7.87361764e-03 -2.99455573e-05 9.99969002e-01 -1.14526751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.650385723 meters 0.016816091844549227 Centerline is valid? [True, True] Translation: X:244.16, Y:-110.19, Z:-11.45 [[ 7.19260940e-01 6.94716083e-01 -5.76750307e-03 2.44156900e+02] [-6.94693606e-01 7.19284064e-01 5.58831326e-03 -1.10194823e+02] [ 8.03076414e-03 -1.28079385e-05 9.99967753e-01 -1.14512774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.710385723 meters 0.01674975394084969 Centerline is valid? [True, True] Translation: X:244.20, Y:-110.24, Z:-11.45 [[ 7.17676286e-01 6.96346493e-01 -6.50462928e-03 2.44200466e+02] [-6.96317940e-01 7.17705762e-01 6.30600684e-03 -1.10239786e+02] [ 9.05957566e-03 3.61849872e-06 9.99958961e-01 -1.14523299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.770385723 meters 0.019062516829317793 Centerline is valid? [True, True] Translation: X:244.24, Y:-110.29, Z:-11.46 [[ 7.17960938e-01 6.96039170e-01 -7.84636384e-03 2.44241695e+02] [-6.95997564e-01 7.18003812e-01 7.61038735e-03 -1.10286638e+02] [ 1.09308468e-02 -2.91072623e-06 9.99940257e-01 -1.14556671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.830385723 meters 0.016730843211514673 Centerline is valid? [True, True] Translation: X:244.28, Y:-110.33, Z:-11.45 [[ 7.18564397e-01 6.95421103e-01 -7.39573060e-03 2.44283402e+02] [-6.95384068e-01 7.18602456e-01 7.17693797e-03 -1.10332227e+02] [ 1.03055843e-02 -1.42188784e-05 9.99946896e-01 -1.14528633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.890385723 meters 0.016624769623946423 Centerline is valid? [True, True] Translation: X:244.33, Y:-110.38, Z:-11.45 [[ 7.19312465e-01 6.94659696e-01 -6.12243458e-03 2.44325132e+02] [-6.94634264e-01 7.19338520e-01 5.94418888e-03 -1.10378512e+02] [ 8.53329147e-03 -2.28763236e-05 9.99963591e-01 -1.14493322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.950385723 meters 0.01674952085083287 Centerline is valid? [True, True] Translation: X:244.37, Y:-110.42, Z:-11.45 [[ 7.19755379e-01 6.94211198e-01 -4.79653356e-03 2.44367188e+02] [-6.94195565e-01 7.19771361e-01 4.65894834e-03 -1.10422789e+02] [ 6.68670159e-03 -2.35707987e-05 9.99977643e-01 -1.14492180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.010385723 meters 0.017305247047605533 Centerline is valid? [True, True] Translation: X:244.41, Y:-110.47, Z:-11.45 [[ 7.19153544e-01 6.94836694e-01 -4.48872773e-03 2.44411714e+02] [-6.94823000e-01 7.19167552e-01 4.36241560e-03 -1.10467719e+02] [ 6.25931376e-03 -1.83753734e-05 9.99980410e-01 -1.14487301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.070385723 meters 0.01657772412242493 Centerline is valid? [True, True] Translation: X:244.46, Y:-110.51, Z:-11.45 [[ 7.18153275e-01 6.95865757e-01 -5.16932922e-03 2.44458197e+02] [-6.95847602e-01 7.18171879e-01 5.02663486e-03 -1.10510750e+02] [ 7.21032995e-03 -1.28289438e-05 9.99974005e-01 -1.14479552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.130385723 meters 0.016491397734324013 Centerline is valid? [True, True] Translation: X:244.51, Y:-110.55, Z:-11.45 [[ 7.18375938e-01 6.95632966e-01 -5.54871416e-03 2.44505703e+02] [-6.95612018e-01 7.18397367e-01 5.39851787e-03 -1.10551771e+02] [ 7.74156864e-03 -1.84130864e-05 9.99970033e-01 -1.14491423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.190385723 meters 0.01646150273820129 Centerline is valid? [True, True] Translation: X:244.55, Y:-110.60, Z:-11.45 [[ 7.18839525e-01 6.95157048e-01 -5.13971617e-03 2.44550985e+02] [-6.95139042e-01 7.18857899e-01 5.00335602e-03 -1.10595330e+02] [ 7.17284377e-03 -2.37926859e-05 9.99974275e-01 -1.14487473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.250385723 meters 0.01679468725800425 Centerline is valid? [True, True] Translation: X:244.59, Y:-110.64, Z:-11.45 [[ 7.23204467e-01 6.90611033e-01 -5.63027769e-03 2.44594326e+02] [-6.90589267e-01 7.23226379e-01 5.48351810e-03 -1.10639539e+02] [ 7.85894345e-03 -7.74954491e-05 9.99969115e-01 -1.14477094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.310385723 meters 0.01716186058535774 Centerline is valid? [True, True] Translation: X:244.64, Y:-110.68, Z:-11.45 [[ 7.24669572e-01 6.89066660e-01 -6.41478093e-03 2.44639639e+02] [-6.89038319e-01 7.24697955e-01 6.25051244e-03 -1.10682602e+02] [ 8.95579835e-03 -1.09526304e-04 9.99959890e-01 -1.14489598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37038572299997 meters 0.01711369816628872 Centerline is valid? [True, True] Translation: X:244.69, Y:-110.72, Z:-11.45 [[ 7.24358954e-01 6.89394752e-01 -6.24354488e-03 2.44686322e+02] [-6.89367887e-01 7.24385854e-01 6.08696620e-03 -1.10724956e+02] [ 8.71905815e-03 -1.05049130e-04 9.99961983e-01 -1.14486088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.430385723 meters 0.01692528150307554 Centerline is valid? [True, True] Translation: X:244.73, Y:-110.76, Z:-11.45 [[ 7.23298055e-01 6.90504663e-01 -6.57528533e-03 2.44733925e+02] [-6.90474885e-01 7.23327934e-01 6.41341219e-03 -1.10764631e+02] [ 9.18457858e-03 -9.87391745e-05 9.99957816e-01 -1.14481337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.490385723 meters 0.016798017068567723 Centerline is valid? [True, True] Translation: X:244.78, Y:-110.81, Z:-11.45 [[ 7.22278595e-01 6.91563968e-01 -7.27386119e-03 2.44780337e+02] [-6.91527542e-01 7.22315214e-01 7.09862928e-03 -1.10806539e+02] [ 1.01631768e-02 -9.71126340e-05 9.99948349e-01 -1.14493823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.550385723 meters 0.01661036575550567 Centerline is valid? [True, True] Translation: X:244.83, Y:-110.85, Z:-11.45 [[ 7.21498613e-01 6.92370210e-01 -7.95262706e-03 2.44827780e+02] [-6.92326670e-01 7.21542433e-01 7.76529659e-03 -1.10848637e+02] [ 1.11146179e-02 -9.68349068e-05 9.99938226e-01 -1.14493878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.610385723 meters 0.01669362914861587 Centerline is valid? [True, True] Translation: X:244.88, Y:-110.89, Z:-11.45 [[ 7.21380128e-01 6.92492710e-01 -8.03477708e-03 2.44875112e+02] [-6.92448225e-01 7.21424865e-01 7.84980314e-03 -1.10890544e+02] [ 1.12324194e-02 -9.90248599e-05 9.99936909e-01 -1.14488452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.670385723 meters 0.01669683703466636 Centerline is valid? [True, True] Translation: X:244.92, Y:-110.93, Z:-11.45 [[ 7.21372830e-01 6.92513603e-01 -6.79335381e-03 2.44918893e+02] [-6.92481774e-01 7.21404812e-01 6.64009402e-03 -1.10934306e+02] [ 9.49911356e-03 -8.57097183e-05 9.99954879e-01 -1.14461683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.730385723 meters 0.01664265361956682 Centerline is valid? [True, True] Translation: X:244.96, Y:-110.98, Z:-11.45 [[ 7.20772702e-01 6.93142444e-01 -6.34541429e-03 2.44964212e+02] [-6.93114673e-01 7.20800629e-01 6.20516042e-03 -1.10976168e+02] [ 8.87483867e-03 -7.44104927e-05 9.99960615e-01 -1.14466395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.790385723 meters 0.016316855259453634 Centerline is valid? [True, True] Translation: X:245.01, Y:-111.02, Z:-11.45 [[ 7.19463260e-01 6.94498167e-01 -6.70180660e-03 2.45011626e+02] [-6.94467214e-01 7.19494470e-01 6.55717310e-03 -1.11018096e+02] [ 9.37585749e-03 -6.34601744e-05 9.99956044e-01 -1.14474047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.850385723 meters 0.016327981122289156 Centerline is valid? [True, True] Translation: X:245.06, Y:-111.06, Z:-11.45 [[ 7.19458657e-01 6.94499942e-01 -7.00507483e-03 2.45056830e+02] [-6.94466089e-01 7.19492756e-01 6.85749894e-03 -1.11061733e+02] [ 9.80263321e-03 -6.89000554e-05 9.99951951e-01 -1.14474817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.910385723 meters 0.016759542053516627 Centerline is valid? [True, True] Translation: X:245.10, Y:-111.11, Z:-11.45 [[ 7.21745771e-01 6.92110211e-01 -8.15455634e-03 2.45099576e+02] [-6.92064145e-01 7.21791826e-01 7.98611174e-03 -1.11106118e+02] [ 1.14131616e-02 -1.20466309e-04 9.99934860e-01 -1.14481114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.970385723 meters 0.01779543974568872 Centerline is valid? [True, True] Translation: X:245.14, Y:-111.15, Z:-11.45 [[ 7.24674583e-01 6.89034368e-01 -8.85377540e-03 2.45141011e+02] [-6.88979826e-01 7.24728643e-01 8.67140810e-03 -1.11150456e+02] [ 1.23914828e-02 -1.83876415e-04 9.99923206e-01 -1.14494771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.030385723 meters 0.017568123278843058 Centerline is valid? [True, True] Translation: X:245.19, Y:-111.19, Z:-11.45 [[ 7.26784579e-01 6.86782181e-01 -1.06963874e-02 2.45185826e+02] [-6.86702307e-01 7.26863236e-01 1.04774952e-02 -1.11193403e+02] [ 1.49705678e-02 -2.69647989e-04 9.99887898e-01 -1.14496199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.090385723 meters 0.01715637898046839 Centerline is valid? [True, True] Translation: X:245.23, Y:-111.24, Z:-11.45 [[ 7.26267997e-01 6.87336437e-01 -1.01695091e-02 2.45230853e+02] [-6.87264225e-01 7.26339149e-01 9.96621844e-03 -1.11235616e+02] [ 1.42366577e-02 -2.49005704e-04 9.99898623e-01 -1.14483343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.150385723 meters 0.016634266481128805 Centerline is valid? [True, True] Translation: X:245.28, Y:-111.28, Z:-11.45 [[ 7.23654654e-01 6.90090966e-01 -9.91972114e-03 2.45275964e+02] [-6.90022456e-01 7.23722614e-01 9.72568223e-03 -1.11276823e+02] [ 1.38907320e-02 -1.93204869e-04 9.99903500e-01 -1.14466872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.210385723 meters 0.015588269950151636 Centerline is valid? [True, True] Translation: X:245.32, Y:-111.32, Z:-11.45 [[ 7.19554320e-01 6.94361008e-01 -1.02162137e-02 2.45324530e+02] [-6.94288699e-01 7.19626832e-01 1.00212181e-02 -1.11315645e+02] [ 1.43102046e-02 -1.17809055e-04 9.99897597e-01 -1.14455304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.270385723 meters 0.015041394245066552 Centerline is valid? [True, True] Translation: X:245.37, Y:-111.35, Z:-11.45 [[ 7.14700854e-01 6.99357552e-01 -1.00848723e-02 2.45374122e+02] [-6.99287518e-01 7.14772002e-01 9.89713479e-03 -1.11353908e+02] [ 1.41300203e-02 -2.12653412e-05 9.99900166e-01 -1.14461929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.330385723 meters 0.015200664423200934 Centerline is valid? [True, True] Translation: X:245.42, Y:-111.39, Z:-11.45 [[ 7.10653390e-01 7.03452857e-01 -1.12177406e-02 2.45420572e+02] [-7.03366667e-01 7.10741918e-01 1.10117071e-02 -1.11393278e+02] [ 1.57191353e-02 6.46778757e-05 9.99876445e-01 -1.14473443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.390385723 meters 0.01497927766300985 Centerline is valid? [True, True] Translation: X:245.47, Y:-111.44, Z:-11.44 [[ 7.09308174e-01 7.04814122e-01 -1.09071992e-02 2.45466789e+02] [-7.04732707e-01 7.09392025e-01 1.07128923e-02 -1.11436504e+02] [ 1.52880779e-02 8.79179643e-05 9.99883127e-01 -1.14449259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.450385723 meters 0.014646373192222693 Centerline is valid? [True, True] Translation: X:245.51, Y:-111.48, Z:-11.44 [[ 7.10069944e-01 7.04053370e-01 -1.04654776e-02 2.45510615e+02] [-7.03978261e-01 7.10147060e-01 1.02840349e-02 -1.11479936e+02] [ 1.46725376e-02 6.50846593e-05 9.99892350e-01 -1.14435328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.510385723 meters 0.014695746783490796 Centerline is valid? [True, True] Translation: X:245.55, Y:-111.53, Z:-11.44 [[ 7.12179783e-01 7.01909071e-01 -1.11181353e-02 2.45552592e+02] [-7.01823951e-01 7.12266562e-01 1.09309947e-02 -1.11525155e+02] [ 1.55916404e-02 1.81401806e-05 9.99878443e-01 -1.14441806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.570385723 meters 0.014941002749941168 Centerline is valid? [True, True] Translation: X:245.59, Y:-111.57, Z:-11.44 [[ 7.16151191e-01 6.97861957e-01 -1.07778000e-02 2.45593865e+02] [-6.97781428e-01 7.16232283e-01 1.06016602e-02 -1.11571330e+02] [ 1.51179037e-02 -7.18429026e-05 9.99885715e-01 -1.14445243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.630385723 meters 0.015294474662294914 Centerline is valid? [True, True] Translation: X:245.64, Y:-111.62, Z:-11.44 [[ 7.18611781e-01 6.95334768e-01 -1.03280845e-02 2.45637056e+02] [-6.95260489e-01 7.18685986e-01 1.01639694e-02 -1.11615936e+02] [ 1.44900109e-02 -1.23239091e-04 9.99895007e-01 -1.14448593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.690385723 meters 0.01538252687011718 Centerline is valid? [True, True] Translation: X:245.68, Y:-111.66, Z:-11.44 [[ 7.21059878e-01 6.92799230e-01 -1.00935552e-02 2.45680640e+02] [-6.92727970e-01 7.21130499e-01 9.93795251e-03 -1.11660596e+02] [ 1.41637764e-02 -1.73770786e-04 9.99899674e-01 -1.14427956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.750385723 meters 0.016335030226747017 Centerline is valid? [True, True] Translation: X:245.72, Y:-111.71, Z:-11.44 [[ 7.21481382e-01 6.92364709e-01 -9.78391491e-03 2.45723706e+02] [-6.92297669e-01 7.21547696e-01 9.63634263e-03 -1.11705291e+02] [ 1.37314248e-02 -1.79060312e-04 9.99905704e-01 -1.14449022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.810385723 meters 0.01688254336679645 Centerline is valid? [True, True] Translation: X:245.77, Y:-111.75, Z:-11.45 [[ 7.21420305e-01 6.92403211e-01 -1.14253078e-02 2.45769669e+02] [-6.92311716e-01 7.21510741e-01 1.12578404e-02 -1.11746505e+02] [ 1.60384472e-02 -2.11760204e-04 9.99871353e-01 -1.14472545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87038572299997 meters 0.015962340450639153 Centerline is valid? [True, True] Translation: X:245.81, Y:-111.79, Z:-11.45 [[ 7.20600179e-01 6.93245455e-01 -1.20880306e-02 2.45814461e+02] [-6.93143049e-01 7.20701530e-01 1.19171392e-02 -1.11790577e+02] [ 1.69733647e-02 -2.08758237e-04 9.99855920e-01 -1.14474987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.930385723 meters 0.015441340287089695 Centerline is valid? [True, True] Translation: X:245.86, Y:-111.83, Z:-11.45 [[ 7.20109615e-01 6.93754006e-01 -1.21458644e-02 2.45860367e+02] [-6.93650578e-01 7.20212009e-01 1.19807376e-02 -1.11832988e+02] [ 1.70592821e-02 -2.02458448e-04 9.99854459e-01 -1.14468716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.990385723 meters 0.015746710341635092 Centerline is valid? [True, True] Translation: X:245.90, Y:-111.88, Z:-11.45 [[ 7.20945523e-01 6.92903054e-01 -1.10865351e-02 2.45903495e+02] [-6.92816694e-01 7.21030731e-01 1.09413596e-02 -1.11877272e+02] [ 1.55750340e-02 -2.07187566e-04 9.99878680e-01 -1.14470759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.050385723 meters 0.015414509477284554 Centerline is valid? [True, True] Translation: X:245.95, Y:-111.92, Z:-11.44 [[ 7.21541371e-01 6.92294909e-01 -1.02863243e-02 2.45948145e+02] [-6.92220480e-01 7.21614660e-01 1.01533425e-02 -1.11921197e+02] [ 1.44518697e-02 -2.05652338e-04 9.99895545e-01 -1.14448145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.110385723 meters 0.01676693355597252 Centerline is valid? [True, True] Translation: X:245.99, Y:-111.96, Z:-11.45 [[ 7.21338268e-01 6.92508348e-01 -1.01632198e-02 2.45992881e+02] [-6.92435639e-01 7.21409832e-01 1.00369386e-02 -1.11964633e+02] [ 1.42825105e-02 -2.02652299e-04 9.99897979e-01 -1.14459765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.170385723 meters 0.01707727422854339 Centerline is valid? [True, True] Translation: X:246.04, Y:-112.01, Z:-11.45 [[ 7.20201566e-01 6.93686287e-01 -1.04421836e-02 2.46038619e+02] [-6.93609582e-01 7.20277238e-01 1.03173446e-02 -1.12006687e+02] [ 1.46782676e-02 -1.87769090e-04 9.99892251e-01 -1.14469876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.230385723 meters 0.01601788436582987 Centerline is valid? [True, True] Translation: X:246.08, Y:-112.05, Z:-11.45 [[ 7.17863803e-01 6.96110872e-01 -1.00605329e-02 2.46082512e+02] [-6.96039872e-01 7.17934284e-01 9.94291605e-03 -1.12049370e+02] [ 1.41441734e-02 -1.35127498e-04 9.99899957e-01 -1.14474169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.290385723 meters 0.01458837163524663 Centerline is valid? [True, True] Translation: X:246.13, Y:-112.09, Z:-11.45 [[ 7.16297354e-01 6.97724782e-01 -9.91105718e-03 2.46125695e+02] [-6.97655973e-01 7.16365910e-01 9.79928682e-03 -1.12092416e+02] [ 1.39371488e-02 -1.04694979e-04 9.99902868e-01 -1.14487220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.350385723 meters 0.014221218785053572 Centerline is valid? [True, True] Translation: X:246.17, Y:-112.14, Z:-11.45 [[ 7.15880668e-01 6.98152694e-01 -9.88358959e-03 2.46169332e+02] [-6.98084235e-01 7.15948885e-01 9.77725160e-03 -1.12138360e+02] [ 1.39021595e-02 -9.97673208e-05 9.99903355e-01 -1.14478112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.410385723 meters 0.01413577674479853 Centerline is valid? [True, True] Translation: X:246.21, Y:-112.18, Z:-11.45 [[ 7.16186901e-01 6.97848364e-01 -9.16427842e-03 2.46211084e+02] [-6.97789429e-01 7.16245524e-01 9.06986518e-03 -1.12184094e+02] [ 1.28932640e-02 -1.00982031e-04 9.99916873e-01 -1.14470460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.470385723 meters 0.014236404232160495 Centerline is valid? [True, True] Translation: X:246.25, Y:-112.23, Z:-11.45 [[ 7.16444300e-01 6.97598084e-01 -8.02987246e-03 2.46253009e+02] [-6.97552780e-01 7.16489291e-01 7.95078015e-03 -1.12229801e+02] [ 1.12997666e-02 -9.50312606e-05 9.99936151e-01 -1.14476495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.530385723 meters 0.01387612795807341 Centerline is valid? [True, True] Translation: X:246.30, Y:-112.28, Z:-11.45 [[ 7.15663550e-01 6.98406828e-01 -7.32026196e-03 2.46295259e+02] [-6.98369184e-01 7.15700983e-01 7.25162638e-03 -1.12275559e+02] [ 1.03037041e-02 -7.74793035e-05 9.99946912e-01 -1.14459820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.590385723 meters 0.013854617585632629 Centerline is valid? [True, True] Translation: X:246.34, Y:-112.32, Z:-11.45 [[ 7.13918557e-01 7.00193595e-01 -7.01601762e-03 2.46336901e+02] [-7.00159083e-01 7.13953029e-01 6.95208755e-03 -1.12320224e+02] [ 9.87691421e-03 -5.08958514e-05 9.99951221e-01 -1.14468596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.650385723 meters 0.013592144599600063 Centerline is valid? [True, True] Translation: X:246.38, Y:-112.36, Z:-11.45 [[ 7.11325671e-01 7.02825706e-01 -7.19839261e-03 2.46379914e+02] [-7.02789477e-01 7.11362093e-01 7.13609876e-03 -1.12364629e+02] [ 1.01360973e-02 -1.71356618e-05 9.99948628e-01 -1.14485530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.710385723 meters 0.013603193074294318 Centerline is valid? [True, True] Translation: X:246.42, Y:-112.41, Z:-11.45 [[ 7.08535816e-01 7.05634328e-01 -7.56261875e-03 2.46422389e+02] [-7.05594457e-01 7.08576174e-01 7.50114922e-03 -1.12411109e+02] [ 1.06517599e-02 2.13089910e-05 9.99943268e-01 -1.14480552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.770385723 meters 0.013507718590312552 Centerline is valid? [True, True] Translation: X:246.47, Y:-112.46, Z:-11.45 [[ 7.07120982e-01 7.07057768e-01 -7.01635383e-03 2.46465672e+02] [-7.07023481e-01 7.07155790e-01 6.96312688e-03 -1.12456958e+02] [ 9.88498819e-03 3.69537940e-05 9.99951142e-01 -1.14478304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.830385723 meters 0.013631956983765028 Centerline is valid? [True, True] Translation: X:246.51, Y:-112.50, Z:-11.45 [[ 7.06675071e-01 7.07506323e-01 -6.71909795e-03 2.46505747e+02] [-7.07474869e-01 7.06707012e-01 6.67149897e-03 -1.12503864e+02] [ 9.46856134e-03 3.90109335e-05 9.99955171e-01 -1.14475039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.890385723 meters 0.013352783983771512 Centerline is valid? [True, True] Translation: X:246.55, Y:-112.55, Z:-11.45 [[ 7.07269150e-01 7.06927467e-01 -4.88923300e-03 2.46546540e+02] [-7.06910783e-01 7.07286049e-01 4.85691226e-03 -1.12551127e+02] [ 6.89157098e-03 2.11073165e-05 9.99976253e-01 -1.14463626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.950385723 meters 0.01330210097874407 Centerline is valid? [True, True] Translation: X:246.59, Y:-112.60, Z:-11.45 [[ 7.07649266e-01 7.06553057e-01 -3.91079766e-03 2.46587489e+02] [-7.06542366e-01 7.07660072e-01 3.88687460e-03 -1.12597888e+02] [ 5.51379848e-03 1.26002778e-05 9.99984799e-01 -1.14450841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.010385723 meters 0.014565783498702953 Centerline is valid? [True, True] Translation: X:246.63, Y:-112.65, Z:-11.45 [[ 7.08407426e-01 7.05791088e-01 -4.22595417e-03 2.46628552e+02] [-7.05778578e-01 7.08420031e-01 4.20230445e-03 -1.12645056e+02] [ 5.95969961e-03 5.64423904e-06 9.99982241e-01 -1.14455434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.070385723 meters 0.015720082697138024 Centerline is valid? [True, True] Translation: X:246.67, Y:-112.69, Z:-11.45 [[ 7.11286095e-01 7.02882954e-01 -5.25777711e-03 2.46668593e+02] [-7.02863490e-01 7.11305527e-01 5.23087471e-03 -1.12692469e+02] [ 7.41657859e-03 -2.51488739e-05 9.99972496e-01 -1.14468448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.130385723 meters 0.015228770570706792 Centerline is valid? [True, True] Translation: X:246.71, Y:-112.74, Z:-11.45 [[ 7.13790277e-01 7.00342881e-01 -4.82599235e-03 2.46709819e+02] [-7.00326410e-01 7.13806589e-01 4.80343403e-03 -1.12738373e+02] [ 6.80887596e-03 -4.88746082e-05 9.99976818e-01 -1.14471042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.190385723 meters 0.014756532160825167 Centerline is valid? [True, True] Translation: X:246.75, Y:-112.78, Z:-11.45 [[ 7.15166665e-01 6.98936999e-01 -4.86946536e-03 2.46751604e+02] [-6.98920185e-01 7.15183240e-01 4.84851820e-03 -1.12782277e+02] [ 6.87136877e-03 -6.41309646e-05 9.99976390e-01 -1.14472175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.250385723 meters 0.013699108638332354 Centerline is valid? [True, True] Translation: X:246.80, Y:-112.83, Z:-11.45 [[ 7.15544191e-01 6.98552503e-01 -4.57284671e-03 2.46795820e+02] [-6.98537651e-01 7.15558800e-01 4.55575898e-03 -1.12826629e+02] [ 6.45457754e-03 -6.55412710e-05 9.99979167e-01 -1.14456431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.310385723 meters 0.013894891522393716 Centerline is valid? [True, True] Translation: X:246.84, Y:-112.87, Z:-11.45 [[ 7.15959136e-01 6.98132879e-01 -3.60534329e-03 2.46841105e+02] [-6.98123631e-01 7.15968212e-01 3.59387093e-03 -1.12870651e+02] [ 5.09031064e-03 -5.60893796e-05 9.99987043e-01 -1.14456405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37038572299997 meters 0.014909386052703259 Centerline is valid? [True, True] Translation: X:246.89, Y:-112.91, Z:-11.45 [[ 7.15789726e-01 6.98304381e-01 -4.00749231e-03 2.46886265e+02] [-6.98292946e-01 7.15800941e-01 3.99677099e-03 -1.12913380e+02] [ 5.65952946e-03 -6.24439956e-05 9.99983983e-01 -1.14481085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.430385723 meters 0.015120673931900235 Centerline is valid? [True, True] Translation: X:246.93, Y:-112.96, Z:-11.45 [[ 7.16108725e-01 6.97974355e-01 -4.48254373e-03 2.46931924e+02] [-6.97960028e-01 7.16122751e-01 4.47264013e-03 -1.12955944e+02] [ 6.33183966e-03 -7.42602719e-05 9.99979951e-01 -1.14496788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.490385723 meters 0.014999089338371092 Centerline is valid? [True, True] Translation: X:246.98, Y:-113.00, Z:-11.45 [[ 7.16857050e-01 6.97209795e-01 -3.80418899e-03 2.46975977e+02] [-6.97199455e-01 7.16867140e-01 3.79781458e-03 -1.13000326e+02] [ 5.37497161e-03 -7.02116639e-05 9.99985552e-01 -1.14484521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.550385723 meters 0.014817540998032199 Centerline is valid? [True, True] Translation: X:247.02, Y:-113.04, Z:-11.45 [[ 7.18341110e-01 6.95681469e-01 -3.65288721e-03 2.47020573e+02] [-6.95671907e-01 7.18350393e-01 3.64838456e-03 -1.13042837e+02] [ 5.16216649e-03 -7.95735991e-05 9.99986673e-01 -1.14479483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.610385723 meters 0.015107569481106767 Centerline is valid? [True, True] Translation: X:247.07, Y:-113.09, Z:-11.45 [[ 7.18904758e-01 6.95096194e-01 -4.15081805e-03 2.47065695e+02] [-6.95083826e-01 7.18916734e-01 4.14768057e-03 -1.13086103e+02] [ 5.86712954e-03 -9.66208094e-05 9.99982784e-01 -1.14488181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.670385723 meters 0.0162814069633634 Centerline is valid? [True, True] Translation: X:247.11, Y:-113.13, Z:-11.45 [[ 7.19278444e-01 6.94713080e-01 -3.50089401e-03 2.47111180e+02] [-6.94704268e-01 7.19286959e-01 3.50002484e-03 -1.13127991e+02] [ 4.94966045e-03 -8.54064085e-05 9.99987747e-01 -1.14497055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.730385723 meters 0.015522416515169743 Centerline is valid? [True, True] Translation: X:247.16, Y:-113.17, Z:-11.45 [[ 7.18774833e-01 6.95237200e-01 -2.82399259e-03 2.47156590e+02] [-6.95231465e-01 7.18780378e-01 2.82461403e-03 -1.13170766e+02] [ 3.99360721e-03 -6.69329775e-05 9.99992023e-01 -1.14481097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.790385723 meters 0.015315876333824866 Centerline is valid? [True, True] Translation: X:247.78, Y:-112.70, Z:-10.46 [[ 7.49506711e-01 -6.61991306e-01 -2.68330247e-03 2.47782803e+02] [-6.61987255e-01 -7.49511513e-01 2.31635274e-03 -1.12700669e+02] [-3.54457147e-03 4.01901155e-05 -9.99993717e-01 -1.04625956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.850385723 meters 0.01680980267797662 Centerline is valid? [True, True] Translation: X:247.80, Y:-112.73, Z:-10.46 [[ 8.00111844e-01 -5.99842874e-01 -3.09262618e-03 2.47796937e+02] [-5.99838569e-01 -8.00117820e-01 2.27269848e-03 -1.12732504e+02] [-3.83772731e-03 3.66634915e-05 -9.99992635e-01 -1.04608184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.910385723 meters 0.01750741635011414 Centerline is valid? [True, True] Translation: X:247.82, Y:-112.76, Z:-10.46 [[ 8.45293645e-01 -5.34287256e-01 -3.97258163e-03 2.47815780e+02] [-5.34281578e-01 -8.45302979e-01 2.46337472e-03 -1.12760315e+02] [-4.67418481e-03 4.02021820e-05 -9.99989075e-01 -1.04599347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.970385723 meters 0.014845680499546612 Centerline is valid? [True, True] Translation: X:247.84, Y:-112.78, Z:-10.46 [[ 8.84920110e-01 -4.65716276e-01 -4.97473554e-03 2.47837731e+02] [-4.65709201e-01 -8.84934092e-01 2.56755123e-03 -1.12784256e+02] [-5.59806348e-03 4.47023981e-05 -9.99984330e-01 -1.04624557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.030385723 meters 0.016041935547039785 Centerline is valid? [True, True] Translation: X:247.86, Y:-112.82, Z:-10.46 [[ 9.18826740e-01 -3.94625796e-01 -5.28231970e-03 2.47857676e+02] [-3.94619544e-01 -9.18841923e-01 2.22174611e-03 -1.12816059e+02] [-5.73037512e-03 4.31068569e-05 -9.99983580e-01 -1.04623056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.090385723 meters 0.0170905937957994 Centerline is valid? [True, True] Translation: X:247.88, Y:-112.84, Z:-10.46 [[ 9.46616299e-01 -3.22327302e-01 -4.76375667e-03 2.47882573e+02] [-3.22323436e-01 -9.46628285e-01 1.57911037e-03 -1.12843050e+02] [-5.01849719e-03 4.06588006e-05 -9.99987406e-01 -1.04635685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.150385723 meters 0.015280637878066793 Centerline is valid? [True, True] Translation: X:247.91, Y:-112.87, Z:-10.47 [[ 9.68449980e-01 -2.49157519e-01 -5.01676666e-03 2.47908842e+02] [-2.49154454e-01 -9.68462972e-01 1.23690553e-03 -1.12866405e+02] [-5.16673706e-03 5.20686200e-05 -9.99986651e-01 -1.04661951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.210385723 meters 0.015651439801160766 Centerline is valid? [True, True] Translation: X:247.94, Y:-112.89, Z:-10.47 [[ 9.84738726e-01 -1.73978301e-01 -4.60353366e-03 2.47937465e+02] [-1.73976649e-01 -9.84749485e-01 7.59975276e-04 -1.12888995e+02] [-4.66554661e-03 5.25302737e-05 -9.99989115e-01 -1.04662463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.270385723 meters 0.01576862761719997 Centerline is valid? [True, True] Translation: X:247.97, Y:-112.91, Z:-10.47 [[ 9.95387776e-01 -9.57941928e-02 -5.16215009e-03 2.47965421e+02] [-9.57931992e-02 -9.95401160e-01 4.39960487e-04 -1.12909168e+02] [-5.18055585e-03 5.65675813e-05 -9.99986579e-01 -1.04658943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.330385723 meters 0.01835634179203018 Centerline is valid? [True, True] Translation: X:247.99, Y:-112.92, Z:-10.46 [[ 9.99806600e-01 -1.86540049e-02 -6.22826323e-03 2.47994269e+02] [-1.86541212e-02 -9.99825996e-01 3.94230477e-05 -1.12924012e+02] [-6.22791488e-03 7.67673540e-05 -9.99980603e-01 -1.04626995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.390385723 meters 0.01719358405049898 Centerline is valid? [True, True] Translation: X:248.03, Y:-112.94, Z:-10.46 [[ 9.98345544e-01 5.71119302e-02 -6.66353879e-03 2.48025422e+02] [ 5.71099888e-02 -9.98367777e-01 -4.81417347e-04 -1.12939315e+02] [-6.68015708e-03 1.00066237e-04 -9.99977683e-01 -1.04636469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.450385723 meters 0.018916437554055924 Centerline is valid? [True, True] Translation: X:248.06, Y:-112.95, Z:-10.46 [[ 9.91022557e-01 1.33536894e-01 -6.49534325e-03 2.48058372e+02] [ 1.33533307e-01 -9.91043837e-01 -9.84770047e-04 -1.12951693e+02] [-6.56867303e-03 1.08584663e-04 -9.99978420e-01 -1.04637236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.510385723 meters 0.016243943203613186 Centerline is valid? [True, True] Translation: X:248.09, Y:-112.97, Z:-10.47 [[ 9.77545191e-01 2.10616890e-01 -6.77677095e-03 2.48093632e+02] [ 2.10611004e-01 -9.77568674e-01 -1.57890782e-03 -1.12965822e+02] [-6.95730365e-03 1.16191212e-04 -9.99975791e-01 -1.04669052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.570385723 meters 0.016206732360644655 Centerline is valid? [True, True] Translation: X:248.13, Y:-112.98, Z:-10.47 [[ 9.57800763e-01 2.87379131e-01 -5.56187224e-03 2.48130558e+02] [ 2.87373736e-01 -9.57816907e-01 -1.76320904e-03 -1.12976647e+02] [-5.83396474e-03 9.04669609e-05 -9.99982978e-01 -1.04678909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.630385723 meters 0.016046351090058343 Centerline is valid? [True, True] Translation: X:248.17, Y:-112.98, Z:-10.47 [[ 9.31560025e-01 3.63552868e-01 -5.02307056e-03 2.48167665e+02] [ 3.63547170e-01 -9.31573565e-01 -2.03675334e-03 -1.12981775e+02] [-5.41982726e-03 7.12349051e-05 -9.99985310e-01 -1.04684737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.690385723 meters 0.015974239599331953 Centerline is valid? [True, True] Translation: X:248.20, Y:-112.98, Z:-10.47 [[ 8.99755769e-01 4.36362323e-01 -5.24216982e-03 2.48204428e+02] [ 4.36354454e-01 -8.99771037e-01 -2.62153269e-03 -1.12982814e+02] [-5.86069067e-03 7.12950097e-05 -9.99982823e-01 -1.04682998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.750385723 meters 0.01584576361014606 Centerline is valid? [True, True] Translation: X:248.24, Y:-112.98, Z:-10.47 [[ 8.61783018e-01 5.07256150e-01 -4.60733466e-03 2.48241230e+02] [ 5.07248569e-01 -8.61795333e-01 -2.77380961e-03 -1.12981732e+02] [-5.37761149e-03 5.33581041e-05 -9.99985539e-01 -1.04678372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.810385723 meters 0.01603053269939094 Centerline is valid? [True, True] Translation: X:248.27, Y:-112.97, Z:-10.47 [[ 8.19417485e-01 5.73172918e-01 -5.27168612e-03 2.48274046e+02] [ 5.73160533e-01 -8.19434440e-01 -3.76856234e-03 -1.12971923e+02] [-6.47983904e-03 6.65034526e-05 -9.99979003e-01 -1.04662777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87038572299997 meters 0.016087188802755555 Centerline is valid? [True, True] Translation: X:248.31, Y:-112.96, Z:-10.47 [[ 7.72649133e-01 6.34810018e-01 -5.43678673e-03 2.48310281e+02] [ 6.34793564e-01 -7.72668257e-01 -4.57121289e-03 -1.12962960e+02] [-7.10268426e-03 8.07064491e-05 -9.99974772e-01 -1.04663943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.930385723 meters 0.01610257345241671 Centerline is valid? [True, True] Translation: X:248.34, Y:-112.95, Z:-10.47 [[ 7.20448986e-01 6.93490516e-01 -4.91548374e-03 2.48344689e+02] [ 6.93473645e-01 -7.20465751e-01 -4.83788042e-03 -1.12948991e+02] [-6.89646187e-03 7.66876158e-05 -9.99976216e-01 -1.04663989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.990385723 meters 0.015929829296818004 Centerline is valid? [True, True] Translation: X:248.38, Y:-112.93, Z:-10.47 [[ 6.63104569e-01 7.48515726e-01 -4.06678569e-03 2.48379464e+02] [ 7.48501081e-01 -6.63117037e-01 -4.68265311e-03 -1.12934539e+02] [-6.20179436e-03 6.10951875e-05 -9.99980767e-01 -1.04672592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.050385723 meters 0.01571194793386968 Centerline is valid? [True, True] Translation: X:248.41, Y:-112.92, Z:-10.47 [[ 6.00942310e-01 7.99286393e-01 -3.09876090e-03 2.48412117e+02] [ 7.99275423e-01 -6.00950298e-01 -4.18780073e-03 -1.12916308e+02] [-5.20945342e-03 3.98632144e-05 -9.99986430e-01 -1.04680122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.110385723 meters 0.015457070221439483 Centerline is valid? [True, True] Translation: X:248.44, Y:-112.90, Z:-10.47 [[ 5.33868291e-01 8.45563528e-01 -2.63976168e-03 2.48441357e+02] [ 8.45552985e-01 -5.33874816e-01 -4.22248777e-03 -1.12895333e+02] [-4.97968394e-03 2.21939647e-05 -9.99987601e-01 -1.04677852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.170385723 meters 0.015203669905448797 Centerline is valid? [True, True] Translation: X:248.47, Y:-112.87, Z:-10.47 [[ 4.62422543e-01 8.86656428e-01 -2.40216551e-03 2.48468638e+02] [ 8.86644436e-01 -4.62428783e-01 -4.61135894e-03 -1.12870343e+02] [-5.19952152e-03 2.52963989e-06 -9.99986482e-01 -1.04673318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.230385723 meters 0.015148905951066854 Centerline is valid? [True, True] Translation: X:248.50, Y:-112.84, Z:-10.47 [[ 3.89973653e-01 9.20821781e-01 -2.79228171e-03 2.48495137e+02] [ 9.20798273e-01 -3.89983650e-01 -6.57980912e-03 -1.12843759e+02] [-7.14777577e-03 -5.17597729e-06 -9.99974454e-01 -1.04666434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.290385723 meters 0.01509998108827072 Centerline is valid? [True, True] Translation: X:248.52, Y:-112.81, Z:-10.47 [[ 3.16466951e-01 9.48599892e-01 -2.62940030e-03 2.48517847e+02] [ 9.48567315e-01 -3.16477875e-01 -7.86149124e-03 -1.12814897e+02] [-8.28955676e-03 -6.26101182e-06 -9.99965641e-01 -1.04658632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.350385723 meters 0.015949269135859017 Centerline is valid? [True, True] Translation: X:248.53, Y:-112.78, Z:-10.46 [[ 2.41458879e-01 9.70408591e-01 -2.18571568e-03 2.48534411e+02] [ 9.70368972e-01 -2.41468771e-01 -8.76876001e-03 -1.12784670e+02] [-9.03706212e-03 -3.65571612e-06 -9.99959165e-01 -1.04649689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.410385723 meters 0.01508821834305175 Centerline is valid? [True, True] Translation: X:248.55, Y:-112.75, Z:-10.47 [[ 1.65457210e-01 9.86216154e-01 -1.26842407e-03 2.48553462e+02] [ 9.86187118e-01 -1.65462072e-01 -7.56776329e-03 -1.12753869e+02] [-7.67332648e-03 1.23752296e-06 -9.99970560e-01 -1.04667440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.470385723 meters 0.01522197646809933 Centerline is valid? [True, True] Translation: X:248.56, Y:-112.72, Z:-10.47 [[ 9.20641486e-02 9.95752852e-01 -6.70624678e-04 2.48563822e+02] [ 9.95723624e-01 -9.20665846e-02 -7.62950475e-03 -1.12720885e+02] [-7.65884324e-03 3.46470240e-05 -9.99970670e-01 -1.04665468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.530385723 meters 0.015447517433636586 Centerline is valid? [True, True] Translation: X:248.57, Y:-112.69, Z:-10.47 [[ 1.79244148e-02 9.99839342e-01 -7.56995274e-05 2.48570635e+02] [ 9.99805168e-01 -1.79244281e-02 -8.26686003e-03 -1.12688195e+02] [-8.26688877e-03 7.24938500e-05 -9.99965826e-01 -1.04662385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.590385723 meters 0.016417960688159268 Centerline is valid? [True, True] Translation: X:248.57, Y:-112.66, Z:-10.46 [[-5.96697245e-02 9.98218086e-01 4.21342763e-04 2.48574233e+02] [ 9.98199386e-01 5.96711858e-02 -6.11020041e-03 -1.12656797e+02] [-6.12445458e-03 5.59901121e-05 -9.99981244e-01 -1.04649608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.650385723 meters 0.017841813940676996 Centerline is valid? [True, True] Translation: X:248.58, Y:-112.62, Z:-10.46 [[-1.39184617e-01 9.90265871e-01 1.07151920e-03 2.48584522e+02] [ 9.90239621e-01 1.39188729e-01 -7.21044836e-03 -1.12622793e+02] [-7.28940432e-03 5.74772758e-05 -9.99973430e-01 -1.04640098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.710385723 meters 0.015088635359207738 Centerline is valid? [True, True] Translation: X:248.59, Y:-112.59, Z:-10.46 [[-2.19947054e-01 9.75510414e-01 1.65066161e-03 2.48588281e+02] [ 9.75483979e-01 2.19953246e-01 -7.18167094e-03 -1.12589232e+02] [-7.36886317e-03 3.06065873e-05 -9.99972849e-01 -1.04635923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.770385723 meters 0.017191766641555382 Centerline is valid? [True, True] Translation: X:248.59, Y:-112.56, Z:-10.46 [[-2.97648869e-01 9.54671947e-01 2.57394324e-03 2.48588666e+02] [ 9.54636811e-01 2.97659998e-01 -8.19055041e-03 -1.12555789e+02] [-8.58544864e-03 1.92728978e-05 -9.99963144e-01 -1.04605436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.830385723 meters 0.014837528722094035 Centerline is valid? [True, True] Translation: X:248.59, Y:-112.52, Z:-10.46 [[-3.74393243e-01 9.27267931e-01 1.97057507e-03 2.48588375e+02] [ 9.27254976e-01 3.74398429e-01 -4.90162334e-03 -1.12521218e+02] [-5.28289834e-03 -7.90912070e-06 -9.99986045e-01 -1.04635605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.890385723 meters 0.014823350734658826 Centerline is valid? [True, True] Translation: X:248.59, Y:-112.49, Z:-10.46 [[-4.47728033e-01 8.94167213e-01 2.14563775e-03 2.48585578e+02] [ 8.94156752e-01 4.47733174e-01 -4.32519491e-03 -1.12487377e+02] [-4.82812068e-03 -1.79745247e-05 -9.99988344e-01 -1.04641233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.950385723 meters 0.014953764897276133 Centerline is valid? [True, True] Translation: X:248.58, Y:-112.45, Z:-10.46 [[-5.18500111e-01 8.55074047e-01 2.45138758e-03 2.48579605e+02] [ 8.55064220e-01 5.18505905e-01 -4.09958311e-03 -1.12453426e+02] [-4.77650605e-03 -2.95404882e-05 -9.99988592e-01 -1.04632306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.010385723 meters 0.01760304993686026 Centerline is valid? [True, True] Translation: X:248.57, Y:-112.42, Z:-10.46 [[-5.86949208e-01 8.09617137e-01 3.27391225e-03 2.48570918e+02] [ 8.09604021e-01 5.86958336e-01 -4.60882878e-03 -1.12420893e+02] [-5.65303685e-03 -5.45758827e-05 -9.99984020e-01 -1.04603868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.070385723 meters 0.015848217539407256 Centerline is valid? [True, True] Translation: X:248.56, Y:-112.39, Z:-10.46 [[-6.51130473e-01 7.58958460e-01 3.34120110e-03 2.48558934e+02] [ 7.58947922e-01 6.51139042e-01 -3.99990452e-03 -1.12390977e+02] [-5.21134785e-03 -6.86620895e-05 -9.99986418e-01 -1.04612203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.130385723 meters 0.01558493430302773 Centerline is valid? [True, True] Translation: X:248.54, Y:-112.36, Z:-10.46 [[-7.09611204e-01 7.04582518e-01 3.92622864e-03 2.48540523e+02] [ 7.04571092e-01 7.09622061e-01 -4.01336341e-03 -1.12364615e+02] [-5.61388415e-03 -8.16204367e-05 -9.99984239e-01 -1.04618630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.190385723 meters 0.01547062298583233 Centerline is valid? [True, True] Translation: X:248.52, Y:-112.34, Z:-10.46 [[-7.62043812e-01 6.47506639e-01 4.93764391e-03 2.48518802e+02] [ 6.47492296e-01 7.62059804e-01 -4.31068688e-03 -1.12340839e+02] [-6.55397832e-03 -8.78458670e-05 -9.99978519e-01 -1.04599889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.250385723 meters 0.01708963876454062 Centerline is valid? [True, True] Translation: X:248.93, Y:-111.87, Z:-11.45 [[-7.02329076e-01 -7.11831002e-01 5.52217770e-03 2.48934138e+02] [ 7.11810828e-01 -7.02350766e-01 -5.36171197e-03 -1.11873710e+02] [ 7.69513853e-03 1.65059666e-04 9.99970378e-01 -1.14513306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.310385723 meters 0.014648593899140317 Centerline is valid? [True, True] Translation: X:248.92, Y:-111.90, Z:-11.45 [[-6.54328182e-01 -7.56204976e-01 2.94353825e-03 2.48921346e+02] [ 7.56197472e-01 -6.54334802e-01 -3.36899023e-03 -1.11895431e+02] [ 4.47370670e-03 2.14709251e-05 9.99989993e-01 -1.14479115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37038572299997 meters 0.014491543862528865 Centerline is valid? [True, True] Translation: X:248.89, Y:-111.85, Z:-11.45 [[-6.55190177e-01 -7.55460260e-01 2.37225330e-03 2.48888638e+02] [ 7.55455421e-01 -6.55194471e-01 -2.70408953e-03 -1.11848461e+02] [ 3.59711943e-03 2.04387164e-05 9.99993530e-01 -1.14474896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.430385723 meters 0.014373310018608039 Centerline is valid? [True, True] Translation: X:248.86, Y:-111.80, Z:-11.45 [[-6.56009556e-01 -7.54743264e-01 3.75078705e-03 2.48857018e+02] [ 7.54731165e-01 -6.56020278e-01 -4.27357123e-03 -1.11801971e+02] [ 5.68604146e-03 2.73323209e-05 9.99983834e-01 -1.14498494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.490385723 meters 0.014037755116695784 Centerline is valid? [True, True] Translation: X:248.82, Y:-111.75, Z:-11.45 [[-6.56989516e-01 -7.53890609e-01 3.70480971e-03 2.48822823e+02] [ 7.53878805e-01 -6.56999961e-01 -4.21876953e-03 -1.11754454e+02] [ 5.61455057e-03 2.12901676e-05 9.99984238e-01 -1.14490735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.550385723 meters 0.013921577852341108 Centerline is valid? [True, True] Translation: X:248.79, Y:-111.70, Z:-11.45 [[-6.60151588e-01 -7.51127874e-01 2.60735901e-03 2.48791852e+02] [ 7.51122013e-01 -6.60156737e-01 -2.96736015e-03 -1.11703799e+02] [ 3.95013253e-03 -4.62764330e-07 9.99992198e-01 -1.14477031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.610385723 meters 0.013957643349823207 Centerline is valid? [True, True] Translation: X:248.76, Y:-111.66, Z:-11.45 [[-6.62199778e-01 -7.49319103e-01 3.51231718e-03 2.48758687e+02] [ 7.49308453e-01 -6.62209092e-01 -3.99503816e-03 -1.11655183e+02] [ 5.31944678e-03 -1.37044269e-05 9.99985852e-01 -1.14484440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.670385723 meters 0.013984362593679243 Centerline is valid? [True, True] Translation: X:248.72, Y:-111.61, Z:-11.45 [[-6.63008680e-01 -7.48602254e-01 3.76243884e-03 2.48723452e+02] [ 7.48590037e-01 -6.63019355e-01 -4.27684713e-03 -1.11609769e+02] [ 5.69622717e-03 -1.90625342e-05 9.99983776e-01 -1.14490240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.730385723 meters 0.014147630448272483 Centerline is valid? [True, True] Translation: X:248.69, Y:-111.56, Z:-11.45 [[-6.63889610e-01 -7.47820223e-01 3.93692262e-03 2.48691835e+02] [ 7.47806851e-01 -6.63901282e-01 -4.47226848e-03 -1.11562800e+02] [ 5.95818079e-03 -2.50348716e-05 9.99982250e-01 -1.14492874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.790385723 meters 0.014238482399660171 Centerline is valid? [True, True] Translation: X:248.66, Y:-111.52, Z:-11.45 [[-6.64235433e-01 -7.47512909e-01 3.96753734e-03 2.48656161e+02] [ 7.47499337e-01 -6.64247281e-01 -4.50451068e-03 -1.11517072e+02] [ 6.00260577e-03 -2.63240712e-05 9.99981984e-01 -1.14493648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.850385723 meters 0.014274100820279507 Centerline is valid? [True, True] Translation: X:248.62, Y:-111.47, Z:-11.45 [[-6.64238982e-01 -7.47507185e-01 4.42534212e-03 2.48622644e+02] [ 7.47490321e-01 -6.64253723e-01 -5.02112109e-03 -1.11469965e+02] [ 6.69287407e-03 -2.73239609e-05 9.99977602e-01 -1.14493762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.910385723 meters 0.016058075313499485 Centerline is valid? [True, True] Translation: X:248.59, Y:-111.42, Z:-11.45 [[-6.64068104e-01 -7.47656594e-01 4.81357724e-03 2.48589009e+02] [ 7.47636670e-01 -6.64085549e-01 -5.45823552e-03 -1.11422947e+02] [ 7.27751286e-03 -2.58332527e-05 9.99973518e-01 -1.14509396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.970385723 meters 0.014448195105326949 Centerline is valid? [True, True] Translation: X:248.55, Y:-111.38, Z:-11.45 [[-6.63542526e-01 -7.48122367e-01 4.92351649e-03 2.48554959e+02] [ 7.48101562e-01 -6.63560791e-01 -5.57936197e-03 -1.11376324e+02] [ 7.44109798e-03 -1.88535550e-05 9.99972314e-01 -1.14481291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.030385723 meters 0.014838550196307781 Centerline is valid? [True, True] Translation: X:248.52, Y:-111.33, Z:-11.45 [[-6.62712035e-01 -7.48851207e-01 5.88457701e-03 2.48521187e+02] [ 7.48821553e-01 -6.62738160e-01 -6.66427371e-03 -1.11329457e+02] [ 8.89048315e-03 -9.99629134e-06 9.99960479e-01 -1.14488972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.090385723 meters 0.014456976233241301 Centerline is valid? [True, True] Translation: X:248.49, Y:-111.28, Z:-11.45 [[-6.62931671e-01 -7.48650747e-01 6.60751563e-03 2.48487402e+02] [ 7.48613397e-01 -6.62964599e-01 -7.47811573e-03 -1.11284591e+02] [ 9.97904587e-03 -1.10050284e-05 9.99950208e-01 -1.14503558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.150385723 meters 0.014482633780132481 Centerline is valid? [True, True] Translation: X:248.45, Y:-111.24, Z:-11.45 [[-6.62925848e-01 -7.48657218e-01 6.45674056e-03 2.48451550e+02] [ 7.48621598e-01 -6.62957291e-01 -7.30292338e-03 -1.11239928e+02] [ 9.74792953e-03 -7.64123448e-06 9.99952488e-01 -1.14480914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.210385723 meters 0.014527753754869865 Centerline is valid? [True, True] Translation: X:248.41, Y:-111.20, Z:-11.45 [[-6.62891117e-01 -7.48692686e-01 5.88455821e-03 2.48414082e+02] [ 7.48663140e-01 -6.62917236e-01 -6.65143455e-03 -1.11197858e+02] [ 8.88085546e-03 -3.62505531e-06 9.99960564e-01 -1.14473355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.270385723 meters 0.014636303638422995 Centerline is valid? [True, True] Translation: X:248.38, Y:-111.15, Z:-11.45 [[-6.64127382e-01 -7.47600649e-01 5.29995340e-03 2.48376218e+02] [ 7.47576677e-01 -6.64148529e-01 -5.98694609e-03 -1.11154556e+02] [ 7.99580104e-03 -1.39732803e-05 9.99968033e-01 -1.14462265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.330385723 meters 0.015285963457604234 Centerline is valid? [True, True] Translation: X:248.34, Y:-111.11, Z:-11.45 [[-6.64432465e-01 -7.47325908e-01 5.78683952e-03 2.48338290e+02] [ 7.47297353e-01 -6.64457664e-01 -6.53289801e-03 -1.11111028e+02] [ 8.72731381e-03 -1.61796673e-05 9.99961916e-01 -1.14468897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.390385723 meters 0.015081164735057894 Centerline is valid? [True, True] Translation: X:248.30, Y:-111.07, Z:-11.45 [[-6.63989138e-01 -7.47710901e-01 6.84351832e-03 2.48299002e+02] [ 7.47671037e-01 -6.64024404e-01 -7.72085612e-03 -1.11070549e+02] [ 1.03172315e-02 -9.86415394e-06 9.99946776e-01 -1.14478468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.450385723 meters 0.015281864897676032 Centerline is valid? [True, True] Translation: X:248.26, Y:-111.03, Z:-11.45 [[-6.64634545e-01 -7.47136985e-01 6.87375078e-03 2.48259849e+02] [ 7.47096786e-01 -6.64670088e-01 -7.75021867e-03 -1.11029095e+02] [ 1.03592515e-02 -1.57059371e-05 9.99946341e-01 -1.14461358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.510385723 meters 0.015521808372607991 Centerline is valid? [True, True] Translation: X:248.22, Y:-110.99, Z:-11.44 [[-6.66274101e-01 -7.45680472e-01 6.28140712e-03 2.48221474e+02] [ 7.45646880e-01 -6.66303709e-01 -7.07790825e-03 -1.10986004e+02] [ 9.46318282e-03 -3.21153361e-05 9.99955223e-01 -1.14445740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.570385723 meters 0.015894388182277355 Centerline is valid? [True, True] Translation: X:248.19, Y:-110.94, Z:-11.44 [[-6.69691462e-01 -7.42620696e-01 5.27721019e-03 2.48185567e+02] [ 7.42596921e-01 -6.69712251e-01 -5.94250096e-03 -1.10942582e+02] [ 7.94723651e-03 -6.08021101e-05 9.99968418e-01 -1.14434398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.630385723 meters 0.016243400621499263 Centerline is valid? [True, True] Translation: X:248.15, Y:-110.90, Z:-11.44 [[-6.70892341e-01 -7.41530290e-01 6.02457839e-03 2.48147451e+02] [ 7.41499296e-01 -6.70919386e-01 -6.78024983e-03 -1.10900426e+02] [ 9.06976706e-03 -8.15970550e-05 9.99958865e-01 -1.14446919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.690385723 meters 0.01599752004365771 Centerline is valid? [True, True] Translation: X:248.11, Y:-110.86, Z:-11.44 [[-6.70402789e-01 -7.41975472e-01 5.70080838e-03 2.48106638e+02] [ 7.41947767e-01 -6.70427024e-01 -6.41225939e-03 -1.10859282e+02] [ 8.57971519e-03 -6.90945347e-05 9.99963191e-01 -1.14437038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.750385723 meters 0.015961575101717595 Centerline is valid? [True, True] Translation: X:248.07, Y:-110.82, Z:-11.44 [[-6.70015733e-01 -7.42331334e-01 4.80707034e-03 2.48067541e+02] [ 7.42311667e-01 -6.70032975e-01 -5.40388357e-03 -1.10815756e+02] [ 7.23236774e-03 -5.23426180e-05 9.99973845e-01 -1.14409091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.810385723 meters 0.015946049045928664 Centerline is valid? [True, True] Translation: X:248.03, Y:-110.77, Z:-11.44 [[-6.70040643e-01 -7.42308580e-01 4.84852945e-03 2.48029919e+02] [ 7.42288588e-01 -6.70058184e-01 -5.44824565e-03 -1.10773350e+02] [ 7.29307633e-03 -5.15379407e-05 9.99973404e-01 -1.14412377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87038572299997 meters 0.016138879300572243 Centerline is valid? [True, True] Translation: X:247.99, Y:-110.73, Z:-11.44 [[-6.71127576e-01 -7.41322466e-01 5.36446406e-03 2.47992784e+02] [ 7.41297991e-01 -6.71149012e-01 -6.02421606e-03 -1.10729890e+02] [ 8.06624146e-03 -6.63510943e-05 9.99967465e-01 -1.14415861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.930385723 meters 0.016448368310429305 Centerline is valid? [True, True] Translation: X:247.96, Y:-110.68, Z:-11.44 [[-6.72869492e-01 -7.39738662e-01 5.77578671e-03 2.47955605e+02] [ 7.39710262e-01 -6.72894275e-01 -6.48256388e-03 -1.10684785e+02] [ 8.68189693e-03 -8.95107585e-05 9.99962308e-01 -1.14409557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.990385723 meters 0.016842653338645593 Centerline is valid? [True, True] Translation: X:247.92, Y:-110.64, Z:-11.44 [[-6.74638581e-01 -7.38129543e-01 5.24998786e-03 2.47917597e+02] [ 7.38106059e-01 -6.74659001e-01 -5.88880557e-03 -1.10641978e+02] [ 7.88865293e-03 -9.77675898e-05 9.99968879e-01 -1.14414558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.050385723 meters 0.01898934041565725 Centerline is valid? [True, True] Translation: X:247.88, Y:-110.60, Z:-11.44 [[-6.76763997e-01 -7.36184026e-01 4.85513977e-03 2.47880418e+02] [ 7.36163913e-01 -6.76781403e-01 -5.44297693e-03 -1.10596825e+02] [ 7.29290098e-03 -1.09432132e-04 9.99973400e-01 -1.14435559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.110385723 meters 0.017305111108155292 Centerline is valid? [True, True] Translation: X:247.84, Y:-110.55, Z:-11.44 [[-6.76617318e-01 -7.36317412e-01 5.06697347e-03 2.47841853e+02] [ 7.36295535e-01 -6.76636281e-01 -5.67705833e-03 -1.10554303e+02] [ 7.60861498e-03 -1.10406046e-04 9.99971048e-01 -1.14426584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.170385723 meters 0.01707673366104281 Centerline is valid? [True, True] Translation: X:247.80, Y:-110.51, Z:-11.44 [[-6.76008094e-01 -7.36875623e-01 5.23204932e-03 2.47801549e+02] [ 7.36852341e-01 -6.76028332e-01 -5.85852623e-03 -1.10513145e+02] [ 7.85401874e-03 -1.05163355e-04 9.99969151e-01 -1.14429330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.230385723 meters 0.016951613076251437 Centerline is valid? [True, True] Translation: X:247.76, Y:-110.47, Z:-11.44 [[-6.75318633e-01 -7.37508139e-01 5.14665549e-03 2.47762602e+02] [ 7.37485656e-01 -6.75338238e-01 -5.75953316e-03 -1.10471844e+02] [ 7.72343583e-03 -9.39354583e-05 9.99970169e-01 -1.14434942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.290385723 meters 0.0169275073679376 Centerline is valid? [True, True] Translation: X:247.72, Y:-110.43, Z:-11.45 [[-6.74868204e-01 -7.37916866e-01 5.62196553e-03 2.47723444e+02] [ 7.37890082e-01 -6.74891614e-01 -6.28784265e-03 -1.10430609e+02] [ 8.43412253e-03 -9.50724725e-05 9.99964428e-01 -1.14454274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.350385723 meters 0.016427063177694393 Centerline is valid? [True, True] Translation: X:247.68, Y:-110.39, Z:-11.45 [[-6.74622641e-01 -7.38136516e-01 6.22703013e-03 2.47683257e+02] [ 7.38103705e-01 -6.74651372e-01 -6.96040031e-03 -1.10390084e+02] [ 9.33880005e-03 -9.94496262e-05 9.99956388e-01 -1.14456675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.410385723 meters 0.016191281275967598 Centerline is valid? [True, True] Translation: X:247.64, Y:-110.35, Z:-11.44 [[-6.73801026e-01 -7.38896066e-01 4.97814390e-03 2.47643936e+02] [ 7.38875141e-01 -6.73819412e-01 -5.56110992e-03 -1.10348714e+02] [ 7.46345224e-03 -6.88547914e-05 9.99972146e-01 -1.14444048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.470385723 meters 0.01606952050895581 Centerline is valid? [True, True] Translation: X:247.60, Y:-110.31, Z:-11.44 [[-6.73188025e-01 -7.39458181e-01 4.41378517e-03 2.47603884e+02] [ 7.39441764e-01 -6.73202492e-01 -4.92774333e-03 -1.10307619e+02] [ 6.61523129e-03 -5.35607045e-05 9.99978118e-01 -1.14445492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.530385723 meters 0.01584697727011016 Centerline is valid? [True, True] Translation: X:247.56, Y:-110.27, Z:-11.45 [[-6.71591238e-01 -7.40905404e-01 4.93864951e-03 2.47563529e+02] [ 7.40884913e-01 -6.71609395e-01 -5.51051094e-03 -1.10267204e+02] [ 7.39961075e-03 -4.18399590e-05 9.99972622e-01 -1.14450123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.590385723 meters 0.016482095951479696 Centerline is valid? [True, True] Translation: X:247.52, Y:-110.23, Z:-11.45 [[-6.71788877e-01 -7.40726267e-01 4.92979529e-03 2.47523824e+02] [ 7.40705869e-01 -6.71806963e-01 -5.49730413e-03 -1.10226256e+02] [ 7.38386836e-03 -4.14994631e-05 9.99972738e-01 -1.14458798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.650385723 meters 0.015756958769674683 Centerline is valid? [True, True] Translation: X:247.48, Y:-110.19, Z:-11.45 [[-6.73129124e-01 -7.39506355e-01 5.24713390e-03 2.47483710e+02] [ 7.39483238e-01 -6.73149573e-01 -5.84753304e-03 -1.10185448e+02] [ 7.85639379e-03 -5.59772334e-05 9.99969137e-01 -1.14450300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.710385723 meters 0.016582462028358672 Centerline is valid? [True, True] Translation: X:247.45, Y:-110.14, Z:-11.45 [[-6.76716084e-01 -7.36224361e-01 5.38807748e-03 2.47446976e+02] [ 7.36199909e-01 -6.76737527e-01 -6.00112721e-03 -1.10141785e+02] [ 8.06449028e-03 -9.43571627e-05 9.99967477e-01 -1.14455462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.770385723 meters 0.016629420520774738 Centerline is valid? [True, True] Translation: X:247.41, Y:-110.10, Z:-11.44 [[-6.79861106e-01 -7.33317939e-01 5.80317609e-03 2.47406234e+02] [ 7.33289499e-01 -6.79885859e-01 -6.45985823e-03 -1.10100001e+02] [ 8.68262729e-03 -1.36398274e-04 9.99962296e-01 -1.14448345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.830385723 meters 0.017315982815551672 Centerline is valid? [True, True] Translation: X:247.37, Y:-110.06, Z:-11.44 [[-6.82625820e-01 -7.30743335e-01 6.01399310e-03 2.47366151e+02] [ 7.30712723e-01 -6.82652290e-01 -6.69083768e-03 -1.10057743e+02] [ 8.99475120e-03 -1.72837291e-04 9.99959531e-01 -1.14447713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.890385723 meters 0.01839934389058093 Centerline is valid? [True, True] Translation: X:247.33, Y:-110.02, Z:-11.45 [[-6.85772685e-01 -7.27790057e-01 6.12029349e-03 2.47327037e+02] [ 7.27758271e-01 -6.85799962e-01 -6.80517167e-03 -1.10015680e+02] [ 9.15003331e-03 -2.12706638e-04 9.99958115e-01 -1.14453195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.950385723 meters 0.017988375967254715 Centerline is valid? [True, True] Translation: X:247.29, Y:-109.97, Z:-11.44 [[-6.88101672e-01 -7.25595976e-01 5.15447109e-03 2.47285320e+02] [ 7.25573395e-01 -6.88120948e-01 -5.72804411e-03 -1.09974613e+02] [ 7.70314529e-03 -2.01529648e-04 9.99970310e-01 -1.14428205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.010385723 meters 0.018625125794725264 Centerline is valid? [True, True] Translation: X:247.24, Y:-109.94, Z:-11.44 [[-6.88600630e-01 -7.25118787e-01 5.64957497e-03 2.47244655e+02] [ 7.25091677e-01 -6.88623769e-01 -6.27411219e-03 -1.09935894e+02] [ 8.43990822e-03 -2.23897813e-04 9.99964358e-01 -1.14435228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.070385723 meters 0.017720125826629976 Centerline is valid? [True, True] Translation: X:247.20, Y:-109.90, Z:-11.44 [[-6.87220518e-01 -7.26427871e-01 5.52340652e-03 2.47200824e+02] [ 7.26402029e-01 -6.87242685e-01 -6.13057476e-03 -1.09897159e+02] [ 8.24934109e-03 -2.00843058e-04 9.99965953e-01 -1.14433368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.130385723 meters 0.017261333114335742 Centerline is valid? [True, True] Translation: X:247.16, Y:-109.86, Z:-11.44 [[-6.83170392e-01 -7.30239495e-01 5.33819890e-03 2.47158492e+02] [ 7.30215497e-01 -6.83191231e-01 -5.92192831e-03 -1.09859234e+02] [ 7.97143662e-03 -1.47650517e-04 9.99968217e-01 -1.14429879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.190385723 meters 0.016427786306899988 Centerline is valid? [True, True] Translation: X:247.12, Y:-109.82, Z:-11.44 [[-6.79802539e-01 -7.33367456e-01 6.37835707e-03 2.47115340e+02] [ 7.33333368e-01 -6.79832449e-01 -7.07195077e-03 -1.09820209e+02] [ 9.52255265e-03 -1.30068016e-04 9.99954651e-01 -1.14432425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.250385723 meters 0.015520838344702543 Centerline is valid? [True, True] Translation: X:247.07, Y:-109.78, Z:-11.44 [[-6.73470591e-01 -7.39187558e-01 6.25433354e-03 2.47070425e+02] [ 7.39155065e-01 -6.73499630e-01 -6.93090506e-03 -1.09784206e+02] [ 9.33553011e-03 -4.48384170e-05 9.99956422e-01 -1.14435478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.310385723 meters 0.015608874608789474 Centerline is valid? [True, True] Translation: X:247.03, Y:-109.74, Z:-11.44 [[-6.72277461e-01 -7.40269890e-01 6.59583376e-03 2.47029441e+02] [ 7.40233844e-01 -6.72309817e-01 -7.30525884e-03 -1.09743413e+02] [ 9.84230694e-03 -2.87014842e-05 9.99951563e-01 -1.14427133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37038572299997 meters 0.015540454813187018 Centerline is valid? [True, True] Translation: X:246.99, Y:-109.70, Z:-11.44 [[-6.72818269e-01 -7.39777778e-01 6.66447523e-03 2.46988393e+02] [ 7.39740996e-01 -6.72851275e-01 -7.37709075e-03 -1.09702016e+02] [ 9.94160845e-03 -3.34558869e-05 9.99950580e-01 -1.14425328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.430385723 meters 0.01721776734534652 Centerline is valid? [True, True] Translation: X:246.95, Y:-109.66, Z:-11.44 [[-6.76086509e-01 -7.36783220e-01 7.58408117e-03 2.46951598e+02] [ 7.36735451e-01 -6.76129040e-01 -8.39030315e-03 -1.09657390e+02] [ 1.13096521e-02 -8.51093083e-05 9.99936040e-01 -1.14440265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.490385723 meters 0.020591040938862725 Centerline is valid? [True, True] Translation: X:246.92, Y:-109.61, Z:-11.44 [[-6.80450928e-01 -7.32744310e-01 8.50358106e-03 2.46916179e+02] [ 7.32684007e-01 -6.80504040e-01 -9.40201223e-03 -1.09612186e+02] [ 1.26759922e-02 -1.67170102e-04 9.99919642e-01 -1.14448411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.550385723 meters 0.017632992757625213 Centerline is valid? [True, True] Translation: X:246.88, Y:-109.57, Z:-11.44 [[-6.82024171e-01 -7.31287914e-01 7.81135580e-03 2.46879065e+02] [ 7.31236999e-01 -6.82068879e-01 -8.63105269e-03 -1.09570015e+02] [ 1.16396672e-02 -1.74634179e-04 9.99932242e-01 -1.14418087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.610385723 meters 0.01708386193628335 Centerline is valid? [True, True] Translation: X:246.84, Y:-109.53, Z:-11.44 [[-6.81760780e-01 -7.31535138e-01 7.65376672e-03 2.46841003e+02] [ 7.31486331e-01 -6.81803721e-01 -8.45177558e-03 -1.09527527e+02] [ 1.14011374e-02 -1.63463373e-04 9.99934992e-01 -1.14414007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.670385723 meters 0.0168253842383056 Centerline is valid? [True, True] Translation: X:246.80, Y:-109.49, Z:-11.44 [[-6.81229425e-01 -7.32025371e-01 8.08257654e-03 2.46802209e+02] [ 7.31971042e-01 -6.81277353e-01 -8.91975845e-03 -1.09485375e+02] [ 1.20359658e-02 -1.60189944e-04 9.99927552e-01 -1.14409240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.730385723 meters 0.016202656876002402 Centerline is valid? [True, True] Translation: X:246.76, Y:-109.44, Z:-11.44 [[-6.78762791e-01 -7.34311210e-01 8.25352099e-03 2.46760907e+02] [ 7.34254788e-01 -6.78812959e-01 -9.10345950e-03 -1.09443812e+02] [ 1.22873694e-02 -1.18902276e-04 9.99924500e-01 -1.14404952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.790385723 meters 0.01610390038399492 Centerline is valid? [True, True] Translation: X:246.72, Y:-109.40, Z:-11.44 [[-6.75104043e-01 -7.37677846e-01 8.11953730e-03 2.46721148e+02] [ 7.37623544e-01 -6.75152866e-01 -8.95068947e-03 -1.09402752e+02] [ 1.20846542e-02 -5.34847721e-05 9.99926976e-01 -1.14400202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.850385723 meters 0.01587138952399289 Centerline is valid? [True, True] Translation: X:246.68, Y:-109.36, Z:-11.44 [[-6.72990317e-01 -7.39605515e-01 8.22900032e-03 2.46681044e+02] [ 7.39549944e-01 -6.73040625e-01 -9.06629744e-03 -1.09361231e+02] [ 1.22439351e-02 -1.57736579e-05 9.99925040e-01 -1.14394310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.910385723 meters 0.016701463126069682 Centerline is valid? [True, True] Translation: X:246.64, Y:-109.32, Z:-11.44 [[-6.71554040e-01 -7.40909700e-01 8.24550788e-03 2.46640993e+02] [ 7.40854066e-01 -6.71604658e-01 -9.07943163e-03 -1.09319155e+02] [ 1.22647605e-02 1.13890521e-05 9.99924785e-01 -1.14404042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.970385723 meters 0.01578900361338383 Centerline is valid? [True, True] Translation: X:246.60, Y:-109.28, Z:-11.44 [[-6.71219175e-01 -7.41222466e-01 7.35363794e-03 2.46602180e+02] [ 7.41178285e-01 -6.71259455e-01 -8.09283839e-03 -1.09276227e+02] [ 1.09347926e-02 1.82884474e-05 9.99940213e-01 -1.14390539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.030385723 meters 0.01577041766671445 Centerline is valid? [True, True] Translation: X:246.56, Y:-109.23, Z:-11.44 [[-6.71671345e-01 -7.40814387e-01 7.18667110e-03 2.46564767e+02] [ 7.40772214e-01 -6.71709792e-01 -7.90463643e-03 -1.09232129e+02] [ 1.06832257e-02 1.43684767e-05 9.99942933e-01 -1.14388665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.090385723 meters 0.01575062680575352 Centerline is valid? [True, True] Translation: X:246.53, Y:-109.19, Z:-11.44 [[-6.72672836e-01 -7.39902805e-01 7.42263099e-03 2.46527831e+02] [ 7.39857813e-01 -6.72713787e-01 -8.15953920e-03 -1.09187081e+02] [ 1.10305721e-02 2.99115887e-06 9.99939161e-01 -1.14394310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.150385723 meters 0.017711480493741626 Centerline is valid? [True, True] Translation: X:246.49, Y:-109.14, Z:-11.44 [[-6.73890583e-01 -7.38791816e-01 7.62466091e-03 2.46492812e+02] [ 7.38744326e-01 -6.73933716e-01 -8.37665435e-03 -1.09142306e+02] [ 1.13271197e-02 -1.22735018e-05 9.99935846e-01 -1.14416602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.210385723 meters 0.015652051378947783 Centerline is valid? [True, True] Translation: X:246.46, Y:-109.10, Z:-11.44 [[-6.73741586e-01 -7.38930744e-01 7.32332440e-03 2.46455366e+02] [ 7.38886996e-01 -6.73781386e-01 -8.04056633e-03 -1.09099273e+02] [ 1.08757413e-02 -6.15473947e-06 9.99940857e-01 -1.14402549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.270385723 meters 0.01560382913113493 Centerline is valid? [True, True] Translation: X:246.42, Y:-109.06, Z:-11.44 [[-6.73799440e-01 -7.38881033e-01 7.00952884e-03 2.46419203e+02] [ 7.38841001e-01 -6.73835899e-01 -7.69128310e-03 -1.09055390e+02] [ 1.04062154e-02 -3.45493571e-06 9.99945854e-01 -1.14413081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.330385723 meters 0.015541524613796922 Centerline is valid? [True, True] Translation: X:246.38, Y:-109.01, Z:-11.44 [[-6.74454675e-01 -7.38293277e-01 5.82489018e-03 2.46382807e+02] [ 7.38265642e-01 -6.74479827e-01 -6.38782722e-03 -1.09010457e+02] [ 8.64486082e-03 -7.98364508e-06 9.99962632e-01 -1.14403470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.390385723 meters 0.015446123328996773 Centerline is valid? [True, True] Translation: X:246.35, Y:-108.97, Z:-11.44 [[-6.74738111e-01 -7.38039839e-01 5.06729552e-03 2.46347093e+02] [ 7.38018946e-01 -6.74757138e-01 -5.55335206e-03 -1.08966375e+02] [ 7.51778888e-03 -7.29818325e-06 9.99971741e-01 -1.14402756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.450385723 meters 0.01550127762786518 Centerline is valid? [True, True] Translation: X:246.31, Y:-108.92, Z:-11.44 [[-6.75051449e-01 -7.37755555e-01 4.72043055e-03 2.46311404e+02] [ 7.37737439e-01 -6.75067953e-01 -5.17004105e-03 -1.08921723e+02] [ 7.00083790e-03 -7.60535950e-06 9.99975494e-01 -1.14406153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.510385723 meters 0.017488862839931976 Centerline is valid? [True, True] Translation: X:246.28, Y:-108.87, Z:-11.45 [[-6.75636091e-01 -7.37201869e-01 7.01979640e-03 2.46276697e+02] [ 7.37161820e-01 -6.75672557e-01 -7.68420363e-03 -1.08874862e+02] [ 1.04078931e-02 -1.69994112e-05 9.99945836e-01 -1.14452376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.570385723 meters 0.015633547376304565 Centerline is valid? [True, True] Translation: X:246.24, Y:-108.83, Z:-11.44 [[-6.76550600e-01 -7.36351802e-01 8.08143839e-03 2.46240379e+02] [ 7.36298722e-01 -6.76598864e-01 -8.84135955e-03 -1.08829606e+02] [ 1.19782431e-02 -3.12743481e-05 9.99928258e-01 -1.14442486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.630385723 meters 0.01601980189100024 Centerline is valid? [True, True] Translation: X:246.21, Y:-108.78, Z:-11.44 [[-6.80526399e-01 -7.32684889e-01 7.52818465e-03 2.46210028e+02] [ 7.32638657e-01 -6.80568032e-01 -8.23122669e-03 -1.08779499e+02] [ 1.11543372e-02 -8.61279628e-05 9.99937785e-01 -1.14427879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.690385723 meters 0.01620486412018249 Centerline is valid? [True, True] Translation: X:246.18, Y:-108.73, Z:-11.44 [[-6.83281815e-01 -7.30124411e-01 6.65625446e-03 2.46175023e+02] [ 7.30088187e-01 -6.83314226e-01 -7.27380027e-03 -1.08732273e+02] [ 9.85909250e-03 -1.10402695e-04 9.99951392e-01 -1.14410233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.750385723 meters 0.016839914422052946 Centerline is valid? [True, True] Translation: X:246.14, Y:-108.68, Z:-11.44 [[-6.85266494e-01 -7.28257804e-01 7.09953365e-03 2.46141520e+02] [ 7.28216538e-01 -6.85303254e-01 -7.75392287e-03 -1.08683946e+02] [ 1.05121884e-02 -1.43505722e-04 9.99944735e-01 -1.14408945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.810385723 meters 0.017633655714012954 Centerline is valid? [True, True] Translation: X:246.11, Y:-108.64, Z:-11.44 [[-6.85232124e-01 -7.28282631e-01 7.83235016e-03 2.46106466e+02] [ 7.28232469e-01 -6.85276868e-01 -8.54899053e-03 -1.08638201e+02] [ 1.15934097e-02 -1.54271250e-04 9.99932782e-01 -1.14420253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87038572299997 meters 0.016649399373569653 Centerline is valid? [True, True] Translation: X:246.07, Y:-108.59, Z:-11.44 [[-6.83531383e-01 -7.29873267e-01 8.35837363e-03 2.46069259e+02] [ 7.29816331e-01 -6.83582472e-01 -9.11739359e-03 -1.08594745e+02] [ 1.23681796e-02 -1.31947073e-04 9.99923502e-01 -1.14409199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.930385723 meters 0.016477195138329473 Centerline is valid? [True, True] Translation: X:246.03, Y:-108.55, Z:-11.44 [[-6.81419822e-01 -7.31841560e-01 8.65778474e-03 2.46031533e+02] [ 7.31780705e-01 -6.81474814e-01 -9.43813432e-03 -1.08551738e+02] [ 1.28072812e-02 -9.57319929e-05 9.99917979e-01 -1.14409467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.990385723 meters 0.017901332418918826 Centerline is valid? [True, True] Translation: X:245.99, Y:-108.51, Z:-11.44 [[-6.79695489e-01 -7.33439193e-01 8.99960948e-03 2.45990438e+02] [ 7.33373657e-01 -6.79755063e-01 -9.80473364e-03 -1.08511391e+02] [ 1.33087060e-02 -6.41567099e-05 9.99911433e-01 -1.14438987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.050385723 meters 0.0163862963307795 Centerline is valid? [True, True] Translation: X:245.95, Y:-108.47, Z:-11.44 [[-6.76597483e-01 -7.36300658e-01 8.78557323e-03 2.45948780e+02] [ 7.36238515e-01 -6.76654521e-01 -9.56599103e-03 -1.08471240e+02] [ 1.29882433e-02 -4.04806334e-06 9.99915649e-01 -1.14414797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.110385723 meters 0.01637205839808317 Centerline is valid? [True, True] Translation: X:245.91, Y:-108.43, Z:-11.44 [[-6.75728303e-01 -7.37103278e-01 8.36770305e-03 2.45906764e+02] [ 7.37047036e-01 -6.75780110e-01 -9.10544071e-03 -1.08431494e+02] [ 1.23663775e-02 1.45867367e-05 9.99923533e-01 -1.14428736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.170385723 meters 0.01637629769763725 Centerline is valid? [True, True] Translation: X:245.87, Y:-108.39, Z:-11.44 [[-6.76889455e-01 -7.36045969e-01 7.54958099e-03 2.45866365e+02] [ 7.36000180e-01 -6.76931556e-01 -8.21002224e-03 -1.08390642e+02] [ 1.11535034e-02 -7.84520146e-07 9.99937798e-01 -1.14427934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.230385723 meters 0.016299799140396348 Centerline is valid? [True, True] Translation: X:245.83, Y:-108.35, Z:-11.44 [[-6.79093743e-01 -7.34013579e-01 7.46684778e-03 2.45828382e+02] [ 7.33968720e-01 -6.79134791e-01 -8.11501205e-03 -1.08347500e+02] [ 1.10275252e-02 -3.04212007e-05 9.99939195e-01 -1.14421414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.290385723 meters 0.016473168992176587 Centerline is valid? [True, True] Translation: X:245.79, Y:-108.30, Z:-11.44 [[-6.82154758e-01 -7.31169518e-01 7.48474608e-03 2.45789734e+02] [ 7.31124323e-01 -6.82195815e-01 -8.12979689e-03 -1.08304201e+02] [ 1.10503221e-02 -7.34997246e-05 9.99938941e-01 -1.14419874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.350385723 meters 0.016426980982536254 Centerline is valid? [True, True] Translation: X:245.75, Y:-108.26, Z:-11.44 [[-6.84478766e-01 -7.29002443e-01 6.65261882e-03 2.45751483e+02] [ 7.28966681e-01 -6.84511088e-01 -7.22141418e-03 -1.08262011e+02] [ 9.81821993e-03 -9.33672068e-05 9.99951796e-01 -1.14410930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.410385723 meters 0.016324451887605538 Centerline is valid? [True, True] Translation: X:245.71, Y:-108.22, Z:-11.44 [[-6.85525957e-01 -7.28026388e-01 5.63380408e-03 2.45711880e+02] [ 7.28000737e-01 -6.85549101e-01 -6.11206807e-03 -1.08219762e+02] [ 8.31199616e-03 -8.85677983e-05 9.99965451e-01 -1.14403341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.470385723 meters 0.01642206440658329 Centerline is valid? [True, True] Translation: X:245.67, Y:-108.18, Z:-11.44 [[-6.86328322e-01 -7.27273279e-01 5.19740669e-03 2.45673660e+02] [ 7.27251454e-01 -6.86347995e-01 -5.63492628e-03 -1.08178718e+02] [ 7.66536097e-03 -8.75879230e-05 9.99970617e-01 -1.14407341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.530385723 meters 0.016071688366405153 Centerline is valid? [True, True] Translation: X:245.63, Y:-108.14, Z:-11.44 [[-6.86014641e-01 -7.27570609e-01 4.99221500e-03 2.45634980e+02] [ 7.27550506e-01 -6.86032800e-01 -5.40907221e-03 -1.08136258e+02] [ 7.36030519e-03 -7.86141780e-05 9.99972910e-01 -1.14408413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.590385723 meters 0.016193914334752563 Centerline is valid? [True, True] Translation: X:245.60, Y:-108.09, Z:-11.44 [[-6.86640344e-01 -7.26981394e-01 4.80522438e-03 2.45596939e+02] [ 7.26962778e-01 -6.86657153e-01 -5.20325120e-03 -1.08093008e+02] [ 7.08220851e-03 -7.95429286e-05 9.99974918e-01 -1.14414676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.650385723 meters 0.015969479818314536 Centerline is valid? [True, True] Translation: X:245.56, Y:-108.05, Z:-11.44 [[-6.86364960e-01 -7.27238922e-01 5.16641497e-03 2.45558258e+02] [ 7.27217435e-01 -6.86384400e-01 -5.59086693e-03 -1.08051186e+02] [ 7.61204268e-03 -8.02681207e-05 9.99971025e-01 -1.14409145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.710385723 meters 0.015601427284157154 Centerline is valid? [True, True] Translation: X:245.52, Y:-108.01, Z:-11.44 [[-6.84620568e-01 -7.28884004e-01 4.77353263e-03 2.45517452e+02] [ 7.28865722e-01 -6.84637207e-01 -5.16280095e-03 -1.08009598e+02] [ 7.03122108e-03 -5.52954120e-05 9.99975279e-01 -1.14399327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.770385723 meters 0.015358991551629219 Centerline is valid? [True, True] Translation: X:245.48, Y:-107.97, Z:-11.44 [[-6.83475410e-01 -7.29959123e-01 4.58732512e-03 2.45476407e+02] [ 7.29942282e-01 -6.83490803e-01 -4.95862385e-03 -1.07968377e+02] [ 6.75498724e-03 -4.06148985e-05 9.99977184e-01 -1.14402510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.830385723 meters 0.015213631060513775 Centerline is valid? [True, True] Translation: X:245.44, Y:-107.93, Z:-11.44 [[-6.83146980e-01 -7.30267457e-01 4.43231788e-03 2.45437884e+02] [ 7.30251762e-01 -6.83161358e-01 -4.78791798e-03 -1.07926864e+02] [ 6.52444898e-03 -3.41437685e-05 9.99978715e-01 -1.14396808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.890385723 meters 0.015192241775194706 Centerline is valid? [True, True] Translation: X:245.40, Y:-107.88, Z:-11.44 [[-6.84421183e-01 -7.29074629e-01 4.22242239e-03 2.45399756e+02] [ 7.29060381e-01 -6.84434207e-01 -4.55820080e-03 -1.07884771e+02] [ 6.21323888e-03 -4.13283080e-05 9.99980697e-01 -1.14393670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.950385723 meters 0.015156364246259069 Centerline is valid? [True, True] Translation: X:245.36, Y:-107.84, Z:-11.44 [[-6.85180469e-01 -7.28350854e-01 5.72344873e-03 2.45359212e+02] [ 7.28324678e-01 -6.85204371e-01 -6.17523696e-03 -1.07842738e+02] [ 8.41947120e-03 -6.26228033e-05 9.99964554e-01 -1.14411658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.010385723 meters 0.015216202755179813 Centerline is valid? [True, True] Translation: X:245.32, Y:-107.80, Z:-11.44 [[-6.86249936e-01 -7.27340111e-01 6.11461036e-03 2.45319906e+02] [ 7.27310231e-01 -6.86277172e-01 -6.59326785e-03 -1.07800609e+02] [ 8.99186568e-03 -7.74109700e-05 9.99959569e-01 -1.14419957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.070385723 meters 0.015306458966334565 Centerline is valid? [True, True] Translation: X:245.28, Y:-107.76, Z:-11.44 [[-6.87462434e-01 -7.26192916e-01 6.26504971e-03 2.45281172e+02] [ 7.26161537e-01 -6.87490975e-01 -6.75143420e-03 -1.07758141e+02] [ 9.21000882e-03 -9.19192631e-05 9.99957583e-01 -1.14424046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.130385723 meters 0.015070062427089762 Centerline is valid? [True, True] Translation: X:245.24, Y:-107.72, Z:-11.44 [[-6.88788285e-01 -7.24942042e-01 5.45292340e-03 2.45241517e+02] [ 7.24918261e-01 -6.88809863e-01 -5.87261829e-03 -1.07716728e+02] [ 8.01333532e-03 -9.20669378e-05 9.99967888e-01 -1.14396864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.190385723 meters 0.015236802196112882 Centerline is valid? [True, True] Translation: X:245.20, Y:-107.67, Z:-11.44 [[-6.90247865e-01 -7.23554213e-01 5.21392431e-03 2.45201429e+02] [ 7.23532455e-01 -6.90267550e-01 -5.61218427e-03 -1.07674812e+02] [ 7.65972233e-03 -1.01354755e-04 9.99970659e-01 -1.14398847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.250385723 meters 0.015351844915411994 Centerline is valid? [True, True] Translation: X:245.16, Y:-107.63, Z:-11.44 [[-6.91405179e-01 -7.22445973e-01 5.54016714e-03 2.45159851e+02] [ 7.22421398e-01 -6.91427365e-01 -5.96009914e-03 -1.07634505e+02] [ 8.13647280e-03 -1.18508126e-04 9.99966891e-01 -1.14406183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.310385723 meters 0.01574530621100184 Centerline is valid? [True, True] Translation: X:245.12, Y:-107.60, Z:-11.44 [[-6.91891744e-01 -7.21980889e-01 5.42322639e-03 2.45119529e+02] [ 7.21957347e-01 -6.91912987e-01 -5.83155337e-03 -1.07595546e+02] [ 7.96267086e-03 -1.19465489e-04 9.99968290e-01 -1.14403596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37038572299997 meters 0.015934148514187528 Centerline is valid? [True, True] Translation: X:245.08, Y:-107.56, Z:-11.44 [[-6.92507427e-01 -7.21394868e-01 4.78617617e-03 2.45076087e+02] [ 7.21376541e-01 -6.92523958e-01 -5.14334336e-03 -1.07558474e+02] [ 7.02492317e-03 -1.09168267e-04 9.99975319e-01 -1.14397950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.430385723 meters 0.015533658490519438 Centerline is valid? [True, True] Translation: X:245.03, Y:-107.52, Z:-11.44 [[-6.91927631e-01 -7.21952774e-01 4.51062449e-03 2.45032444e+02] [ 7.21936527e-01 -6.91942326e-01 -4.84438615e-03 -1.07521398e+02] [ 6.61851002e-03 -9.55800497e-05 9.99978093e-01 -1.14389181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.490385723 meters 0.014878733928961324 Centerline is valid? [True, True] Translation: X:244.99, Y:-107.48, Z:-11.44 [[-6.90817010e-01 -7.23011528e-01 5.11758130e-03 2.44988640e+02] [ 7.22990668e-01 -6.90835959e-01 -5.49297682e-03 -1.07483646e+02] [ 7.50689474e-03 -9.46783014e-05 9.99971818e-01 -1.14396772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.550385723 meters 0.01419359285242215 Centerline is valid? [True, True] Translation: X:244.94, Y:-107.45, Z:-11.44 [[-6.88742243e-01 -7.24989807e-01 4.88910406e-03 2.44942003e+02] [ 7.24970837e-01 -6.88759592e-01 -5.24497444e-03 -1.07448018e+02] [ 7.16997032e-03 -6.79775932e-05 9.99974293e-01 -1.14388546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.610385723 meters 0.01375235388605511 Centerline is valid? [True, True] Translation: X:244.90, Y:-107.41, Z:-11.44 [[-6.86669724e-01 -7.26956574e-01 4.33927017e-03 2.44896595e+02] [ 7.26941689e-01 -6.86683433e-01 -4.65222760e-03 -1.07413746e+02] [ 6.36167238e-03 -4.01474590e-05 9.99979764e-01 -1.14384844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.670385723 meters 0.013313116322456613 Centerline is valid? [True, True] Translation: X:244.85, Y:-107.38, Z:-11.44 [[-6.85566052e-01 -7.27994128e-01 4.87213727e-03 2.44852205e+02] [ 7.27975412e-01 -6.85583364e-01 -5.22028063e-03 -1.07377184e+02] [ 7.14058990e-03 -3.20510467e-05 9.99974505e-01 -1.14381856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.730385723 meters 0.01323624715666549 Centerline is valid? [True, True] Translation: X:244.81, Y:-107.34, Z:-11.44 [[-6.85336414e-01 -7.28207653e-01 5.25490588e-03 2.44806129e+02] [ 7.28185913e-01 -6.85356560e-01 -5.62694590e-03 -1.07342289e+02] [ 7.69906928e-03 -2.98024928e-05 9.99970361e-01 -1.14394980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.790385723 meters 0.013395920439975567 Centerline is valid? [True, True] Translation: X:244.76, Y:-107.31, Z:-11.44 [[-6.88274024e-01 -7.25438726e-01 4.18602331e-03 2.44761056e+02] [ 7.25424896e-01 -6.88286752e-01 -4.47965811e-03 -1.07306450e+02] [ 6.13090185e-03 -4.65867951e-05 9.99981205e-01 -1.14374676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.850385723 meters 0.013634886681799302 Centerline is valid? [True, True] Translation: X:244.72, Y:-107.27, Z:-11.44 [[-6.89717486e-01 -7.24063714e-01 4.63977394e-03 2.44715512e+02] [ 7.24046710e-01 -6.89733089e-01 -4.96260175e-03 -1.07270080e+02] [ 6.79344546e-03 -6.33801466e-05 9.99976922e-01 -1.14387746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.910385723 meters 0.014293557653302057 Centerline is valid? [True, True] Translation: X:244.67, Y:-107.23, Z:-11.44 [[-6.92466442e-01 -7.21430768e-01 5.27954543e-03 2.44671537e+02] [ 7.21408698e-01 -6.92486561e-01 -5.64390249e-03 -1.07231258e+02] [ 7.72769917e-03 -9.95030888e-05 9.99970136e-01 -1.14394752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.970385723 meters 0.016104040822022925 Centerline is valid? [True, True] Translation: X:244.63, Y:-107.19, Z:-11.44 [[-6.95206207e-01 -7.18789435e-01 5.48435564e-03 2.44630050e+02] [ 7.18765562e-01 -6.95227826e-01 -5.85976949e-03 -1.07190333e+02] [ 8.02481705e-03 -1.31782162e-04 9.99967792e-01 -1.14403744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.030385723 meters 0.016570465596708252 Centerline is valid? [True, True] Translation: X:244.59, Y:-107.15, Z:-11.44 [[-6.97924633e-01 -7.16144079e-01 6.23420137e-03 2.44587589e+02] [ 7.16113150e-01 -6.97952452e-01 -6.65816157e-03 -1.07152557e+02] [ 9.11937911e-03 -1.82501383e-04 9.99958401e-01 -1.14407490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.090385723 meters 0.016889675186562217 Centerline is valid? [True, True] Translation: X:244.54, Y:-107.12, Z:-11.44 [[-6.98242738e-01 -7.15833983e-01 6.22804927e-03 2.44543272e+02] [ 7.15803138e-01 -6.98270489e-01 -6.64777348e-03 -1.07115221e+02] [ 9.10756517e-03 -1.83702343e-04 9.99958508e-01 -1.14404027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.150385723 meters 0.014932738308282702 Centerline is valid? [True, True] Translation: X:244.50, Y:-107.08, Z:-11.44 [[-6.97669567e-01 -7.16396865e-01 5.71900066e-03 2.44496834e+02] [ 7.16370906e-01 -6.97692989e-01 -6.10069046e-03 -1.07080742e+02] [ 8.36062218e-03 -1.59340388e-04 9.99965037e-01 -1.14388631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.210385723 meters 0.01643933886740734 Centerline is valid? [True, True] Translation: X:244.46, Y:-107.04, Z:-11.44 [[-6.96027131e-01 -7.17981764e-01 6.95838348e-03 2.44456075e+02] [ 7.17943458e-01 -6.96061893e-01 -7.41834903e-03 -1.07041218e+02] [ 1.01697049e-02 -1.67646295e-04 9.99948273e-01 -1.14416500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.270385723 meters 0.01569348603081311 Centerline is valid? [True, True] Translation: X:244.41, Y:-107.01, Z:-11.44 [[-6.93970396e-01 -7.19963395e-01 7.60259886e-03 2.44407432e+02] [ 7.19917835e-01 -6.94012023e-01 -8.10079875e-03 -1.07006426e+02] [ 1.11085736e-02 -1.48468002e-04 9.99938287e-01 -1.14406666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.330385723 meters 0.013007388910456956 Centerline is valid? [True, True] Translation: X:244.36, Y:-106.97, Z:-11.44 [[-6.91058696e-01 -7.22776135e-01 5.70416861e-03 2.44362033e+02] [ 7.22750612e-01 -6.91082233e-01 -6.07455822e-03 -1.06969607e+02] [ 8.33259529e-03 -7.51849302e-05 9.99965281e-01 -1.14364058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.390385723 meters 0.013146140785588355 Centerline is valid? [True, True] Translation: X:244.32, Y:-106.93, Z:-11.44 [[-6.91521861e-01 -7.22329762e-01 6.10163712e-03 2.44321566e+02] [ 7.22300576e-01 -6.91548775e-01 -6.49384316e-03 -1.06929677e+02] [ 8.91027586e-03 -8.34184964e-05 9.99960299e-01 -1.14366236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.450385723 meters 0.013580139521621118 Centerline is valid? [True, True] Translation: X:244.28, Y:-106.89, Z:-11.44 [[-6.94646274e-01 -7.19325749e-01 6.08452724e-03 2.44279804e+02] [ 7.19296640e-01 -6.94672911e-01 -6.47224446e-03 -1.06888311e+02] [ 8.88240834e-03 -1.19340494e-04 9.99960544e-01 -1.14365927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.510385723 meters 0.013764950143298286 Centerline is valid? [True, True] Translation: X:244.24, Y:-106.85, Z:-11.44 [[-6.96300886e-01 -7.17725610e-01 5.91813430e-03 2.44239867e+02] [ 7.17698044e-01 -6.96326023e-01 -6.29187071e-03 -1.06845907e+02] [ 8.63678766e-03 -1.33601739e-04 9.99962693e-01 -1.14359922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.570385723 meters 0.015078670477733497 Centerline is valid? [True, True] Translation: X:244.20, Y:-106.80, Z:-11.44 [[-7.00363826e-01 -7.13765065e-01 5.47205007e-03 2.44201140e+02] [ 7.13741401e-01 -7.00385183e-01 -5.81438369e-03 -1.06803060e+02] [ 7.98264674e-03 -1.66555320e-04 9.99968124e-01 -1.14352691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.630385723 meters 0.016237723171968185 Centerline is valid? [True, True] Translation: X:244.16, Y:-106.76, Z:-11.43 [[-7.03400815e-01 -7.10773766e-01 5.28658629e-03 2.44161969e+02] [ 7.10751618e-01 -7.03420655e-01 -5.61423513e-03 -1.06760078e+02] [ 7.70914503e-03 -1.91607797e-04 9.99970266e-01 -1.14348609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.690385723 meters 0.016600468047277876 Centerline is valid? [True, True] Translation: X:244.12, Y:-106.72, Z:-11.44 [[-7.04270818e-01 -7.09906777e-01 5.91458164e-03 2.44121796e+02] [ 7.09879055e-01 -7.04295618e-01 -6.27772193e-03 -1.06718675e+02] [ 8.62221128e-03 -2.22578732e-04 9.99962803e-01 -1.14355133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.750385723 meters 0.01534918454043261 Centerline is valid? [True, True] Translation: X:244.08, Y:-106.68, Z:-11.44 [[-7.01801491e-01 -7.12346616e-01 6.07991290e-03 2.44078184e+02] [ 7.12317446e-01 -7.01827799e-01 -6.44954874e-03 -1.06680467e+02] [ 8.86136611e-03 -1.95474899e-04 9.99960718e-01 -1.14353370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.810385723 meters 0.01423189321573724 Centerline is valid? [True, True] Translation: X:244.03, Y:-106.64, Z:-11.44 [[-6.95366211e-01 -7.18630409e-01 6.01397193e-03 2.44034038e+02] [ 7.18602135e-01 -6.95392207e-01 -6.37565168e-03 -1.06644182e+02] [ 8.76380639e-03 -1.11759679e-04 9.99961591e-01 -1.14361038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87038572299997 meters 0.012833381919926022 Centerline is valid? [True, True] Translation: X:243.99, Y:-106.61, Z:-11.44 [[-6.86183091e-01 -7.27397298e-01 6.77757956e-03 2.43987299e+02] [ 7.27361848e-01 -6.86216562e-01 -7.18132429e-03 -1.06608681e+02] [ 9.87456324e-03 2.04949653e-06 9.99951245e-01 -1.14358997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.930385723 meters 0.013951921428925172 Centerline is valid? [True, True] Translation: X:243.94, Y:-106.57, Z:-11.44 [[-6.78990471e-01 -7.34128944e-01 5.16082997e-03 2.43942285e+02] [ 7.34108606e-01 -6.79010080e-01 -5.46504655e-03 -1.06573271e+02] [ 7.51630442e-03 7.78951584e-05 9.99971749e-01 -1.14356990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.990385723 meters 0.014410515791354654 Centerline is valid? [True, True] Translation: X:243.90, Y:-106.53, Z:-11.43 [[-6.75354385e-01 -7.37479541e-01 4.51460229e-03 2.43902805e+02] [ 7.37464064e-01 -6.75369467e-01 -4.77880080e-03 -1.06531542e+02] [ 6.57329236e-03 1.01972881e-04 9.99978390e-01 -1.14333900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.050385723 meters 0.016377557214612846 Centerline is valid? [True, True] Translation: X:243.86, Y:-106.49, Z:-11.43 [[-6.74534071e-01 -7.38229289e-01 4.61563123e-03 2.43864976e+02] [ 7.38213147e-01 -6.74549853e-01 -4.88307921e-03 -1.06486344e+02] [ 6.71830546e-03 1.13516356e-04 9.99977425e-01 -1.14343156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.110385723 meters 0.015298292010017405 Centerline is valid? [True, True] Translation: X:243.83, Y:-106.44, Z:-11.43 [[-6.74263426e-01 -7.38480459e-01 3.92994152e-03 2.43826656e+02] [ 7.38468775e-01 -6.74274872e-01 -4.15516346e-03 -1.06443948e+02] [ 5.71836783e-03 1.00464353e-04 9.99983645e-01 -1.14326942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.170385723 meters 0.014912252572399918 Centerline is valid? [True, True] Translation: X:243.79, Y:-106.40, Z:-11.43 [[-6.75797279e-01 -7.37067183e-01 5.47765742e-03 2.43791603e+02] [ 7.37044467e-01 -6.75819467e-01 -5.78808965e-03 -1.06397771e+02] [ 7.96811845e-03 1.25701852e-04 9.99968246e-01 -1.14341249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.230385723 meters 0.014047377382459083 Centerline is valid? [True, True] Translation: X:243.76, Y:-106.35, Z:-11.43 [[-6.78464450e-01 -7.34605300e-01 6.40646160e-03 2.43758820e+02] [ 7.34574150e-01 -6.78494686e-01 -6.76601339e-03 -1.06348155e+02] [ 9.31709945e-03 1.15521528e-04 9.99956588e-01 -1.14338589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.290385723 meters 0.013788433303584603 Centerline is valid? [True, True] Translation: X:243.73, Y:-106.30, Z:-11.43 [[-6.81827984e-01 -7.31486810e-01 6.13566336e-03 2.43726109e+02] [ 7.31458134e-01 -6.81855587e-01 -6.47740643e-03 -1.06300275e+02] [ 8.92177371e-03 7.15039031e-05 9.99960198e-01 -1.14342832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.350385723 meters 0.013536444068710695 Centerline is valid? [True, True] Translation: X:243.69, Y:-106.25, Z:-11.43 [[-6.84639986e-01 -7.28856197e-01 6.06082863e-03 2.43694509e+02] [ 7.28828147e-01 -6.84666812e-01 -6.39447007e-03 -1.06251084e+02] [ 8.81029735e-03 3.93925996e-05 9.99961188e-01 -1.14329938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.410385723 meters 0.013745814930055177 Centerline is valid? [True, True] Translation: X:243.66, Y:-106.20, Z:-11.43 [[-6.85678165e-01 -7.27875304e-01 6.55710106e-03 2.43661482e+02] [ 7.27842470e-01 -6.85709516e-01 -6.91366826e-03 -1.06204900e+02] [ 9.52855498e-03 3.19852614e-05 9.99954602e-01 -1.14345488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.470385723 meters 0.014016224008901677 Centerline is valid? [True, True] Translation: X:243.63, Y:-106.16, Z:-11.43 [[-6.85639510e-01 -7.27910047e-01 6.73983222e-03 2.43626856e+02] [ 7.27875398e-01 -6.85672635e-01 -7.10227234e-03 -1.06158444e+02] [ 9.79113391e-03 3.61595329e-05 9.99952065e-01 -1.14341812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.530385723 meters 0.01394471470257571 Centerline is valid? [True, True] Translation: X:243.59, Y:-106.11, Z:-11.43 [[-6.86775512e-01 -7.26841992e-01 6.33358092e-03 2.43592994e+02] [ 7.26811385e-01 -6.86804716e-01 -6.67023601e-03 -1.06112189e+02] [ 9.19814088e-03 2.23639681e-05 9.99957696e-01 -1.14332715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.590385723 meters 0.013861258387422195 Centerline is valid? [True, True] Translation: X:243.56, Y:-106.07, Z:-11.43 [[-6.88429874e-01 -7.25282401e-01 5.45404453e-03 2.43559884e+02] [ 7.25259684e-01 -6.88451478e-01 -5.74041933e-03 -1.06066650e+02] [ 7.91827014e-03 3.72245209e-06 9.99968650e-01 -1.14324502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.650385723 meters 0.013921707697904281 Centerline is valid? [True, True] Translation: X:243.53, Y:-106.02, Z:-11.43 [[-6.89959355e-01 -7.23829774e-01 5.15241737e-03 2.43525385e+02] [ 7.23809484e-01 -6.89978593e-01 -5.41960982e-03 -1.06019877e+02] [ 7.47793264e-03 -9.94193599e-06 9.99972040e-01 -1.14305008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.710385723 meters 0.013943500723990103 Centerline is valid? [True, True] Translation: X:243.49, Y:-105.97, Z:-11.43 [[-6.89293892e-01 -7.24471647e-01 3.84237251e-03 2.43487912e+02] [ 7.24460386e-01 -6.89304601e-01 -4.03933526e-03 -1.05974968e+02] [ 5.57494892e-03 -6.42448464e-07 9.99984460e-01 -1.14284427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.770385723 meters 0.014224761581737905 Centerline is valid? [True, True] Translation: X:243.45, Y:-105.93, Z:-11.43 [[-6.87613869e-01 -7.26069355e-01 3.23419389e-03 2.43450806e+02] [ 7.26061401e-01 -6.87621474e-01 -3.39859641e-03 -1.05931057e+02] [ 4.69151788e-03 1.13013239e-05 9.99988995e-01 -1.14291071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.830385723 meters 0.014287354468349814 Centerline is valid? [True, True] Translation: X:243.41, Y:-105.89, Z:-11.43 [[-6.86208803e-01 -7.27396572e-01 3.42133392e-03 2.43413892e+02] [ 7.27387698e-01 -6.86217331e-01 -3.59322243e-03 -1.05886545e+02] [ 4.96147631e-03 2.29353468e-05 9.99987692e-01 -1.14285893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.890385723 meters 0.014438160776444081 Centerline is valid? [True, True] Translation: X:243.38, Y:-105.84, Z:-11.43 [[-6.87154939e-01 -7.26499524e-01 4.06576066e-03 2.43378367e+02] [ 7.26486990e-01 -6.87166967e-01 -4.26764624e-03 -1.05840436e+02] [ 5.89429939e-03 2.11880362e-05 9.99982628e-01 -1.14290073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.950385723 meters 0.01457654918893077 Centerline is valid? [True, True] Translation: X:243.34, Y:-105.79, Z:-11.43 [[-6.88977479e-01 -7.24762482e-01 5.42008173e-03 2.43344122e+02] [ 7.24740177e-01 -6.88998799e-01 -5.68607528e-03 -1.05793410e+02] [ 7.85548384e-03 1.05731752e-05 9.99969145e-01 -1.14298314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.010385723 meters 0.01463941539155366 Centerline is valid? [True, True] Translation: X:243.30, Y:-105.75, Z:-11.43 [[-6.89311594e-01 -7.24446476e-01 5.17976977e-03 2.43304904e+02] [ 7.24426119e-01 -6.89331055e-01 -5.43095649e-03 -1.05750588e+02] [ 7.50501345e-03 8.73923360e-06 9.99971837e-01 -1.14301964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.070385723 meters 0.014763655604871253 Centerline is valid? [True, True] Translation: X:243.27, Y:-105.71, Z:-11.43 [[-6.88793817e-01 -7.24937839e-01 5.31103911e-03 2.43267228e+02] [ 7.24916478e-01 -6.88814293e-01 -5.56515669e-03 -1.05706927e+02] [ 7.69271231e-03 1.68142458e-05 9.99970411e-01 -1.14299236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.130385723 meters 0.014910536820372897 Centerline is valid? [True, True] Translation: X:243.23, Y:-105.66, Z:-11.43 [[-6.90106090e-01 -7.23687870e-01 5.42692905e-03 2.43230524e+02] [ 7.23665555e-01 -6.90127428e-01 -5.68305199e-03 -1.05662406e+02] [ 7.85802837e-03 5.37283459e-06 9.99969125e-01 -1.14285470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.190385723 meters 0.015040124085220393 Centerline is valid? [True, True] Translation: X:243.19, Y:-105.62, Z:-11.43 [[-6.92585253e-01 -7.21313243e-01 5.73349555e-03 2.43194193e+02] [ 7.21288282e-01 -6.92608984e-01 -6.00074944e-03 -1.05617439e+02] [ 8.29949057e-03 -2.05274191e-05 9.99965558e-01 -1.14284056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.250385723 meters 0.015180426357812664 Centerline is valid? [True, True] Translation: X:243.16, Y:-105.57, Z:-11.43 [[-6.94032217e-01 -7.19926548e-01 5.00471278e-03 2.43156453e+02] [ 7.19907514e-01 -6.94050261e-01 -5.23508244e-03 -1.05573629e+02] [ 7.24239704e-03 -3.03855364e-05 9.99973773e-01 -1.14273940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.310385723 meters 0.01514016783529064 Centerline is valid? [True, True] Translation: X:243.12, Y:-105.53, Z:-11.43 [[-6.94375245e-01 -7.19597272e-01 4.77353370e-03 2.43117914e+02] [ 7.19579968e-01 -6.94391652e-01 -4.99043483e-03 -1.05529448e+02] [ 6.90580524e-03 -3.02951800e-05 9.99976154e-01 -1.14267693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37038572299997 meters 0.015130359466839325 Centerline is valid? [True, True] Translation: X:243.08, Y:-105.49, Z:-11.43 [[-6.94619381e-01 -7.19362182e-01 4.68683141e-03 2.43079076e+02] [ 7.19345515e-01 -6.94635192e-01 -4.89688841e-03 -1.05487974e+02] [ 6.77827437e-03 -3.00224406e-05 9.99977027e-01 -1.14272037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.430385723 meters 0.015207664794892726 Centerline is valid? [True, True] Translation: X:243.04, Y:-105.45, Z:-11.43 [[-6.94236927e-01 -7.19728043e-01 5.16077115e-03 2.43040004e+02] [ 7.19707868e-01 -6.94256108e-01 -5.38900389e-03 -1.05445102e+02] [ 7.46151412e-03 -2.69978944e-05 9.99972162e-01 -1.14272649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.490385723 meters 0.015118131143629159 Centerline is valid? [True, True] Translation: X:243.00, Y:-105.40, Z:-11.43 [[-6.93009611e-01 -7.20902650e-01 6.08671127e-03 2.43000773e+02] [ 7.20874665e-01 -6.93036340e-01 -6.35210418e-03 -1.05403913e+02] [ 8.79756084e-03 -1.43133014e-05 9.99961301e-01 -1.14283432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.550385723 meters 0.015222839669955817 Centerline is valid? [True, True] Translation: X:242.96, Y:-105.36, Z:-11.43 [[-6.93125050e-01 -7.20787151e-01 6.59906535e-03 2.42962904e+02] [ 7.20754293e-01 -6.93156463e-01 -6.88229505e-03 -1.05361928e+02] [ 9.53485464e-03 -1.39864186e-05 9.99954542e-01 -1.14300651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.610385723 meters 0.015102729857013638 Centerline is valid? [True, True] Translation: X:242.92, Y:-105.32, Z:-11.43 [[-6.93163522e-01 -7.20749840e-01 6.63320038e-03 2.42923945e+02] [ 7.20716680e-01 -6.93195259e-01 -6.91370112e-03 -1.05319987e+02] [ 9.58115204e-03 -1.16672643e-05 9.99954100e-01 -1.14296606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.670385723 meters 0.0150785084400932 Centerline is valid? [True, True] Translation: X:242.88, Y:-105.28, Z:-11.43 [[-6.92358254e-01 -7.21519463e-01 7.05071327e-03 2.42884784e+02] [ 7.21482083e-01 -6.92394154e-01 -7.34436724e-03 -1.05278549e+02] [ 1.01809766e-02 2.03001767e-06 9.99948173e-01 -1.14308371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.730385723 meters 0.014960333822380436 Centerline is valid? [True, True] Translation: X:242.85, Y:-105.23, Z:-11.43 [[-6.91698080e-01 -7.22155096e-01 6.76626739e-03 2.42846963e+02] [ 7.22120740e-01 -6.91731174e-01 -7.04415919e-03 -1.05234779e+02] [ 9.76741354e-03 1.36306205e-05 9.99952298e-01 -1.14288554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.790385723 meters 0.014867590639859287 Centerline is valid? [True, True] Translation: X:242.81, Y:-105.19, Z:-11.43 [[-6.91259472e-01 -7.22572892e-01 6.98264666e-03 2.42809076e+02] [ 7.22536370e-01 -6.91294738e-01 -7.26493007e-03 -1.05191693e+02] [ 1.00765084e-02 2.32644407e-05 9.99949230e-01 -1.14287978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.850385723 meters 0.014930752953492735 Centerline is valid? [True, True] Translation: X:242.77, Y:-105.15, Z:-11.43 [[-6.91078845e-01 -7.22737899e-01 7.74328524e-03 2.42771266e+02] [ 7.22693052e-01 -6.91122224e-01 -8.05139811e-03 -1.05148635e+02] [ 1.11706071e-02 3.18675344e-05 9.99937606e-01 -1.14302802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.910385723 meters 0.014829331849858182 Centerline is valid? [True, True] Translation: X:242.73, Y:-105.10, Z:-11.43 [[-6.92310640e-01 -7.21556440e-01 7.89190841e-03 2.42734965e+02] [ 7.21509835e-01 -6.92355619e-01 -8.20091258e-03 -1.05104032e+02] [ 1.13814284e-02 1.65104956e-05 9.99935229e-01 -1.14302584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.970385723 meters 0.014607721077212442 Centerline is valid? [True, True] Translation: X:242.70, Y:-105.06, Z:-11.43 [[-6.94570772e-01 -7.19395014e-01 6.50046162e-03 2.42698369e+02] [ 7.19363335e-01 -6.94601190e-01 -6.75116812e-03 -1.05058654e+02] [ 9.37198506e-03 -1.29703004e-05 9.99956082e-01 -1.14275092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.030385723 meters 0.014740544165896487 Centerline is valid? [True, True] Translation: X:242.66, Y:-105.01, Z:-11.43 [[-6.96207507e-01 -7.17820398e-01 5.38363309e-03 2.42662324e+02] [ 7.17798647e-01 -6.96228321e-01 -5.58811442e-03 -1.05012815e+02] [ 7.75950035e-03 -2.61226560e-05 9.99969894e-01 -1.14250194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.090385723 meters 0.014708358715625107 Centerline is valid? [True, True] Translation: X:242.63, Y:-104.97, Z:-11.43 [[-6.96331256e-01 -7.17698291e-01 5.65191178e-03 2.42625403e+02] [ 7.17674346e-01 -6.96354193e-01 -5.86272326e-03 -1.04969871e+02] [ 8.14339894e-03 -2.61653637e-05 9.99966842e-01 -1.14261197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.150385723 meters 0.014676505483307883 Centerline is valid? [True, True] Translation: X:242.59, Y:-104.93, Z:-11.43 [[-6.95461789e-01 -7.18533509e-01 6.51901223e-03 2.42586638e+02] [ 7.18501727e-01 -6.95492341e-01 -6.75804260e-03 -1.04927721e+02] [ 9.38980314e-03 -1.60388426e-05 9.99955915e-01 -1.14274624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.210385723 meters 0.014679211923250703 Centerline is valid? [True, True] Translation: X:242.55, Y:-104.88, Z:-11.43 [[-6.94702534e-01 -7.19261667e-01 7.14451001e-03 2.42548983e+02] [ 7.19223580e-01 -6.94739271e-01 -7.40191444e-03 -1.04883895e+02] [ 1.02874850e-02 -3.62865543e-06 9.99947082e-01 -1.14279447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.270385723 meters 0.014527719685626569 Centerline is valid? [True, True] Translation: X:242.51, Y:-104.84, Z:-11.43 [[-6.94417837e-01 -7.19541843e-01 6.58814548e-03 2.42511622e+02] [ 7.19509509e-01 -6.94449088e-01 -6.82129128e-03 -1.04840548e+02] [ 9.48333613e-03 3.40698213e-06 9.99955032e-01 -1.14279221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.330385723 meters 0.014618146429574385 Centerline is valid? [True, True] Translation: X:242.47, Y:-104.80, Z:-11.43 [[-6.94034069e-01 -7.19911992e-01 6.59057952e-03 2.42473441e+02] [ 7.19879690e-01 -6.94065360e-01 -6.81966240e-03 -1.04797553e+02] [ 9.48384969e-03 1.13462986e-05 9.99955027e-01 -1.14271111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.390385723 meters 0.014618222777013265 Centerline is valid? [True, True] Translation: X:242.44, Y:-104.75, Z:-11.43 [[-6.93188369e-01 -7.20736049e-01 5.42523504e-03 2.42435030e+02] [ 7.20714211e-01 -6.93209599e-01 -5.61060178e-03 -1.04754339e+02] [ 7.80458796e-03 2.08400866e-05 9.99969544e-01 -1.14255859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.450385723 meters 0.014721299969443541 Centerline is valid? [True, True] Translation: X:242.40, Y:-104.71, Z:-11.43 [[-6.92131798e-01 -7.21752945e-01 5.12449098e-03 2.42395548e+02] [ 7.21733513e-01 -6.92150768e-01 -5.29633539e-03 -1.04712649e+02] [ 7.36956603e-03 3.27547377e-05 9.99972844e-01 -1.14268505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.510385723 meters 0.014787722288958978 Centerline is valid? [True, True] Translation: X:242.36, Y:-104.67, Z:-11.43 [[-6.91139543e-01 -7.22694607e-01 6.21594860e-03 2.42357486e+02] [ 7.22666085e-01 -6.91167492e-01 -6.42085237e-03 -1.04669076e+02] [ 8.93657698e-03 5.43502697e-05 9.99960067e-01 -1.14276901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.570385723 meters 0.01490506185762454 Centerline is valid? [True, True] Translation: X:242.32, Y:-104.63, Z:-11.43 [[-6.91276547e-01 -7.22548411e-01 7.78011076e-03 2.42318209e+02] [ 7.22503769e-01 -6.91320323e-01 -8.03207481e-03 -1.04626135e+02] [ 1.11821116e-02 6.87744087e-05 9.99937476e-01 -1.14290599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.630385723 meters 0.014856615965316513 Centerline is valid? [True, True] Translation: X:242.28, Y:-104.58, Z:-11.43 [[-6.92198507e-01 -7.21652275e-01 8.90059677e-03 2.42280305e+02] [ 7.21593848e-01 -6.92255725e-01 -9.18314509e-03 -1.04583743e+02] [ 1.27885266e-02 6.60565549e-05 9.99918221e-01 -1.14311348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.690385723 meters 0.01490946838971929 Centerline is valid? [True, True] Translation: X:242.24, Y:-104.54, Z:-11.43 [[-6.93224863e-01 -7.20671699e-01 8.46114130e-03 2.42243542e+02] [ 7.20618891e-01 -6.93276496e-01 -8.72438195e-03 -1.04539865e+02] [ 1.21533256e-02 4.92997792e-05 9.99926144e-01 -1.14296687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.750385723 meters 0.014822300105436292 Centerline is valid? [True, True] Translation: X:242.20, Y:-104.50, Z:-11.43 [[-6.94102639e-01 -7.19838099e-01 7.39170613e-03 2.42204028e+02] [ 7.19797797e-01 -6.94141996e-01 -7.61717006e-03 -1.04497724e+02] [ 1.06140229e-02 3.34359416e-05 9.99943669e-01 -1.14277809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.810385723 meters 0.014626212493443886 Centerline is valid? [True, True] Translation: X:242.17, Y:-104.46, Z:-11.43 [[-6.95482619e-01 -7.18514102e-01 6.43530440e-03 2.42165011e+02] [ 7.18483536e-01 -6.95512391e-01 -6.62747040e-03 -1.04456241e+02] [ 9.23776488e-03 1.43697902e-05 9.99957331e-01 -1.14256061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87038572299997 meters 0.01462796904809631 Centerline is valid? [True, True] Translation: X:242.12, Y:-104.41, Z:-11.43 [[-6.97360676e-01 -7.16690087e-01 6.58839356e-03 2.42124683e+02] [ 7.16658008e-01 -6.97391798e-01 -6.78083957e-03 -1.04414868e+02] [ 9.45445213e-03 -7.06586456e-06 9.99955306e-01 -1.14257642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.930385723 meters 0.014696395273717421 Centerline is valid? [True, True] Translation: X:242.08, Y:-104.37, Z:-11.43 [[-6.98608865e-01 -7.15462563e-01 7.67948612e-03 2.42084747e+02] [ 7.15418960e-01 -6.98651072e-01 -7.89887311e-03 -1.04373184e+02] [ 1.10166292e-02 -2.41728085e-05 9.99939315e-01 -1.14259476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.990385723 meters 0.014897831482842924 Centerline is valid? [True, True] Translation: X:242.04, Y:-104.33, Z:-11.43 [[-6.99384039e-01 -7.14696296e-01 8.43623579e-03 2.42043896e+02] [ 7.14643687e-01 -6.99434917e-01 -8.67168229e-03 -1.04334191e+02] [ 1.20982171e-02 -3.59335311e-05 9.99926813e-01 -1.14286738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.050385723 meters 0.014756787295083658 Centerline is valid? [True, True] Translation: X:242.00, Y:-104.29, Z:-11.43 [[-6.99852021e-01 -7.14234805e-01 8.70585381e-03 2.42002965e+02] [ 7.14178813e-01 -6.99906166e-01 -8.94323894e-03 -1.04293986e+02] [ 1.24808533e-02 -4.14075032e-05 9.99922110e-01 -1.14280008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.110385723 meters 0.014968675106379557 Centerline is valid? [True, True] Translation: X:241.96, Y:-104.25, Z:-11.43 [[-7.00472666e-01 -7.13626284e-01 8.69320307e-03 2.41962749e+02] [ 7.13570480e-01 -7.00526605e-01 -8.92443946e-03 -1.04254136e+02] [ 1.24585346e-02 -4.81128080e-05 9.99922388e-01 -1.14284389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.170385723 meters 0.015004793424303605 Centerline is valid? [True, True] Translation: X:241.92, Y:-104.21, Z:-11.43 [[-7.00800982e-01 -7.13307265e-01 8.41007680e-03 2.41921737e+02] [ 7.13255076e-01 -7.00851441e-01 -8.62865898e-03 -1.04214446e+02] [ 1.20490996e-02 -4.84427206e-05 9.99927406e-01 -1.14284840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.230385723 meters 0.014977444838747996 Centerline is valid? [True, True] Translation: X:241.88, Y:-104.17, Z:-11.43 [[-7.02017359e-01 -7.12112463e-01 8.21389938e-03 2.41879952e+02] [ 7.12062659e-01 -7.02065408e-01 -8.42220141e-03 -1.04174622e+02] [ 1.17642492e-02 -6.37205598e-05 9.99930797e-01 -1.14273054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.290385723 meters 0.015067442028198716 Centerline is valid? [True, True] Translation: X:241.84, Y:-104.13, Z:-11.43 [[-7.02607040e-01 -7.11533467e-01 7.96698869e-03 2.41839824e+02] [ 7.11486632e-01 -7.02652205e-01 -8.16401588e-03 -1.04133620e+02] [ 1.14069927e-02 -6.76890820e-05 9.99934936e-01 -1.14274834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.350385723 meters 0.015236784408764434 Centerline is valid? [True, True] Translation: X:241.80, Y:-104.09, Z:-11.43 [[-7.04727362e-01 -7.09438395e-01 7.51721921e-03 2.41800634e+02] [ 7.09396632e-01 -7.04767447e-01 -7.69832007e-03 -1.04091302e+02] [ 1.07593752e-02 -9.25268088e-05 9.99942112e-01 -1.14253354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.410385723 meters 0.015565342650441159 Centerline is valid? [True, True] Translation: X:241.76, Y:-104.05, Z:-11.43 [[-7.06000154e-01 -7.08176772e-01 7.03157647e-03 2.41761041e+02] [ 7.08140214e-01 -7.06035162e-01 -7.19630498e-03 -1.04050876e+02] [ 1.00607963e-02 -1.01250358e-04 9.99949384e-01 -1.14251609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.470385723 meters 0.01551970474653738 Centerline is valid? [True, True] Translation: X:241.72, Y:-104.01, Z:-11.43 [[-7.05656339e-01 -7.08513844e-01 7.56729890e-03 2.41720252e+02] [ 7.08471574e-01 -7.05696906e-01 -7.73986758e-03 -1.04011061e+02] [ 1.08240228e-02 -1.00470452e-04 9.99941414e-01 -1.14264984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.530385723 meters 0.015227968664915355 Centerline is valid? [True, True] Translation: X:241.68, Y:-103.97, Z:-11.43 [[-7.03939145e-01 -7.10217879e-01 7.76174934e-03 2.41679074e+02] [ 7.10173567e-01 -7.03981931e-01 -7.93385094e-03 -1.03971573e+02] [ 1.10988941e-02 -7.27590266e-05 9.99938403e-01 -1.14264866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.590385723 meters 0.016657223603563205 Centerline is valid? [True, True] Translation: X:241.64, Y:-103.93, Z:-11.43 [[-7.01910552e-01 -7.12212143e-01 8.68563243e-03 2.41635423e+02] [ 7.12156869e-01 -7.01964288e-01 -8.87315890e-03 -1.03932581e+02] [ 1.24165753e-02 -4.26310682e-05 9.99922910e-01 -1.14280707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.650385723 meters 0.015154157185759234 Centerline is valid? [True, True] Translation: X:241.59, Y:-103.89, Z:-11.43 [[-7.00285147e-01 -7.13821226e-01 7.74407582e-03 2.41594752e+02] [ 7.13777435e-01 -7.00327964e-01 -7.90664540e-03 -1.03892453e+02] [ 1.10673242e-02 -9.35975488e-06 9.99938755e-01 -1.14267794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.710385723 meters 0.015407083844403894 Centerline is valid? [True, True] Translation: X:241.55, Y:-103.85, Z:-11.43 [[-6.99787154e-01 -7.14318274e-01 6.88058289e-03 2.41553738e+02] [ 7.14283772e-01 -6.99820980e-01 -7.02067218e-03 -1.03852228e+02] [ 9.83017069e-03 1.71248917e-06 9.99951683e-01 -1.14255759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.770385723 meters 0.015535322969175785 Centerline is valid? [True, True] Translation: X:241.51, Y:-103.81, Z:-11.43 [[-7.00663006e-01 -7.13466598e-01 6.06340410e-03 2.41512552e+02] [ 7.13439807e-01 -7.00689241e-01 -6.18298290e-03 -1.03811942e+02] [ 8.65991380e-03 -6.31353992e-06 9.99962502e-01 -1.14253454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.830385723 meters 0.01591933863748129 Centerline is valid? [True, True] Translation: X:241.47, Y:-103.77, Z:-11.43 [[-7.02174841e-01 -7.11981797e-01 5.69335846e-03 2.41472505e+02] [ 7.11958157e-01 -7.02197921e-01 -5.80186095e-03 -1.03772774e+02] [ 8.12868386e-03 -2.04877892e-05 9.99966962e-01 -1.14263662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.890385723 meters 0.016116582581842506 Centerline is valid? [True, True] Translation: X:241.43, Y:-103.73, Z:-11.43 [[-7.04060446e-01 -7.10122362e-01 5.01184127e-03 2.41431168e+02] [ 7.10104019e-01 -7.04078284e-01 -5.10415556e-03 -1.03733785e+02] [ 7.15330361e-03 -3.47054156e-05 9.99974414e-01 -1.14265852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.950385723 meters 0.01698157894739138 Centerline is valid? [True, True] Translation: X:241.39, Y:-103.69, Z:-11.43 [[-7.06057975e-01 -7.08129117e-01 5.94047108e-03 2.41390607e+02] [ 7.08103306e-01 -7.06082962e-01 -6.04638161e-03 -1.03694003e+02] [ 8.47608429e-03 -6.26287524e-05 9.99964075e-01 -1.14281520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.010385723 meters 0.01711654375762065 Centerline is valid? [True, True] Translation: X:241.35, Y:-103.65, Z:-11.43 [[-7.09157776e-01 -7.05018184e-01 6.67905652e-03 2.41349333e+02] [ 7.04985453e-01 -7.09189219e-01 -6.79436002e-03 -1.03652531e+02] [ 9.52686225e-03 -1.09635555e-04 9.99954612e-01 -1.14283434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.070385723 meters 0.017939902286396858 Centerline is valid? [True, True] Translation: X:241.31, Y:-103.61, Z:-11.43 [[-7.11634245e-01 -7.02522538e-01 6.22774588e-03 2.41307433e+02] [ 7.02494016e-01 -7.11661483e-01 -6.33174878e-03 -1.03611816e+02] [ 8.88024309e-03 -1.30935054e-04 9.99960561e-01 -1.14287645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.130385723 meters 0.017917374672321993 Centerline is valid? [True, True] Translation: X:241.27, Y:-103.57, Z:-11.43 [[-7.12270639e-01 -7.01884289e-01 5.38357454e-03 2.41266042e+02] [ 7.01862982e-01 -7.12290974e-01 -5.47011953e-03 -1.03571914e+02] [ 7.67406251e-03 -1.17673847e-04 9.99970547e-01 -1.14283702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.190385723 meters 0.018011860384295985 Centerline is valid? [True, True] Translation: X:241.22, Y:-103.53, Z:-11.43 [[-7.12499318e-01 -7.01664673e-01 3.37764077e-03 2.41222720e+02] [ 7.01656294e-01 -7.12507320e-01 -3.42995938e-03 -1.03533508e+02] [ 4.81327510e-03 -7.39008135e-05 9.99988413e-01 -1.14263647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.250385723 meters 0.019068735443348903 Centerline is valid? [True, True] Translation: X:241.18, Y:-103.50, Z:-11.43 [[-7.11228158e-01 -7.02953481e-01 3.30323255e-03 2.41179558e+02] [ 7.02945490e-01 -7.11235826e-01 -3.35228056e-03 -1.03496779e+02] [ 4.70587461e-03 -6.22439043e-05 9.99988925e-01 -1.14270163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.310385723 meters 0.0175910086671117 Centerline is valid? [True, True] Translation: X:241.13, Y:-103.46, Z:-11.43 [[-7.08296076e-01 -7.05907641e-01 3.32722639e-03 2.41132619e+02] [ 7.05899575e-01 -7.08303890e-01 -3.37485782e-03 -1.03461483e+02] [ 4.73902532e-03 -4.17108585e-05 9.99988770e-01 -1.14270659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37038572299997 meters 0.018500797119536932 Centerline is valid? [True, True] Translation: X:241.09, Y:-103.43, Z:-11.43 [[-7.06198604e-01 -7.08000749e-01 4.29779249e-03 2.41085562e+02] [ 7.07987346e-01 -7.06211681e-01 -4.35662736e-03 -1.03427326e+02] [ 6.11964669e-03 -3.38614603e-05 9.99981274e-01 -1.14302411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.430385723 meters 0.017485725189142442 Centerline is valid? [True, True] Translation: X:241.04, Y:-103.39, Z:-11.43 [[-7.04972215e-01 -7.09223328e-01 4.05538435e-03 2.41040799e+02] [ 7.09211428e-01 -7.04983879e-01 -4.10860796e-03 -1.03390048e+02] [ 5.77290120e-03 -2.03295335e-05 9.99983336e-01 -1.14285654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.490385723 meters 0.017552729082507625 Centerline is valid? [True, True] Translation: X:241.00, Y:-103.35, Z:-11.43 [[-7.04890624e-01 -7.09308057e-01 3.35971321e-03 2.40996182e+02] [ 7.09299900e-01 -7.04898631e-01 -3.40189246e-03 -1.03352329e+02] [ 4.78124697e-03 -1.49178610e-05 9.99988570e-01 -1.14269067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.550385723 meters 0.01752278818370861 Centerline is valid? [True, True] Translation: X:240.95, Y:-103.32, Z:-11.43 [[-7.05469233e-01 -7.08733027e-01 3.26452641e-03 2.40952083e+02] [ 7.08725329e-01 -7.05476786e-01 -3.30345029e-03 -1.03315473e+02] [ 4.64431192e-03 -1.68299916e-05 9.99989215e-01 -1.14268429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.610385723 meters 0.01778926683998378 Centerline is valid? [True, True] Translation: X:240.91, Y:-103.28, Z:-11.43 [[-7.07251088e-01 -7.06947719e-01 4.56298643e-03 2.40908996e+02] [ 7.06932657e-01 -7.07265806e-01 -4.61488800e-03 -1.03276841e+02] [ 6.48972883e-03 -3.81604367e-05 9.99978941e-01 -1.14284749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.670385723 meters 0.018924101131959872 Centerline is valid? [True, True] Translation: X:240.87, Y:-103.24, Z:-11.43 [[-7.10239516e-01 -7.03947700e-01 4.17905412e-03 2.40866621e+02] [ 7.03935028e-01 -7.10251809e-01 -4.22432427e-03 -1.03236368e+02] [ 5.94188410e-03 -5.84994500e-05 9.99982345e-01 -1.14278942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.730385723 meters 0.018671248433620283 Centerline is valid? [True, True] Translation: X:240.82, Y:-103.20, Z:-11.43 [[-7.11047815e-01 -7.03131495e-01 4.13578918e-03 2.40822902e+02] [ 7.03119084e-01 -7.11059840e-01 -4.17822452e-03 -1.03197261e+02] [ 5.87863485e-03 -6.29651157e-05 9.99982719e-01 -1.14266275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.790385723 meters 0.017705174786211572 Centerline is valid? [True, True] Translation: X:240.78, Y:-103.16, Z:-11.43 [[-7.09617085e-01 -7.04570928e-01 4.83731793e-03 2.40777318e+02] [ 7.04554002e-01 -7.09633570e-01 -4.88418557e-03 -1.03160697e+02] [ 6.87397836e-03 -5.77498270e-05 9.99976372e-01 -1.14260261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.850385723 meters 0.017588893618709262 Centerline is valid? [True, True] Translation: X:240.73, Y:-103.12, Z:-11.43 [[-7.06701307e-01 -7.07492576e-01 5.24573956e-03 2.40732412e+02] [ 7.07472773e-01 -7.06720775e-01 -5.29352248e-03 -1.03124628e+02] [ 7.45240099e-03 -2.97213426e-05 9.99972230e-01 -1.14253436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.910385723 meters 0.018371021863924905 Centerline is valid? [True, True] Translation: X:240.69, Y:-103.09, Z:-11.43 [[-7.05945635e-01 -7.08247564e-01 5.11348463e-03 2.40689557e+02] [ 7.08228791e-01 -7.05964155e-01 -5.15669413e-03 -1.03087841e+02] [ 7.26215291e-03 -1.88286733e-05 9.99973630e-01 -1.14260059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.970385723 meters 0.017451106958139936 Centerline is valid? [True, True] Translation: X:240.65, Y:-103.05, Z:-11.42 [[-7.06384506e-01 -7.07810932e-01 4.96132477e-03 2.40647173e+02] [ 7.07793271e-01 -7.06401928e-01 -5.00016267e-03 -1.03048756e+02] [ 7.04385918e-03 -2.04451482e-05 9.99975192e-01 -1.14229944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.030385723 meters 0.01733523147841928 Centerline is valid? [True, True] Translation: X:240.60, Y:-103.01, Z:-11.42 [[-7.05404822e-01 -7.08786839e-01 5.02527041e-03 2.40603218e+02] [ 7.08768765e-01 -7.05422722e-01 -5.06178110e-03 -1.03011064e+02] [ 7.13266376e-03 -8.85009379e-06 9.99974562e-01 -1.14222962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.090385723 meters 0.017429166343192328 Centerline is valid? [True, True] Translation: X:240.56, Y:-102.97, Z:-11.42 [[-7.03001157e-01 -7.11160848e-01 6.29448592e-03 2.40558632e+02] [ 7.11132617e-01 -7.03029336e-01 -6.33668969e-03 -1.02974007e+02] [ 8.93161387e-03 2.15140622e-05 9.99960112e-01 -1.14232913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.150385723 meters 0.017308312702520166 Centerline is valid? [True, True] Translation: X:240.52, Y:-102.93, Z:-11.42 [[-7.01558461e-01 -7.12583397e-01 6.37411850e-03 2.40517074e+02] [ 7.12554541e-01 -7.01587415e-01 -6.41285960e-03 -1.02934759e+02] [ 9.04169860e-03 4.29111766e-05 9.99959122e-01 -1.14219027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.210385723 meters 0.017279949411722798 Centerline is valid? [True, True] Translation: X:240.48, Y:-102.90, Z:-11.42 [[-7.01360881e-01 -7.12776816e-01 6.49040596e-03 2.40476090e+02] [ 7.12746944e-01 -7.01390909e-01 -6.52581333e-03 -1.02895056e+02] [ 9.20376019e-03 4.90668304e-05 9.99957643e-01 -1.14217109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.270385723 meters 0.0172784780143796 Centerline is valid? [True, True] Translation: X:240.43, Y:-102.86, Z:-11.42 [[-7.00258169e-01 -7.13859045e-01 6.61511503e-03 2.40433821e+02] [ 7.13828101e-01 -7.00289411e-01 -6.64708914e-03 -1.02856788e+02] [ 9.37757971e-03 6.73765235e-05 9.99956027e-01 -1.14215037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.330385723 meters 0.01727343628041763 Centerline is valid? [True, True] Translation: X:240.39, Y:-102.82, Z:-11.42 [[-7.00613001e-01 -7.13506457e-01 7.06811396e-03 2.40393798e+02] [ 7.13471155e-01 -7.00648650e-01 -7.09790507e-03 -1.02815572e+02] [ 1.00166656e-02 7.00108599e-05 9.99949830e-01 -1.14209052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.390385723 meters 0.016912058467311725 Centerline is valid? [True, True] Translation: X:240.36, Y:-102.78, Z:-11.42 [[-7.01889175e-01 -7.12252599e-01 6.91523233e-03 2.40355307e+02] [ 7.12218790e-01 -7.01923238e-01 -6.93993445e-03 -1.02775078e+02] [ 9.79694861e-03 5.40935337e-05 9.99952007e-01 -1.14199673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.450385723 meters 0.01686095858645016 Centerline is valid? [True, True] Translation: X:240.32, Y:-102.73, Z:-11.42 [[-7.02534649e-01 -7.11610669e-01 7.43792334e-03 2.40316306e+02] [ 7.11571564e-01 -7.02574020e-01 -7.46028677e-03 -1.02732645e+02] [ 1.05345114e-02 5.15047986e-05 9.99944509e-01 -1.14180984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.510385723 meters 0.016645242321482186 Centerline is valid? [True, True] Translation: X:240.28, Y:-102.69, Z:-11.42 [[-7.03193763e-01 -7.10953218e-01 8.00329424e-03 2.40277185e+02] [ 7.10907954e-01 -7.03239304e-01 -8.02261799e-03 -1.02690988e+02] [ 1.13319372e-02 4.81505982e-05 9.99935790e-01 -1.14181128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.570385723 meters 0.016661591491240878 Centerline is valid? [True, True] Translation: X:240.24, Y:-102.65, Z:-11.42 [[-7.01053081e-01 -7.13049854e-01 9.19147767e-03 2.40235581e+02] [ 7.12990398e-01 -7.01113326e-01 -9.20851203e-03 -1.02649844e+02] [ 1.30103956e-02 9.77795898e-05 9.99915356e-01 -1.14180861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.630385723 meters 0.016666404756127705 Centerline is valid? [True, True] Translation: X:240.19, Y:-102.61, Z:-11.42 [[-6.99884330e-01 -7.14191903e-01 9.58382352e-03 2.40194862e+02] [ 7.14127442e-01 -6.99949933e-01 -9.59620377e-03 -1.02607778e+02] [ 1.35617277e-02 1.27838726e-04 9.99908027e-01 -1.14182943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.690385723 meters 0.016562242338295525 Centerline is valid? [True, True] Translation: X:240.16, Y:-102.56, Z:-11.42 [[-6.99120935e-01 -7.14940319e-01 9.50043878e-03 2.40155700e+02] [ 7.14877117e-01 -6.99185468e-01 -9.50732651e-03 -1.02564703e+02] [ 1.34397398e-02 1.44875290e-04 9.99909672e-01 -1.14172122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.750385723 meters 0.01696808092164729 Centerline is valid? [True, True] Translation: X:240.11, Y:-102.52, Z:-11.42 [[-6.98594058e-01 -7.15468863e-01 8.40532940e-03 2.40114309e+02] [ 7.15419488e-01 -6.98644607e-01 -8.40646555e-03 -1.02524781e+02] [ 1.18869024e-02 1.40629583e-04 9.99929338e-01 -1.14189565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.810385723 meters 0.017194110557750435 Centerline is valid? [True, True] Translation: X:240.07, Y:-102.48, Z:-11.42 [[-6.97266787e-01 -7.16761800e-01 8.45874038e-03 2.40074629e+02] [ 7.16711944e-01 -6.97318073e-01 -8.45544845e-03 -1.02482230e+02] [ 1.19589750e-02 1.66776891e-04 9.99928475e-01 -1.14190725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87038572299997 meters 0.016818669666832355 Centerline is valid? [True, True] Translation: X:239.62, Y:-102.94, Z:-10.49 [[-7.65891609e-01 6.42899560e-01 9.49731211e-03 2.39616199e+02] [ 6.42846686e-01 7.65950462e-01 -8.24787467e-03 -1.02935126e+02] [-1.25770256e-02 -2.11662388e-04 -9.99920884e-01 -1.04937392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.930385723 meters 0.01728175145504343 Centerline is valid? [True, True] Translation: X:240.04, Y:-102.45, Z:-11.42 [[-6.96702883e-01 -7.17311843e-01 8.29537161e-03 2.40041751e+02] [ 7.17263511e-01 -6.96752251e-01 -8.32808919e-03 -1.02446517e+02] [ 1.17536558e-02 1.47763614e-04 9.99930912e-01 -1.14204395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.990385723 meters 0.017061139333583903 Centerline is valid? [True, True] Translation: X:239.58, Y:-102.91, Z:-10.49 [[-7.70397405e-01 6.37517929e-01 7.66349734e-03 2.39578300e+02] [ 6.37483697e-01 7.70435492e-01 -6.60971416e-03 -1.02911402e+02] [-1.01180416e-02 -2.06752019e-04 -9.99948790e-01 -1.04922175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.050385723 meters 0.01709872969503814 Centerline is valid? [True, True] Translation: X:239.59, Y:-102.89, Z:-10.49 [[-8.12922730e-01 5.82332439e-01 6.75019213e-03 2.39590750e+02] [ 5.82310682e-01 8.12950739e-01 -5.03645565e-03 -1.02892087e+02] [-8.42046518e-03 -1.63540296e-04 -9.99964534e-01 -1.04910671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.110385723 meters 0.016528717810867722 Centerline is valid? [True, True] Translation: X:240.00, Y:-102.35, Z:-11.42 [[-7.50792428e-01 -6.60518432e-01 5.11189344e-03 2.40000293e+02] [ 6.60503500e-01 -7.50809829e-01 -4.44147784e-03 -1.02353511e+02] [ 6.77173782e-03 4.17955802e-05 9.99977071e-01 -1.14220037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.170385723 meters 0.015891793517360205 Centerline is valid? [True, True] Translation: X:239.55, Y:-102.89, Z:-10.49 [[-8.09971258e-01 5.86442630e-01 5.62164167e-03 2.39551450e+02] [ 5.86427844e-01 8.09990763e-01 -4.16501692e-03 -1.02886084e+02] [-6.99602130e-03 -7.68567887e-05 -9.99975525e-01 -1.04896918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.230385723 meters 0.015528379528689474 Centerline is valid? [True, True] Translation: X:239.56, Y:-102.87, Z:-10.49 [[-8.48043243e-01 5.29883570e-01 6.78677874e-03 2.39563059e+02] [ 5.29865979e-01 8.48070397e-01 -4.31812927e-03 -1.02870697e+02] [-8.04377189e-03 -6.58771851e-05 -9.99967646e-01 -1.04882920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.290385723 meters 0.015359232483835255 Centerline is valid? [True, True] Translation: X:239.56, Y:-102.84, Z:-10.49 [[-8.81789682e-01 4.71587554e-01 7.22044397e-03 2.39558397e+02] [ 4.71571388e-01 8.81819243e-01 -3.90496329e-03 -1.02843287e+02] [-8.20865852e-03 -3.84015512e-05 -9.99966308e-01 -1.04851748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.350385723 meters 0.015083679262322427 Centerline is valid? [True, True] Translation: X:239.59, Y:-102.84, Z:-10.49 [[-9.10373031e-01 4.13716200e-01 7.73627376e-03 2.39591944e+02] [ 4.13701394e-01 9.10405901e-01 -3.50014079e-03 -1.02841663e+02] [-8.49121423e-03 1.40734558e-05 -9.99963949e-01 -1.04858328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.410385723 meters 0.015314764440957696 Centerline is valid? [True, True] Translation: X:239.60, Y:-102.82, Z:-10.49 [[-9.35654542e-01 3.52828572e-01 7.91053545e-03 2.39599110e+02] [ 3.52816463e-01 9.35687980e-01 -2.92361018e-03 -1.02823934e+02] [-8.43332614e-03 5.54780026e-05 -9.99964437e-01 -1.04851093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.470385723 meters 0.01531478195156849 Centerline is valid? [True, True] Translation: X:239.61, Y:-102.81, Z:-10.48 [[-9.57500240e-01 2.88308586e-01 8.45274376e-03 2.39613804e+02] [ 2.88298111e-01 9.57537546e-01 -2.45899779e-03 -1.02806154e+02] [-8.80276969e-03 8.24190824e-05 -9.99961251e-01 -1.04840359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.530385723 meters 0.01568097492930212 Centerline is valid? [True, True] Translation: X:239.62, Y:-102.79, Z:-10.48 [[-9.74973793e-01 2.22183166e-01 7.79388238e-03 2.39622075e+02] [ 2.22176838e-01 9.75004939e-01 -1.67947618e-03 -1.02787403e+02] [-7.97222515e-03 9.41748855e-05 -9.99968217e-01 -1.04847173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.590385723 meters 0.015944052158029864 Centerline is valid? [True, True] Translation: X:239.80, Y:-101.99, Z:-11.43 [[-9.65342842e-01 -2.60907548e-01 6.35996283e-03 2.39795660e+02] [ 2.60900801e-01 -9.65363779e-01 -1.88304754e-03 -1.01994490e+02] [ 6.63097907e-03 -1.58467063e-04 9.99978002e-01 -1.14272985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.650385723 meters 0.015912879014879845 Centerline is valid? [True, True] Translation: X:239.57, Y:-102.79, Z:-10.49 [[-9.75267791e-01 2.20921250e-01 6.82176008e-03 2.39572288e+02] [ 2.20916559e-01 9.75291644e-01 -1.44318087e-03 -1.02789270e+02] [-6.97203493e-03 9.95519411e-05 -9.99975690e-01 -1.04861606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.710385723 meters 0.015815226399696302 Centerline is valid? [True, True] Translation: X:239.58, Y:-102.76, Z:-10.49 [[-9.88547687e-01 1.50791050e-01 5.96061920e-03 2.39575131e+02] [ 1.50788811e-01 9.88565654e-01 -8.25905908e-04 -1.02763209e+02] [-6.01700264e-03 8.23473043e-05 -9.99981894e-01 -1.04858238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.770385723 meters 0.016059190625885532 Centerline is valid? [True, True] Translation: X:239.70, Y:-101.94, Z:-11.43 [[-9.82004291e-01 -1.88772391e-01 5.70576768e-03 2.39697850e+02] [ 1.88768661e-01 -9.82020863e-01 -1.19022362e-03 -1.01936797e+02] [ 5.82786426e-03 -9.17345743e-05 9.99983014e-01 -1.14274643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.830385723 meters 0.015125780537449222 Centerline is valid? [True, True] Translation: X:239.51, Y:-102.76, Z:-10.49 [[-9.89839240e-01 1.42040491e-01 6.54055605e-03 2.39514273e+02] [ 1.42037786e-01 9.89860847e-01 -8.78626489e-04 -1.02756543e+02] [-6.59904089e-03 5.93071233e-05 -9.99978224e-01 -1.04853285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.890385723 meters 0.014528494778429516 Centerline is valid? [True, True] Translation: X:239.60, Y:-101.93, Z:-11.43 [[-9.80940753e-01 -1.94183528e-01 6.92800112e-03 2.39600959e+02] [ 1.94178455e-01 -9.80965217e-01 -1.40399410e-03 -1.01929764e+02] [ 7.06876065e-03 -3.19664711e-05 9.99975015e-01 -1.14291641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.950385723 meters 0.01443128749415442 Centerline is valid? [True, True] Translation: X:239.44, Y:-102.74, Z:-10.48 [[-9.91471811e-01 1.30152438e-01 6.63252399e-03 2.39442061e+02] [ 1.30149582e-01 9.91493995e-01 -8.62178159e-04 -1.02740528e+02] [-6.68832230e-03 8.39488528e-06 -9.99977633e-01 -1.04842608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.010385723 meters 0.014410529448348645 Centerline is valid? [True, True] Translation: X:239.58, Y:-101.93, Z:-11.43 [[-9.81863892e-01 -1.89499936e-01 5.75072851e-03 2.39576906e+02] [ 1.89496346e-01 -9.81880731e-01 -1.16796953e-03 -1.01928883e+02] [ 5.86785967e-03 -5.70450688e-05 9.99982782e-01 -1.14275101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.070385723 meters 0.01481920095136276 Centerline is valid? [True, True] Translation: X:239.41, Y:-102.74, Z:-10.49 [[-9.91109254e-01 1.32932209e-01 5.61023057e-03 2.39411512e+02] [ 1.32930337e-01 9.91125131e-01 -7.06859908e-04 -1.02741598e+02] [-5.65440496e-03 4.51944457e-05 -9.99984013e-01 -1.04859384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.130385723 meters 0.015126333800420859 Centerline is valid? [True, True] Translation: X:239.48, Y:-101.91, Z:-11.43 [[-9.83858473e-01 -1.78864770e-01 5.46798062e-03 2.39475983e+02] [ 1.78861727e-01 -9.83873667e-01 -1.04452472e-03 -1.01912556e+02] [ 5.56663082e-03 -4.96520441e-05 9.99984505e-01 -1.14287133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.190385723 meters 0.015811612881847528 Centerline is valid? [True, True] Translation: X:239.31, Y:-102.73, Z:-10.48 [[-9.91006680e-01 1.33643838e-01 6.71457941e-03 2.39306321e+02] [ 1.33641375e-01 9.91029423e-01 -8.16269904e-04 -1.02729403e+02] [-6.76343520e-03 8.84166960e-05 -9.99977124e-01 -1.04838774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.250385723 meters 0.015345835379295337 Centerline is valid? [True, True] Translation: X:239.34, Y:-102.70, Z:-10.48 [[-9.97933953e-01 6.37729409e-02 7.79977638e-03 2.39336512e+02] [ 6.37718526e-02 9.97964428e-01 -3.88413387e-04 -1.02703109e+02] [-7.80866964e-03 1.09795283e-04 -9.99969506e-01 -1.04841427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.310385723 meters 0.015656538594231856 Centerline is valid? [True, True] Translation: X:239.40, Y:-101.88, Z:-11.43 [[-9.94992333e-01 -9.95973173e-02 8.40431961e-03 2.39401993e+02] [ 9.95930993e-02 -9.95027823e-01 -9.19949237e-04 -1.01878812e+02] [ 8.45415632e-03 -7.83301988e-05 9.99964260e-01 -1.14302056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37038572299997 meters 0.016216680280730696 Centerline is valid? [True, True] Translation: X:239.29, Y:-102.70, Z:-10.48 [[-9.98071466e-01 6.14085485e-02 9.07413009e-03 2.39290275e+02] [ 6.14073798e-02 9.98112703e-01 -4.07620546e-04 -1.02701248e+02] [-9.08203590e-03 1.50384118e-04 -9.99958746e-01 -1.04831790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.430385723 meters 0.016398645834163766 Centerline is valid? [True, True] Translation: X:239.29, Y:-102.67, Z:-10.48 [[-9.99919179e-01 -9.47629215e-03 8.47562641e-03 2.39291804e+02] [-9.47475369e-03 9.99955089e-01 2.21650989e-04 -1.02672547e+02] [-8.47734619e-03 1.41328602e-04 -9.99964057e-01 -1.04838550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.490385723 meters 0.016281487777779942 Centerline is valid? [True, True] Translation: X:239.25, Y:-101.85, Z:-11.43 [[-9.99651901e-01 -2.50047574e-02 8.41662698e-03 2.39249981e+02] [ 2.50026580e-02 -9.99687322e-01 -3.54583648e-04 -1.01847638e+02] [ 8.42286157e-03 -1.44022172e-04 9.99964517e-01 -1.14298974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.550385723 meters 0.015099673996580892 Centerline is valid? [True, True] Translation: X:239.19, Y:-102.67, Z:-10.48 [[-9.99646208e-01 -2.43671378e-02 1.06631220e-02 2.39187123e+02] [-2.43648286e-02 9.99703073e-01 3.46434307e-04 -1.02666324e+02] [-1.06683975e-02 8.65066012e-05 -9.99943087e-01 -1.04829065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.610385723 meters 0.014334379863430138 Centerline is valid? [True, True] Translation: X:239.18, Y:-102.63, Z:-10.48 [[-9.94980520e-01 -9.94890609e-02 1.07560104e-02 2.39180775e+02] [-9.94827734e-02 9.95038655e-01 1.11935425e-03 -1.02633695e+02] [-1.08140096e-02 4.36979311e-05 -9.99941526e-01 -1.04839425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.670385723 meters 0.014351995896670692 Centerline is valid? [True, True] Translation: X:239.08, Y:-101.84, Z:-11.43 [[-9.99331972e-01 3.46473819e-02 1.16261890e-02 2.39083839e+02] [-3.46448966e-02 -9.99399599e-01 4.15160594e-04 -1.01840541e+02] [ 1.16335928e-02 1.20951402e-05 9.99932327e-01 -1.14290779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.730385723 meters 0.014511752194674082 Centerline is valid? [True, True] Translation: X:239.06, Y:-102.64, Z:-10.49 [[-9.93165555e-01 -1.16180058e-01 1.11523426e-02 2.39056057e+02] [-1.16173636e-01 9.93228165e-01 1.22412788e-03 -1.02639974e+02] [-1.12190400e-02 -7.98465425e-05 -9.99937061e-01 -1.04853823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.790385723 meters 0.014883863450207752 Centerline is valid? [True, True] Translation: X:239.07, Y:-102.61, Z:-10.49 [[-9.81759003e-01 -1.89842043e-01 1.04527035e-02 2.39071374e+02] [-1.89832463e-01 9.81814640e-01 1.91019447e-03 -1.02609239e+02] [-1.06252526e-02 -1.08911848e-04 -9.99943544e-01 -1.04855325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.850385723 meters 0.01537536216035158 Centerline is valid? [True, True] Translation: X:239.05, Y:-102.59, Z:-10.48 [[-9.65613153e-01 -2.59769310e-01 1.05425197e-02 2.39051310e+02] [-2.59755129e-01 9.65670696e-01 2.71670286e-03 -1.02585742e+02] [-1.08863183e-02 -1.15189557e-04 -9.99940736e-01 -1.04843427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.910385723 meters 0.014817984396278317 Centerline is valid? [True, True] Translation: X:239.03, Y:-102.57, Z:-10.49 [[-9.44777646e-01 -3.27525336e-01 1.10613612e-02 2.39025651e+02] [-3.27504229e-01 9.44842390e-01 3.71984518e-03 -1.02570559e+02] [-1.16695865e-02 -1.08216003e-04 -9.99931902e-01 -1.04860910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.970385723 meters 0.015001849177569332 Centerline is valid? [True, True] Translation: X:238.97, Y:-102.57, Z:-10.48 [[-9.18983708e-01 -3.94133074e-01 1.13165929e-02 2.38971043e+02] [-3.94104444e-01 9.19053378e-01 4.75135195e-03 -1.02565080e+02] [-1.22732178e-02 -9.35045112e-05 -9.99924677e-01 -1.04844708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.030385723 meters 0.015095801183377585 Centerline is valid? [True, True] Translation: X:238.89, Y:-102.58, Z:-10.48 [[-8.88436476e-01 -4.58843006e-01 1.19885318e-02 2.38890937e+02] [-4.58802354e-01 8.88517355e-01 6.10816199e-03 -1.02575785e+02] [-1.34547060e-02 -7.36527070e-05 -9.99909479e-01 -1.04823071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.090385723 meters 0.015069473182794387 Centerline is valid? [True, True] Translation: X:238.81, Y:-102.59, Z:-10.48 [[-8.53127720e-01 -5.21572896e-01 1.16106677e-02 2.38814256e+02] [-5.21525265e-01 8.53206723e-01 7.04877271e-03 -1.02591883e+02] [-1.35827486e-02 -4.17531699e-05 -9.99907749e-01 -1.04816189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.150385723 meters 0.015048814785265168 Centerline is valid? [True, True] Translation: X:238.76, Y:-102.59, Z:-10.48 [[-8.12106807e-01 -5.83435324e-01 9.26048469e-03 2.38760185e+02] [-5.83397707e-01 8.12159604e-01 6.62520456e-03 -1.02594841e+02] [-1.13863699e-02 -2.21718127e-05 -9.99935173e-01 -1.04839567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.210385723 meters 0.015123076723836773 Centerline is valid? [True, True] Translation: X:238.67, Y:-102.63, Z:-10.48 [[-7.66554881e-01 -6.42128827e-01 8.01150079e-03 2.38669994e+02] [-6.42093906e-01 7.66596745e-01 6.69673204e-03 -1.02626750e+02] [-1.04417551e-02 -1.07232041e-05 -9.99945483e-01 -1.04843436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.270385723 meters 0.015137041455580829 Centerline is valid? [True, True] Translation: X:238.58, Y:-102.67, Z:-10.49 [[-7.15917071e-01 -6.98139885e-01 7.96543206e-03 2.38577885e+02] [-6.98096828e-01 7.15961382e-01 7.75359973e-03 -1.02670316e+02] [-1.11160390e-02 -9.70844697e-06 -9.99938215e-01 -1.04852061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.330385723 meters 0.015264294063344862 Centerline is valid? [True, True] Translation: X:238.49, Y:-102.72, Z:-10.48 [[-6.62151441e-01 -7.49333350e-01 7.41615124e-03 2.38491503e+02] [-7.49286176e-01 6.62192970e-01 8.40811326e-03 -1.02716860e+02] [-1.12114029e-02 1.06247097e-05 -9.99937150e-01 -1.04836287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.390385723 meters 0.015402831094529697 Centerline is valid? [True, True] Translation: X:238.41, Y:-102.78, Z:-10.48 [[-6.05716241e-01 -7.95646838e-01 7.34467461e-03 2.38407543e+02] [-7.95587290e-01 6.05760766e-01 9.73434556e-03 -1.02775613e+02] [-1.21942170e-02 5.29214320e-05 -9.99925646e-01 -1.04839565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.450385723 meters 0.015997097059897887 Centerline is valid? [True, True] Translation: X:238.32, Y:-102.85, Z:-10.48 [[-5.47879408e-01 -8.36531241e-01 6.60585892e-03 2.38324251e+02] [-8.36467716e-01 5.47919217e-01 1.03098247e-02 -1.02849855e+02] [-1.22439675e-02 1.22952907e-04 -9.99925032e-01 -1.04834349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.510385723 meters 0.016666758592794248 Centerline is valid? [True, True] Translation: X:238.24, Y:-102.93, Z:-10.49 [[-4.86596513e-01 -8.73613501e-01 4.82533289e-03 2.38244800e+02] [-8.73567403e-01 4.86620414e-01 8.97584948e-03 -1.02930528e+02] [-1.01895288e-02 1.52363538e-04 -9.99948074e-01 -1.04850909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.570385723 meters 0.016987249313434986 Centerline is valid? [True, True] Translation: X:238.17, Y:-103.02, Z:-10.49 [[-4.21632387e-01 -9.06762602e-01 2.77728325e-03 2.38166678e+02] [-9.06740921e-01 4.21641515e-01 6.27183984e-03 -1.03023619e+02] [-6.85808773e-03 1.26134425e-04 -9.99976475e-01 -1.04869822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.630385723 meters 0.017339562573414933 Centerline is valid? [True, True] Translation: X:238.09, Y:-103.13, Z:-10.49 [[-3.52134032e-01 -9.35948159e-01 1.63311517e-03 2.38088720e+02] [-9.35936815e-01 3.52137806e-01 4.60906171e-03 -1.03133710e+02] [-4.88892441e-03 9.45148724e-05 -9.99988045e-01 -1.04867925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.690385723 meters 0.016837802993920258 Centerline is valid? [True, True] Translation: X:238.03, Y:-103.22, Z:-10.49 [[-2.76407325e-01 -9.61040177e-01 8.77209128e-04 2.38026740e+02] [-9.61034709e-01 2.76408711e-01 3.24230240e-03 -1.03221218e+02] [-3.35845112e-03 5.31677133e-05 -9.99994359e-01 -1.04874687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.750385723 meters 0.01568336083093653 Centerline is valid? [True, True] Translation: X:237.96, Y:-103.33, Z:-10.49 [[-1.98410059e-01 -9.80118915e-01 6.00903939e-04 2.37964450e+02] [-9.80113791e-01 1.98410965e-01 3.16965601e-03 -1.03333067e+02] [-3.22586574e-03 3.99373977e-05 -9.99994796e-01 -1.04869837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.810385723 meters 0.015287046494807657 Centerline is valid? [True, True] Translation: X:237.91, Y:-103.45, Z:-10.48 [[-1.15932914e-01 -9.93256837e-01 6.44380511e-04 2.37909160e+02] [-9.93239467e-01 1.15934698e-01 5.87431450e-03 -1.03449215e+02] [-5.90940910e-03 4.10022431e-05 -9.99982538e-01 -1.04824661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87038572299997 meters 0.014740958922965652 Centerline is valid? [True, True] Translation: X:237.14, Y:-103.49, Z:-11.43 [[-1.71194492e-01 9.85236597e-01 1.13738287e-03 2.37138587e+02] [-9.85214476e-01 -1.71198270e-01 6.60213170e-03 -1.03488707e+02] [ 6.69937975e-03 9.68251304e-06 9.99977559e-01 -1.14316772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.930385723 meters 0.014765411001780724 Centerline is valid? [True, True] Translation: X:237.86, Y:-103.76, Z:-10.48 [[-1.00631253e-01 -9.94923551e-01 6.92268364e-04 2.37861079e+02] [-9.94899336e-01 1.00633634e-01 6.94140790e-03 -1.03757574e+02] [-6.97583568e-03 9.78523867e-06 -9.99975669e-01 -1.04810778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.990385723 meters 0.014643226738426362 Centerline is valid? [True, True] Translation: X:237.82, Y:-103.88, Z:-10.48 [[-2.41893088e-02 -9.99707384e-01 1.55817265e-04 2.37824058e+02] [-9.99683230e-01 2.41898075e-02 6.94930086e-03 -1.03881832e+02] [-6.95103657e-03 1.23308778e-05 -9.99975841e-01 -1.04821335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.050385723 meters 0.014835945986047505 Centerline is valid? [True, True] Translation: X:237.80, Y:-103.99, Z:-10.48 [[ 4.97579608e-02 -9.98761265e-01 -2.84836276e-04 2.37795497e+02] [-9.98747491e-01 -4.97587705e-02 5.24531441e-03 -1.03985969e+02] [-5.25298996e-03 2.34833679e-05 -9.99986203e-01 -1.04838410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.110385723 meters 0.01504932623941998 Centerline is valid? [True, True] Translation: X:237.78, Y:-104.11, Z:-10.48 [[ 1.23135594e-01 -9.92389564e-01 -7.61056580e-04 2.37776378e+02] [-9.92372851e-01 -1.23137937e-01 5.75960684e-03 -1.04107616e+02] [-5.80948865e-03 4.60392787e-05 -9.99983124e-01 -1.04840240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.170385723 meters 0.016074611575996427 Centerline is valid? [True, True] Translation: X:237.77, Y:-104.23, Z:-10.48 [[ 1.94804574e-01 -9.80840953e-01 -1.48439051e-03 2.37765922e+02] [-9.80815880e-01 -1.94810209e-01 7.01372673e-03 -1.04231958e+02] [-7.16852483e-03 8.96077360e-05 -9.99974302e-01 -1.04823309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.230385723 meters 0.016478681947464265 Centerline is valid? [True, True] Translation: X:237.77, Y:-104.35, Z:-10.48 [[ 2.66328164e-01 -9.63880702e-01 -1.81693977e-03 2.37765726e+02] [-9.63860806e-01 -2.66334342e-01 6.19391472e-03 -1.04353345e+02] [-6.45410832e-03 1.01663099e-04 -9.99979167e-01 -1.04834920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.290385723 meters 0.01950636602943445 Centerline is valid? [True, True] Translation: X:237.78, Y:-104.49, Z:-10.48 [[ 3.37390778e-01 -9.41360373e-01 -2.84778448e-03 2.37779315e+02] [-9.41330414e-01 -3.37402765e-01 7.51170217e-03 -1.04488349e+02] [-8.03206911e-03 1.46327102e-04 -9.99967732e-01 -1.04812586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.350385723 meters 0.01762057626295114 Centerline is valid? [True, True] Translation: X:237.79, Y:-104.60, Z:-10.48 [[ 4.07802598e-01 -9.13063352e-01 -3.51505526e-03 2.37789926e+02] [-9.13032699e-01 -4.07817716e-01 7.48337875e-03 -1.04598851e+02] [-8.26630069e-03 1.57619097e-04 -9.99965821e-01 -1.04813929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.410385723 meters 0.019366115498522244 Centerline is valid? [True, True] Translation: X:237.82, Y:-104.72, Z:-10.48 [[ 4.76031658e-01 -8.79415653e-01 -4.68723303e-03 2.37816214e+02] [-8.79376824e-01 -4.76054697e-01 8.26595892e-03 -1.04719655e+02] [-9.50059296e-03 1.86985971e-04 -9.99954851e-01 -1.04813223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.470385723 meters 0.01651387239447752 Centerline is valid? [True, True] Translation: X:237.85, Y:-104.83, Z:-10.48 [[ 5.41794472e-01 -8.40497218e-01 -4.81417756e-03 2.37846719e+02] [-8.40466764e-01 -5.41815834e-01 7.15690140e-03 -1.04831428e+02] [-8.62375335e-03 1.68586618e-04 -9.99962801e-01 -1.04835743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.530385723 meters 0.018805653059376815 Centerline is valid? [True, True] Translation: X:237.89, Y:-104.94, Z:-10.48 [[ 6.03948279e-01 -7.97003323e-01 -5.67267795e-03 2.37889091e+02] [-7.96970974e-01 -6.03974892e-01 7.18309556e-03 -1.04940276e+02] [-9.15110608e-03 1.82741469e-04 -9.99958111e-01 -1.04829128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.590385723 meters 0.018340646920855783 Centerline is valid? [True, True] Translation: X:237.93, Y:-105.04, Z:-10.48 [[ 6.63480212e-01 -7.48168722e-01 -6.12955397e-03 2.37933641e+02] [-7.48139162e-01 -6.63508503e-01 6.65283374e-03 -1.05043314e+02] [-9.04445330e-03 1.71735824e-04 -9.99959083e-01 -1.04846387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.650385723 meters 0.015826517069125787 Centerline is valid? [True, True] Translation: X:237.98, Y:-105.14, Z:-10.49 [[ 7.19621123e-01 -6.94343966e-01 -5.64774673e-03 2.37984623e+02] [-6.94323992e-01 -7.19643273e-01 5.26821190e-03 -1.05143473e+02] [-7.72231408e-03 1.30249494e-04 -9.99970174e-01 -1.04854303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.710385723 meters 0.01560191331172815 Centerline is valid? [True, True] Translation: X:238.00, Y:-105.18, Z:-10.49 [[ 7.73410487e-01 -6.33871222e-01 -6.59493375e-03 2.38001298e+02] [-6.33849487e-01 -7.73438595e-01 5.25050771e-03 -1.05175613e+02] [-8.42892203e-03 1.19397651e-04 -9.99964469e-01 -1.04852215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.770385723 meters 0.015293126226251518 Centerline is valid? [True, True] Translation: X:238.02, Y:-105.21, Z:-10.48 [[ 8.21654111e-01 -5.69939813e-01 -7.28913715e-03 2.38020230e+02] [-5.69918556e-01 -8.21686435e-01 4.92350276e-03 -1.05208154e+02] [-8.79548537e-03 1.08798235e-04 -9.99961313e-01 -1.04845441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.830385723 meters 0.014958268880948089 Centerline is valid? [True, True] Translation: X:238.04, Y:-105.24, Z:-10.48 [[ 8.64275190e-01 -5.02972320e-01 -6.87326453e-03 2.38042005e+02] [-5.02957224e-01 -8.64302515e-01 3.89781416e-03 -1.05238743e+02] [-7.90107245e-03 8.81739834e-05 -9.99968782e-01 -1.04847974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.890385723 meters 0.01484937818040667 Centerline is valid? [True, True] Translation: X:238.07, Y:-105.26, Z:-10.48 [[ 9.01514538e-01 -4.32699845e-01 -6.51014757e-03 2.38067481e+02] [-4.32689123e-01 -9.01538041e-01 3.04694456e-03 -1.05264213e+02] [-7.18755812e-03 7.00052263e-05 -9.99974167e-01 -1.04849316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.950385723 meters 0.014547212525799052 Centerline is valid? [True, True] Translation: X:238.09, Y:-105.29, Z:-10.48 [[ 9.33715981e-01 -3.57966275e-01 -5.88320711e-03 2.38094590e+02] [-3.57959443e-01 -9.33734515e-01 2.21203647e-03 -1.05289033e+02] [-6.28518799e-03 4.05357358e-05 -9.99980247e-01 -1.04848323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.010385723 meters 0.014257340598975092 Centerline is valid? [True, True] Translation: X:238.12, Y:-105.31, Z:-10.48 [[ 9.60208304e-01 -2.79219541e-01 -6.03832427e-03 2.38123360e+02] [-2.79214087e-01 -9.60227290e-01 1.74516556e-03 -1.05313821e+02] [-6.28544808e-03 1.02627371e-05 -9.99980246e-01 -1.04846976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.070385723 meters 0.014376415008652626 Centerline is valid? [True, True] Translation: X:238.15, Y:-105.33, Z:-10.48 [[ 9.80226875e-01 -1.97796026e-01 -5.65732669e-03 2.38153945e+02] [-1.97792593e-01 -9.80243200e-01 1.16555273e-03 -1.05333551e+02] [-5.77609772e-03 -2.35287932e-05 -9.99983318e-01 -1.04848818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.130385723 meters 0.01501927891807441 Centerline is valid? [True, True] Translation: X:238.19, Y:-105.35, Z:-10.48 [[ 9.93354795e-01 -1.14946193e-01 -5.79862724e-03 2.38187630e+02] [-1.14943902e-01 -9.93371718e-01 7.27915010e-04 -1.05349286e+02] [-5.84386336e-03 -5.65610246e-05 -9.99982923e-01 -1.04838422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.190385723 meters 0.015782680513997133 Centerline is valid? [True, True] Translation: X:238.22, Y:-105.36, Z:-10.48 [[ 9.99458807e-01 -3.23947496e-02 -5.71602814e-03 2.38218018e+02] [-3.23937577e-02 -9.99475149e-01 2.66059561e-04 -1.05360580e+02] [-5.72164701e-03 -8.07519408e-05 -9.99983628e-01 -1.04820864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.250385723 meters 0.016611783992261712 Centerline is valid? [True, True] Translation: X:238.25, Y:-105.37, Z:-10.48 [[ 9.98762348e-01 4.94782982e-02 -5.06664585e-03 2.38249375e+02] [ 4.94781208e-02 -9.98775195e-01 -1.60441395e-04 -1.05366638e+02] [-5.06837856e-03 -9.04452906e-05 -9.99987152e-01 -1.04819270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.310385723 meters 0.016957925426478216 Centerline is valid? [True, True] Translation: X:238.28, Y:-105.37, Z:-10.48 [[ 9.91510935e-01 1.29937433e-01 -4.72534428e-03 2.38280581e+02] [ 1.29936423e-01 -9.91522190e-01 -5.21485609e-04 -1.05370125e+02] [-4.75304421e-03 -9.69356484e-05 -9.99988700e-01 -1.04809555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37038572299997 meters 0.01705481902478403 Centerline is valid? [True, True] Translation: X:238.31, Y:-105.36, Z:-10.48 [[ 9.78458913e-01 2.06408295e-01 -3.71102871e-03 2.38311158e+02] [ 2.06407103e-01 -9.78465947e-01 -7.05461883e-04 -1.05364980e+02] [-3.77672841e-03 -7.57172189e-05 -9.99992865e-01 -1.04821033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.430385723 meters 0.016777272856013437 Centerline is valid? [True, True] Translation: X:238.34, Y:-105.36, Z:-10.48 [[ 9.60111842e-01 2.79608912e-01 -2.02675823e-03 2.38340288e+02] [ 2.79608375e-01 -9.60113980e-01 -5.49206641e-04 -1.05356983e+02] [-2.09948198e-03 -3.93987762e-05 -9.99997795e-01 -1.04826139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.490385723 meters 0.01600477218124236 Centerline is valid? [True, True] Translation: X:238.37, Y:-105.35, Z:-10.48 [[ 9.36812556e-01 3.49828121e-01 -1.58774897e-03 2.38367784e+02] [ 3.49827665e-01 -9.36813901e-01 -5.65421589e-04 -1.05345689e+02] [-1.68522568e-03 -2.57444710e-05 -9.99998580e-01 -1.04818929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.550385723 meters 0.015554597783788168 Centerline is valid? [True, True] Translation: X:238.39, Y:-105.33, Z:-10.48 [[ 9.09102569e-01 4.16568297e-01 -1.83642536e-03 2.38393278e+02] [ 4.16567485e-01 -9.09104424e-01 -8.22684616e-04 -1.05332993e+02] [-2.01220674e-03 -1.70903931e-05 -9.99997975e-01 -1.04810796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.610385723 meters 0.01564676705075225 Centerline is valid? [True, True] Translation: X:238.42, Y:-105.32, Z:-10.48 [[ 8.76232977e-01 4.81887524e-01 -4.28384371e-04 2.38417395e+02] [ 4.81887470e-01 -8.76233082e-01 -2.27314355e-04 -1.05319857e+02] [-4.84904510e-04 -7.25272702e-06 -9.99999882e-01 -1.04804984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.670385723 meters 0.015773015159057855 Centerline is valid? [True, True] Translation: X:238.44, Y:-105.31, Z:-10.48 [[ 8.38056620e-01 5.45582707e-01 -7.82125276e-04 2.38439568e+02] [ 5.45582473e-01 -8.38056985e-01 -5.05325282e-04 -1.05305508e+02] [-9.31162286e-04 -3.22264403e-06 -9.99999566e-01 -1.04792130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.730385723 meters 0.019623085153266315 Centerline is valid? [True, True] Translation: X:238.46, Y:-105.29, Z:-10.48 [[ 7.94702757e-01 6.06997690e-01 -1.15431577e-03 2.38458644e+02] [ 6.06997043e-01 -7.94703595e-01 -8.86421847e-04 -1.05289982e+02] [-1.45539490e-03 3.77562943e-06 -9.99998941e-01 -1.04769727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.790385723 meters 0.016166983521765568 Centerline is valid? [True, True] Translation: X:238.48, Y:-105.27, Z:-10.48 [[ 7.44026867e-01 6.68148365e-01 -1.33534784e-03 2.38476280e+02] [ 6.68147278e-01 -7.44028065e-01 -1.20526159e-03 -1.05274013e+02] [-1.79882983e-03 4.53798135e-06 -9.99998382e-01 -1.04789814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.850385723 meters 0.018693020998652728 Centerline is valid? [True, True] Translation: X:238.50, Y:-105.26, Z:-10.48 [[ 6.85882924e-01 7.27708154e-01 -2.33606269e-03 2.38500246e+02] [ 7.27703940e-01 -6.85886902e-01 -2.47643663e-03 -1.05263382e+02] [-3.40439793e-03 -1.41642593e-06 -9.99994205e-01 -1.04781254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.910385723 meters 0.017345117663718147 Centerline is valid? [True, True] Translation: X:238.52, Y:-105.25, Z:-10.48 [[ 6.24818907e-01 7.80767197e-01 -1.97940700e-03 2.38521274e+02] [ 7.80763329e-01 -6.24822042e-01 -2.45778211e-03 -1.05249458e+02] [-3.15573277e-03 -9.77966863e-06 -9.99995021e-01 -1.04792798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.970385723 meters 0.018437950940529555 Centerline is valid? [True, True] Translation: X:238.55, Y:-105.24, Z:-10.48 [[ 5.57365463e-01 8.30263457e-01 -2.51665001e-03 2.38546969e+02] [ 8.30255270e-01 -5.57371143e-01 -3.68715388e-03 -1.05237275e+02] [-4.46401722e-03 -3.43697004e-05 -9.99990036e-01 -1.04791007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.030385723 meters 0.01661455388591338 Centerline is valid? [True, True] Translation: X:238.57, Y:-105.22, Z:-10.48 [[ 4.87013071e-01 8.73392799e-01 -1.81305169e-03 2.38571872e+02] [ 8.73387083e-01 -4.87016443e-01 -3.16018848e-03 -1.05223285e+02] [-3.64307185e-03 -4.44428300e-05 -9.99993363e-01 -1.04802880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.090385723 meters 0.01628629093389286 Centerline is valid? [True, True] Translation: X:238.59, Y:-105.21, Z:-10.48 [[ 4.18674813e-01 9.08134865e-01 -1.57115425e-03 2.38594403e+02] [ 9.08128811e-01 -4.18677760e-01 -3.31611032e-03 -1.05207328e+02] [-3.66928273e-03 -3.84385675e-05 -9.99993267e-01 -1.04805910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.150385723 meters 0.01819896401943296 Centerline is valid? [True, True] Translation: X:238.61, Y:-105.19, Z:-10.48 [[ 3.54387075e-01 9.35097164e-01 -1.75910481e-03 2.38612036e+02] [ 9.35085732e-01 -3.54391441e-01 -4.62384366e-03 -1.05187657e+02] [-4.94715478e-03 -6.28337995e-06 -9.99987763e-01 -1.04806701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.210385723 meters 0.019487960063134496 Centerline is valid? [True, True] Translation: X:238.63, Y:-105.17, Z:-10.48 [[ 2.88310691e-01 9.57535336e-01 -1.73925225e-03 2.38625996e+02] [ 9.57516913e-01 -2.88315934e-01 -5.94004456e-03 -1.05167619e+02] [-6.18925670e-03 4.72149061e-05 -9.99980845e-01 -1.04783364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.270385723 meters 0.018079174371747837 Centerline is valid? [True, True] Translation: X:238.64, Y:-105.15, Z:-10.48 [[ 2.19259919e-01 9.75665328e-01 -1.50169732e-03 2.38637302e+02] [ 9.75638940e-01 -2.19265035e-01 -7.17652276e-03 -1.05145163e+02] [-7.33115415e-03 1.08409419e-04 -9.99973121e-01 -1.04778362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.330385723 meters 0.01933421776910994 Centerline is valid? [True, True] Translation: X:238.65, Y:-105.12, Z:-10.48 [[ 1.46224133e-01 9.89250831e-01 -1.13850294e-03 2.38646838e+02] [ 9.89211113e-01 -1.46228466e-01 -8.86619954e-03 -1.05123371e+02] [-8.93737680e-03 1.70232581e-04 -9.99960046e-01 -1.04766039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.390385723 meters 0.018517383724301437 Centerline is valid? [True, True] Translation: X:238.66, Y:-105.10, Z:-10.48 [[ 6.97004534e-02 9.97567870e-01 -4.37167794e-04 2.38658830e+02] [ 9.97528482e-01 -6.97015870e-02 -8.86659549e-03 -1.05100854e+02] [-8.87550207e-03 1.81918400e-04 -9.99960595e-01 -1.04774533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.450385723 meters 0.01739672780140385 Centerline is valid? [True, True] Translation: X:238.68, Y:-105.08, Z:-10.48 [[-1.21923786e-02 9.99925641e-01 2.43121331e-04 2.38676331e+02] [ 9.99890863e-01 1.21939825e-02 -8.34084345e-03 -1.05077254e+02] [-8.34318784e-03 1.41400077e-04 -9.99965185e-01 -1.04777586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.510385723 meters 0.016878900912499974 Centerline is valid? [True, True] Translation: X:238.69, Y:-105.05, Z:-10.48 [[-9.35088012e-02 9.95618071e-01 8.72485699e-04 2.38688349e+02] [ 9.95585256e-01 9.35128036e-02 -8.08419238e-03 -1.05051743e+02] [-8.13035660e-03 1.12690760e-04 -9.99966942e-01 -1.04780255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.570385723 meters 0.016198192341767965 Centerline is valid? [True, True] Translation: X:238.70, Y:-105.03, Z:-10.48 [[-1.74914943e-01 9.84582929e-01 1.10388419e-03 2.38695651e+02] [ 9.84565378e-01 1.74918416e-01 -5.87913786e-03 -1.05026350e+02] [-5.98158845e-03 5.84970937e-05 -9.99982108e-01 -1.04816137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.630385723 meters 0.01591709536611423 Centerline is valid? [True, True] Translation: X:238.71, Y:-105.00, Z:-10.48 [[-2.51936240e-01 9.67743163e-01 1.14095942e-03 2.38705480e+02] [ 9.67733931e-01 2.51938820e-01 -4.22726643e-03 -1.04999164e+02] [-4.37836015e-03 3.91435420e-05 -9.99990414e-01 -1.04818580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.690385723 meters 0.015760619250360916 Centerline is valid? [True, True] Translation: X:238.71, Y:-104.97, Z:-10.48 [[-3.27547457e-01 9.44833149e-01 1.72733606e-03 2.38710771e+02] [ 9.44820713e-01 3.27552009e-01 -4.84795817e-03 -1.04971516e+02] [-5.14630398e-03 4.40865170e-05 -9.99986757e-01 -1.04806770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.750385723 meters 0.015683440532357037 Centerline is valid? [True, True] Translation: X:238.71, Y:-104.94, Z:-10.48 [[-4.00962435e-01 9.16091191e-01 2.46068867e-03 2.38713157e+02] [ 9.16074700e-01 4.00969983e-01 -5.49698544e-03 -1.04943904e+02] [-6.02240223e-03 5.00899690e-05 -9.99981864e-01 -1.04798891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81038572299997 meters 0.01748932910546752 Centerline is valid? [True, True] Translation: X:238.71, Y:-104.92, Z:-10.48 [[-4.70905809e-01 8.82177330e-01 3.29818821e-03 2.38712890e+02] [ 8.82156616e-01 4.70917355e-01 -6.04562026e-03 -1.04915338e+02] [-6.88648320e-03 6.26008536e-05 -9.99976286e-01 -1.04778921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87038572299997 meters 0.017523082823069597 Centerline is valid? [True, True] Translation: X:238.71, Y:-104.89, Z:-10.48 [[-5.37866328e-01 8.43020652e-01 3.99910509e-03 2.38706578e+02] [ 8.42998350e-01 5.37881190e-01 -6.13254821e-03 -1.04889844e+02] [-7.32090819e-03 7.27478037e-05 -9.99973199e-01 -1.04770220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.930385723 meters 0.016483333366566065 Centerline is valid? [True, True] Translation: X:238.70, Y:-104.86, Z:-10.48 [[-5.98341038e-01 8.01228149e-01 4.63206842e-03 2.38699434e+02] [ 8.01205587e-01 5.98358956e-01 -6.01383427e-03 -1.04863731e+02] [-7.59009292e-03 1.12915260e-04 -9.99971188e-01 -1.04766435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.990385723 meters 0.016731492339403194 Centerline is valid? [True, True] Translation: X:238.69, Y:-104.84, Z:-10.48 [[-6.57836057e-01 7.53144755e-01 4.96988374e-03 2.38690524e+02] [ 7.53124673e-01 6.57854819e-01 -5.50134355e-03 -1.04838102e+02] [-7.41277000e-03 1.23959918e-04 -9.99972517e-01 -1.04766794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.050385723 meters 0.01654606297903923 Centerline is valid? [True, True] Translation: X:238.68, Y:-104.81, Z:-10.48 [[-7.14336934e-01 6.99785738e-01 4.76084721e-03 2.38681330e+02] [ 6.99771242e-01 7.14352790e-01 -4.50563494e-03 -1.04809788e+02] [-6.55390356e-03 1.12962516e-04 -9.99978517e-01 -1.04768994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.110385723 meters 0.01626161846641107 Centerline is valid? [True, True] Translation: X:238.70, Y:-104.79, Z:-10.48 [[-7.62876994e-01 6.46523004e-01 5.16698173e-03 2.38702348e+02] [ 6.46509123e-01 7.62894484e-01 -4.23785023e-03 -1.04785550e+02] [-6.68172952e-03 1.07542381e-04 -9.99977671e-01 -1.04770230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.170385723 meters 0.015585094086385172 Centerline is valid? [True, True] Translation: X:239.17, Y:-104.22, Z:-11.44 [[-7.39869629e-01 -6.72722637e-01 6.09800375e-03 2.39171951e+02] [ 6.72699364e-01 -7.39894757e-01 -5.59586368e-03 -1.04220638e+02] [ 8.27634518e-03 -3.80863355e-05 9.99965750e-01 -1.14391330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.230385723 meters 0.015279351262431264 Centerline is valid? [True, True] Translation: X:238.68, Y:-104.75, Z:-10.47 [[-7.67009543e-01 6.41601150e-01 6.65775059e-03 2.38675317e+02] [ 6.41578276e-01 7.67038429e-01 -5.41886834e-03 -1.04751024e+02] [-8.58350271e-03 1.15144418e-04 -9.99963154e-01 -1.04745585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.290385723 meters 0.015605548735367151 Centerline is valid? [True, True] Translation: X:238.69, Y:-104.73, Z:-10.47 [[-8.09921405e-01 5.86487328e-01 7.74150696e-03 2.38694546e+02] [ 5.86462141e-01 8.09958391e-01 -5.43706832e-03 -1.04728536e+02] [-9.45907019e-03 1.36502736e-04 -9.99955253e-01 -1.04740161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.350385723 meters 0.016194225177298006 Centerline is valid? [True, True] Translation: X:238.71, Y:-104.71, Z:-10.47 [[-8.47986651e-01 5.29961139e-01 7.73506619e-03 2.38711281e+02] [ 5.29940742e-01 8.48021914e-01 -4.65218941e-03 -1.04705266e+02] [-9.02498523e-03 1.54132202e-04 -9.99959262e-01 -1.04730378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.410385723 meters 0.015687554716137534 Centerline is valid? [True, True] Translation: X:238.73, Y:-104.68, Z:-10.47 [[-8.83038701e-01 4.69241205e-01 7.43931986e-03 2.38726450e+02] [ 4.69225959e-01 8.83070025e-01 -3.78549993e-03 -1.04679151e+02] [-8.34575293e-03 1.47979055e-04 -9.99965163e-01 -1.04731919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.470385723 meters 0.015799345389663527 Centerline is valid? [True, True] Translation: X:238.73, Y:-104.65, Z:-10.47 [[-9.14251100e-01 4.05090411e-01 6.83269656e-03 2.38730166e+02] [ 4.05080136e-01 9.14276623e-01 -2.88799861e-03 -1.04649351e+02] [-7.41687528e-03 1.27433749e-04 -9.99972486e-01 -1.04725888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.530385723 meters 0.015919082000639784 Centerline is valid? [True, True] Translation: X:238.74, Y:-104.62, Z:-10.47 [[-9.40892371e-01 3.38644575e-01 6.43406940e-03 2.38740541e+02] [ 3.38637466e-01 9.40914363e-01 -2.19713867e-03 -1.04623483e+02] [-6.79795740e-03 1.11545939e-04 -9.99976887e-01 -1.04728704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.590385723 meters 0.015024787767698167 Centerline is valid? [True, True] Translation: X:238.98, Y:-103.95, Z:-11.44 [[-9.27812655e-01 -3.72991932e-01 6.37937785e-03 2.38978567e+02] [ 3.72982330e-01 -9.27834580e-01 -2.67843169e-03 -1.03953999e+02] [ 6.91804078e-03 -1.05687607e-04 9.99976064e-01 -1.14435381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.650385723 meters 0.014500171173158318 Centerline is valid? [True, True] Translation: X:238.69, Y:-104.60, Z:-10.47 [[-9.44495269e-01 3.28470110e-01 6.00620557e-03 2.38690729e+02] [ 3.28463860e-01 9.44514364e-01 -2.02709232e-03 -1.04601835e+02] [-6.33878667e-03 5.82423627e-05 -9.99979908e-01 -1.04704236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.710385723 meters 0.014185064410878388 Centerline is valid? [True, True] Translation: X:238.93, Y:-103.94, Z:-11.44 [[-9.27615166e-01 -3.73490969e-01 5.88222272e-03 2.38929995e+02] [ 3.73483071e-01 -9.27633814e-01 -2.42968487e-03 -1.03941033e+02] [ 6.36401405e-03 -5.69019263e-05 9.99979748e-01 -1.14442894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.770385723 meters 0.014060976331975518 Centerline is valid? [True, True] Translation: X:238.66, Y:-104.59, Z:-10.47 [[-9.46265217e-01 3.23329244e-01 6.35124582e-03 2.38655228e+02] [ 3.23322317e-01 9.46286530e-01 -2.11705415e-03 -1.04590734e+02] [-6.69460389e-03 5.02048112e-05 -9.99977590e-01 -1.04696939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.830385723 meters 0.014171851080889253 Centerline is valid? [True, True] Translation: X:238.66, Y:-104.56, Z:-10.47 [[-9.66879988e-01 2.55148761e-01 6.49602567e-03 2.38662323e+02] [ 2.55143337e-01 9.66901809e-01 -1.66435726e-03 -1.04564412e+02] [-6.70567767e-03 4.81839386e-05 -9.99977516e-01 -1.04699805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.890385723 meters 0.014371389762446106 Centerline is valid? [True, True] Translation: X:238.66, Y:-104.54, Z:-10.47 [[-9.82645132e-01 1.85301194e-01 8.48601453e-03 2.38663946e+02] [ 1.85294796e-01 9.82681772e-01 -1.54087483e-03 -1.04537540e+02] [-8.62457774e-03 5.82811788e-05 -9.99962806e-01 -1.04689369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.950385723 meters 0.014394115456760904 Centerline is valid? [True, True] Translation: X:238.67, Y:-104.51, Z:-10.47 [[-9.93182394e-01 1.16261978e-01 8.47850569e-03 2.38668692e+02] [ 1.16258322e-01 9.93218580e-01 -9.24488128e-04 -1.04513092e+02] [-8.52849220e-03 6.75115100e-05 -9.99963629e-01 -1.04699025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.010385723 meters 0.0154753576605926 Centerline is valid? [True, True] Translation: X:238.67, Y:-104.49, Z:-10.47 [[-9.98790063e-01 4.85653977e-02 7.73387142e-03 2.38666840e+02] [ 4.85645979e-02 9.98820001e-01 -2.91287953e-04 -1.04491496e+02] [-7.73889198e-03 8.46568434e-05 -9.99970051e-01 -1.04695286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.070385723 meters 0.015437372175482193 Centerline is valid? [True, True] Translation: X:238.70, Y:-103.76, Z:-11.44 [[-9.95984455e-01 -8.92655124e-02 6.82888150e-03 2.38701946e+02] [ 8.92625303e-02 -9.96007857e-01 -7.40836203e-04 -1.03759020e+02] [ 6.86775075e-03 -1.28298100e-04 9.99976408e-01 -1.14426155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.130385723 meters 0.015530111090338106 Centerline is valid? [True, True] Translation: X:238.60, Y:-104.50, Z:-10.47 [[-9.98829472e-01 4.79985730e-02 5.98527009e-03 2.38603063e+02] [ 4.79982350e-02 9.98847400e-01 -2.00176305e-04 -1.04497358e+02] [-5.98797965e-03 8.73404079e-05 -9.99982068e-01 -1.04727445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.190385723 meters 0.014945199861115315 Centerline is valid? [True, True] Translation: X:238.60, Y:-104.47, Z:-10.47 [[-9.99660074e-01 -2.54849370e-02 5.50038380e-03 2.38602102e+02] [-2.54841838e-02 9.99675204e-01 2.07003347e-04 -1.04469230e+02] [-5.50387277e-03 6.67601893e-05 -9.99984851e-01 -1.04728607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.250385723 meters 0.015019698327726394 Centerline is valid? [True, True] Translation: X:238.57, Y:-103.72, Z:-11.44 [[-9.99837233e-01 -1.69648693e-02 6.14002811e-03 2.38572114e+02] [ 1.69643498e-02 -9.99856086e-01 -1.36675868e-04 -1.03722634e+02] [ 6.14146316e-03 -3.24920373e-05 9.99981141e-01 -1.14433897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31038572299997 meters 0.014480188565412071 Centerline is valid? [True, True] Translation: X:238.52, Y:-104.48, Z:-10.47 [[-9.99379974e-01 -3.47672302e-02 5.55936700e-03 2.38518880e+02] [-3.47664497e-02 9.99395436e-01 2.36996173e-04 -1.04476371e+02] [-5.56424571e-03 4.35697756e-05 -9.99984519e-01 -1.04717937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37038572299997 meters 0.01453144028371709 Centerline is valid? [True, True] Translation: X:238.49, Y:-103.72, Z:-11.44 [[-9.99851381e-01 -1.62941537e-02 5.63167803e-03 2.38485339e+02] [ 1.62936723e-02 -9.99867241e-01 -1.31347624e-04 -1.03722922e+02] [ 5.63307058e-03 -3.95673864e-05 9.99984133e-01 -1.14447180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.430385723 meters 0.014345901752992855 Centerline is valid? [True, True] Translation: X:238.43, Y:-104.48, Z:-10.47 [[-9.99128797e-01 -4.12590209e-02 6.27215880e-03 2.38434873e+02] [-4.12579429e-02 9.99148483e-01 3.01211631e-04 -1.04481134e+02] [-6.27924565e-03 4.21728445e-05 -9.99980284e-01 -1.04688872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.490385723 meters 0.014639925881733072 Centerline is valid? [True, True] Translation: X:238.40, Y:-103.72, Z:-11.45 [[-9.99959381e-01 -7.72596271e-03 4.64167094e-03 2.38404248e+02] [ 7.72526494e-03 -9.99970146e-01 -1.68238550e-04 -1.03720026e+02] [ 4.64283217e-03 -1.32373579e-04 9.99989213e-01 -1.14451604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.550385723 meters 0.015392119808546156 Centerline is valid? [True, True] Translation: X:238.35, Y:-104.50, Z:-10.47 [[-9.99247995e-01 -3.86371059e-02 3.25855341e-03 2.38350830e+02] [-3.86367514e-02 9.99253307e-01 1.71683640e-04 -1.04495856e+02] [-3.26275363e-03 4.56546145e-05 -9.99994676e-01 -1.04692799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.610385723 meters 0.016042397923302577 Centerline is valid? [True, True] Translation: X:238.32, Y:-103.71, Z:-11.45 [[-9.99975585e-01 6.34657132e-03 2.92419358e-03 2.38318688e+02] [-6.34672409e-03 -9.99979858e-01 -4.29673982e-05 -1.03714820e+02] [ 2.92386198e-03 -6.15253989e-05 9.99995724e-01 -1.14456122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.670385723 meters 0.016695632631288666 Centerline is valid? [True, True] Translation: X:238.26, Y:-104.51, Z:-10.47 [[-9.99214301e-01 -3.95255438e-02 2.91742165e-03 2.38264290e+02] [-3.95252163e-02 9.99218559e-01 1.69842583e-04 -1.04507899e+02] [-2.92185498e-03 5.43974161e-05 -9.99995730e-01 -1.04683075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.730385723 meters 0.016997077743520304 Centerline is valid? [True, True] Translation: X:238.26, Y:-104.48, Z:-10.47 [[-9.93930544e-01 -1.09960525e-01 3.27965849e-03 2.38257433e+02] [-1.09959713e-01 9.93935953e-01 4.27650742e-04 -1.04480800e+02] [-3.30679518e-03 6.44248295e-05 -9.99994530e-01 -1.04664340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.790385723 meters 0.016116125719267904 Centerline is valid? [True, True] Translation: X:238.25, Y:-104.45, Z:-10.47 [[-9.83319053e-01 -1.81879835e-01 1.83476005e-03 2.38245481e+02] [-1.81879459e-01 9.83320764e-01 3.71207139e-04 -1.04454377e+02] [-1.87167275e-03 3.13098870e-05 -9.99998248e-01 -1.04679618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.850385723 meters 0.01666635562388374 Centerline is valid? [True, True] Translation: X:238.22, Y:-104.43, Z:-10.47 [[-9.67272383e-01 -2.53739953e-01 4.17460818e-04 2.38223139e+02] [-2.53739928e-01 9.67272473e-01 1.11286291e-04 -1.04430209e+02] [-4.32036136e-04 1.71767813e-06 -9.99999907e-01 -1.04675947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.910385723 meters 0.01558065247066152 Centerline is valid? [True, True] Translation: X:238.18, Y:-104.41, Z:-10.47 [[-9.46012454e-01 -3.24130084e-01 -3.52922562e-04 2.38184948e+02] [-3.24130057e-01 9.46012520e-01 -1.34237213e-04 -1.04408685e+02] [ 3.77379482e-04 -1.25972658e-05 -9.99999929e-01 -1.04664821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.970385723 meters 0.015040363554429267 Centerline is valid? [True, True] Translation: X:238.12, Y:-104.40, Z:-10.47 [[-9.19231791e-01 -3.93716617e-01 -3.73995803e-04 2.38121813e+02] [-3.93716579e-01 9.19231867e-01 -1.74011866e-04 -1.04401432e+02] [ 4.12300223e-04 -1.27088910e-05 -9.99999915e-01 -1.04671184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.030385723 meters 0.014674105842264158 Centerline is valid? [True, True] Translation: X:238.05, Y:-104.40, Z:-10.47 [[-8.86739041e-01 -4.62270192e-01 3.78248068e-04 2.38046827e+02] [-4.62270151e-01 8.86739121e-01 1.96682480e-04 -1.04402420e+02] [-4.26327807e-04 -4.46757526e-07 -9.99999909e-01 -1.04653353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.090385723 meters 0.014104446385732489 Centerline is valid? [True, True] Translation: X:237.96, Y:-104.41, Z:-10.46 [[-8.47963358e-01 -5.30053861e-01 1.02358048e-03 2.37961807e+02] [-5.30053467e-01 8.47963976e-01 6.46093814e-04 -1.04414343e+02] [-1.21042389e-03 5.31149820e-06 -9.99999267e-01 -1.04631679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.150385723 meters 0.013746774296010194 Centerline is valid? [True, True] Translation: X:237.87, Y:-104.44, Z:-10.46 [[-8.03989800e-01 -5.94640689e-01 1.68889508e-03 2.37872817e+02] [-5.94639360e-01 8.03991574e-01 1.25706613e-03 -1.04439508e+02] [-2.10536008e-03 6.38485789e-06 -9.99997784e-01 -1.04627186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.210385723 meters 0.013691168188692157 Centerline is valid? [True, True] Translation: X:237.80, Y:-104.46, Z:-10.46 [[-7.55907098e-01 -6.54673225e-01 2.72545263e-03 2.37799912e+02] [-6.54668921e-01 7.55912011e-01 2.37378634e-03 -1.04459824e+02] [-3.61425674e-03 1.00928071e-05 -9.99993469e-01 -1.04612923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.270385723 meters 0.013882318119151407 Centerline is valid? [True, True] Translation: X:237.72, Y:-104.50, Z:-10.46 [[-7.03732335e-01 -7.10457008e-01 3.41192501e-03 2.37719466e+02] [-7.10448574e-01 7.03740606e-01 3.46161853e-03 -1.04496393e+02] [-4.86044132e-03 1.20556348e-05 -9.99988188e-01 -1.04602583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.330385723 meters 0.014263315324543188 Centerline is valid? [True, True] Translation: X:237.62, Y:-104.57, Z:-10.46 [[-6.49153410e-01 -7.60643254e-01 4.65733329e-03 2.37619539e+02] [-7.60623329e-01 6.49170116e-01 5.50570623e-03 -1.04566683e+02] [-7.21127990e-03 3.15716198e-05 -9.99973998e-01 -1.04576939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.390385723 meters 0.015136523081558152 Centerline is valid? [True, True] Translation: X:237.55, Y:-104.62, Z:-10.46 [[-5.92578957e-01 -8.05500748e-01 4.32719717e-03 2.37550293e+02] [-8.05478496e-01 5.92594752e-01 5.98766125e-03 -1.04618134e+02] [-7.38733996e-03 6.26977883e-05 -9.99972711e-01 -1.04578695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.450385723 meters 0.016030995811332622 Centerline is valid? [True, True] Translation: X:237.47, Y:-104.70, Z:-10.46 [[-5.31947044e-01 -8.46771346e-01 3.26051529e-03 2.37469454e+02] [-8.46754619e-01 5.31957031e-01 5.32284602e-03 -1.04695878e+02] [-6.24168752e-03 7.06158239e-05 -9.99980518e-01 -1.04609908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.510385723 meters 0.015412890012069124 Centerline is valid? [True, True] Translation: X:237.39, Y:-104.78, Z:-10.46 [[-4.66504365e-01 -8.84516126e-01 2.21380650e-03 2.37387443e+02] [-8.84505569e-01 4.66509614e-01 4.32195593e-03 -1.04781590e+02] [-4.85560173e-03 5.80871325e-05 -9.99988210e-01 -1.04639218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.570385723 meters 0.015298339874355959 Centerline is valid? [True, True] Translation: X:237.31, Y:-104.87, Z:-10.46 [[-3.95835788e-01 -9.18319425e-01 1.86101926e-03 2.37313114e+02] [-9.18308682e-01 3.95840160e-01 4.44213575e-03 -1.04872588e+02] [-4.81596571e-03 4.93661574e-05 -9.99988402e-01 -1.04641444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.630385723 meters 0.015098509068652184 Centerline is valid? [True, True] Translation: X:237.24, Y:-104.97, Z:-10.46 [[-3.22088180e-01 -9.46707981e-01 1.78961446e-03 2.37244739e+02] [-9.46692556e-01 3.22093148e-01 5.40444873e-03 -1.04971212e+02] [-5.69285731e-03 4.64943722e-05 -9.99983794e-01 -1.04638463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.690385723 meters 0.015143224571059747 Centerline is valid? [True, True] Translation: X:237.18, Y:-105.09, Z:-10.47 [[-2.48326724e-01 -9.68675335e-01 1.39058064e-03 2.37180791e+02] [-9.68659085e-01 2.48330613e-01 5.61095733e-03 -1.05088413e+02] [-5.78051971e-03 4.63520763e-05 -9.99983292e-01 -1.04652343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.750385723 meters 0.015429018222560117 Centerline is valid? [True, True] Translation: X:237.13, Y:-105.21, Z:-10.47 [[-1.74041577e-01 -9.84737920e-01 8.70778022e-04 2.37126976e+02] [-9.84724227e-01 1.74043749e-01 5.19328872e-03 -1.05211150e+02] [-5.26558181e-03 4.63719450e-05 -9.99986136e-01 -1.04664839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81038572299997 meters 0.01574462827422163 Centerline is valid? [True, True] Translation: X:237.09, Y:-105.30, Z:-10.47 [[-9.94458716e-02 -9.95042903e-01 3.74005866e-04 2.37085750e+02] [-9.95034125e-01 9.94465653e-02 4.17974074e-03 -1.05303981e+02] [-4.19621496e-03 4.35093614e-05 -9.99991195e-01 -1.04676344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87038572299997 meters 0.016563176753603283 Centerline is valid? [True, True] Translation: X:237.05, Y:-105.42, Z:-10.47 [[-2.45836777e-02 -9.99697775e-01 3.78234378e-05 2.37052387e+02] [-9.99693578e-01 2.45836841e-02 2.89705233e-03 -1.05422449e+02] [-2.89710661e-03 3.34083528e-05 -9.99995803e-01 -1.04684399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.930385723 meters 0.01660947203395053 Centerline is valid? [True, True] Translation: X:237.02, Y:-105.54, Z:-10.47 [[ 5.03881207e-02 -9.98729707e-01 -9.72136934e-05 2.37024608e+02] [-9.98728486e-01 -5.03882112e-02 1.56159842e-03 -1.05543214e+02] [-1.56451316e-03 1.84040748e-05 -9.99998776e-01 -1.04690762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.990385723 meters 0.016846010955182063 Centerline is valid? [True, True] Translation: X:237.01, Y:-105.67, Z:-10.47 [[ 1.26311480e-01 -9.91990549e-01 -4.01445385e-04 2.37006936e+02] [-9.91986516e-01 -1.26312111e-01 2.82872971e-03 -1.05674763e+02] [-2.85678055e-03 4.09273725e-05 -9.99995919e-01 -1.04673467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.050385723 meters 0.017149159863183338 Centerline is valid? [True, True] Translation: X:237.00, Y:-105.79, Z:-10.47 [[ 2.01726420e-01 -9.79441402e-01 -9.95372667e-04 2.36998214e+02] [-9.79431175e-01 -2.01728863e-01 4.47663552e-03 -1.05794701e+02] [-4.58539757e-03 7.18433636e-05 -9.99989484e-01 -1.04664249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.110385723 meters 0.0173775987050476 Centerline is valid? [True, True] Translation: X:237.00, Y:-105.92, Z:-10.47 [[ 2.74929024e-01 -9.61462857e-01 -1.79040420e-03 2.37000213e+02] [-9.61444953e-01 -2.74934833e-01 5.86863334e-03 -1.05924574e+02] [-6.13471746e-03 1.07917439e-04 -9.99981177e-01 -1.04659052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.170385723 meters 0.01790371938498145 Centerline is valid? [True, True] Translation: X:237.01, Y:-106.04, Z:-10.47 [[ 3.46390734e-01 -9.38088574e-01 -1.81279127e-03 2.37009199e+02] [-9.38077127e-01 -3.46395464e-01 4.63540507e-03 -1.06044321e+02] [-4.97636321e-03 9.48766626e-05 -9.99987613e-01 -1.04673040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.230385723 meters 0.017788458885589355 Centerline is valid? [True, True] Translation: X:237.03, Y:-106.17, Z:-10.47 [[ 4.18637458e-01 -9.08152616e-01 -1.22650088e-03 2.37028443e+02] [-9.08149044e-01 -4.18639252e-01 2.54782817e-03 -1.06171425e+02] [-2.82727823e-03 4.72292979e-05 -9.99996002e-01 -1.04695496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.290385723 meters 0.017484608671292395 Centerline is valid? [True, True] Translation: X:237.05, Y:-106.29, Z:-10.47 [[ 4.89141948e-01 -8.72203644e-01 -9.78807120e-04 2.37050530e+02] [-8.72202003e-01 -4.89142927e-01 1.69232850e-03 -1.06289158e+02] [-1.95483167e-03 2.59286700e-05 -9.99998089e-01 -1.04699305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.350385723 meters 0.017646022453483803 Centerline is valid? [True, True] Translation: X:237.09, Y:-106.42, Z:-10.47 [[ 5.55284839e-01 -8.31659764e-01 -8.86065384e-04 2.37092427e+02] [-8.31658756e-01 -5.55285545e-01 1.29482061e-03 -1.06417087e+02] [-1.56886950e-03 1.79097820e-05 -9.99998769e-01 -1.04707353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.410385723 meters 0.017656325474639425 Centerline is valid? [True, True] Translation: X:237.12, Y:-106.51, Z:-10.47 [[ 6.16653945e-01 -7.87231197e-01 -2.22593214e-03 2.37121992e+02] [-7.87226359e-01 -6.16657961e-01 2.76032156e-03 -1.06514866e+02] [-3.54565002e-03 5.01492764e-05 -9.99993713e-01 -1.04699114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.470385723 meters 0.017986112446689247 Centerline is valid? [True, True] Translation: X:237.17, Y:-106.62, Z:-10.47 [[ 6.72580386e-01 -7.40016610e-01 -3.32283389e-03 2.37168174e+02] [-7.40008196e-01 -6.72588589e-01 3.52994778e-03 -1.06618800e+02] [-4.84712014e-03 8.47506769e-05 -9.99988249e-01 -1.04693975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.530385723 meters 0.01878038694993936 Centerline is valid? [True, True] Translation: X:237.22, Y:-106.71, Z:-10.47 [[ 7.23452109e-01 -6.90363205e-01 -3.96111982e-03 2.37216457e+02] [-6.90353758e-01 -7.23462944e-01 3.61360220e-03 -1.06708884e+02] [-5.36042140e-03 1.20305824e-04 -9.99985626e-01 -1.04697475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.590385723 meters 0.020025052063649216 Centerline is valid? [True, True] Translation: X:237.23, Y:-106.74, Z:-10.47 [[ 7.72219206e-01 -6.35345616e-01 -3.66687701e-03 2.37233530e+02] [-6.35339215e-01 -7.72227902e-01 2.85474695e-03 -1.06741026e+02] [-4.64541570e-03 1.25220344e-04 -9.99989202e-01 -1.04693555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.650385723 meters 0.019892739525806037 Centerline is valid? [True, True] Translation: X:237.25, Y:-106.78, Z:-10.47 [[ 8.18593382e-01 -5.74365816e-01 -2.96401281e-03 2.37251707e+02] [-5.74362489e-01 -8.18598742e-01 1.95741233e-03 -1.06775098e+02] [-3.55060789e-03 1.00092996e-04 -9.99993692e-01 -1.04710325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.710385723 meters 0.019784047743551365 Centerline is valid? [True, True] Translation: X:237.27, Y:-106.81, Z:-10.47 [[ 8.61969331e-01 -5.06945182e-01 -3.93134433e-03 2.37272509e+02] [-5.06940536e-01 -8.61978288e-01 2.17354820e-03 -1.06807521e+02] [-4.49060324e-03 1.19425919e-04 -9.99989910e-01 -1.04708676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.770385723 meters 0.018966850593462484 Centerline is valid? [True, True] Translation: X:237.30, Y:-106.84, Z:-10.47 [[ 9.00447458e-01 -4.34941962e-01 -4.45703601e-03 2.37295138e+02] [-4.34937257e-01 -9.00458481e-01 2.02637984e-03 -1.06840841e+02] [-4.89473350e-03 1.13882440e-04 -9.99988014e-01 -1.04699924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.830385723 meters 0.01818879262262894 Centerline is valid? [True, True] Translation: X:237.32, Y:-106.87, Z:-10.47 [[ 9.33520296e-01 -3.58481444e-01 -5.55975710e-03 2.37322098e+02] [-3.58475779e-01 -9.33536846e-01 2.01834655e-03 -1.06870344e+02] [-5.91377790e-03 1.08870793e-04 -9.99982508e-01 -1.04695191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.890385723 meters 0.01764930973581025 Centerline is valid? [True, True] Translation: X:237.35, Y:-106.90, Z:-10.47 [[ 9.59834585e-01 -2.80478861e-01 -7.01271373e-03 2.37351801e+02] [-2.80472175e-01 -9.59860197e-01 1.93943624e-03 -1.06896852e+02] [-7.27519565e-03 1.05333094e-04 -9.99973530e-01 -1.04678284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.950385723 meters 0.01973761249688382 Centerline is valid? [True, True] Translation: X:237.38, Y:-106.92, Z:-10.47 [[ 9.79068747e-01 -2.03350649e-01 -8.53829892e-03 2.37384835e+02] [-2.03343948e-01 -9.79105970e-01 1.65493606e-03 -1.06915613e+02] [-8.69643177e-03 1.15915242e-04 -9.99962179e-01 -1.04666465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.010385723 meters 0.017155895989165518 Centerline is valid? [True, True] Translation: X:237.42, Y:-106.93, Z:-10.47 [[ 9.92008849e-01 -1.25915357e-01 -7.98543689e-03 2.37416677e+02] [-1.25912132e-01 -9.92040983e-01 9.07284880e-04 -1.06932914e+02] [-8.03612176e-03 1.05428757e-04 -9.99967704e-01 -1.04686605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.070385723 meters 0.016719375465129138 Centerline is valid? [True, True] Translation: X:237.45, Y:-106.95, Z:-10.47 [[ 9.98850576e-01 -4.74595103e-02 -6.71720697e-03 2.37448823e+02] [-4.74590046e-02 -9.98873159e-01 2.34750764e-04 -1.06952636e+02] [-6.72077890e-03 8.43110203e-05 -9.99977412e-01 -1.04697555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.130385723 meters 0.016516886522859073 Centerline is valid? [True, True] Translation: X:237.48, Y:-106.97, Z:-10.47 [[ 9.99468310e-01 3.20620443e-02 -5.92635891e-03 2.37482431e+02] [ 3.20610837e-02 -9.99485878e-01 -2.57042252e-04 -1.06965684e+02] [-5.93155334e-03 6.69000964e-05 -9.99982406e-01 -1.04703076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.190385723 meters 0.016097684342609206 Centerline is valid? [True, True] Translation: X:237.52, Y:-106.98, Z:-10.47 [[ 9.93442292e-01 1.14130492e-01 -6.82964907e-03 2.37517027e+02] [ 1.14127439e-01 -9.93465766e-01 -8.36299369e-04 -1.06978047e+02] [-6.88046980e-03 5.13648014e-05 -9.99976328e-01 -1.04692630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.250385723 meters 0.015784817155194534 Centerline is valid? [True, True] Translation: X:237.55, Y:-106.99, Z:-10.47 [[ 9.80579405e-01 1.95942405e-01 -8.40263837e-03 2.37552679e+02] [ 1.95934972e-01 -9.80615405e-01 -1.70682742e-03 -1.06986103e+02] [-8.57419650e-03 2.73091013e-05 -9.99963241e-01 -1.04687158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31038572299997 meters 0.015646833895201346 Centerline is valid? [True, True] Translation: X:237.59, Y:-106.99, Z:-10.47 [[ 9.62239008e-01 2.72065810e-01 -8.73423878e-03 2.37587356e+02] [ 2.72054320e-01 -9.62278647e-01 -2.50056159e-03 -1.06986949e+02] [-9.08508878e-03 2.99505113e-05 -9.99958729e-01 -1.04691891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37038572299997 meters 0.015685779704279066 Centerline is valid? [True, True] Translation: X:237.62, Y:-106.98, Z:-10.47 [[ 9.38428014e-01 3.45355589e-01 -9.07627649e-03 2.37622056e+02] [ 3.45338976e-01 -9.38471904e-01 -3.38769697e-03 -1.06984360e+02] [-9.68779057e-03 4.47177108e-05 -9.99953071e-01 -1.04694657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.430385723 meters 0.015682054114007336 Centerline is valid? [True, True] Translation: X:237.66, Y:-106.98, Z:-10.47 [[ 9.08919066e-01 4.16895643e-01 -8.00961147e-03 2.37655873e+02] [ 4.16878982e-01 -9.08954355e-01 -3.72747818e-03 -1.06979982e+02] [-8.83434064e-03 4.89373140e-05 -9.99960975e-01 -1.04715113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.490385723 meters 0.01581693087765458 Centerline is valid? [True, True] Translation: X:237.69, Y:-106.97, Z:-10.47 [[ 8.74605076e-01 4.84768209e-01 -8.10834033e-03 2.37688829e+02] [ 4.84746599e-01 -8.74642658e-01 -4.57782667e-03 -1.06972158e+02] [-9.31108517e-03 7.33000422e-05 -9.99956648e-01 -1.04718833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.550385723 meters 0.015850651053591357 Centerline is valid? [True, True] Translation: X:237.72, Y:-106.96, Z:-10.47 [[ 8.34527160e-01 5.50903217e-01 -8.37052397e-03 2.37721953e+02] [ 5.50874422e-01 -8.34569133e-01 -5.63319141e-03 -1.06962565e+02] [-1.00891242e-02 8.99436662e-05 -9.99949099e-01 -1.04724961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.610385723 meters 0.01585448567658033 Centerline is valid? [True, True] Translation: X:237.76, Y:-106.95, Z:-10.47 [[ 7.88653211e-01 6.14784383e-01 -8.14093580e-03 2.37755939e+02] [ 6.14750459e-01 -7.88695223e-01 -6.45896113e-03 -1.06953032e+02] [-1.03915856e-02 8.92364114e-05 -9.99946002e-01 -1.04729036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.670385723 meters 0.01580672331377908 Centerline is valid? [True, True] Translation: X:237.79, Y:-106.94, Z:-10.47 [[ 7.38036966e-01 6.74719574e-01 -7.41167973e-03 2.37785996e+02] [ 6.74684386e-01 -7.38074176e-01 -6.89129218e-03 -1.06939326e+02] [-1.01200591e-02 8.54837894e-05 -9.99948787e-01 -1.04732398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.730385723 meters 0.015994332874242522 Centerline is valid? [True, True] Translation: X:237.81, Y:-106.92, Z:-10.47 [[ 6.84378991e-01 7.29096812e-01 -6.57532252e-03 2.37814897e+02] [ 7.29061741e-01 -6.84410570e-01 -7.15188370e-03 -1.06922852e+02] [-9.71463584e-03 1.00782870e-04 -9.99952807e-01 -1.04733814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.790385723 meters 0.016341162813441678 Centerline is valid? [True, True] Translation: X:237.84, Y:-106.90, Z:-10.47 [[ 6.26651031e-01 7.79266192e-01 -7.25863166e-03 2.37840278e+02] [ 7.79211213e-01 -6.26693052e-01 -9.25760558e-03 -1.06902523e+02] [-1.17630731e-02 1.45280900e-04 -9.99930802e-01 -1.04725220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.850385723 meters 0.016570564362704886 Centerline is valid? [True, True] Translation: X:237.87, Y:-106.88, Z:-10.47 [[ 5.65206551e-01 8.24923016e-01 -6.60089908e-03 2.37865252e+02] [ 8.24863232e-01 -5.65245070e-01 -9.93274151e-03 -1.06882528e+02] [-1.19248727e-02 1.69211629e-04 -9.99928882e-01 -1.04723669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.910385723 meters 0.016986177942220883 Centerline is valid? [True, True] Translation: X:237.89, Y:-106.86, Z:-10.47 [[ 4.99292335e-01 8.66412423e-01 -6.05615174e-03 2.37886076e+02] [ 8.66344198e-01 -4.99329029e-01 -1.08743548e-02 -1.06860279e+02] [-1.24456885e-02 1.82770082e-04 -9.99922533e-01 -1.04724528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.970385723 meters 0.016792290408019238 Centerline is valid? [True, True] Translation: X:237.91, Y:-106.84, Z:-10.47 [[ 4.28238164e-01 9.03653598e-01 -4.71698354e-03 2.37909235e+02] [ 9.03595013e-01 -4.28264118e-01 -1.02906478e-02 -1.06837450e+02] [-1.13192957e-02 1.44605328e-04 -9.99935924e-01 -1.04736545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.030385723 meters 0.01581750708642992 Centerline is valid? [True, True] Translation: X:237.93, Y:-106.81, Z:-10.47 [[ 3.52833713e-01 9.35679315e-01 -3.54847098e-03 2.37933718e+02] [ 9.35629265e-01 -3.52851543e-01 -9.67818934e-03 -1.06814975e+02] [-1.03077650e-02 9.47381766e-05 -9.99946869e-01 -1.04742575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.090385723 meters 0.015348953420519357 Centerline is valid? [True, True] Translation: X:237.95, Y:-106.79, Z:-10.48 [[ 2.73980023e-01 9.61731539e-01 -2.71902988e-03 2.37954100e+02] [ 9.61682515e-01 -2.73993511e-01 -9.71064189e-03 -1.06790269e+02] [-1.00840271e-02 4.56784010e-05 -9.99949154e-01 -1.04751638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.150385723 meters 0.015136329462548826 Centerline is valid? [True, True] Translation: X:237.98, Y:-106.76, Z:-10.47 [[ 1.92468285e-01 9.81301072e-01 -2.04072253e-03 2.37977067e+02] [ 9.81246429e-01 -1.92479104e-01 -1.03556850e-02 -1.06764029e+02] [-1.05548412e-02 -9.31076788e-06 -9.99944296e-01 -1.04747892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.210385723 meters 0.015208027504442953 Centerline is valid? [True, True] Translation: X:238.00, Y:-106.74, Z:-10.47 [[ 1.10903533e-01 9.93830306e-01 -1.31535284e-03 2.37996130e+02] [ 9.93766310e-01 -1.10911318e-01 -1.12783480e-02 -1.06735770e+02] [-1.13546515e-02 -5.63447064e-05 -9.99935532e-01 -1.04740390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.270385723 meters 0.0164139349254154 Centerline is valid? [True, True] Translation: X:238.01, Y:-106.71, Z:-10.47 [[ 3.20855024e-02 9.99485031e-01 -4.38849693e-04 2.38009339e+02] [ 9.99417172e-01 -3.20884378e-02 -1.16468130e-02 -1.06706704e+02] [-1.16548972e-02 -6.49000742e-05 -9.99932077e-01 -1.04724680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.330385723 meters 0.014998163911955862 Centerline is valid? [True, True] Translation: X:238.02, Y:-106.68, Z:-10.47 [[-4.54998319e-02 9.98964244e-01 4.51465049e-04 2.38018255e+02] [ 9.98902706e-01 4.55020401e-02 -1.10881754e-02 -1.06676423e+02] [-1.10972333e-02 -5.35404563e-05 -9.99938422e-01 -1.04735789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.390385723 meters 0.014933452131912186 Centerline is valid? [True, True] Translation: X:238.02, Y:-106.65, Z:-10.47 [[-1.22311482e-01 9.92490832e-01 1.36009785e-03 2.38023828e+02] [ 9.92425727e-01 1.22319037e-01 -1.13679385e-02 -1.06645381e+02] [-1.14489406e-02 -4.06333086e-05 -9.99934458e-01 -1.04734828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.450385723 meters 0.014919211038664119 Centerline is valid? [True, True] Translation: X:238.02, Y:-106.62, Z:-10.47 [[-1.98048998e-01 9.80189647e-01 2.20223970e-03 2.38024778e+02] [ 9.80127879e-01 1.98061241e-01 -1.10038660e-02 -1.06615607e+02] [-1.12220539e-02 -2.08281125e-05 -9.99937031e-01 -1.04730037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.510385723 meters 0.015785718933015377 Centerline is valid? [True, True] Translation: X:238.02, Y:-106.59, Z:-10.47 [[-2.73742875e-01 9.61798571e-01 2.88920860e-03 2.38018963e+02] [ 9.61744435e-01 2.73758122e-01 -1.02045830e-02 -1.06587381e+02] [-1.06056976e-02 -1.47515940e-05 -9.99943758e-01 -1.04733738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.570385723 meters 0.014860596080470969 Centerline is valid? [True, True] Translation: X:238.02, Y:-106.56, Z:-10.48 [[-3.49105747e-01 9.37078665e-01 2.95863558e-03 2.38015362e+02] [ 9.37044501e-01 3.49118283e-01 -8.00168882e-03 -1.06557811e+02] [-8.53112565e-03 -2.10623530e-05 -9.99963609e-01 -1.04754400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.630385723 meters 0.015044086094714085 Centerline is valid? [True, True] Translation: X:238.01, Y:-106.53, Z:-10.48 [[-4.24456600e-01 9.05440905e-01 3.65546283e-03 2.38012787e+02] [ 9.05406295e-01 4.24472337e-01 -7.91675772e-03 -1.06527749e+02] [-8.71979912e-03 -5.06410008e-05 -9.99961981e-01 -1.04750132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.690385723 meters 0.015303027062382835 Centerline is valid? [True, True] Translation: X:238.01, Y:-106.50, Z:-10.47 [[-4.96963198e-01 8.67757616e-01 4.92940271e-03 2.38005986e+02] [ 8.67713090e-01 4.96987637e-01 -8.79102804e-03 -1.06498234e+02] [-1.00783337e-02 -9.15101529e-05 -9.99949208e-01 -1.04748348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.750385723 meters 0.01605866431701024 Centerline is valid? [True, True] Translation: X:238.00, Y:-106.47, Z:-10.47 [[-5.65260316e-01 8.24895293e-01 5.34135507e-03 2.37999007e+02] [ 8.24856623e-01 5.65285541e-01 -7.98803589e-03 -1.06469564e+02] [-9.60868400e-03 -1.09467584e-04 -9.99953830e-01 -1.04730666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81038572299997 meters 0.01580664862927824 Centerline is valid? [True, True] Translation: X:237.98, Y:-106.45, Z:-10.47 [[-6.28655722e-01 7.77649409e-01 7.30618905e-03 2.37984714e+02] [ 7.77594256e-01 6.28698160e-01 -9.26263889e-03 -1.06445012e+02] [-1.17964733e-02 -1.41760298e-04 -9.99930409e-01 -1.04718664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87038572299997 meters 0.015532089535527292 Centerline is valid? [True, True] Translation: X:237.97, Y:-106.42, Z:-10.47 [[-6.85689030e-01 7.27856146e-01 7.48230313e-03 2.37967869e+02] [ 7.27811168e-01 6.85729845e-01 -8.09213601e-03 -1.06422638e+02] [-1.10207495e-02 -1.02985113e-04 -9.99939264e-01 -1.04732022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.930385723 meters 0.015268044055181984 Centerline is valid? [True, True] Translation: X:237.95, Y:-106.40, Z:-10.47 [[-7.38063617e-01 6.74688209e-01 7.61036061e-03 2.37950876e+02] [ 6.74651531e-01 7.38102850e-01 -7.03526740e-03 -1.06400930e+02] [-1.03638408e-02 -5.81334718e-05 -9.99946292e-01 -1.04740381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.990385723 meters 0.015388924723705788 Centerline is valid? [True, True] Translation: X:237.96, Y:-106.38, Z:-10.47 [[-7.82393301e-01 6.22733521e-01 7.98019111e-03 2.37961856e+02] [ 6.22700694e-01 7.82433997e-01 -6.39415565e-03 -1.06382433e+02] [-1.02258279e-02 -3.34740027e-05 -9.99947714e-01 -1.04737206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.050385723 meters 0.015445819054701236 Centerline is valid? [True, True] Translation: X:237.98, Y:-106.37, Z:-10.47 [[-8.24123863e-01 5.66334477e-01 9.22596351e-03 2.37982183e+02] [ 5.66298599e-01 8.24175502e-01 -6.37482585e-03 -1.06371136e+02] [-1.12140968e-02 -2.89958985e-05 -9.99937120e-01 -1.04717443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.110385723 meters 0.015638660304409243 Centerline is valid? [True, True] Translation: X:237.98, Y:-106.34, Z:-10.47 [[-8.62668740e-01 5.05629845e-01 1.18787363e-02 2.37978024e+02] [ 5.05581105e-01 8.62750518e-01 -7.02063492e-03 -1.06339555e+02] [-1.37982285e-02 -5.08176475e-05 -9.99904799e-01 -1.04689492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.170385723 meters 0.015798511973890334 Centerline is valid? [True, True] Translation: X:238.01, Y:-106.33, Z:-10.47 [[-8.96543736e-01 4.42741762e-01 1.37499501e-02 2.38012379e+02] [ 4.42688579e-01 8.96649166e-01 -6.86253030e-03 -1.06330099e+02] [-1.53672100e-02 -6.56126939e-05 -9.99881915e-01 -1.04674559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.230385723 meters 0.016140661894703093 Centerline is valid? [True, True] Translation: X:238.37, Y:-105.63, Z:-11.45 [[-8.61394282e-01 -5.07751622e-01 1.37179262e-02 2.38369753e+02] [ 5.07689038e-01 -8.61503500e-01 -7.97245023e-03 -1.05633702e+02] [ 1.58660660e-02 9.70177315e-05 9.99874121e-01 -1.14503633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.290385723 meters 0.01608130396791372 Centerline is valid? [True, True] Translation: X:237.97, Y:-106.33, Z:-10.47 [[-8.97099614e-01 4.41639179e-01 1.29274015e-02 2.37967940e+02] [ 4.41592881e-01 8.97192752e-01 -6.39472519e-03 -1.06325560e+02] [-1.44225322e-02 -2.80570020e-05 -9.99895989e-01 -1.04681137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.350385723 meters 0.016053899995831886 Centerline is valid? [True, True] Translation: X:237.98, Y:-106.30, Z:-10.47 [[-9.25800915e-01 3.77819323e-01 1.20509280e-02 2.37977068e+02] [ 3.77787118e-01 9.25879344e-01 -4.93299584e-03 -1.06303618e+02] [-1.30214864e-02 -1.42867218e-05 -9.99915217e-01 -1.04692305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.410385723 meters 0.015687578564591798 Centerline is valid? [True, True] Translation: X:238.29, Y:-105.55, Z:-11.44 [[-8.97843185e-01 -4.40177321e-01 1.10246131e-02 2.38293421e+02] [ 4.40143726e-01 -8.97910867e-01 -5.43830256e-03 -1.05547574e+02] [ 1.22929374e-02 -3.03285816e-05 9.99924439e-01 -1.14418965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.470385723 meters 0.015900103253528787 Centerline is valid? [True, True] Translation: X:237.90, Y:-106.27, Z:-10.47 [[-9.28177374e-01 3.71973821e-01 1.10561886e-02 2.37898769e+02] [ 3.71946851e-01 9.28243219e-01 -4.47945983e-03 -1.06272884e+02] [-1.19290739e-02 -4.54187203e-05 -9.99928845e-01 -1.04725107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.530385723 meters 0.018906009579845475 Centerline is valid? [True, True] Translation: X:237.94, Y:-106.26, Z:-10.47 [[-9.52267906e-01 3.04990998e-01 1.28967545e-02 2.37937500e+02] [ 3.04962249e-01 9.52355232e-01 -4.18794666e-03 -1.06256357e+02] [-1.35595776e-02 -5.50239436e-05 -9.99908063e-01 -1.04680493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.590385723 meters 0.016315945763170595 Centerline is valid? [True, True] Translation: X:237.97, Y:-106.23, Z:-10.47 [[-9.71665822e-01 2.36022231e-01 1.26109854e-02 2.37966318e+02] [ 2.36001523e-01 9.71747654e-01 -3.12702228e-03 -1.06233485e+02] [-1.29927422e-02 -6.22089204e-05 -9.99915589e-01 -1.04694545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.650385723 meters 0.017281610288649885 Centerline is valid? [True, True] Translation: X:238.16, Y:-105.44, Z:-11.44 [[-9.52106061e-01 -3.05514129e-01 1.24565820e-02 2.38164649e+02] [ 3.05488897e-01 -9.52187541e-01 -3.92695706e-03 -1.05444685e+02] [ 1.30607431e-02 6.64678840e-05 9.99914703e-01 -1.14439045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.710385723 meters 0.015871419747788388 Centerline is valid? [True, True] Translation: X:237.92, Y:-106.23, Z:-10.47 [[-9.70720008e-01 2.39832969e-01 1.35208360e-02 2.37918550e+02] [ 2.39810300e-01 9.70814166e-01 -3.29769140e-03 -1.06225907e+02] [-1.39171143e-02 4.13007245e-05 -9.99903151e-01 -1.04740431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.770385723 meters 0.01610419315217304 Centerline is valid? [True, True] Translation: X:237.93, Y:-106.20, Z:-10.47 [[-9.84658228e-01 1.73809987e-01 1.54357636e-02 2.37932366e+02] [ 1.73790244e-01 9.84779203e-01 -2.62162088e-03 -1.06198936e+02] [-1.56564829e-02 1.01184554e-04 -9.99877425e-01 -1.04724695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.830385723 meters 0.01653992080600583 Centerline is valid? [True, True] Translation: X:237.93, Y:-106.17, Z:-10.47 [[-9.94179530e-01 1.06434904e-01 1.66935409e-02 2.37931739e+02] [ 1.06422567e-01 9.94319660e-01 -1.62818615e-03 -1.06170037e+02] [-1.67720117e-02 1.57860129e-04 -9.99859327e-01 -1.04721901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.890385723 meters 0.016491145452624173 Centerline is valid? [True, True] Translation: X:238.02, Y:-105.36, Z:-11.44 [[-9.88105526e-01 -1.52955437e-01 1.58777758e-02 2.38021599e+02] [ 1.52932537e-01 -9.88233068e-01 -2.65377314e-03 -1.05362909e+02] [ 1.60968521e-02 -1.93979364e-04 9.99870418e-01 -1.14413452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.950385723 meters 0.01649897266103469 Centerline is valid? [True, True] Translation: X:237.88, Y:-106.16, Z:-10.48 [[-9.94612318e-01 1.02434568e-01 1.59215403e-02 2.37878563e+02] [ 1.02423956e-01 9.94739732e-01 -1.48267005e-03 -1.06160991e+02] [-1.59896654e-02 1.56065250e-04 -9.99872145e-01 -1.04751119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.010385723 meters 0.01789710165247093 Centerline is valid? [True, True] Translation: X:237.96, Y:-105.37, Z:-11.44 [[-9.88352422e-01 -1.51352179e-01 1.58747640e-02 2.37956867e+02] [ 1.51330207e-01 -9.88479891e-01 -2.58325608e-03 -1.05365672e+02] [ 1.60828664e-02 -1.50836085e-04 9.99870651e-01 -1.14407370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.070385723 meters 0.017337394555744012 Centerline is valid? [True, True] Translation: X:237.82, Y:-106.15, Z:-10.47 [[-9.95431002e-01 9.40552431e-02 1.64539489e-02 2.37815818e+02] [ 9.40438958e-02 9.95566976e-01 -1.46375598e-03 -1.06146072e+02] [-1.65186821e-02 9.03253784e-05 -9.99863553e-01 -1.04740602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.130385723 meters 0.01584767340579298 Centerline is valid? [True, True] Translation: X:237.82, Y:-106.12, Z:-10.48 [[-9.99687960e-01 1.93064176e-02 1.58506824e-02 2.37819651e+02] [ 1.93044036e-02 9.99813613e-01 -2.80070273e-04 -1.06115717e+02] [-1.58531352e-02 2.60050907e-05 -9.99874331e-01 -1.04764984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.190385723 meters 0.018398450745295208 Centerline is valid? [True, True] Translation: X:237.83, Y:-105.33, Z:-11.44 [[-9.96399567e-01 -8.29463747e-02 1.75442874e-02 2.37828224e+02] [ 8.29350026e-02 -9.96554009e-01 -1.37603203e-03 -1.05334119e+02] [ 1.75979668e-02 8.39578008e-05 9.99845140e-01 -1.14399310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.250385723 meters 0.01708352188061361 Centerline is valid? [True, True] Translation: X:237.74, Y:-106.11, Z:-10.48 [[-9.99714204e-01 1.63533449e-02 1.74378203e-02 2.37738363e+02] [ 1.63518767e-02 9.99866273e-01 -2.26781024e-04 -1.06113252e+02] [-1.74391971e-02 5.84248777e-05 -9.99847924e-01 -1.04773577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31038572299997 meters 0.01743260278036817 Centerline is valid? [True, True] Translation: X:237.77, Y:-105.33, Z:-11.44 [[-9.97334767e-01 -7.10910986e-02 1.64139943e-02 2.37765805e+02] [ 7.10795977e-02 -9.97469821e-01 -1.28374076e-03 -1.05331681e+02] [ 1.64637265e-02 -1.13619176e-04 9.99864457e-01 -1.14360615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37038572299997 meters 0.017579846895545117 Centerline is valid? [True, True] Translation: X:237.68, Y:-106.12, Z:-10.48 [[-9.99641361e-01 2.24690414e-02 1.45702147e-02 2.37677771e+02] [ 2.24696831e-02 9.99747518e-01 -1.19681420e-04 -1.06117332e+02] [-1.45692252e-02 2.07749611e-04 -9.99893842e-01 -1.04818419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.430385723 meters 0.017396018368115832 Centerline is valid? [True, True] Translation: X:237.70, Y:-105.33, Z:-11.43 [[-9.98227637e-01 -5.79139112e-02 1.36953641e-02 2.37695148e+02] [ 5.79050517e-02 -9.98321550e-01 -1.04288760e-03 -1.05329603e+02] [ 1.37327748e-02 -2.48008461e-04 9.99905670e-01 -1.14326254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.490385723 meters 0.01715633294838296 Centerline is valid? [True, True] Translation: X:237.61, Y:-106.12, Z:-10.48 [[-9.99696523e-01 1.99557057e-02 1.44441052e-02 2.37607846e+02] [ 1.99570831e-02 9.99800836e-01 -4.87832267e-05 -1.06115892e+02] [-1.44422020e-02 2.39493786e-04 -9.99895677e-01 -1.04839395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.550385723 meters 0.016644645882813405 Centerline is valid? [True, True] Translation: X:237.61, Y:-106.08, Z:-10.48 [[-9.98331897e-01 -5.55234397e-02 1.58294426e-02 2.37605337e+02] [-5.55133757e-02 9.98457365e-01 1.07480597e-03 -1.06082929e+02] [-1.58647004e-02 1.94267289e-04 -9.99874129e-01 -1.04837140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.610385723 meters 0.015481143479451563 Centerline is valid? [True, True] Translation: X:237.59, Y:-106.05, Z:-10.49 [[-9.90903611e-01 -1.33455235e-01 1.73128038e-02 2.37590427e+02] [-1.33433268e-01 9.91054838e-01 2.42299463e-03 -1.06049546e+02] [-1.74812993e-02 9.08501335e-05 -9.99847186e-01 -1.04857974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.670385723 meters 0.01730945789059285 Centerline is valid? [True, True] Translation: X:237.48, Y:-105.30, Z:-11.43 [[-9.97237092e-01 7.20694672e-02 1.80048158e-02 2.37477171e+02] [-7.20586885e-02 -9.97399614e-01 1.24754240e-03 -1.05299281e+02] [ 1.80479061e-02 -5.33078554e-05 9.99837122e-01 -1.14329455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.730385723 meters 0.0170202350202153 Centerline is valid? [True, True] Translation: X:237.48, Y:-106.05, Z:-10.49 [[-9.88747749e-01 -1.48582770e-01 1.73507829e-02 2.37483699e+02] [-1.48561084e-01 9.88899973e-01 2.53935804e-03 -1.06054102e+02] [-1.75354936e-02 -6.68665780e-05 -9.99846239e-01 -1.04854092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.790385723 meters 0.015382037031170864 Centerline is valid? [True, True] Translation: X:237.45, Y:-106.03, Z:-10.49 [[-9.75770315e-01 -2.18208679e-01 1.60394666e-02 2.37445755e+02] [-2.18180145e-01 9.75902131e-01 3.52916971e-03 -1.06034372e+02] [-1.64230451e-02 -5.58341150e-05 -9.99865131e-01 -1.04883651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.850385723 meters 0.015258158952771605 Centerline is valid? [True, True] Translation: X:237.43, Y:-106.01, Z:-10.49 [[-9.58167585e-01 -2.85828891e-01 1.47215306e-02 2.37433016e+02] [-2.85795468e-01 9.58280671e-01 4.37103200e-03 -1.06010748e+02] [-1.53567254e-02 -1.91655370e-05 -9.99882078e-01 -1.04891940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.910385723 meters 0.015323020310841992 Centerline is valid? [True, True] Translation: X:237.39, Y:-105.99, Z:-10.49 [[-9.34974454e-01 -3.54439886e-01 1.39691377e-02 2.37394656e+02] [-3.54400451e-01 9.35078803e-01 5.28709184e-03 -1.05994727e+02] [-1.49362008e-02 -7.37288870e-06 -9.99888449e-01 -1.04899365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.970385723 meters 0.01582727930344244 Centerline is valid? [True, True] Translation: X:237.33, Y:-105.99, Z:-10.49 [[-9.06394824e-01 -4.22179995e-01 1.45765412e-02 2.37330741e+02] [-4.22125511e-01 9.06512025e-01 6.78238549e-03 -1.05991361e+02] [-1.60771974e-02 -5.61082701e-06 -9.99870754e-01 -1.04878177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.030385723 meters 0.015825645825260286 Centerline is valid? [True, True] Translation: X:237.26, Y:-106.00, Z:-10.49 [[-8.73161405e-01 -4.87206688e-01 1.47920528e-02 2.37261428e+02] [-4.87136577e-01 8.73286690e-01 8.26508807e-03 -1.05996283e+02] [-1.69445090e-02 1.10059558e-05 -9.99856431e-01 -1.04866795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.090385723 meters 0.015524277689734294 Centerline is valid? [True, True] Translation: X:237.18, Y:-106.02, Z:-10.49 [[-8.35511919e-01 -5.49332572e-01 1.23918638e-02 2.37182034e+02] [-5.49271542e-01 8.35603808e-01 8.18836775e-03 -1.06015193e+02] [-1.48528257e-02 3.49806923e-05 -9.99889690e-01 -1.04882097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.150385723 meters 0.015596869881300636 Centerline is valid? [True, True] Translation: X:237.10, Y:-106.04, Z:-10.49 [[-7.93138001e-01 -6.08974179e-01 9.08633605e-03 2.37095656e+02] [-6.08933574e-01 7.93190045e-01 7.03239895e-03 -1.06044545e+02] [-1.14897407e-02 4.46877570e-05 -9.99933990e-01 -1.04889175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.210385723 meters 0.01589180685466297 Centerline is valid? [True, True] Translation: X:237.02, Y:-106.08, Z:-10.49 [[-7.46571237e-01 -6.65257896e-01 7.95738358e-03 2.37018531e+02] [-6.65219137e-01 7.46613640e-01 7.18136482e-03 -1.06075174e+02] [-1.07185508e-02 6.79965768e-05 -9.99942552e-01 -1.04862296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.270385723 meters 0.015928934400519942 Centerline is valid? [True, True] Translation: X:236.93, Y:-106.12, Z:-10.49 [[-6.95077988e-01 -7.18902956e-01 6.71796235e-03 2.36929853e+02] [-7.18868350e-01 6.95110448e-01 7.05411365e-03 -1.06122419e+02] [-9.74094897e-03 7.38286136e-05 -9.99952553e-01 -1.04855741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.330385723 meters 0.015752171952142128 Centerline is valid? [True, True] Translation: X:236.84, Y:-106.18, Z:-10.48 [[-6.38608831e-01 -7.69511713e-01 5.52127222e-03 2.36840968e+02] [-7.69482052e-01 6.38632695e-01 6.75658938e-03 -1.06179090e+02] [-8.72533963e-03 6.62977706e-05 -9.99961931e-01 -1.04843316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.390385723 meters 0.015497197216017935 Centerline is valid? [True, True] Translation: X:236.75, Y:-106.25, Z:-10.48 [[-5.77502015e-01 -8.16382139e-01 3.40966095e-03 2.36753696e+02] [-8.16367520e-01 5.77512079e-01 4.88573295e-03 -1.06245016e+02] [-5.95774550e-03 3.79841694e-05 -9.99982252e-01 -1.04843794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.450385723 meters 0.01553656769191221 Centerline is valid? [True, True] Translation: X:236.67, Y:-106.32, Z:-10.48 [[-5.13457676e-01 -8.58111385e-01 2.46272742e-03 2.36670788e+02] [-8.58101242e-01 5.13463581e-01 4.17245377e-03 -1.06321746e+02] [-4.84495093e-03 2.91089601e-05 -9.99988263e-01 -1.04847077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.510385723 meters 0.015591593540223256 Centerline is valid? [True, True] Translation: X:236.59, Y:-106.41, Z:-10.48 [[-4.46776097e-01 -8.94644844e-01 1.31238347e-03 2.36592250e+02] [-8.94640873e-01 4.46778024e-01 2.66576073e-03 -1.06406701e+02] [-2.97125319e-03 1.68862826e-05 -9.99995586e-01 -1.04848275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.570385723 meters 0.015922653992799577 Centerline is valid? [True, True] Translation: X:236.52, Y:-106.50, Z:-10.49 [[-3.80322414e-01 -9.24853902e-01 3.48961914e-04 2.36521840e+02] [-9.24853501e-01 3.80322574e-01 8.61353470e-04 -1.06499808e+02] [-9.29344211e-04 4.85338326e-06 -9.99999568e-01 -1.04854062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.630385723 meters 0.016458390179125374 Centerline is valid? [True, True] Translation: X:236.46, Y:-106.60, Z:-10.49 [[-3.10401883e-01 -9.50605423e-01 2.21352664e-05 2.36456722e+02] [-9.50605422e-01 3.10401883e-01 5.23317038e-05 -1.06602884e+02] [-5.66176298e-05 -4.79804488e-06 -9.99999998e-01 -1.04851243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.690385723 meters 0.01697332666999623 Centerline is valid? [True, True] Translation: X:236.40, Y:-106.71, Z:-10.48 [[-2.39316167e-01 -9.70941650e-01 -2.90861536e-04 2.36399573e+02] [-9.70940787e-01 2.39316342e-01 -1.29462712e-03 -1.06708134e+02] [ 1.32661531e-03 -2.74158711e-05 -9.99999120e-01 -1.04843114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.750385723 meters 0.01698753751919133 Centerline is valid? [True, True] Translation: X:236.35, Y:-106.82, Z:-10.48 [[-1.67322882e-01 -9.85902017e-01 -5.16521963e-04 2.36347100e+02] [-9.85895818e-01 1.67323662e-01 -3.49684704e-03 -1.06820567e+02] [ 3.53397489e-03 -7.58656822e-05 -9.99993753e-01 -1.04833627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81038572299997 meters 0.01775670456860139 Centerline is valid? [True, True] Translation: X:236.30, Y:-106.94, Z:-10.48 [[-9.38677672e-02 -9.95584626e-01 -3.07489224e-04 2.36304951e+02] [-9.95574953e-01 9.38682111e-02 -4.38992264e-03 -1.06937445e+02] [ 4.39940295e-03 -1.05943667e-04 -9.99990317e-01 -1.04823061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87038572299997 meters 0.018113250326031526 Centerline is valid? [True, True] Translation: X:236.27, Y:-107.06, Z:-10.48 [[-1.77520219e-02 -9.99842420e-01 2.91267832e-05 2.36270509e+02] [-9.99834278e-01 1.77517598e-02 -4.03636301e-03 -1.07060166e+02] [ 4.03520991e-03 -1.00775561e-04 -9.99991853e-01 -1.04809166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.930385723 meters 0.018159756427534014 Centerline is valid? [True, True] Translation: X:236.24, Y:-107.18, Z:-10.48 [[ 5.97197499e-02 -9.98215096e-01 4.16693107e-04 2.36242308e+02] [-9.98202816e-01 -5.97210827e-02 -4.95278141e-03 -1.07183674e+02] [ 4.96882654e-03 -1.20165366e-04 -9.99987648e-01 -1.04783199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.990385723 meters 0.017453461430164338 Centerline is valid? [True, True] Translation: X:236.22, Y:-107.31, Z:-10.48 [[ 1.36489636e-01 -9.90641005e-01 9.89627445e-04 2.36222575e+02] [-9.90622187e-01 -1.36493145e-01 -6.10773644e-03 -1.07309919e+02] [ 6.18565153e-03 -1.46704181e-04 -9.99980858e-01 -1.04772333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.050385723 meters 0.017186247649961375 Centerline is valid? [True, True] Translation: X:236.21, Y:-107.44, Z:-10.48 [[ 2.13843501e-01 -9.76865891e-01 1.99709617e-03 2.36214711e+02] [-9.76830999e-01 -2.13852747e-01 -8.25848205e-03 -1.07437537e+02] [ 8.49451393e-03 -1.84802729e-04 -9.99963904e-01 -1.04768803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.110385723 meters 0.016635301428104134 Centerline is valid? [True, True] Translation: X:236.21, Y:-107.57, Z:-10.48 [[ 2.91472974e-01 -9.56574663e-01 2.90167203e-03 2.36214105e+02] [-9.56532966e-01 -2.91487366e-01 -8.93310869e-03 -1.07565277e+02] [ 9.39098617e-03 -1.71785197e-04 -9.99955889e-01 -1.04760259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.170385723 meters 0.016054715240131027 Centerline is valid? [True, True] Translation: X:236.22, Y:-107.69, Z:-10.47 [[ 3.66559694e-01 -9.30386103e-01 3.96095134e-03 2.36223612e+02] [-9.30336408e-01 -3.66581060e-01 -9.61746069e-03 -1.07694582e+02] [ 1.03999615e-02 -1.59643786e-04 -9.99945906e-01 -1.04743164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.230385723 meters 0.016055874020473895 Centerline is valid? [True, True] Translation: X:236.24, Y:-107.81, Z:-10.47 [[ 4.37485945e-01 -8.99212104e-01 4.86205750e-03 2.36243584e+02] [-8.99160473e-01 -4.37512934e-01 -9.63725710e-03 -1.07814093e+02] [ 1.07931513e-02 -1.55605390e-04 -9.99941740e-01 -1.04740186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.290385723 meters 0.01633300835966633 Centerline is valid? [True, True] Translation: X:236.27, Y:-107.93, Z:-10.47 [[ 5.04721179e-01 -8.63262388e-01 5.88057407e-03 2.36272197e+02] [-8.63207599e-01 -5.04755408e-01 -9.72720508e-03 -1.07928810e+02] [ 1.13653819e-02 -1.66629807e-04 -9.99935398e-01 -1.04748223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.350385723 meters 0.016622810024627635 Centerline is valid? [True, True] Translation: X:236.31, Y:-108.04, Z:-10.47 [[ 5.68548108e-01 -8.22619970e-01 7.03097785e-03 2.36308374e+02] [-8.22561064e-01 -5.68591550e-01 -9.84604066e-03 -1.08042236e+02] [ 1.20973043e-02 -1.85460833e-04 -9.99926808e-01 -1.04739509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.410385723 meters 0.016921026567219045 Centerline is valid? [True, True] Translation: X:236.35, Y:-108.15, Z:-10.47 [[ 6.28900800e-01 -7.77449788e-01 7.45728592e-03 2.36352321e+02] [-7.77398661e-01 -6.28944983e-01 -8.91794573e-03 -1.08149254e+02] [ 1.16234776e-02 -1.88780878e-04 -9.99932427e-01 -1.04724165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.470385723 meters 0.016615928962876836 Centerline is valid? [True, True] Translation: X:236.41, Y:-108.25, Z:-10.47 [[ 6.85850672e-01 -7.27695612e-01 8.24333964e-03 2.36406401e+02] [-7.27646485e-01 -6.85900181e-01 -8.45785714e-03 -1.08252695e+02] [ 1.18088537e-02 -1.97410111e-04 -9.99930254e-01 -1.04715161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.530385723 meters 0.01717188190366403 Centerline is valid? [True, True] Translation: X:236.46, Y:-108.34, Z:-10.47 [[ 7.37516509e-01 -6.75285238e-01 7.69717720e-03 2.36458868e+02] [-6.75251209e-01 -7.37556648e-01 -6.78198175e-03 -1.08343230e+02] [ 1.02568764e-02 -1.95704711e-04 -9.99947378e-01 -1.04686835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.590385723 meters 0.01759385995692855 Centerline is valid? [True, True] Translation: X:236.48, Y:-108.37, Z:-10.47 [[ 7.87685966e-01 -6.16026593e-01 7.87754815e-03 2.36480372e+02] [-6.15998230e-01 -7.87725333e-01 -5.91446922e-03 -1.08369715e+02] [ 9.84881456e-03 -1.93811318e-04 -9.99951480e-01 -1.04691561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.650385723 meters 0.017064871952712796 Centerline is valid? [True, True] Translation: X:236.50, Y:-108.40, Z:-10.47 [[ 8.33698003e-01 -5.52152402e-01 8.68126464e-03 2.36500475e+02] [-5.52124913e-01 -8.33743178e-01 -5.51306630e-03 -1.08399635e+02] [ 1.02819980e-02 -1.96910115e-04 -9.99947119e-01 -1.04692975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.710385723 meters 0.01694898234250097 Centerline is valid? [True, True] Translation: X:236.52, Y:-108.43, Z:-10.47 [[ 8.75111306e-01 -4.83859673e-01 7.74723335e-03 2.36524766e+02] [-4.83842263e-01 -8.75145584e-01 -4.10743613e-03 -1.08426125e+02] [ 8.76737976e-03 -1.53975119e-04 -9.99961554e-01 -1.04682789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.770385723 meters 0.016289019292586412 Centerline is valid? [True, True] Translation: X:236.55, Y:-108.45, Z:-10.47 [[ 9.10912686e-01 -4.12549841e-01 6.38025651e-03 2.36549027e+02] [-4.12540582e-01 -9.10935023e-01 -2.76621233e-03 -1.08454444e+02] [ 6.95319957e-03 -1.12336832e-04 -9.99975820e-01 -1.04660474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.830385723 meters 0.016046143631585706 Centerline is valid? [True, True] Translation: X:236.58, Y:-108.48, Z:-10.47 [[ 9.41104646e-01 -3.38074703e-01 5.24798516e-03 2.36576570e+02] [-3.38069913e-01 -9.41119275e-01 -1.80134049e-03 -1.08478720e+02] [ 5.54796764e-03 -7.89359860e-05 -9.99984607e-01 -1.04654876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.890385723 meters 0.016191287506571433 Centerline is valid? [True, True] Translation: X:236.61, Y:-108.50, Z:-10.47 [[ 9.64769556e-01 -2.63043471e-01 5.27603368e-03 2.36606909e+02] [-2.63039963e-01 -9.64783979e-01 -1.36064318e-03 -1.08496344e+02] [ 5.44814108e-03 -7.51005842e-05 -9.99985156e-01 -1.04665930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.950385723 meters 0.016036039525581424 Centerline is valid? [True, True] Translation: X:236.64, Y:-108.51, Z:-10.47 [[ 9.82670633e-01 -1.85294603e-01 4.93335304e-03 2.36638564e+02] [-1.85292582e-01 -9.82683014e-01 -8.67603881e-04 -1.08510783e+02] [ 5.00868455e-03 -6.15448677e-05 -9.99987455e-01 -1.04672245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.010385723 meters 0.01604375429446553 Centerline is valid? [True, True] Translation: X:236.67, Y:-108.52, Z:-10.47 [[ 9.94371086e-01 -1.05915557e-01 2.83504978e-03 2.36666575e+02] [-1.05915218e-01 -9.94375127e-01 -2.69860261e-04 -1.08520560e+02] [ 2.84768539e-03 -3.19336750e-05 -9.99995945e-01 -1.04664805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.070385723 meters 0.016285852000420886 Centerline is valid? [True, True] Translation: X:236.70, Y:-108.52, Z:-10.47 [[ 9.99586302e-01 -2.87390474e-02 1.13641698e-03 2.36695177e+02] [-2.87390481e-02 -9.99586948e-01 -1.56671725e-05 -1.08524904e+02] [ 1.13639784e-03 -1.69988511e-05 -9.99999354e-01 -1.04664194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.130385723 meters 0.01641976695236907 Centerline is valid? [True, True] Translation: X:236.73, Y:-108.53, Z:-10.47 [[ 9.98853929e-01 4.78468551e-02 1.22768856e-03 2.36725070e+02] [ 4.78467942e-02 -9.98854683e-01 7.89238082e-05 -1.08529683e+02] [ 1.23005873e-03 -2.00923939e-05 -9.99999243e-01 -1.04670487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.190385723 meters 0.017646801945417935 Centerline is valid? [True, True] Translation: X:236.75, Y:-108.53, Z:-10.47 [[ 9.92307863e-01 1.23791319e-01 9.02877478e-04 2.36754886e+02] [ 1.23791251e-01 -9.92308273e-01 1.30934366e-04 -1.08533134e+02] [ 9.12141329e-04 -1.81588682e-05 -9.99999584e-01 -1.04662314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.250385723 meters 0.016532304369442176 Centerline is valid? [True, True] Translation: X:236.79, Y:-108.54, Z:-10.47 [[ 9.79796139e-01 1.99998333e-01 4.38155122e-04 2.36786009e+02] [ 1.99998307e-01 -9.79796237e-01 1.01781029e-04 -1.08535743e+02] [ 4.49658776e-04 -1.20943764e-05 -9.99999899e-01 -1.04675116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31038572299997 meters 0.016537201574255634 Centerline is valid? [True, True] Translation: X:236.81, Y:-108.53, Z:-10.47 [[ 9.60540759e-01 2.78139033e-01 -3.59362537e-04 2.36814962e+02] [ 2.78139014e-01 -9.60540826e-01 -1.03744240e-04 -1.08534704e+02] [-3.74037711e-04 -3.02170350e-07 -9.99999930e-01 -1.04680841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37038572299997 meters 0.01609154277316812 Centerline is valid? [True, True] Translation: X:236.85, Y:-108.54, Z:-10.47 [[ 9.35229472e-01 3.54041894e-01 -4.15473873e-04 2.36846074e+02] [ 3.54041859e-01 -9.35229564e-01 -1.57163679e-04 -1.08535467e+02] [-4.44205976e-04 -1.11038149e-07 -9.99999901e-01 -1.04685804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.430385723 meters 0.015469456528585382 Centerline is valid? [True, True] Translation: X:236.88, Y:-108.54, Z:-10.47 [[ 9.01842489e-01 4.32064410e-01 -6.85548885e-04 2.36878900e+02] [ 4.32064286e-01 -9.01842750e-01 -3.26852318e-04 -1.08536036e+02] [-7.59478546e-04 -1.43188177e-06 -9.99999712e-01 -1.04686635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.490385723 meters 0.015406314407206613 Centerline is valid? [True, True] Translation: X:236.91, Y:-108.53, Z:-10.47 [[ 8.62501005e-01 5.06052171e-01 -1.79339092e-03 2.36908103e+02] [ 5.06051092e-01 -8.62502870e-01 -1.04497022e-03 -1.08530444e+02] [-2.07561427e-03 -6.25956728e-06 -9.99997846e-01 -1.04690200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.550385723 meters 0.015562755433631045 Centerline is valid? [True, True] Translation: X:236.94, Y:-108.52, Z:-10.47 [[ 8.19385784e-01 5.73234600e-01 -3.00504822e-03 2.36935624e+02] [ 5.73230801e-01 -8.19391294e-01 -2.08705372e-03 -1.08519440e+02] [-3.65868176e-03 -1.24840475e-05 -9.99993307e-01 -1.04684870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.610385723 meters 0.015609736888972485 Centerline is valid? [True, True] Translation: X:236.96, Y:-108.51, Z:-10.47 [[ 7.72048253e-01 6.35555347e-01 -3.30090168e-03 2.36961350e+02] [ 6.35549612e-01 -7.72055309e-01 -2.69995381e-03 -1.08505120e+02] [-4.26444874e-03 -1.33921627e-05 -9.99990907e-01 -1.04681976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.670385723 meters 0.015735317424472286 Centerline is valid? [True, True] Translation: X:236.98, Y:-108.49, Z:-10.47 [[ 7.20094950e-01 6.93872313e-01 -2.11561793e-03 2.36983773e+02] [ 6.93869359e-01 -7.20098058e-01 -2.02475602e-03 -1.08487265e+02] [-2.92837450e-03 -9.94587137e-06 -9.99995712e-01 -1.04695459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.730385723 meters 0.01574772712159082 Centerline is valid? [True, True] Translation: X:237.00, Y:-108.47, Z:-10.47 [[ 6.64648622e-01 7.47152616e-01 -2.27572149e-03 2.37002982e+02] [ 7.47148266e-01 -6.64652517e-01 -2.54945074e-03 -1.08467267e+02] [-3.41739280e-03 -5.81244393e-06 -9.99994161e-01 -1.04687258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.790385723 meters 0.01581875201370335 Centerline is valid? [True, True] Translation: X:237.03, Y:-108.45, Z:-10.47 [[ 6.04441394e-01 7.96645419e-01 -2.58416178e-03 2.37025324e+02] [ 7.96638168e-01 -6.04446918e-01 -3.39911285e-03 -1.08449538e+02] [-4.26987631e-03 -4.07739678e-06 -9.99990884e-01 -1.04688418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.850385723 meters 0.015796862229191154 Centerline is valid? [True, True] Translation: X:237.05, Y:-108.43, Z:-10.47 [[ 5.40177103e-01 8.41545597e-01 -3.11536451e-03 2.37045290e+02] [ 8.41531643e-01 -5.40186086e-01 -4.84628677e-03 -1.08429761e+02] [-5.76124786e-03 -3.82466322e-06 -9.99983404e-01 -1.04671452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.910385723 meters 0.01589654194362424 Centerline is valid? [True, True] Translation: X:237.07, Y:-108.41, Z:-10.47 [[ 4.73113768e-01 8.80994123e-01 -3.56627218e-03 2.37065598e+02] [ 8.80969076e-01 -4.73127209e-01 -6.64309507e-03 -1.08409374e+02] [-7.53982811e-03 1.16422704e-06 -9.99971575e-01 -1.04654312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.970385723 meters 0.016005301729831597 Centerline is valid? [True, True] Translation: X:237.08, Y:-108.39, Z:-10.47 [[ 4.05215314e-01 9.14214565e-01 -3.50396338e-03 2.37077811e+02] [ 9.14179826e-01 -4.05230463e-01 -7.96977887e-03 -1.08386458e+02] [-8.70600063e-03 2.62238161e-05 -9.99962102e-01 -1.04651226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.030385723 meters 0.016255716651199487 Centerline is valid? [True, True] Translation: X:237.09, Y:-108.36, Z:-10.46 [[ 3.35293623e-01 9.42109173e-01 -2.91405872e-03 2.37089708e+02] [ 9.42072170e-01 -3.35306282e-01 -8.35009770e-03 -1.08363431e+02] [-8.84380583e-03 5.44808875e-05 -9.99960891e-01 -1.04645754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.090385723 meters 0.016228453070752578 Centerline is valid? [True, True] Translation: X:237.10, Y:-108.34, Z:-10.47 [[ 2.59965624e-01 9.65615773e-01 -2.01322425e-03 2.37098814e+02] [ 9.65585492e-01 -2.59973416e-01 -7.64725701e-03 -1.08339922e+02] [-7.90769678e-03 4.40838098e-05 -9.99968733e-01 -1.04653867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.150385723 meters 0.01617765450332539 Centerline is valid? [True, True] Translation: X:237.11, Y:-108.32, Z:-10.47 [[ 1.82251997e-01 9.83251136e-01 -1.18911989e-03 2.37111670e+02] [ 9.83229196e-01 -1.82255874e-01 -6.56844848e-03 -1.08316423e+02] [-6.67515851e-03 2.79354638e-05 -9.99977720e-01 -1.04679118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.210385723 meters 0.016057305642326943 Centerline is valid? [True, True] Translation: X:237.12, Y:-108.29, Z:-10.47 [[ 1.02848856e-01 9.94696732e-01 -7.24623092e-04 2.37122567e+02] [ 9.94670845e-01 -1.02851407e-01 -7.17618998e-03 -1.08291813e+02] [-7.21266122e-03 1.73014659e-05 -9.99973988e-01 -1.04679170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.270385723 meters 0.016120011043982845 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.27, Z:-10.47 [[ 2.29165849e-02 9.99737365e-01 -1.74112679e-04 2.37128206e+02] [ 9.99706552e-01 -2.29172456e-02 -7.84925090e-03 -1.08266735e+02] [-7.85117960e-03 5.81643917e-06 -9.99969179e-01 -1.04667624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.330385723 meters 0.01613201861061998 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.24, Z:-10.47 [[-5.49165510e-02 9.98490850e-01 4.41470474e-04 2.37128464e+02] [ 9.98460077e-01 5.49183245e-02 -7.83909597e-03 -1.08241692e+02] [-7.85151041e-03 1.02945302e-05 -9.99969176e-01 -1.04667138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.390385723 meters 0.016118586500387083 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.22, Z:-10.47 [[-1.31936527e-01 9.91257579e-01 1.07883698e-03 2.37132666e+02] [ 9.91225607e-01 1.31940937e-01 -7.96150707e-03 -1.08216379e+02] [-8.03424699e-03 1.89572417e-05 -9.99967725e-01 -1.04669974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.450385723 meters 0.016071614200948308 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.19, Z:-10.47 [[-2.09354349e-01 9.77838528e-01 1.60282671e-03 2.37133806e+02] [ 9.77810461e-01 2.09360484e-01 -7.40883654e-03 -1.08192607e+02] [-7.58021440e-03 1.61885743e-05 -9.99971270e-01 -1.04670857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.510385723 meters 0.01598712996810294 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.17, Z:-10.47 [[-2.86448638e-01 9.58093457e-01 2.02607580e-03 2.37133681e+02] [ 9.58069651e-01 2.86455803e-01 -6.75406223e-03 -1.08168262e+02] [-7.05140400e-03 6.42980851e-06 -9.99975139e-01 -1.04681552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.570385723 meters 0.015996699275133537 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.14, Z:-10.47 [[-3.62536703e-01 9.31965655e-01 2.67525106e-03 2.37134530e+02] [ 9.31940119e-01 3.62546574e-01 -6.89907723e-03 -1.08143679e+02] [-7.39960613e-03 -7.99492023e-06 -9.99972623e-01 -1.04654883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.630385723 meters 0.01607154352493597 Centerline is valid? [True, True] Translation: X:237.13, Y:-108.12, Z:-10.46 [[-4.34837718e-01 9.00502854e-01 3.28155469e-03 2.37125819e+02] [ 9.00477016e-01 4.34850100e-01 -6.82152738e-03 -1.08121970e+02] [-7.56978926e-03 -1.12928208e-05 -9.99971349e-01 -1.04642581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.690385723 meters 0.016095240173100277 Centerline is valid? [True, True] Translation: X:237.11, Y:-108.10, Z:-10.47 [[-5.02353337e-01 8.64656649e-01 3.16288435e-03 2.37112447e+02] [ 8.64639541e-01 5.02363294e-01 -5.43927610e-03 -1.08104144e+02] [-6.29202325e-03 2.31637491e-06 -9.99980205e-01 -1.04655019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.750385723 meters 0.016175880468998163 Centerline is valid? [True, True] Translation: X:237.11, Y:-108.08, Z:-10.47 [[-5.66429650e-01 8.24102376e-01 3.56736702e-03 2.37108320e+02] [ 8.24086235e-01 5.66440883e-01 -5.15778626e-03 -1.08078176e+02] [-6.27124644e-03 1.82949934e-05 -9.99980335e-01 -1.04658519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81038572299997 meters 0.016165323264026435 Centerline is valid? [True, True] Translation: X:237.10, Y:-108.05, Z:-10.47 [[-6.28538181e-01 7.77767980e-01 4.08966543e-03 2.37103588e+02] [ 7.77751776e-01 6.28551485e-01 -5.02061095e-03 -1.08050905e+02] [-6.47543571e-03 2.50988761e-05 -9.99979034e-01 -1.04667808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87038572299997 meters 0.016055420141194144 Centerline is valid? [True, True] Translation: X:237.10, Y:-108.02, Z:-10.47 [[-6.87614645e-01 7.26057091e-01 5.21541267e-03 2.37096908e+02] [ 7.26036525e-01 6.87634424e-01 -5.46473327e-03 -1.08023044e+02] [-7.55400562e-03 2.89494632e-05 -9.99971468e-01 -1.04665776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.930385723 meters 0.01627701115828265 Centerline is valid? [True, True] Translation: X:237.09, Y:-108.00, Z:-10.47 [[-7.42330984e-01 6.70003844e-01 6.28961219e-03 2.37086010e+02] [ 6.69980175e-01 7.42357628e-01 -5.63178220e-03 -1.07998362e+02] [-8.44245731e-03 3.32690536e-05 -9.99964361e-01 -1.04665800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.990385723 meters 0.016363640436509314 Centerline is valid? [True, True] Translation: X:237.10, Y:-107.98, Z:-10.47 [[-7.87188740e-01 6.16671576e-01 7.07501335e-03 2.37103945e+02] [ 6.16647188e-01 7.87220532e-01 -5.48447765e-03 -1.07977168e+02] [-8.95171725e-03 4.54680387e-05 -9.99959932e-01 -1.04659704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.050385723 meters 0.016349226244058657 Centerline is valid? [True, True] Translation: X:237.11, Y:-107.94, Z:-10.47 [[-8.28551655e-01 5.59861747e-01 7.54841950e-03 2.37105391e+02] [ 5.59839069e-01 8.28586037e-01 -5.03939986e-03 -1.07943446e+02] [-9.07588221e-03 5.04970496e-05 -9.99958812e-01 -1.04672348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.110385723 meters 0.016546174883457058 Centerline is valid? [True, True] Translation: X:237.14, Y:-107.93, Z:-10.47 [[-8.65411638e-01 5.01003375e-01 7.63639505e-03 2.37136370e+02] [ 5.00984490e-01 8.65445327e-01 -4.35043940e-03 -1.07932976e+02] [-8.78846724e-03 6.07945860e-05 -9.99961379e-01 -1.04685431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.170385723 meters 0.016760658771726732 Centerline is valid? [True, True] Translation: X:237.16, Y:-107.92, Z:-10.47 [[-8.98223687e-01 4.39439255e-01 9.34606541e-03 2.37162224e+02] [ 4.39416433e-01 8.98272305e-01 -4.47929161e-03 -1.07917357e+02] [-1.03636883e-02 8.34088949e-05 -9.99946292e-01 -1.04700875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.230385723 meters 0.017096984027961375 Centerline is valid? [True, True] Translation: X:237.17, Y:-107.89, Z:-10.47 [[-9.27083217e-01 3.74711633e-01 1.03875396e-02 2.37171198e+02] [ 3.74689198e-01 9.27141405e-01 -4.10126991e-03 -1.07892334e+02] [-1.11675116e-02 8.98803764e-05 -9.99937637e-01 -1.04688328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.290385723 meters 0.017019563460127618 Centerline is valid? [True, True] Translation: X:237.19, Y:-107.87, Z:-10.47 [[-9.51008647e-01 3.08935220e-01 1.18988969e-02 2.37193214e+02] [ 3.08912430e-01 9.51083077e-01 -3.75391315e-03 -1.07870252e+02] [-1.24765554e-02 1.05713281e-04 -9.99922159e-01 -1.04699960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.350385723 meters 0.01739114194669475 Centerline is valid? [True, True] Translation: X:237.20, Y:-107.85, Z:-10.47 [[-9.69985591e-01 2.42779442e-01 1.36417057e-02 2.37203681e+02] [ 2.42757586e-01 9.70081502e-01 -3.26095770e-03 -1.07845482e+02] [-1.40252598e-02 1.48545555e-04 -9.99901630e-01 -1.04701881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.410385723 meters 0.017532476104140642 Centerline is valid? [True, True] Translation: X:237.21, Y:-107.82, Z:-10.47 [[-9.84251273e-01 1.76171412e-01 1.45967292e-02 2.37214660e+02] [ 1.76154991e-01 9.84359485e-01 -2.41329639e-03 -1.07819360e+02] [-1.47935826e-02 1.95996647e-04 -9.99890550e-01 -1.04709276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.470385723 meters 0.017386281275398936 Centerline is valid? [True, True] Translation: X:237.22, Y:-107.79, Z:-10.47 [[-9.94302407e-01 1.05527608e-01 1.50547845e-02 2.37216095e+02] [ 1.05518471e-01 9.94416355e-01 -1.40218824e-03 -1.07789708e+02] [-1.51186935e-02 1.94358698e-04 -9.99885687e-01 -1.04719085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.530385723 meters 0.017136932265809732 Centerline is valid? [True, True] Translation: X:237.29, Y:-107.01, Z:-11.45 [[-9.88942748e-01 -1.47617044e-01 1.41933020e-02 2.37288237e+02] [ 1.47598465e-01 -9.89044566e-01 -2.35353892e-03 -1.07005780e+02] [ 1.43852307e-02 -2.32605664e-04 9.99896500e-01 -1.14454492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.590385723 meters 0.01693527321892901 Centerline is valid? [True, True] Translation: X:237.15, Y:-107.78, Z:-10.47 [[-9.94970730e-01 9.90559913e-02 1.48713285e-02 2.37152157e+02] [ 9.90473279e-02 9.95081848e-01 -1.31976887e-03 -1.07777940e+02] [-1.49289200e-02 1.59833956e-04 -9.99888545e-01 -1.04712833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.650385723 meters 0.017007108528400896 Centerline is valid? [True, True] Translation: X:237.16, Y:-107.75, Z:-10.47 [[-9.99470418e-01 2.86674123e-02 1.53968565e-02 2.37159334e+02] [ 2.86666752e-02 9.99588990e-01 -2.68620369e-04 -1.07749890e+02] [-1.53982289e-02 1.72898573e-04 -9.99881425e-01 -1.04708232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.710385723 meters 0.01857047264932706 Centerline is valid? [True, True] Translation: X:237.18, Y:-106.97, Z:-11.45 [[-9.97399471e-01 -7.04207638e-02 1.53365681e-02 2.37178542e+02] [ 7.04097654e-02 -9.97517361e-01 -1.25658472e-03 -1.06971739e+02] [ 1.53869826e-02 -1.73472780e-04 9.99881598e-01 -1.14460286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.770385723 meters 0.01730511670076205 Centerline is valid? [True, True] Translation: X:237.09, Y:-107.75, Z:-10.47 [[-9.99466746e-01 2.99686646e-02 1.29654796e-02 2.37090303e+02] [ 2.99690308e-02 9.99550814e-01 -1.66090670e-04 -1.07747705e+02] [-1.29646332e-02 2.22560756e-04 -9.99915931e-01 -1.04729254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.830385723 meters 0.019395107567157673 Centerline is valid? [True, True] Translation: X:237.09, Y:-107.72, Z:-10.47 [[-9.99233224e-01 -3.71776480e-02 1.22794795e-02 2.37088414e+02] [-3.71716437e-02 9.99308638e-01 7.16923641e-04 -1.07720514e+02] [-1.22976435e-02 2.59925485e-04 -9.99924347e-01 -1.04746018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.890385723 meters 0.018190443820294357 Centerline is valid? [True, True] Translation: X:237.08, Y:-107.69, Z:-10.47 [[-9.94094157e-01 -1.07985601e-01 1.07665130e-02 2.37083146e+02] [-1.07976740e-01 9.94152431e-01 1.40258534e-03 -1.07691849e+02] [-1.08550141e-02 2.31768913e-04 -9.99941056e-01 -1.04741062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.950385723 meters 0.017566047067297207 Centerline is valid? [True, True] Translation: X:237.06, Y:-107.66, Z:-10.47 [[-9.83533171e-01 -1.80376457e-01 1.12621082e-02 2.37064364e+02] [-1.80362020e-01 9.83597623e-01 2.29310660e-03 -1.07661542e+02] [-1.14910053e-02 2.24089837e-04 -9.99933951e-01 -1.04727460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.010385723 meters 0.01769179723463993 Centerline is valid? [True, True] Translation: X:237.04, Y:-107.64, Z:-10.47 [[-9.67749071e-01 -2.51667218e-01 1.11958881e-02 2.37040714e+02] [-2.51647810e-01 9.67813807e-01 3.13274914e-03 -1.07637295e+02] [-1.16239454e-02 2.14294334e-04 -9.99932417e-01 -1.04728988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.070385723 meters 0.017556906130045055 Centerline is valid? [True, True] Translation: X:237.00, Y:-107.62, Z:-10.47 [[-9.46707833e-01 -3.21921467e-01 1.05284608e-02 2.37000714e+02] [-3.21899265e-01 9.46766355e-01 3.78578414e-03 -1.07618787e+02] [-1.11867177e-02 1.94927702e-04 -9.99937408e-01 -1.04735238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.130385723 meters 0.017467501761533572 Centerline is valid? [True, True] Translation: X:236.94, Y:-107.61, Z:-10.47 [[-9.20003572e-01 -3.91800152e-01 9.27730784e-03 2.36942571e+02] [-3.91778439e-01 9.20050332e-01 4.12805763e-03 -1.07606688e+02] [-1.01529638e-02 1.63178588e-04 -9.99948444e-01 -1.04730620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.190385723 meters 0.016528001550383063 Centerline is valid? [True, True] Translation: X:236.87, Y:-107.60, Z:-10.47 [[-8.87898837e-01 -4.59940200e-01 9.52196830e-03 2.36869583e+02] [-4.59911856e-01 8.87949879e-01 5.10851170e-03 -1.07604796e+02] [-1.08046405e-02 1.56575484e-04 -9.99941616e-01 -1.04729866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.250385723 meters 0.016541107169332117 Centerline is valid? [True, True] Translation: X:236.79, Y:-107.61, Z:-10.47 [[-8.50785507e-01 -5.25453428e-01 7.91940578e-03 2.36793491e+02] [-5.25429277e-01 8.50822355e-01 5.03939204e-03 -1.07611550e+02] [-9.38597330e-03 1.26354054e-04 -9.99955943e-01 -1.04717950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31038572299997 meters 0.01651486683770104 Centerline is valid? [True, True] Translation: X:236.71, Y:-107.63, Z:-10.47 [[-8.09277229e-01 -5.87394617e-01 6.15880253e-03 2.36710329e+02] [-5.87376629e-01 8.09300657e-01 4.59816045e-03 -1.07628636e+02] [-7.68525762e-03 1.03649879e-04 -9.99970463e-01 -1.04716556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37038572299997 meters 0.016571887661509032 Centerline is valid? [True, True] Translation: X:236.62, Y:-107.66, Z:-10.47 [[-7.63624710e-01 -6.45643715e-01 4.63632246e-03 2.36622792e+02] [-6.45631111e-01 7.63638780e-01 4.03520462e-03 -1.07657791e+02] [-6.14578013e-03 8.80279359e-05 -9.99981111e-01 -1.04717774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.430385723 meters 0.01666649679222112 Centerline is valid? [True, True] Translation: X:236.53, Y:-107.70, Z:-10.47 [[-7.14081348e-01 -7.00058408e-01 2.46040988e-03 2.36532812e+02] [-7.00053989e-01 7.14085585e-01 2.48780470e-03 -1.07695648e+02] [-3.49855182e-03 5.40751853e-05 -9.99993879e-01 -1.04713068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.490385723 meters 0.017355062121765415 Centerline is valid? [True, True] Translation: X:236.44, Y:-107.75, Z:-10.47 [[-6.60146307e-01 -7.51133725e-01 2.23172819e-03 2.36442062e+02] [-7.51129135e-01 6.60150077e-01 2.62649431e-03 -1.07745495e+02] [-3.44612399e-03 5.75544493e-05 -9.99994060e-01 -1.04693641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.550385723 meters 0.018739994885027502 Centerline is valid? [True, True] Translation: X:236.35, Y:-107.80, Z:-10.47 [[-6.01131042e-01 -7.99148019e-01 1.97855222e-03 2.36352397e+02] [-7.99143386e-01 6.01134296e-01 2.72156078e-03 -1.07803042e+02] [-3.36430550e-03 5.48677470e-05 -9.99994339e-01 -1.04674211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.610385723 meters 0.0168541798952236 Centerline is valid? [True, True] Translation: X:236.26, Y:-107.87, Z:-10.47 [[-5.37887254e-01 -8.43016238e-01 9.61537948e-04 2.36264476e+02] [-8.43014804e-01 5.37888113e-01 1.55483833e-03 -1.07870076e+02] [-1.82795379e-03 2.57369931e-05 -9.99998329e-01 -1.04672963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.670385723 meters 0.01625070275036209 Centerline is valid? [True, True] Translation: X:236.18, Y:-107.95, Z:-10.47 [[-4.70881644e-01 -8.82196013e-01 8.20383364e-04 2.36179263e+02] [-8.82194591e-01 4.70882358e-01 1.58366873e-03 -1.07945532e+02] [-1.78341029e-03 2.19827691e-05 -9.99998409e-01 -1.04665365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.730385723 meters 0.016057901474596056 Centerline is valid? [True, True] Translation: X:236.10, Y:-108.03, Z:-10.47 [[-4.01515822e-01 -9.15851623e-01 9.21541212e-04 2.36100861e+02] [-9.15849049e-01 4.01516879e-01 2.17150785e-03 -1.08034033e+02] [-2.35879334e-03 2.79021191e-05 -9.99997218e-01 -1.04654405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.790385723 meters 0.016711775743785726 Centerline is valid? [True, True] Translation: X:236.03, Y:-108.12, Z:-10.46 [[-3.30263589e-01 -9.43888367e-01 8.44175754e-04 2.36028809e+02] [-9.43885042e-01 3.30264667e-01 2.50552389e-03 -1.08123677e+02] [-2.64373628e-03 3.06784466e-05 -9.99996505e-01 -1.04638295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.850385723 meters 0.015840143042427073 Centerline is valid? [True, True] Translation: X:235.96, Y:-108.22, Z:-10.46 [[-2.57848960e-01 -9.66185147e-01 4.19220109e-04 2.35964013e+02] [-9.66183749e-01 2.57849300e-01 1.64381422e-03 -1.08221449e+02] [-1.69632450e-03 1.88121307e-05 -9.99998561e-01 -1.04629986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.910385723 meters 0.016160331482803453 Centerline is valid? [True, True] Translation: X:235.91, Y:-108.33, Z:-10.46 [[-1.85843001e-01 -9.82579400e-01 3.20056608e-04 2.35910044e+02] [-9.82577697e-01 1.85843275e-01 1.82947508e-03 -1.08326481e+02] [-1.85708489e-03 2.55146544e-05 -9.99998275e-01 -1.04631241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.970385723 meters 0.016760743900101835 Centerline is valid? [True, True] Translation: X:235.86, Y:-108.43, Z:-10.46 [[-1.13359144e-01 -9.93554071e-01 1.08518972e-04 2.35864645e+02] [-9.93553465e-01 1.13359194e-01 1.09776518e-03 -1.08433338e+02] [-1.10299069e-03 1.66223201e-05 -9.99999392e-01 -1.04638874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.030385723 meters 0.017172839799277983 Centerline is valid? [True, True] Translation: X:235.83, Y:-108.54, Z:-10.46 [[-3.82489314e-02 -9.99268242e-01 2.33426184e-05 2.35827901e+02] [-9.99267721e-01 3.82489354e-02 1.02015616e-03 -1.08541384e+02] [-1.02030248e-03 1.56943580e-05 -9.99999479e-01 -1.04639691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.090385723 meters 0.015737109241672785 Centerline is valid? [True, True] Translation: X:235.80, Y:-108.66, Z:-10.46 [[ 3.98853745e-02 -9.99204260e-01 -6.50600966e-05 2.35795747e+02] [-9.99203535e-01 -3.98854239e-02 1.20379118e-03 -1.08658886e+02] [-1.20542823e-03 1.69946164e-05 -9.99999273e-01 -1.04639548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.150385723 meters 0.015713550233867415 Centerline is valid? [True, True] Translation: X:235.78, Y:-108.78, Z:-10.46 [[ 1.16640797e-01 -9.93174133e-01 -2.56164039e-04 2.35777419e+02] [-9.93172249e-01 -1.16641075e-01 1.93502062e-03 -1.08776462e+02] [-1.95169167e-03 2.87126676e-05 -9.99998095e-01 -1.04631173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.210385723 meters 0.015115658593065623 Centerline is valid? [True, True] Translation: X:235.77, Y:-108.90, Z:-10.46 [[ 1.94080362e-01 -9.80985489e-01 -5.33231751e-04 2.35766658e+02] [-9.80982249e-01 -1.94081092e-01 2.52149880e-03 -1.08898360e+02] [-2.57704393e-03 3.37174824e-05 -9.99996679e-01 -1.04617259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.270385723 meters 0.014685023036115004 Centerline is valid? [True, True] Translation: X:235.77, Y:-109.02, Z:-10.46 [[ 2.70515092e-01 -9.62715631e-01 -4.45530295e-04 2.35769612e+02] [-9.62714418e-01 -2.70515458e-01 1.52830565e-03 -1.09020944e+02] [-1.59184657e-03 1.54886943e-05 -9.99998733e-01 -1.04631362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.330385723 meters 0.014366082394476348 Centerline is valid? [True, True] Translation: X:235.78, Y:-109.14, Z:-10.46 [[ 3.45376646e-01 -9.38463842e-01 -7.67596217e-04 2.35780949e+02] [-9.38461635e-01 -3.45377499e-01 2.03531422e-03 -1.09140608e+02] [-2.17517926e-03 1.74096030e-05 -9.99997634e-01 -1.04634275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.390385723 meters 0.014055869473828881 Centerline is valid? [True, True] Translation: X:235.80, Y:-109.26, Z:-10.46 [[ 4.18227878e-01 -9.08341937e-01 -6.07032142e-04 2.35800172e+02] [-9.08341001e-01 -4.18228318e-01 1.30348495e-03 -1.09255906e+02] [-1.43788807e-03 6.23844043e-06 -9.99998966e-01 -1.04638870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.450385723 meters 0.013904087568646115 Centerline is valid? [True, True] Translation: X:235.83, Y:-109.37, Z:-10.46 [[ 4.87469309e-01 -8.73139945e-01 -5.56040361e-04 2.35830657e+02] [-8.73139382e-01 -4.87469627e-01 9.91191107e-04 -1.09369714e+02] [-1.13650134e-03 2.32549263e-06 -9.99999354e-01 -1.04635029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.510385723 meters 0.013633493637940189 Centerline is valid? [True, True] Translation: X:235.87, Y:-109.48, Z:-10.46 [[ 5.52681735e-01 -8.33391227e-01 -1.40076594e-03 2.35867330e+02] [-8.33388594e-01 -5.52683510e-01 2.09508487e-03 -1.09475889e+02] [-2.52020559e-03 9.46721313e-06 -9.99996824e-01 -1.04627733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.570385723 meters 0.013502795501687643 Centerline is valid? [True, True] Translation: X:235.92, Y:-109.58, Z:-10.46 [[ 6.14180050e-01 -7.89163607e-01 -1.91510707e-03 2.35915208e+02] [-7.89159838e-01 -6.14183036e-01 2.43907971e-03 -1.09581424e+02] [-3.10105922e-03 1.32914887e-05 -9.99995192e-01 -1.04615587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.630385723 meters 0.013392770447735966 Centerline is valid? [True, True] Translation: X:235.97, Y:-109.67, Z:-10.46 [[ 6.72249385e-01 -7.40316187e-01 -3.56478911e-03 2.35966140e+02] [-7.40305980e-01 -6.72258836e-01 3.88748907e-03 -1.09674139e+02] [-5.27443206e-03 2.56725604e-05 -9.99986090e-01 -1.04609471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.690385723 meters 0.013706033146141437 Centerline is valid? [True, True] Translation: X:236.03, Y:-109.76, Z:-10.46 [[ 7.24591898e-01 -6.89162465e-01 -4.65600482e-03 2.36025258e+02] [-6.89148662e-01 -7.24606855e-01 4.36194942e-03 -1.09761277e+02] [-6.37986482e-03 4.80462838e-05 -9.99979647e-01 -1.04595189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.750385723 meters 0.01396447806031431 Centerline is valid? [True, True] Translation: X:236.05, Y:-109.78, Z:-10.46 [[ 7.75076462e-01 -6.31842029e-01 -5.66814201e-03 2.36050672e+02] [-6.31825778e-01 -7.75097184e-01 4.53216809e-03 -1.09784651e+02] [-7.25697519e-03 6.85014273e-05 -9.99973665e-01 -1.04586629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81038572299997 meters 0.013896511472121498 Centerline is valid? [True, True] Translation: X:236.08, Y:-109.81, Z:-10.46 [[ 8.21068507e-01 -5.70797300e-01 -6.07851218e-03 2.36077252e+02] [-5.70782400e-01 -8.21091003e-01 4.12513092e-03 -1.09806675e+02] [-7.34562526e-03 8.24926852e-05 -9.99973017e-01 -1.04596306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87038572299997 meters 0.014163052375756664 Centerline is valid? [True, True] Translation: X:236.10, Y:-109.83, Z:-10.46 [[ 8.62375227e-01 -5.06233485e-01 -6.05197801e-03 2.36104191e+02] [-5.06221745e-01 -8.62396458e-01 3.44884024e-03 -1.09826593e+02] [-6.96512281e-03 8.94484752e-05 -9.99975739e-01 -1.04606340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.930385723 meters 0.013898180516140786 Centerline is valid? [True, True] Translation: X:236.13, Y:-109.85, Z:-10.46 [[ 9.00499695e-01 -4.34806994e-01 -6.57090196e-03 2.36131670e+02] [-4.34796014e-01 -9.00523666e-01 3.09099316e-03 -1.09845816e+02] [-7.26123817e-03 7.35635822e-05 -9.99973634e-01 -1.04603187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.990385723 meters 0.013516165682730888 Centerline is valid? [True, True] Translation: X:236.16, Y:-109.86, Z:-10.46 [[ 9.33238259e-01 -3.59202436e-01 -6.32159265e-03 2.36160655e+02] [-3.59194485e-01 -9.33259668e-01 2.39026143e-03 -1.09861939e+02] [-6.75827518e-03 3.99978039e-05 -9.99977162e-01 -1.04608342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.050385723 meters 0.013416499185012117 Centerline is valid? [True, True] Translation: X:236.19, Y:-109.88, Z:-10.46 [[ 9.59514122e-01 -2.81556261e-01 -7.66302525e-03 2.36189710e+02] [-2.81547432e-01 -9.59544721e-01 2.22984233e-03 -1.09876883e+02] [-7.98084150e-03 1.79398806e-05 -9.99968152e-01 -1.04598238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.110385723 meters 0.013417902898509386 Centerline is valid? [True, True] Translation: X:236.22, Y:-109.89, Z:-10.46 [[ 9.79334976e-01 -2.02054467e-01 -8.77480647e-03 2.36218965e+02] [-2.02046242e-01 -9.79374286e-01 1.82318711e-03 -1.09885769e+02] [-8.96220293e-03 -1.25942319e-05 -9.99959839e-01 -1.04589707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.170385723 meters 0.013492475580716966 Centerline is valid? [True, True] Translation: X:236.25, Y:-109.89, Z:-10.46 [[ 9.92366239e-01 -1.23085427e-01 -7.69575798e-03 2.36245345e+02] [-1.23081532e-01 -9.92396079e-01 9.79464678e-04 -1.09894291e+02] [-7.75779787e-03 -2.47819956e-05 -9.99969908e-01 -1.04602489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.230385723 meters 0.013590297693245821 Centerline is valid? [True, True] Translation: X:236.27, Y:-109.90, Z:-10.46 [[ 9.98970997e-01 -4.47510993e-02 -7.36797299e-03 2.36272195e+02] [-4.47496931e-02 -9.98998167e-01 3.55686572e-04 -1.09900159e+02] [-7.37650887e-03 -2.56060389e-05 -9.99972793e-01 -1.04599226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.290385723 meters 0.013759100671978764 Centerline is valid? [True, True] Translation: X:236.30, Y:-109.90, Z:-10.46 [[ 9.99452807e-01 3.20421319e-02 -8.20906706e-03 2.36298347e+02] [ 3.20411780e-02 -9.99486519e-01 -2.47723790e-04 -1.09900919e+02] [-8.21278946e-03 -1.54399420e-05 -9.99966274e-01 -1.04595559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.350385723 meters 0.013796487863026403 Centerline is valid? [True, True] Translation: X:236.32, Y:-109.91, Z:-10.46 [[ 9.93968260e-01 1.09507053e-01 -5.94161749e-03 2.36323873e+02] [ 1.09505145e-01 -9.93986019e-01 -6.46498464e-04 -1.09905575e+02] [-5.97668085e-03 -8.03873200e-06 -9.99982139e-01 -1.04609682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.410385723 meters 0.013789047960551665 Centerline is valid? [True, True] Translation: X:236.35, Y:-109.91, Z:-10.46 [[ 9.82757756e-01 1.84821033e-01 -5.32712770e-03 2.36350795e+02] [ 1.84818295e-01 -9.82772194e-01 -1.00605231e-03 -1.09911499e+02] [-5.42129260e-03 4.15505246e-06 -9.99985305e-01 -1.04609956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.470385723 meters 0.013965479015340513 Centerline is valid? [True, True] Translation: X:236.38, Y:-109.91, Z:-10.46 [[ 9.65653240e-01 2.59768680e-01 -5.83551778e-03 2.36377853e+02] [ 2.59763849e-01 -9.65670872e-01 -1.58436861e-03 -1.09912571e+02] [-6.04675888e-03 1.40941201e-05 -9.99981718e-01 -1.04614524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.530385723 meters 0.014313616498376602 Centerline is valid? [True, True] Translation: X:236.40, Y:-109.91, Z:-10.46 [[ 9.43458775e-01 3.31440046e-01 -5.74768208e-03 2.36402943e+02] [ 3.31433671e-01 -9.43476282e-01 -2.05596340e-03 -1.09911895e+02] [-6.10423032e-03 3.47413392e-05 -9.99981368e-01 -1.04601713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.590385723 meters 0.014749560743059567 Centerline is valid? [True, True] Translation: X:236.43, Y:-109.91, Z:-10.46 [[ 9.15901777e-01 4.01345291e-01 -6.77440821e-03 2.36429827e+02] [ 4.01333772e-01 -9.15926827e-01 -3.04147508e-03 -1.09910205e+02] [-7.42554392e-03 6.68936324e-05 -9.99972428e-01 -1.04587913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.650385723 meters 0.015308630865345051 Centerline is valid? [True, True] Translation: X:236.46, Y:-109.91, Z:-10.46 [[ 8.82667148e-01 4.69944290e-01 -7.14629552e-03 2.36455537e+02] [ 4.69928048e-01 -8.82696072e-01 -3.90818251e-03 -1.09907371e+02] [-8.14463504e-03 9.13796107e-05 -9.99966828e-01 -1.04582985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.710385723 meters 0.015453545428965132 Centerline is valid? [True, True] Translation: X:236.48, Y:-109.90, Z:-10.46 [[ 8.43426257e-01 5.37215308e-01 -5.64464688e-03 2.36482225e+02] [ 5.37202653e-01 -8.43445142e-01 -3.68811175e-03 -1.09902728e+02] [-6.74226008e-03 7.83310135e-05 -9.99977268e-01 -1.04586372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.770385723 meters 0.015758583164462277 Centerline is valid? [True, True] Translation: X:236.51, Y:-109.89, Z:-10.46 [[ 7.99134059e-01 6.01134774e-01 -4.66254306e-03 2.36506655e+02] [ 6.01124019e-01 -7.99147658e-01 -3.59654260e-03 -1.09894881e+02] [-5.88806719e-03 7.13530623e-05 -9.99982663e-01 -1.04583290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.830385723 meters 0.01593666418882456 Centerline is valid? [True, True] Translation: X:236.53, Y:-109.88, Z:-10.46 [[ 7.49809363e-01 6.61642847e-01 -3.82899333e-03 2.36529895e+02] [ 6.61633787e-01 -7.49819137e-01 -3.46325625e-03 -1.09882507e+02] [-5.16249120e-03 6.33906087e-05 -9.99986672e-01 -1.04595062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.890385723 meters 0.015121560191169666 Centerline is valid? [True, True] Translation: X:236.56, Y:-109.88, Z:-10.46 [[ 6.96026146e-01 7.18009533e-01 -3.14888823e-03 2.36562074e+02] [ 7.18001805e-01 -6.96033266e-01 -3.33159736e-03 -1.09878073e+02] [-4.58384963e-03 5.79714357e-05 -9.99989492e-01 -1.04608919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.950385723 meters 0.015452772115517682 Centerline is valid? [True, True] Translation: X:236.59, Y:-109.87, Z:-10.46 [[ 6.37567135e-01 7.70389413e-01 -2.88092464e-03 2.36590272e+02] [ 7.70381137e-01 -6.37573642e-01 -3.57137747e-03 -1.09869151e+02] [-4.58815301e-03 5.75828992e-05 -9.99989473e-01 -1.04605897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.010385723 meters 0.015488002042275234 Centerline is valid? [True, True] Translation: X:236.62, Y:-109.86, Z:-10.46 [[ 5.75434460e-01 8.17843999e-01 -2.52501620e-03 2.36618254e+02] [ 8.17835688e-01 -5.75439997e-01 -3.68743490e-03 -1.09857100e+02] [-4.46874182e-03 5.68287520e-05 -9.99990014e-01 -1.04603696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.070385723 meters 0.015575614046470518 Centerline is valid? [True, True] Translation: X:236.64, Y:-109.84, Z:-10.46 [[ 5.09739443e-01 8.60325869e-01 -2.25810048e-03 2.36643233e+02] [ 8.60316917e-01 -5.09744442e-01 -3.92509068e-03 -1.09841997e+02] [-4.52791122e-03 5.80914924e-05 -9.99989747e-01 -1.04602281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.130385723 meters 0.01597854281099263 Centerline is valid? [True, True] Translation: X:236.67, Y:-109.82, Z:-10.46 [[ 4.42145061e-01 8.96940161e-01 -2.46825894e-03 2.36666295e+02] [ 8.96925115e-01 -4.42151943e-01 -5.19590505e-03 -1.09824749e+02] [-5.75176140e-03 8.35003232e-05 -9.99983455e-01 -1.04596290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.190385723 meters 0.01638495110686176 Centerline is valid? [True, True] Translation: X:236.69, Y:-109.81, Z:-10.46 [[ 3.72580863e-01 9.27997455e-01 -2.05515711e-03 2.36688648e+02] [ 9.27981883e-01 -3.72586519e-01 -5.37682737e-03 -1.09805894e+02] [-5.75540595e-03 9.61544161e-05 -9.99983433e-01 -1.04600535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.250385723 meters 0.01703673164944891 Centerline is valid? [True, True] Translation: X:236.71, Y:-109.79, Z:-10.46 [[ 2.98349488e-01 9.54455383e-01 -1.58278018e-03 2.36706870e+02] [ 9.54440287e-01 -2.98353673e-01 -5.36887215e-03 -1.09785020e+02] [-5.59657720e-03 9.11310936e-05 -9.99984335e-01 -1.04598016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31038572299997 meters 0.01629973045698973 Centerline is valid? [True, True] Translation: X:236.73, Y:-109.76, Z:-10.46 [[ 2.20689417e-01 9.75343429e-01 -1.17379055e-03 2.36728700e+02] [ 9.75327617e-01 -2.20692523e-01 -5.55428049e-03 -1.09763299e+02] [-5.67637777e-03 8.09405817e-05 -9.99983886e-01 -1.04610178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37038572299997 meters 0.01601030226451699 Centerline is valid? [True, True] Translation: X:236.75, Y:-109.74, Z:-10.46 [[ 1.40739884e-01 9.90046298e-01 -7.82556923e-04 2.36747094e+02] [ 9.90028164e-01 -1.40742043e-01 -5.99262258e-03 -1.09739639e+02] [-6.04311247e-03 6.86476159e-05 -9.99981738e-01 -1.04609152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.430385723 meters 0.01582888026399007 Centerline is valid? [True, True] Translation: X:236.76, Y:-109.71, Z:-10.46 [[ 6.12696387e-02 9.98121200e-01 -3.18695416e-04 2.36763428e+02] [ 9.98102003e-01 -6.12704369e-02 -6.19081440e-03 -1.09713974e+02] [-6.19870970e-03 6.12184287e-05 -9.99980786e-01 -1.04617061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.490385723 meters 0.01581401017710706 Centerline is valid? [True, True] Translation: X:236.78, Y:-109.69, Z:-10.46 [[-1.67945719e-02 9.99858946e-01 1.73381061e-04 2.36778008e+02] [ 9.99838314e-01 1.67953392e-02 -6.42352600e-03 -1.09687411e+02] [-6.42553193e-03 6.54726587e-05 -9.99979354e-01 -1.04617409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.550385723 meters 0.016468614086614434 Centerline is valid? [True, True] Translation: X:236.79, Y:-109.66, Z:-10.46 [[-9.18905835e-02 9.95768796e-01 7.91140071e-04 2.36786024e+02] [ 9.95740766e-01 9.18939335e-02 -7.47206638e-03 -1.09659913e+02] [-7.51315152e-03 1.01157880e-04 -9.99971771e-01 -1.04618448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.610385723 meters 0.017098510092344976 Centerline is valid? [True, True] Translation: X:236.79, Y:-109.63, Z:-10.46 [[-1.67120987e-01 9.85935161e-01 1.55981665e-03 2.36791884e+02] [ 9.85899523e-01 1.67128211e-01 -8.38400516e-03 -1.09632688e+02] [-8.52677484e-03 1.36679268e-04 -9.99963637e-01 -1.04618808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.670385723 meters 0.018327729964316926 Centerline is valid? [True, True] Translation: X:236.80, Y:-109.60, Z:-10.46 [[-2.42531614e-01 9.70140409e-01 2.45021424e-03 2.36796280e+02] [ 9.70097535e-01 2.42543935e-01 -9.12202604e-03 -1.09603745e+02] [-9.44393067e-03 1.64567095e-04 -9.99955392e-01 -1.04606196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.730385723 meters 0.01774803484341482 Centerline is valid? [True, True] Translation: X:236.80, Y:-109.58, Z:-10.46 [[-3.16739789e-01 9.48507209e-01 3.15917552e-03 2.36796120e+02] [ 9.48465403e-01 3.16755495e-01 -8.90711495e-03 -1.09577008e+02] [-9.44914895e-03 1.75130971e-04 -9.99955340e-01 -1.04616354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.790385723 meters 0.018573798359589253 Centerline is valid? [True, True] Translation: X:236.79, Y:-109.55, Z:-10.46 [[-3.88441730e-01 9.21466332e-01 3.58068949e-03 2.36791579e+02] [ 9.21431324e-01 3.88458193e-01 -8.03422078e-03 -1.09550773e+02] [-8.79421211e-03 1.78532833e-04 -9.99961314e-01 -1.04622021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.850385723 meters 0.017373720036992918 Centerline is valid? [True, True] Translation: X:236.80, Y:-109.52, Z:-10.46 [[-4.58188621e-01 8.88843496e-01 4.51966217e-03 2.36796043e+02] [ 8.88804595e-01 4.58210866e-01 -8.31833360e-03 -1.09518286e+02] [-9.46465503e-03 2.05730708e-04 -9.99955188e-01 -1.04640472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.910385723 meters 0.017797732060816314 Centerline is valid? [True, True] Translation: X:236.79, Y:-109.49, Z:-10.46 [[-5.26416138e-01 8.50216152e-01 4.30636269e-03 2.36793586e+02] [ 8.50190319e-01 5.26433725e-01 -6.62981443e-03 -1.09488289e+02] [-7.90378986e-03 1.71186560e-04 -9.99968750e-01 -1.04644055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.970385723 meters 0.01750294824797599 Centerline is valid? [True, True] Translation: X:236.79, Y:-109.46, Z:-10.46 [[-5.92322163e-01 8.05690043e-01 4.24383245e-03 2.36789476e+02] [ 8.05671061e-01 5.92337349e-01 -5.53234798e-03 -1.09456970e+02] [-6.97113815e-03 1.42200669e-04 -9.99975691e-01 -1.04642922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.030385723 meters 0.017290062881054367 Centerline is valid? [True, True] Translation: X:236.78, Y:-109.43, Z:-10.46 [[-6.55053357e-01 7.55566165e-01 4.98693204e-03 2.36782311e+02] [ 7.55545858e-01 6.55072325e-01 -5.54125880e-03 -1.09427031e+02] [-7.45358883e-03 1.38035671e-04 -9.99972212e-01 -1.04628585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.090385723 meters 0.017176934348158413 Centerline is valid? [True, True] Translation: X:236.77, Y:-109.40, Z:-10.46 [[-7.12352311e-01 7.01803461e-01 5.10762290e-03 2.36771341e+02] [ 7.01786706e-01 7.12370610e-01 -4.85103750e-03 -1.09398977e+02] [-7.04299534e-03 1.28814077e-04 -9.99975190e-01 -1.04637095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.150385723 meters 0.017467081916864132 Centerline is valid? [True, True] Translation: X:236.80, Y:-109.38, Z:-10.46 [[-7.59847102e-01 6.50079748e-01 5.35758668e-03 2.36795438e+02] [ 6.50064798e-01 7.59865978e-01 -4.41062131e-03 -1.09381598e+02] [-6.93830343e-03 1.31380689e-04 -9.99975921e-01 -1.04630583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.210385723 meters 0.01744346180439188 Centerline is valid? [True, True] Translation: X:236.81, Y:-109.36, Z:-10.46 [[-8.03411526e-01 5.95397010e-01 5.68502730e-03 2.36813078e+02] [ 5.95383314e-01 8.03431628e-01 -4.04088905e-03 -1.09359649e+02] [-6.97346400e-03 1.38273556e-04 -9.99975676e-01 -1.04628024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.270385723 meters 0.017794669708903338 Centerline is valid? [True, True] Translation: X:236.83, Y:-109.34, Z:-10.46 [[-8.42992549e-01 5.37898776e-01 5.33563861e-03 2.36829628e+02] [ 5.37888970e-01 8.43009425e-01 -3.25054523e-03 -1.09338329e+02] [-6.24645794e-03 1.29795749e-04 -9.99980482e-01 -1.04628814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.330385723 meters 0.01818614115331144 Centerline is valid? [True, True] Translation: X:236.84, Y:-109.31, Z:-10.46 [[-8.79358522e-01 4.76124508e-01 5.83466313e-03 2.36842696e+02] [ 4.76115010e-01 8.79377869e-01 -3.01030154e-03 -1.09311609e+02] [-6.56415197e-03 1.30836378e-04 -9.99978447e-01 -1.04620188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.390385723 meters 0.019728061315129507 Centerline is valid? [True, True] Translation: X:236.85, Y:-109.29, Z:-10.46 [[-9.11236062e-01 4.11857534e-01 4.71285298e-03 2.36854248e+02] [ 4.11852573e-01 9.11248244e-01 -2.02377156e-03 -1.09287358e+02] [-5.12808457e-03 9.68670006e-05 -9.99986847e-01 -1.04621164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.450385723 meters 0.018101813295312744 Centerline is valid? [True, True] Translation: X:236.86, Y:-109.26, Z:-10.46 [[-9.38409867e-01 3.45506957e-01 3.44451567e-03 2.36863694e+02] [ 3.45504878e-01 9.38416186e-01 -1.20028276e-03 -1.09258586e+02] [-3.64709530e-03 6.37397837e-05 -9.99993347e-01 -1.04629339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.510385723 meters 0.016506962201695934 Centerline is valid? [True, True] Translation: X:236.87, Y:-109.23, Z:-10.46 [[-9.61161407e-01 2.75974815e-01 2.57895934e-03 2.36874944e+02] [ 2.75973932e-01 9.61164866e-01 -6.99083073e-04 -1.09232441e+02] [-2.67173443e-03 3.97938800e-05 -9.99996430e-01 -1.04645918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.570385723 meters 0.01636839547574416 Centerline is valid? [True, True] Translation: X:236.87, Y:-109.20, Z:-10.47 [[-9.78486573e-01 2.06294122e-01 2.60047523e-03 2.36871283e+02] [ 2.06293494e-01 9.78490027e-01 -5.10322900e-04 -1.09203872e+02] [-2.64981569e-03 3.71170154e-05 -9.99996489e-01 -1.04650519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.630385723 meters 0.01656708858983318 Centerline is valid? [True, True] Translation: X:237.01, Y:-108.51, Z:-11.45 [[-9.70415334e-01 -2.41438188e-01 1.29673716e-03 2.37013566e+02] [ 2.41437836e-01 -9.70416195e-01 -4.23499102e-04 -1.08513268e+02] [ 1.36062360e-03 -9.78886091e-05 9.99999070e-01 -1.14520966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.690385723 meters 0.016783405494242364 Centerline is valid? [True, True] Translation: X:236.83, Y:-109.20, Z:-10.46 [[-9.79184126e-01 2.02967108e-01 1.67365619e-03 2.36825455e+02] [ 2.02966853e-01 9.79185556e-01 -3.22591286e-04 -1.09198620e+02] [-1.70429538e-03 2.38204629e-05 -9.99998547e-01 -1.04648875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.750385723 meters 0.01901180755745027 Centerline is valid? [True, True] Translation: X:236.83, Y:-109.17, Z:-10.46 [[-9.90991862e-01 1.33889487e-01 2.95551001e-03 2.36830298e+02] [ 1.33889031e-01 9.90996268e-01 -3.52365158e-04 -1.09172529e+02] [-2.97607738e-03 4.65193674e-05 -9.99995570e-01 -1.04627708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81038572299997 meters 0.01778776899851275 Centerline is valid? [True, True] Translation: X:236.83, Y:-109.15, Z:-10.46 [[-9.97843026e-01 6.55834124e-02 2.84801774e-03 2.36831130e+02] [ 6.55832912e-02 9.97847089e-01 -1.36023882e-04 -1.09147383e+02] [-2.85080712e-03 5.10518946e-05 -9.99995935e-01 -1.04639745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87038572299997 meters 0.020415277175997174 Centerline is valid? [True, True] Translation: X:236.83, Y:-109.12, Z:-10.46 [[-9.99988522e-01 -6.53197223e-04 4.74657867e-03 2.36828739e+02] [-6.52667645e-04 9.99999781e-01 1.13118537e-04 -1.09123281e+02] [-4.74665151e-03 1.10019301e-04 -9.99988729e-01 -1.04624973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.930385723 meters 0.01993651802324162 Centerline is valid? [True, True] Translation: X:236.82, Y:-108.39, Z:-11.45 [[-9.99873374e-01 -1.54015339e-02 4.00364474e-03 2.36820353e+02] [ 1.54008564e-02 -9.99881380e-01 -1.99988867e-04 -1.08390434e+02] [ 4.00624996e-03 -1.38303986e-04 9.99991965e-01 -1.14527811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.990385723 meters 0.02031587903573179 Centerline is valid? [True, True] Translation: X:236.76, Y:-109.13, Z:-10.46 [[-9.99992013e-01 -9.46981577e-04 3.88290625e-03 2.36758130e+02] [-9.46556963e-04 9.99999546e-01 1.11191107e-04 -1.09131385e+02] [-3.88300978e-03 1.07514827e-04 -9.99992455e-01 -1.04647526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.050385723 meters 0.02250322678422517 Centerline is valid? [True, True] Translation: X:236.73, Y:-108.39, Z:-11.46 [[-9.99958132e-01 -8.04819803e-03 4.35449374e-03 2.36733202e+02] [ 8.04772638e-03 -9.99967609e-01 -1.25823456e-04 -1.08389785e+02] [ 4.35536534e-03 -9.07744139e-05 9.99990511e-01 -1.14552420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.110385723 meters 0.01998240715128404 Centerline is valid? [True, True] Translation: X:236.67, Y:-109.14, Z:-10.46 [[-9.99974001e-01 -4.07872355e-03 5.94658170e-03 2.36672289e+02] [-4.07758469e-03 9.99991666e-01 2.03626327e-04 -1.09135519e+02] [-5.94736267e-03 1.79373342e-04 -9.99982298e-01 -1.04628337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.170385723 meters 0.0212252953010729 Centerline is valid? [True, True] Translation: X:236.67, Y:-109.11, Z:-10.46 [[-9.97220880e-01 -7.42033537e-02 6.66175568e-03 2.36667479e+02] [-7.42002947e-02 9.97243109e-01 7.05514422e-04 -1.09109768e+02] [-6.69574148e-03 2.09249477e-04 -9.99977561e-01 -1.04623597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.230385723 meters 0.021578589987026973 Centerline is valid? [True, True] Translation: X:236.66, Y:-109.08, Z:-10.46 [[-9.89082760e-01 -1.47179444e-01 7.31477472e-03 2.36656420e+02] [-1.47173797e-01 9.89109784e-01 1.30732387e-03 -1.09081659e+02] [-7.42752644e-03 2.16508335e-04 -9.99972392e-01 -1.04609641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.290385723 meters 0.018957116479210192 Centerline is valid? [True, True] Translation: X:236.52, Y:-108.35, Z:-11.45 [[-9.91205172e-01 1.32079301e-01 8.20768730e-03 2.36522142e+02] [-1.32076275e-01 -9.91239137e-01 9.11947221e-04 -1.08346795e+02] [ 8.25623023e-03 -1.80113968e-04 9.99965901e-01 -1.14549599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.350385723 meters 0.01911056785398172 Centerline is valid? [True, True] Translation: X:236.54, Y:-109.10, Z:-10.46 [[-9.86007560e-01 -1.66440595e-01 9.30699471e-03 2.36540341e+02] [-1.66431736e-01 9.86051472e-01 1.72385295e-03 -1.09098935e+02] [-9.46409495e-03 1.50752751e-04 -9.99955203e-01 -1.04609082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.410385723 meters 0.017112900729488675 Centerline is valid? [True, True] Translation: X:236.52, Y:-109.08, Z:-10.46 [[-9.70510374e-01 -2.40931128e-01 7.86160776e-03 2.36515281e+02] [-2.40922464e-01 9.70542211e-01 2.04534199e-03 -1.09076145e+02] [-8.12280873e-03 9.09877157e-05 -9.99967005e-01 -1.04632399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.470385723 meters 0.016749598117868567 Centerline is valid? [True, True] Translation: X:236.49, Y:-109.06, Z:-10.46 [[-9.50052159e-01 -3.12020648e-01 6.63402116e-03 2.36487254e+02] [-3.12012567e-01 9.50075319e-01 2.24645899e-03 -1.09056208e+02] [-7.00376136e-03 6.43552359e-05 -9.99975471e-01 -1.04648379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.530385723 meters 0.015877146720727268 Centerline is valid? [True, True] Translation: X:236.44, Y:-109.05, Z:-10.47 [[-9.24308073e-01 -3.81594199e-01 6.36032361e-03 2.36437120e+02] [-3.81584745e-01 9.24329954e-01 2.68665129e-03 -1.09046468e+02] [-6.90424817e-03 5.62910099e-05 -9.99976164e-01 -1.04670341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.590385723 meters 0.015750302182900168 Centerline is valid? [True, True] Translation: X:236.37, Y:-109.05, Z:-10.47 [[-8.93726618e-01 -4.48573311e-01 5.89220979e-03 2.36372324e+02] [-4.48563166e-01 8.93746039e-01 3.01728261e-03 -1.09048293e+02] [-6.61961161e-03 5.35975009e-05 -9.99978089e-01 -1.04661295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.650385723 meters 0.015991216996127964 Centerline is valid? [True, True] Translation: X:236.30, Y:-109.06, Z:-10.46 [[-8.58633678e-01 -5.12544108e-01 6.83701814e-03 2.36300622e+02] [-5.12527153e-01 8.58660894e-01 4.16962760e-03 -1.09060656e+02] [-8.00779817e-03 7.60252433e-05 -9.99967934e-01 -1.04639916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.710385723 meters 0.01597689330657815 Centerline is valid? [True, True] Translation: X:236.22, Y:-109.09, Z:-10.46 [[-8.18831186e-01 -5.73994389e-01 6.77719477e-03 2.36217426e+02] [-5.73973803e-01 8.18859226e-01 4.86222279e-03 -1.09085092e+02] [-8.34045707e-03 9.14073986e-05 -9.99965214e-01 -1.04636731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.770385723 meters 0.016668146576585205 Centerline is valid? [True, True] Translation: X:236.14, Y:-109.12, Z:-10.46 [[-7.75027973e-01 -6.31893446e-01 6.50494398e-03 2.36135755e+02] [-6.31869930e-01 7.75055262e-01 5.45271099e-03 -1.09119252e+02] [-8.48722340e-03 1.15725041e-04 -9.99963976e-01 -1.04625320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.830385723 meters 0.01724399470597669 Centerline is valid? [True, True] Translation: X:236.05, Y:-109.16, Z:-10.46 [[-7.27508799e-01 -6.86066424e-01 6.61882076e-03 2.36051488e+02] [-6.86036018e-01 7.27538890e-01 6.46110964e-03 -1.09164448e+02] [-9.24819990e-03 1.59764676e-04 -9.99957222e-01 -1.04618639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.890385723 meters 0.017864355286176917 Centerline is valid? [True, True] Translation: X:235.96, Y:-109.22, Z:-10.46 [[-6.75214922e-01 -7.37592545e-01 6.48436334e-03 2.35964593e+02] [-7.37555733e-01 6.75246029e-01 7.37164553e-03 -1.09221711e+02] [-9.81581138e-03 1.94865708e-04 -9.99951805e-01 -1.04617122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.950385723 meters 0.017743345800168526 Centerline is valid? [True, True] Translation: X:235.87, Y:-109.29, Z:-10.46 [[-6.17662132e-01 -7.86418373e-01 6.29554501e-03 2.35874589e+02] [-7.86373921e-01 6.17694177e-01 8.36422676e-03 -1.09288990e+02] [-1.04665031e-02 2.15613716e-04 -9.99945201e-01 -1.04621356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.010385723 meters 0.017209210067644174 Centerline is valid? [True, True] Translation: X:235.79, Y:-109.36, Z:-10.46 [[-5.53516447e-01 -8.32817020e-01 5.94588995e-03 2.35785947e+02] [-8.32765106e-01 5.53548347e-01 9.30091497e-03 -1.09361894e+02] [-1.10372978e-02 1.96679733e-04 -9.99939068e-01 -1.04605786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.070385723 meters 0.01667043672908463 Centerline is valid? [True, True] Translation: X:235.70, Y:-109.45, Z:-10.46 [[-4.85013786e-01 -8.74488784e-01 5.56723941e-03 2.35698035e+02] [-8.74427203e-01 4.85045709e-01 1.03792129e-02 -1.09448809e+02] [-1.17768709e-02 1.65915787e-04 -9.99930636e-01 -1.04592275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.130385723 meters 0.015912735231820206 Centerline is valid? [True, True] Translation: X:235.62, Y:-109.53, Z:-10.46 [[-4.14138970e-01 -9.10203473e-01 4.30708352e-03 2.35619005e+02] [-9.10151191e-01 4.14161349e-01 9.75635116e-03 -1.09534373e+02] [-1.06640922e-02 1.20388029e-04 -9.99943130e-01 -1.04593156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.190385723 meters 0.015923591210741144 Centerline is valid? [True, True] Translation: X:235.55, Y:-109.64, Z:-10.46 [[-3.41952797e-01 -9.39710810e-01 3.44657580e-03 2.35546480e+02] [-9.39659988e-01 3.41970150e-01 9.77361624e-03 -1.09635837e+02] [-1.03629989e-02 1.03506032e-04 -9.99946297e-01 -1.04578016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.250385723 meters 0.015392295287168076 Centerline is valid? [True, True] Translation: X:235.49, Y:-109.73, Z:-10.46 [[-2.68614553e-01 -9.63244994e-01 2.30291883e-03 2.35485212e+02] [-9.63206776e-01 2.68624410e-01 8.58102093e-03 -1.09732623e+02] [-8.88424567e-03 8.68000778e-05 -9.99960531e-01 -1.04587871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31038572299997 meters 0.015075347358093842 Centerline is valid? [True, True] Translation: X:235.43, Y:-109.84, Z:-10.46 [[-1.94608121e-01 -9.80880190e-01 1.31619488e-03 2.35430703e+02] [-9.80855058e-01 1.94612557e-01 7.02201374e-03 -1.09842280e+02] [-7.14390222e-03 7.55444914e-05 -9.99974479e-01 -1.04592485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37038572299997 meters 0.015229133216021021 Centerline is valid? [True, True] Translation: X:235.39, Y:-109.96, Z:-10.46 [[-1.19822792e-01 -9.92795107e-01 6.12052641e-04 2.35385175e+02] [-9.92779181e-01 1.19824337e-01 5.62368342e-03 -1.09957817e+02] [-5.65650419e-03 6.62123293e-05 -9.99984000e-01 -1.04586165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.430385723 meters 0.015204737516018403 Centerline is valid? [True, True] Translation: X:235.35, Y:-110.08, Z:-10.46 [[-4.32603821e-02 -9.99063825e-01 1.13411948e-04 2.35348809e+02] [-9.99057403e-01 4.32605107e-02 3.58255560e-03 -1.10077416e+02] [-3.58410796e-03 4.16776780e-05 -9.99993576e-01 -1.04594281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.490385723 meters 0.015291314427207048 Centerline is valid? [True, True] Translation: X:235.32, Y:-110.20, Z:-10.46 [[ 3.36043000e-02 -9.99435209e-01 -1.14627837e-04 2.35321780e+02] [-9.99431978e-01 -3.36044829e-02 2.54172170e-03 -1.10204952e+02] [-2.54413817e-03 2.91499475e-05 -9.99996763e-01 -1.04599345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.550385723 meters 0.015816518041006374 Centerline is valid? [True, True] Translation: X:235.30, Y:-110.33, Z:-10.46 [[ 1.08527848e-01 -9.94093323e-01 -4.12821002e-04 2.35304473e+02] [-9.94087660e-01 -1.08528623e-01 3.35606133e-03 -1.10325760e+02] [-3.38104106e-03 4.61541492e-05 -9.99994283e-01 -1.04583252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.610385723 meters 0.01669618524850952 Centerline is valid? [True, True] Translation: X:235.30, Y:-110.45, Z:-10.46 [[ 1.81541784e-01 -9.83382852e-01 -8.64090823e-04 2.35297750e+02] [-9.83373589e-01 -1.81543825e-01 4.26893006e-03 -1.10450795e+02] [-4.35486298e-03 7.47349148e-05 -9.99990515e-01 -1.04567138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.670385723 meters 0.01775891744499872 Centerline is valid? [True, True] Translation: X:235.30, Y:-110.58, Z:-10.46 [[ 2.54095149e-01 -9.67178449e-01 -1.22636961e-03 2.35302099e+02] [-9.67168822e-01 -2.54098092e-01 4.31605916e-03 -1.10580424e+02] [-4.48601758e-03 8.94167619e-05 -9.99989934e-01 -1.04555279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.730385723 meters 0.019301033127953796 Centerline is valid? [True, True] Translation: X:235.31, Y:-110.70, Z:-10.45 [[ 3.24468838e-01 -9.45895192e-01 -1.50298614e-03 2.35313893e+02] [-9.45886452e-01 -3.24472303e-01 4.06757034e-03 -1.10699215e+02] [-4.33517261e-03 1.01854407e-04 -9.99990598e-01 -1.04544354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.790385723 meters 0.020482598379335543 Centerline is valid? [True, True] Translation: X:235.33, Y:-110.82, Z:-10.46 [[ 3.94647626e-01 -9.18831529e-01 -1.36829118e-03 2.35334376e+02] [-9.18826708e-01 -3.94649990e-01 2.97766268e-03 -1.10818102e+02] [-3.27596645e-03 8.20949729e-05 -9.99994631e-01 -1.04559556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.850385723 meters 0.020596730364151432 Centerline is valid? [True, True] Translation: X:235.36, Y:-110.94, Z:-10.46 [[ 4.64164106e-01 -8.85748005e-01 -1.46792107e-03 2.35363457e+02] [-8.85744076e-01 -4.64166421e-01 2.63936116e-03 -1.10939553e+02] [-3.01916855e-03 7.51056842e-05 -9.99995439e-01 -1.04561860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.910385723 meters 0.01856306485824827 Centerline is valid? [True, True] Translation: X:235.40, Y:-111.06, Z:-10.46 [[ 5.33265968e-01 -8.45946367e-01 -1.46656096e-03 2.35396849e+02] [-8.45943461e-01 -5.33267982e-01 2.21797105e-03 -1.11059510e+02] [-2.65835456e-03 5.78591764e-05 -9.99996465e-01 -1.04569630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.970385723 meters 0.01632258719382318 Centerline is valid? [True, True] Translation: X:235.44, Y:-111.17, Z:-10.46 [[ 6.00190988e-01 -7.99855356e-01 -1.47895508e-03 2.35437440e+02] [-7.99853094e-01 -6.00192808e-01 1.90288692e-03 -1.11174710e+02] [-2.40969250e-03 4.08512179e-05 -9.99997096e-01 -1.04572319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.030385723 meters 0.014801400041131618 Centerline is valid? [True, True] Translation: X:235.49, Y:-111.29, Z:-10.46 [[ 6.63363682e-01 -7.48291912e-01 -2.80017553e-03 2.35487611e+02] [-7.48285568e-01 -6.63369590e-01 3.08157930e-03 -1.11288765e+02] [-4.16347216e-03 5.11231475e-05 -9.99991331e-01 -1.04556108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.090385723 meters 0.01452905563554392 Centerline is valid? [True, True] Translation: X:235.54, Y:-111.39, Z:-10.46 [[ 7.21558540e-01 -6.92350948e-01 -1.85432351e-03 2.35538838e+02] [-6.92348728e-01 -7.21560922e-01 1.75340042e-03 -1.11386923e+02] [-2.55197582e-03 1.86574793e-05 -9.99996744e-01 -1.04561644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.150385723 meters 0.014259102516084286 Centerline is valid? [True, True] Translation: X:235.56, Y:-111.42, Z:-10.46 [[ 7.74636565e-01 -6.32406139e-01 -8.17065109e-04 2.35555471e+02] [-6.32405793e-01 -7.74636996e-01 6.61927646e-04 -1.11415230e+02] [-1.05153597e-03 3.96334971e-06 -9.99999447e-01 -1.04579776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.210385723 meters 0.014207232506425384 Centerline is valid? [True, True] Translation: X:235.58, Y:-111.44, Z:-10.46 [[ 8.22160565e-01 -5.69255117e-01 -7.85957449e-04 2.35575614e+02] [-5.69254860e-01 -8.22160940e-01 5.41064142e-04 -1.11438901e+02] [-9.54187046e-04 2.56849744e-06 -9.99999545e-01 -1.04588035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.270385723 meters 0.014480786669895062 Centerline is valid? [True, True] Translation: X:235.60, Y:-111.46, Z:-10.46 [[ 8.63244587e-01 -5.04785252e-01 -7.94584220e-04 2.35599545e+02] [-5.04785043e-01 -8.63244953e-01 4.60012764e-04 -1.11460046e+02] [-9.18128477e-04 3.99070078e-06 -9.99999579e-01 -1.04590202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.330385723 meters 0.014906948859065666 Centerline is valid? [True, True] Translation: X:235.62, Y:-111.48, Z:-10.46 [[ 8.99171235e-01 -4.37595970e-01 -9.25779202e-04 2.35624851e+02] [-4.37595746e-01 -8.99171712e-01 4.42868202e-04 -1.11477392e+02] [-1.02623181e-03 6.90269235e-06 -9.99999473e-01 -1.04587661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.390385723 meters 0.015556718749394008 Centerline is valid? [True, True] Translation: X:235.65, Y:-111.49, Z:-10.46 [[ 9.29712930e-01 -3.68280844e-01 -1.75736800e-03 2.35652314e+02] [-3.68280226e-01 -9.29714590e-01 6.74765572e-04 -1.11490908e+02] [-1.88235390e-03 1.98656075e-05 -9.99998228e-01 -1.04579864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.450385723 meters 0.015142789509039575 Centerline is valid? [True, True] Translation: X:235.68, Y:-111.51, Z:-10.46 [[ 9.55402615e-01 -2.95299506e-01 -2.01151513e-03 2.35678282e+02] [-2.95298904e-01 -9.55404732e-01 5.96342564e-04 -1.11511781e+02] [-2.09791074e-03 2.42509709e-05 -9.99997799e-01 -1.04583204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.510385723 meters 0.015482942295195578 Centerline is valid? [True, True] Translation: X:235.71, Y:-111.53, Z:-10.46 [[ 9.75057539e-01 -2.21922220e-01 -3.65029571e-03 2.35706550e+02] [-2.21920872e-01 -9.75064370e-01 7.75465652e-04 -1.11527573e+02] [-3.73136635e-03 5.39531791e-05 -9.99993037e-01 -1.04580100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.570385723 meters 0.015783294010402727 Centerline is valid? [True, True] Translation: X:235.73, Y:-111.54, Z:-10.46 [[ 9.89216208e-01 -1.46407075e-01 -4.03262315e-03 2.35732628e+02] [-1.46406127e-01 -9.89224426e-01 5.30795285e-04 -1.11542585e+02] [-4.06688150e-03 6.53294381e-05 -9.99991728e-01 -1.04575761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.630385723 meters 0.015917977471228785 Centerline is valid? [True, True] Translation: X:235.76, Y:-111.56, Z:-10.46 [[ 9.97606146e-01 -6.91014167e-02 -2.64026005e-03 2.35759252e+02] [-6.91012884e-02 -9.97609639e-01 1.39896506e-04 -1.11558331e+02] [-2.64361592e-03 4.28837569e-05 -9.99996505e-01 -1.04587623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.690385723 meters 0.015539383484758421 Centerline is valid? [True, True] Translation: X:235.79, Y:-111.57, Z:-10.46 [[ 9.99937608e-01 1.11363930e-02 -8.71725466e-04 2.35787270e+02] [ 1.11363796e-02 -9.99937988e-01 -2.02222486e-05 -1.11572869e+02] [-8.71896611e-04 1.05131212e-05 -9.99999620e-01 -1.04609899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.750385723 meters 0.01626979108471065 Centerline is valid? [True, True] Translation: X:235.82, Y:-111.59, Z:-10.46 [[ 9.95775191e-01 9.18000963e-02 -2.12407860e-03 2.35817251e+02] [ 9.17998343e-02 -9.95777456e-01 -2.20695210e-04 -1.11588741e+02] [-2.13536943e-03 2.47727510e-05 -9.99997720e-01 -1.04590061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81038572299997 meters 0.014896881059807585 Centerline is valid? [True, True] Translation: X:235.85, Y:-111.60, Z:-10.46 [[ 9.85319347e-01 1.70699794e-01 -2.71374759e-03 2.35848776e+02] [ 1.70699064e-01 -9.85323084e-01 -4.99955575e-04 -1.11599659e+02] [-2.75926046e-03 2.93817266e-05 -9.99996193e-01 -1.04595604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87038572299997 meters 0.015098448695189903 Centerline is valid? [True, True] Translation: X:235.88, Y:-111.61, Z:-10.46 [[ 9.69074693e-01 2.46733427e-01 -4.10546941e-03 2.35882202e+02] [ 2.46730997e-01 -9.69083388e-01 -1.09620583e-03 -1.11610145e+02] [-4.24901282e-03 4.93587703e-05 -9.99990972e-01 -1.04578557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.930385723 meters 0.015513201750239385 Centerline is valid? [True, True] Translation: X:235.91, Y:-111.61, Z:-10.46 [[ 9.47365101e-01 3.20103640e-01 -5.74678827e-03 2.35913964e+02] [ 3.20097217e-01 -9.47382527e-01 -2.02958881e-03 -1.11613555e+02] [-6.09408556e-03 8.32306765e-05 -9.99981427e-01 -1.04579234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.990385723 meters 0.018281274268250134 Centerline is valid? [True, True] Translation: X:235.95, Y:-111.61, Z:-10.46 [[ 9.21217876e-01 3.88993410e-01 -6.46164333e-03 2.35945241e+02] [ 3.88982846e-01 -9.21240528e-01 -2.86971148e-03 -1.11612907e+02] [-7.06902657e-03 1.30161104e-04 -9.99975006e-01 -1.04557392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.050385723 meters 0.018469120136387775 Centerline is valid? [True, True] Translation: X:235.98, Y:-111.61, Z:-10.46 [[ 8.90248151e-01 4.55427728e-01 -6.61924278e-03 2.35975672e+02] [ 4.55413656e-01 -8.90272741e-01 -3.58450638e-03 -1.11606314e+02] [-7.52541501e-03 1.76606626e-04 -9.99971668e-01 -1.04565520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.110385723 meters 0.017615762496274247 Centerline is valid? [True, True] Translation: X:236.01, Y:-111.60, Z:-10.46 [[ 8.53250543e-01 5.21454502e-01 -6.97943221e-03 2.36011243e+02] [ 5.21434957e-01 -8.53279060e-01 -4.51999265e-03 -1.11604814e+02] [-8.31237387e-03 2.17366247e-04 -9.99965428e-01 -1.04573199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.170385723 meters 0.019158990530354397 Centerline is valid? [True, True] Translation: X:236.04, Y:-111.60, Z:-10.46 [[ 8.11527793e-01 5.84280363e-01 -6.25287815e-03 2.36044656e+02] [ 5.84260828e-01 -8.11551850e-01 -4.78331443e-03 -1.11598804e+02] [-7.86933152e-03 2.28480839e-04 -9.99969010e-01 -1.04575105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.230385723 meters 0.020325818927694566 Centerline is valid? [True, True] Translation: X:236.08, Y:-111.59, Z:-10.46 [[ 7.64189181e-01 6.44969105e-01 -5.45427822e-03 2.36081438e+02] [ 6.44950572e-01 -7.64208613e-01 -4.89452504e-03 -1.11593633e+02] [-7.32502383e-03 2.22603223e-04 -9.99973147e-01 -1.04573995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.290385723 meters 0.019269115124608556 Centerline is valid? [True, True] Translation: X:236.11, Y:-111.58, Z:-10.46 [[ 7.09700987e-01 7.04487184e-01 -4.72412260e-03 2.36113358e+02] [ 7.04469752e-01 -7.09716684e-01 -4.95947801e-03 -1.11581218e+02] [-6.84667732e-03 1.91744958e-04 -9.99976543e-01 -1.04584606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.350385723 meters 0.017587631357755342 Centerline is valid? [True, True] Translation: X:236.15, Y:-111.57, Z:-10.46 [[ 6.47937275e-01 7.61673546e-01 -5.54050050e-03 2.36149030e+02] [ 7.61643090e-01 -6.47960934e-01 -6.81411310e-03 -1.11569056e+02] [-8.78015756e-03 1.95233958e-04 -9.99961435e-01 -1.04556443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.410385723 meters 0.01774813424733797 Centerline is valid? [True, True] Translation: X:236.19, Y:-111.56, Z:-10.45 [[ 5.81471441e-01 8.13544628e-01 -6.00849917e-03 2.36188275e+02] [ 8.13498101e-01 -5.81502458e-01 -8.70235393e-03 -1.11556149e+02] [-1.05737103e-02 1.72267617e-04 -9.99944082e-01 -1.04543018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.470385723 meters 0.01571338294208532 Centerline is valid? [True, True] Translation: X:236.22, Y:-111.54, Z:-10.46 [[ 5.13002267e-01 8.58372434e-01 -5.04364570e-03 2.36218391e+02] [ 8.58328468e-01 -5.13027044e-01 -8.68867071e-03 -1.11535868e+02] [-1.00456421e-02 1.28203079e-04 -9.99949533e-01 -1.04550864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.530385723 meters 0.015144234997436145 Centerline is valid? [True, True] Translation: X:236.25, Y:-111.51, Z:-10.46 [[ 4.43251423e-01 8.96385758e-01 -4.55495496e-03 2.36248325e+02] [ 8.96335546e-01 -4.43274810e-01 -9.48849984e-03 -1.11513483e+02] [-1.05244529e-02 1.23023022e-04 -9.99944609e-01 -1.04553515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.590385723 meters 0.015005056139451191 Centerline is valid? [True, True] Translation: X:236.28, Y:-111.49, Z:-10.46 [[ 3.71098110e-01 9.28585798e-01 -3.82204574e-03 2.36275104e+02] [ 9.28533265e-01 -3.71117774e-01 -9.87796375e-03 -1.11488249e+02] [-1.05909660e-02 1.16797069e-04 -9.99943907e-01 -1.04554235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.650385723 meters 0.014831556646342585 Centerline is valid? [True, True] Translation: X:236.30, Y:-111.46, Z:-10.46 [[ 2.96436910e-01 9.55046883e-01 -3.25721185e-03 2.36300585e+02] [ 9.54984863e-01 -2.96454782e-01 -1.08845453e-02 -1.11460575e+02] [-1.13608671e-02 1.15992979e-04 -9.99935457e-01 -1.04556429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.710385723 meters 0.015790040198534507 Centerline is valid? [True, True] Translation: X:236.32, Y:-111.43, Z:-10.45 [[ 2.20854396e-01 9.75304204e-01 -2.24609357e-03 2.36316236e+02] [ 9.75248589e-01 -2.20865790e-01 -1.04159666e-02 -1.11430358e+02] [-1.06548212e-02 1.09912423e-04 -9.99943230e-01 -1.04541746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.770385723 meters 0.01547550515352225 Centerline is valid? [True, True] Translation: X:236.33, Y:-111.40, Z:-10.46 [[ 1.44139827e-01 9.89556378e-01 -1.37290391e-03 2.36333550e+02] [ 9.89503973e-01 -1.44146324e-01 -1.01844964e-02 -1.11399348e+02] [-1.02760324e-02 1.09497673e-04 -9.99947194e-01 -1.04560193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.830385723 meters 0.015098031967615253 Centerline is valid? [True, True] Translation: X:236.35, Y:-111.37, Z:-10.46 [[ 6.82014233e-02 9.97671383e-01 -6.13761807e-04 2.36345888e+02] [ 9.97610454e-01 -6.82040418e-02 -1.10267847e-02 -1.11366742e+02] [-1.10429685e-02 1.39747213e-04 -9.99939015e-01 -1.04556206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.890385723 meters 0.015554893798314047 Centerline is valid? [True, True] Translation: X:236.35, Y:-111.33, Z:-10.45 [[-8.42568571e-03 9.99964467e-01 2.70256980e-04 2.36352658e+02] [ 9.99894509e-01 8.42829335e-03 -1.18294250e-02 -1.11333317e+02] [-1.18312825e-02 1.70557453e-04 -9.99929993e-01 -1.04546666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.950385723 meters 0.015547707160094534 Centerline is valid? [True, True] Translation: X:236.36, Y:-111.30, Z:-10.46 [[-8.55814983e-02 9.96330428e-01 1.21855795e-03 2.36359189e+02] [ 9.96258198e-01 8.55899685e-02 -1.19983836e-02 -1.11300470e+02] [-1.20586510e-02 1.87158703e-04 -9.99927274e-01 -1.04554795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.010385723 meters 0.015716587165832633 Centerline is valid? [True, True] Translation: X:236.36, Y:-111.27, Z:-10.46 [[-1.62973842e-01 9.86628218e-01 2.07041482e-03 2.36361719e+02] [ 9.86562350e-01 1.62986889e-01 -1.14019129e-02 -1.11267643e+02] [-1.15868995e-02 1.84379750e-04 -9.99932853e-01 -1.04561525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.070385723 meters 0.015718812785634154 Centerline is valid? [True, True] Translation: X:236.36, Y:-111.24, Z:-10.46 [[-2.41017722e-01 9.70517185e-01 2.61736135e-03 2.36360110e+02] [ 9.70466526e-01 2.41031887e-01 -9.91726895e-03 -1.11236161e+02] [-1.02557475e-02 1.49824001e-04 -9.99947397e-01 -1.04573187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.130385723 meters 0.014945971210272644 Centerline is valid? [True, True] Translation: X:236.36, Y:-111.20, Z:-10.46 [[-3.18092675e-01 9.48053405e-01 3.43379877e-03 2.36360370e+02] [ 9.48002577e-01 3.18111181e-01 -9.81784879e-03 -1.11202670e+02] [-1.04001748e-02 1.32264297e-04 -9.99945908e-01 -1.04587719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.190385723 meters 0.014964889226679436 Centerline is valid? [True, True] Translation: X:236.36, Y:-111.17, Z:-10.46 [[-3.92446146e-01 9.19763984e-01 4.49855511e-03 2.36357884e+02] [ 9.19707274e-01 3.92471907e-01 -1.02143202e-02 -1.11169026e+02] [-1.11603203e-02 1.28783272e-04 -9.99937713e-01 -1.04581142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.250385723 meters 0.014664155453444676 Centerline is valid? [True, True] Translation: X:236.35, Y:-111.14, Z:-10.46 [[-4.65888635e-01 8.84827570e-01 5.28684306e-03 2.36350881e+02] [ 8.84772919e-01 4.65918621e-01 -9.83463838e-03 -1.11136558e+02] [-1.11651978e-02 9.58093215e-05 -9.99937663e-01 -1.04588768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31038572299997 meters 0.014261279947097364 Centerline is valid? [True, True] Translation: X:236.34, Y:-111.10, Z:-10.46 [[-5.36545268e-01 8.43853652e-01 5.49448597e-03 2.36343119e+02] [ 8.43810421e-01 5.36573398e-01 -8.54180535e-03 -1.11103716e+02] [-1.01562286e-02 5.32392726e-05 -9.99948423e-01 -1.04604962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37038572299997 meters 0.014343633878905247 Centerline is valid? [True, True] Translation: X:236.33, Y:-111.08, Z:-10.46 [[-6.04394212e-01 7.96651431e-01 7.35757409e-03 2.36331393e+02] [ 7.96592648e-01 6.04438993e-01 -9.67762384e-03 -1.11075399e+02] [-1.21568976e-02 1.18895993e-05 -9.99926102e-01 -1.04582053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.430385723 meters 0.014468435768537206 Centerline is valid? [True, True] Translation: X:236.32, Y:-111.05, Z:-10.46 [[-6.66629031e-01 7.45336050e-01 8.93911093e-03 2.36316369e+02] [ 7.45268705e-01 6.66688962e-01 -1.00192674e-02 -1.11048134e+02] [-1.34273277e-02 -1.70948593e-05 -9.99909849e-01 -1.04578463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.490385723 meters 0.014694927322265327 Centerline is valid? [True, True] Translation: X:236.30, Y:-111.03, Z:-10.46 [[-7.24720564e-01 6.88976667e-01 9.55284520e-03 2.36296252e+02] [ 6.88915891e-01 7.24783519e-01 -9.15127104e-03 -1.11025458e+02] [-1.32287570e-02 -5.10074430e-05 -9.99912495e-01 -1.04584008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.550385723 meters 0.014971462041634449 Centerline is valid? [True, True] Translation: X:236.31, Y:-111.01, Z:-10.46 [[-7.72224856e-01 6.35279876e-01 9.39420485e-03 2.36308477e+02] [ 6.35231945e-01 7.72281992e-01 -7.80388159e-03 -1.11012413e+02] [-1.22126242e-02 -5.88523156e-05 -9.99925421e-01 -1.04590226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.610385723 meters 0.014984739461610247 Centerline is valid? [True, True] Translation: X:236.32, Y:-111.00, Z:-10.46 [[-8.14984882e-01 5.79415572e-01 8.78843147e-03 2.36322223e+02] [ 5.79381255e-01 8.15032265e-01 -6.30620774e-03 -1.10996805e+02] [-1.08167702e-02 -4.76115177e-05 -9.99941496e-01 -1.04602679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.670385723 meters 0.015095959490209384 Centerline is valid? [True, True] Translation: X:236.33, Y:-110.98, Z:-10.46 [[-8.53218866e-01 5.21488807e-01 8.18485882e-03 2.36330214e+02] [ 5.21464486e-01 8.53258123e-01 -5.03644362e-03 -1.10982236e+02] [-9.61024624e-03 -2.90755147e-05 -9.99953820e-01 -1.04609308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.730385723 meters 0.01507460139441623 Centerline is valid? [True, True] Translation: X:236.34, Y:-110.97, Z:-10.46 [[-8.87515222e-01 4.60707182e-01 8.10087887e-03 2.36342283e+02] [ 4.60687801e-01 8.87552191e-01 -4.22582715e-03 -1.10970895e+02] [-9.13682171e-03 -1.85098463e-05 -9.99958258e-01 -1.04640173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.790385723 meters 0.015272021576331856 Centerline is valid? [True, True] Translation: X:236.35, Y:-110.96, Z:-10.46 [[-9.17605824e-01 3.97418120e-01 7.64131971e-03 2.36353579e+02] [ 3.97404245e-01 9.17637640e-01 -3.32083613e-03 -1.10955394e+02] [-8.33172304e-03 -1.05256794e-05 -9.99965291e-01 -1.04643377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.850385723 meters 0.015419012898070501 Centerline is valid? [True, True] Translation: X:236.67, Y:-110.25, Z:-11.45 [[-8.88886583e-01 -4.58083358e-01 6.34661746e-03 2.36665346e+02] [ 4.58071210e-01 -8.88909238e-01 -3.33658958e-03 -1.10252647e+02] [ 7.17000305e-03 -5.86469658e-05 9.99974293e-01 -1.14532954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.910385723 meters 0.015807711929115797 Centerline is valid? [True, True] Translation: X:236.27, Y:-110.94, Z:-10.47 [[-9.17878930e-01 3.96811294e-01 6.25039099e-03 2.36274219e+02] [ 3.96802174e-01 9.17900211e-01 -2.69033473e-03 -1.10935194e+02] [-6.80479041e-03 1.07671719e-05 -9.99976847e-01 -1.04652971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.970385723 meters 0.015444629992287592 Centerline is valid? [True, True] Translation: X:236.27, Y:-110.90, Z:-10.47 [[-9.44441461e-01 3.28632676e-01 5.55795805e-03 2.36274319e+02] [ 3.28626955e-01 9.44457815e-01 -1.93909373e-03 -1.10903849e+02] [-5.88650648e-03 -4.86568328e-06 -9.99982674e-01 -1.04652366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.030385723 meters 0.015471599245274449 Centerline is valid? [True, True] Translation: X:236.57, Y:-110.18, Z:-11.45 [[-9.19841819e-01 -3.92235617e-01 6.49982083e-03 2.36568148e+02] [ 3.92226412e-01 -9.19864781e-01 -2.68828801e-03 -1.10179817e+02] [ 7.03339857e-03 7.66016691e-05 9.99975262e-01 -1.14540166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.090385723 meters 0.015468495281138916 Centerline is valid? [True, True] Translation: X:236.25, Y:-110.90, Z:-10.46 [[-9.44968109e-01 3.27089619e-01 6.90315820e-03 2.36248130e+02] [ 3.27080961e-01 9.44993323e-01 -2.37989542e-03 -1.10896115e+02] [-7.30187750e-03 8.96634633e-06 -9.99973341e-01 -1.04628871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.150385723 meters 0.01570215234992199 Centerline is valid? [True, True] Translation: X:236.54, Y:-110.17, Z:-11.46 [[-9.23506779e-01 -3.83523148e-01 6.72487057e-03 2.36537149e+02] [ 3.83512903e-01 -9.23531263e-01 -2.80339692e-03 -1.10170844e+02] [ 7.28579583e-03 -9.88143017e-06 9.99973458e-01 -1.14562651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.210385723 meters 0.01595026665107793 Centerline is valid? [True, True] Translation: X:236.24, Y:-110.90, Z:-10.46 [[-9.43846716e-01 3.30314869e-01 6.74264152e-03 2.36238589e+02] [ 3.30306891e-01 9.43870798e-01 -2.29658489e-03 -1.10895358e+02] [-7.12277857e-03 5.95168495e-05 -9.99974631e-01 -1.04628295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.270385723 meters 0.015954867761779776 Centerline is valid? [True, True] Translation: X:236.50, Y:-110.16, Z:-11.45 [[-9.26903297e-01 -3.75258976e-01 5.56582978e-03 2.36500050e+02] [ 3.75251468e-01 -9.26920001e-01 -2.37657807e-03 -1.10158390e+02] [ 6.05091120e-03 -1.14272260e-04 9.99981687e-01 -1.14539542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.330385723 meters 0.01600425910599671 Centerline is valid? [True, True] Translation: X:236.20, Y:-110.88, Z:-10.46 [[-9.44479474e-01 3.28533471e-01 4.92752991e-03 2.36195129e+02] [ 3.28529289e-01 9.44492327e-01 -1.65858135e-03 -1.10879445e+02] [-5.19891367e-03 5.23418588e-05 -9.99986484e-01 -1.04638719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.390385723 meters 0.015699161445779247 Centerline is valid? [True, True] Translation: X:236.43, Y:-110.14, Z:-11.46 [[-9.27864305e-01 -3.72894182e-01 4.21440315e-03 2.36434040e+02] [ 3.72889920e-01 -9.27873872e-01 -1.78484686e-03 -1.10141647e+02] [ 4.57599358e-03 -8.45872383e-05 9.99989527e-01 -1.14551651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.450385723 meters 0.015815508237082145 Centerline is valid? [True, True] Translation: X:236.15, Y:-110.86, Z:-10.46 [[-9.45744603e-01 3.24877095e-01 4.69235421e-03 2.36152309e+02] [ 3.24873355e-01 9.45756243e-01 -1.55974653e-03 -1.10862920e+02] [-4.94454921e-03 4.92989894e-05 -9.99987774e-01 -1.04623498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.510385723 meters 0.01599289651762628 Centerline is valid? [True, True] Translation: X:236.15, Y:-110.84, Z:-10.46 [[-9.65471595e-01 2.60457824e-01 5.13048744e-03 2.36154802e+02] [ 2.60454539e-01 9.65485224e-01 -1.31006486e-03 -1.10836907e+02] [-5.29462646e-03 7.14283362e-05 -9.99985981e-01 -1.04625739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.570385723 meters 0.016425420597660598 Centerline is valid? [True, True] Translation: X:236.36, Y:-110.08, Z:-11.46 [[-9.55183679e-01 -2.95974201e-01 4.83850333e-03 2.36358838e+02] [ 2.95969975e-01 -9.55195930e-01 -1.58387164e-03 -1.10084469e+02] [ 5.09050383e-03 -8.08366329e-05 9.99987040e-01 -1.14562953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.630385723 meters 0.01643279565889291 Centerline is valid? [True, True] Translation: X:236.11, Y:-110.83, Z:-10.46 [[-9.65623692e-01 2.59886736e-01 5.45620599e-03 2.36112253e+02] [ 2.59883136e-01 9.65639102e-01 -1.37121896e-03 -1.10829325e+02] [-5.62508748e-03 9.38944079e-05 -9.99984175e-01 -1.04607134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.690385723 meters 0.016127557586095395 Centerline is valid? [True, True] Translation: X:236.11, Y:-110.80, Z:-10.46 [[-9.81661891e-01 1.90512678e-01 6.69713242e-03 2.36114769e+02] [ 1.90509024e-01 9.81684729e-01 -1.18529022e-03 -1.10801242e+02] [-6.80028544e-03 1.12309917e-04 -9.99976871e-01 -1.04602604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.750385723 meters 0.01605792074478244 Centerline is valid? [True, True] Translation: X:236.12, Y:-110.77, Z:-10.46 [[-9.92841331e-01 1.19183138e-01 7.84033242e-03 2.36116841e+02] [ 1.19180384e-01 9.92872280e-01 -8.19254478e-04 -1.10774079e+02] [-7.88209004e-03 1.21024119e-04 -9.99968929e-01 -1.04593505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81038572299997 meters 0.015536314315578762 Centerline is valid? [True, True] Translation: X:236.21, Y:-110.00, Z:-11.46 [[-9.87418917e-01 -1.57984809e-01 6.68455308e-03 2.36205475e+02] [ 1.57979975e-01 -9.87441527e-01 -1.24846511e-03 -1.09995505e+02] [ 6.79784382e-03 -1.76732533e-04 9.99976879e-01 -1.14577962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87038572299997 meters 0.01506794127925557 Centerline is valid? [True, True] Translation: X:236.07, Y:-110.77, Z:-10.46 [[-9.94031289e-01 1.09006325e-01 4.40653182e-03 2.36066270e+02] [ 1.09005433e-01 9.94041055e-01 -4.42703633e-04 -1.10765238e+02] [-4.42853104e-03 4.02746484e-05 -9.99990193e-01 -1.04614983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.930385723 meters 0.014816237507734696 Centerline is valid? [True, True] Translation: X:236.06, Y:-110.74, Z:-10.46 [[-9.99322988e-01 3.65517299e-02 4.18759890e-03 2.36064627e+02] [ 3.65515394e-02 9.99331762e-01 -1.22062338e-04 -1.10735135e+02] [-4.18926217e-03 3.10834856e-05 -9.99991225e-01 -1.04615137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.990385723 meters 0.014790969968829178 Centerline is valid? [True, True] Translation: X:236.10, Y:-109.96, Z:-11.46 [[-9.96113893e-01 -8.80196290e-02 3.10773349e-03 2.36095455e+02] [ 8.80189140e-02 -9.96118736e-01 -3.66366979e-04 -1.09963624e+02] [ 3.12791905e-03 -9.14039104e-05 9.99995104e-01 -1.14555989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.050385723 meters 0.014983270587759855 Centerline is valid? [True, True] Translation: X:236.00, Y:-110.73, Z:-10.46 [[-9.99431018e-01 3.35794908e-02 3.17142126e-03 2.35998741e+02] [ 3.35794129e-02 9.99436049e-01 -7.78157001e-05 -1.10733321e+02] [-3.17224575e-03 2.87230398e-05 -9.99994968e-01 -1.04614594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.110385723 meters 0.015519954687969916 Centerline is valid? [True, True] Translation: X:236.02, Y:-109.96, Z:-11.46 [[-9.96920255e-01 -7.83524922e-02 3.30037063e-03 2.36023516e+02] [ 7.83519915e-02 -9.96925718e-01 -2.80915719e-04 -1.09958929e+02] [ 3.31223481e-03 -2.14599579e-05 9.99994514e-01 -1.14558741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.170385723 meters 0.015815798351204037 Centerline is valid? [True, True] Translation: X:235.93, Y:-110.73, Z:-10.46 [[-9.99404038e-01 3.42995210e-02 3.88736972e-03 2.35930653e+02] [ 3.42994808e-02 9.99411597e-01 -7.70147058e-05 -1.10734482e+02] [-3.88772395e-03 5.63659553e-05 -9.99992441e-01 -1.04605990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.230385723 meters 0.01592707613061404 Centerline is valid? [True, True] Translation: X:235.93, Y:-109.96, Z:-11.46 [[-9.97400726e-01 -7.18901063e-02 4.85835391e-03 2.35932909e+02] [ 7.18892162e-02 -9.97412559e-01 -3.57815062e-04 -1.09955813e+02] [ 4.87150656e-03 -7.62174872e-06 9.99988134e-01 -1.14580856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.290385723 meters 0.016193763572695072 Centerline is valid? [True, True] Translation: X:235.85, Y:-110.73, Z:-10.46 [[-9.99523475e-01 3.04118850e-02 5.28582218e-03 2.35850630e+02] [ 3.04119068e-02 9.99537448e-01 -7.62607644e-05 -1.10732361e+02] [-5.28569645e-03 8.45275073e-05 -9.99986027e-01 -1.04584808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.350385723 meters 0.016810635779429872 Centerline is valid? [True, True] Translation: X:235.87, Y:-109.95, Z:-11.46 [[-9.97984630e-01 -6.33109170e-02 4.29034347e-03 2.35869102e+02] [ 6.33097694e-02 -9.97993843e-01 -4.02918845e-04 -1.09954374e+02] [ 4.30724553e-03 -1.30486159e-04 9.99990715e-01 -1.14588752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.410385723 meters 0.01874620633763398 Centerline is valid? [True, True] Translation: X:235.78, Y:-110.73, Z:-10.46 [[-9.99538697e-01 3.01901890e-02 3.30841475e-03 2.35780924e+02] [ 3.01902456e-02 9.99544170e-01 -3.28342726e-05 -1.10733814e+02] [-3.30789795e-03 6.70627279e-05 -9.99994527e-01 -1.04592293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.470385723 meters 0.016586901140560818 Centerline is valid? [True, True] Translation: X:235.78, Y:-110.70, Z:-10.46 [[-9.99121686e-01 -4.17972395e-02 2.97444269e-03 2.35781323e+02] [-4.17968823e-02 9.99126112e-01 1.82174225e-04 -1.10702105e+02] [-2.97945774e-03 5.76917884e-05 -9.99995560e-01 -1.04601144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.530385723 meters 0.01621947800852464 Centerline is valid? [True, True] Translation: X:235.77, Y:-110.67, Z:-10.46 [[-9.93442261e-01 -1.14285068e-01 3.37589676e-03 2.35769397e+02] [-1.14284200e-01 9.93447995e-01 4.49809792e-04 -1.10672371e+02] [-3.40518441e-03 6.10483986e-05 -9.99994200e-01 -1.04601589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.590385723 meters 0.016379714525568974 Centerline is valid? [True, True] Translation: X:235.76, Y:-110.64, Z:-10.46 [[-9.82740689e-01 -1.84963992e-01 3.01003985e-03 2.35757490e+02] [-1.84962954e-01 9.82745297e-01 6.21926918e-04 -1.10644253e+02] [-3.07313659e-03 5.44470245e-05 -9.99995276e-01 -1.04595011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.650385723 meters 0.016548498356205192 Centerline is valid? [True, True] Translation: X:235.73, Y:-110.62, Z:-10.46 [[-9.66941417e-01 -2.54979430e-01 3.12841392e-03 2.35732825e+02] [-2.54977903e-01 9.66946476e-01 8.84276598e-04 -1.10620737e+02] [-3.25048116e-03 5.73672435e-05 -9.99994716e-01 -1.04583779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.710385723 meters 0.016454369132141034 Centerline is valid? [True, True] Translation: X:235.70, Y:-110.60, Z:-10.46 [[-9.45712682e-01 -3.24991529e-01 2.83358932e-03 2.35695285e+02] [-3.24989906e-01 9.45716926e-01 1.02831907e-03 -1.10601262e+02] [-3.01396837e-03 5.16064556e-05 -9.99995457e-01 -1.04578047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.770385723 meters 0.015480999947943368 Centerline is valid? [True, True] Translation: X:235.63, Y:-110.59, Z:-10.46 [[-9.18357726e-01 -3.95734851e-01 3.60765886e-03 2.35632690e+02] [-3.95731546e-01 9.18364810e-01 1.61838535e-03 -1.10593231e+02] [-3.95359843e-03 5.85922727e-05 -9.99992183e-01 -1.04576783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.830385723 meters 0.015140559276606472 Centerline is valid? [True, True] Translation: X:235.56, Y:-110.59, Z:-10.46 [[-8.85482908e-01 -4.64655074e-01 3.95991097e-03 2.35563433e+02] [-4.64650146e-01 8.85491761e-01 2.14072364e-03 -1.10591875e+02] [-4.50116664e-03 5.56009805e-05 -9.99989868e-01 -1.04568581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.890385723 meters 0.015132126872764856 Centerline is valid? [True, True] Translation: X:235.49, Y:-110.60, Z:-10.46 [[-8.48509845e-01 -5.29167528e-01 3.57351781e-03 2.35486858e+02] [-5.29162575e-01 8.48517368e-01 2.29022356e-03 -1.10603063e+02] [-4.24410387e-03 5.23053548e-05 -9.99990992e-01 -1.04566879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.950385723 meters 0.015723850056873913 Centerline is valid? [True, True] Translation: X:235.40, Y:-110.63, Z:-10.46 [[-8.08180621e-01 -5.88923561e-01 3.62248311e-03 2.35403897e+02] [-5.88917265e-01 8.08188737e-01 2.72407685e-03 -1.10626600e+02] [-4.53192309e-03 6.82032775e-05 -9.99989728e-01 -1.04565701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.010385723 meters 0.017064215437492855 Centerline is valid? [True, True] Translation: X:235.32, Y:-110.66, Z:-10.46 [[-7.64788817e-01 -6.44269651e-01 3.83169957e-03 2.35318899e+02] [-6.44260889e-01 7.64798409e-01 3.36160852e-03 -1.10659036e+02] [-5.09626008e-03 1.02306429e-04 -9.99987009e-01 -1.04555620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.070385723 meters 0.017208772641556267 Centerline is valid? [True, True] Translation: X:235.23, Y:-110.70, Z:-10.46 [[-7.17087762e-01 -6.96975291e-01 3.25363723e-03 2.35228754e+02] [-6.96967388e-01 7.17095134e-01 3.32110680e-03 -1.10700330e+02] [-4.64789680e-03 1.13845995e-04 -9.99989192e-01 -1.04551837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.130385723 meters 0.017820974758693677 Centerline is valid? [True, True] Translation: X:235.14, Y:-110.76, Z:-10.46 [[-6.64072553e-01 -7.47663584e-01 2.60959953e-03 2.35136673e+02] [-7.47657158e-01 6.64077672e-01 3.10159411e-03 -1.10755160e+02] [-4.05192575e-03 1.08597752e-04 -9.99991785e-01 -1.04552226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.190385723 meters 0.018828647005948163 Centerline is valid? [True, True] Translation: X:235.05, Y:-110.82, Z:-10.45 [[-6.05096968e-01 -7.96146906e-01 2.78614822e-03 2.35048098e+02] [-7.96137487e-01 6.05103369e-01 3.87485593e-03 -1.10816918e+02] [-4.77086224e-03 1.26506531e-04 -9.99988611e-01 -1.04534252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.250385723 meters 0.018625686043540146 Centerline is valid? [True, True] Translation: X:234.96, Y:-110.89, Z:-10.45 [[-5.41491940e-01 -8.40701596e-01 2.70281170e-03 2.34959922e+02] [-8.40689901e-01 5.41498670e-01 4.43628676e-03 -1.10890802e+02] [-5.19316230e-03 1.29987029e-04 -9.99986507e-01 -1.04523963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31038572299997 meters 0.017797305532503492 Centerline is valid? [True, True] Translation: X:234.87, Y:-110.97, Z:-10.45 [[-4.73486348e-01 -8.80797627e-01 2.49372499e-03 2.34873538e+02] [-8.80784019e-01 4.73492899e-01 4.89758296e-03 -1.10972176e+02] [-5.49454053e-03 1.22505549e-04 -9.99984897e-01 -1.04522474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37038572299997 meters 0.017429033204015287 Centerline is valid? [True, True] Translation: X:234.79, Y:-111.06, Z:-10.45 [[-4.03198672e-01 -9.15110535e-01 1.88151009e-03 2.34794268e+02] [-9.15099388e-01 4.03203050e-01 4.51779922e-03 -1.11058426e+02] [-4.89291627e-03 9.98019178e-05 -9.99988025e-01 -1.04522505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.430385723 meters 0.016841073939685453 Centerline is valid? [True, True] Translation: X:234.72, Y:-111.15, Z:-10.45 [[-3.31766953e-01 -9.43360551e-01 1.24890456e-03 2.34720368e+02] [-9.43352941e-01 3.31769295e-01 3.79005800e-03 -1.11154882e+02] [-3.98973939e-03 7.92582017e-05 -9.99992038e-01 -1.04526608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.490385723 meters 0.016920638050042642 Centerline is valid? [True, True] Translation: X:234.66, Y:-111.25, Z:-10.45 [[-2.57829001e-01 -9.66190348e-01 6.46107441e-04 2.34655404e+02] [-9.66186808e-01 2.57829806e-01 2.61613339e-03 -1.11254684e+02] [-2.69426859e-03 5.02545737e-05 -9.99996369e-01 -1.04532403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.550385723 meters 0.01728790237486944 Centerline is valid? [True, True] Translation: X:234.60, Y:-111.37, Z:-10.45 [[-1.80071391e-01 -9.83653369e-01 5.85834529e-04 2.34595440e+02] [-9.83647122e-01 1.80072336e-01 3.50615376e-03 -1.11365410e+02] [-3.55433256e-03 5.51035382e-05 -9.99993682e-01 -1.04515349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.610385723 meters 0.016042120173405516 Centerline is valid? [True, True] Translation: X:234.55, Y:-111.48, Z:-10.45 [[-1.02879467e-01 -9.94693761e-01 3.69794125e-04 2.34548562e+02] [-9.94685130e-01 1.02880115e-01 4.14426958e-03 -1.11478923e+02] [-4.16032356e-03 5.85315273e-05 -9.99991344e-01 -1.04517914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.670385723 meters 0.01615020226547811 Centerline is valid? [True, True] Translation: X:234.51, Y:-111.59, Z:-10.45 [[-2.58425725e-02 -9.99666023e-01 6.46166739e-05 2.34508778e+02] [-9.99652466e-01 2.58425586e-02 5.20657999e-03 -1.11594631e+02] [-5.20651097e-03 6.99572035e-05 -9.99986444e-01 -1.04500478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.730385723 meters 0.01704722708092946 Centerline is valid? [True, True] Translation: X:234.48, Y:-111.71, Z:-10.45 [[ 4.80638447e-02 -9.98844182e-01 -4.08650307e-04 2.34481866e+02] [-9.98823944e-01 -4.80654726e-02 6.35919228e-03 -1.11713094e+02] [-6.37148419e-03 1.02522481e-04 -9.99979697e-01 -1.04477232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.790385723 meters 0.016820178634279266 Centerline is valid? [True, True] Translation: X:234.46, Y:-111.83, Z:-10.45 [[ 1.19746010e-01 -9.92804098e-01 -9.57699663e-04 2.34464868e+02] [-9.92781065e-01 -1.19749757e-01 6.76408823e-03 -1.11829465e+02] [-6.83009881e-03 1.40813517e-04 -9.99976665e-01 -1.04494003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.850385723 meters 0.01790636272402999 Centerline is valid? [True, True] Translation: X:234.46, Y:-111.95, Z:-10.45 [[ 1.92943847e-01 -9.81209054e-01 -1.20977234e-03 2.34459460e+02] [-9.81193728e-01 -1.92947596e-01 5.48580613e-03 -1.11949357e+02] [-5.61614531e-03 1.28568490e-04 -9.99984221e-01 -1.04494055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.910385723 meters 0.017279703965580005 Centerline is valid? [True, True] Translation: X:234.46, Y:-112.07, Z:-10.45 [[ 2.68986631e-01 -9.63142129e-01 -1.85219836e-03 2.34457954e+02] [-9.63122635e-01 -2.68992974e-01 6.12939712e-03 -1.12071300e+02] [-6.40170894e-03 1.35168278e-04 -9.99979500e-01 -1.04478651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.970385723 meters 0.017036979599545168 Centerline is valid? [True, True] Translation: X:234.47, Y:-112.19, Z:-10.45 [[ 3.43677338e-01 -9.39085216e-01 -2.20098083e-03 2.34470684e+02] [-9.39068065e-01 -3.43684366e-01 5.67683742e-03 -1.12194113e+02] [-6.08747680e-03 1.15870442e-04 -9.99981464e-01 -1.04485451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.030385723 meters 0.016887501192562646 Centerline is valid? [True, True] Translation: X:234.49, Y:-112.31, Z:-10.45 [[ 4.16261700e-01 -9.09240849e-01 -2.69753796e-03 2.34489720e+02] [-9.09223368e-01 -4.16270427e-01 5.63908999e-03 -1.12311613e+02] [-6.25019625e-03 1.05327364e-04 -9.99980462e-01 -1.04475615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.090385723 meters 0.016716997855564568 Centerline is valid? [True, True] Translation: X:234.52, Y:-112.43, Z:-10.45 [[ 4.86171903e-01 -8.73855568e-01 -3.65050213e-03 2.34521113e+02] [-8.73832584e-01 -4.86185596e-01 6.33888526e-03 -1.12429492e+02] [-7.31409174e-03 1.08139798e-04 -9.99973246e-01 -1.04471258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.150385723 meters 0.016361136939648815 Centerline is valid? [True, True] Translation: X:234.56, Y:-112.54, Z:-10.45 [[ 5.53642098e-01 -8.32744985e-01 -4.02714161e-03 2.34557561e+02] [-8.32724057e-01 -5.53656738e-01 5.90441252e-03 -1.12536342e+02] [-7.14652400e-03 8.45663593e-05 -9.99974460e-01 -1.04481140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.210385723 meters 0.01590795139204061 Centerline is valid? [True, True] Translation: X:234.60, Y:-112.64, Z:-10.45 [[ 6.18867819e-01 -7.85482240e-01 -4.50266084e-03 2.34602608e+02] [-7.85462071e-01 -6.18884196e-01 5.62914881e-03 -1.12644474e+02] [-7.20822205e-03 5.29702566e-05 -9.99974019e-01 -1.04481556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.270385723 meters 0.015781228744604865 Centerline is valid? [True, True] Translation: X:234.65, Y:-112.74, Z:-10.45 [[ 6.77478365e-01 -7.35526256e-01 -4.91856299e-03 2.34652198e+02] [-7.35507353e-01 -6.77496218e-01 5.27342315e-03 -1.12741447e+02] [-7.21104900e-03 4.50091567e-05 -9.99973999e-01 -1.04485435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.330385723 meters 0.017100884411092608 Centerline is valid? [True, True] Translation: X:234.71, Y:-112.83, Z:-10.45 [[ 7.30610004e-01 -6.82774966e-01 -5.23136770e-03 2.34713216e+02] [-6.82757962e-01 -7.30628731e-01 4.81886374e-03 -1.12831059e+02] [-7.11238707e-03 5.10478910e-05 -9.99974705e-01 -1.04480867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.390385723 meters 0.01594230336224979 Centerline is valid? [True, True] Translation: X:234.74, Y:-112.86, Z:-10.45 [[ 7.82259984e-01 -6.22924914e-01 -5.81966022e-03 2.34735208e+02] [-6.22908125e-01 -7.82281630e-01 4.57371680e-03 -1.12858280e+02] [-7.40169543e-03 4.72780025e-05 -9.99972606e-01 -1.04492522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.450385723 meters 0.015923471437201183 Centerline is valid? [True, True] Translation: X:234.76, Y:-112.88, Z:-10.45 [[ 8.28826220e-01 -5.59463929e-01 -6.87089751e-03 2.34761720e+02] [-5.59445195e-01 -8.28854697e-01 4.57863943e-03 -1.12878793e+02] [-8.25655928e-03 4.89941887e-05 -9.99965913e-01 -1.04492314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.510385723 meters 0.015890509685132566 Centerline is valid? [True, True] Translation: X:234.79, Y:-112.90, Z:-10.45 [[ 8.69549415e-01 -4.93781351e-01 -7.98701944e-03 2.34789627e+02] [-4.93761188e-01 -8.69586093e-01 4.46273320e-03 -1.12897889e+02] [-9.14901546e-03 6.31131691e-05 -9.99958145e-01 -1.04500201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.570385723 meters 0.015921261157695318 Centerline is valid? [True, True] Translation: X:234.82, Y:-112.92, Z:-10.45 [[ 9.05335906e-01 -4.24575688e-01 -1.01184052e-02 2.34817272e+02] [-4.24550165e-01 -9.05392445e-01 4.65607568e-03 -1.12916946e+02] [-1.11379842e-02 8.04581151e-05 -9.99937968e-01 -1.04502796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.630385723 meters 0.01590061824425289 Centerline is valid? [True, True] Translation: X:234.85, Y:-112.93, Z:-10.45 [[ 9.36166912e-01 -3.51386630e-01 -1.09063995e-02 2.34845015e+02] [-3.51363661e-01 -9.36230437e-01 4.01829734e-03 -1.12934025e+02] [-1.16228791e-02 7.03154392e-05 -9.99932450e-01 -1.04503712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.690385723 meters 0.015720798661747703 Centerline is valid? [True, True] Translation: X:234.87, Y:-112.95, Z:-10.45 [[ 9.60966506e-01 -2.76472560e-01 -1.03101327e-02 2.34874470e+02] [-2.76457286e-01 -9.61021811e-01 2.90666565e-03 -1.12946130e+02] [-1.07118756e-02 5.71029530e-05 -9.99942625e-01 -1.04524418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.750385723 meters 0.015804868353624015 Centerline is valid? [True, True] Translation: X:234.90, Y:-112.96, Z:-10.45 [[ 9.79568588e-01 -2.00838529e-01 -1.04530678e-02 2.34904851e+02] [-2.00827750e-01 -9.79624357e-01 2.08161693e-03 -1.12955880e+02] [-1.06581487e-02 6.01795295e-05 -9.99943199e-01 -1.04535746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81038572299997 meters 0.015814378223326757 Centerline is valid? [True, True] Translation: X:234.93, Y:-112.96, Z:-10.45 [[ 9.92368367e-01 -1.22755718e-01 -1.16643476e-02 2.34930539e+02] [-1.22747922e-01 -9.92436915e-01 1.38464316e-03 -1.12963262e+02] [-1.17461020e-02 5.76983577e-05 -9.99931011e-01 -1.04534365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87038572299997 meters 0.01570552288916097 Centerline is valid? [True, True] Translation: X:234.96, Y:-112.97, Z:-10.45 [[ 9.98999086e-01 -4.26236250e-02 -1.35666412e-02 2.34957172e+02] [-4.26202253e-02 -9.99091200e-01 5.39741520e-04 -1.12968029e+02] [-1.35773175e-02 3.90120190e-05 -9.99907823e-01 -1.04528354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.930385723 meters 0.015673839650847673 Centerline is valid? [True, True] Translation: X:234.98, Y:-112.98, Z:-10.45 [[ 9.99103631e-01 3.92750371e-02 -1.57925661e-02 2.34983362e+02] [ 3.92702928e-02 -9.99228438e-01 -6.10530120e-04 -1.12977202e+02] [-1.58043597e-02 -1.01958357e-05 -9.99875103e-01 -1.04538352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.990385723 meters 0.01568123696357282 Centerline is valid? [True, True] Translation: X:235.01, Y:-112.99, Z:-10.45 [[ 9.92440155e-01 1.21708097e-01 -1.58012203e-02 2.35010959e+02] [ 1.21693944e-01 -9.92565934e-01 -1.85771334e-03 -1.12988722e+02] [-1.59098517e-02 -7.92435000e-05 -9.99873427e-01 -1.04545256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.050385723 meters 0.015731086188578887 Centerline is valid? [True, True] Translation: X:235.04, Y:-113.00, Z:-10.45 [[ 9.79733755e-01 1.99656351e-01 -1.60969398e-02 2.35039086e+02] [ 1.99630959e-01 -9.79865977e-01 -3.18543699e-03 -1.12995775e+02] [-1.64088364e-02 -9.25673989e-05 -9.99865362e-01 -1.04544209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.110385723 meters 0.01552145020662774 Centerline is valid? [True, True] Translation: X:235.07, Y:-113.00, Z:-10.46 [[ 9.61249699e-01 2.75251400e-01 -1.53519955e-02 2.35066530e+02] [ 2.75217651e-01 -9.61372280e-01 -4.31091238e-03 -1.12998509e+02] [-1.59455676e-02 -8.12769129e-05 -9.99872858e-01 -1.04555861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.170385723 meters 0.015380511759720236 Centerline is valid? [True, True] Translation: X:235.09, Y:-113.00, Z:-10.46 [[ 9.38009732e-01 3.46376035e-01 -1.27037282e-02 2.35093155e+02] [ 3.46344589e-01 -9.38095753e-01 -4.66733364e-03 -1.12998555e+02] [-1.35339660e-02 -2.18631391e-05 -9.99908411e-01 -1.04569282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.230385723 meters 0.015373489434143617 Centerline is valid? [True, True] Translation: X:235.12, Y:-112.99, Z:-10.46 [[ 9.10058454e-01 4.14312993e-01 -1.17624348e-02 2.35118138e+02] [ 4.14277794e-01 -9.10134464e-01 -5.40068847e-03 -1.12992101e+02] [-1.29429727e-02 4.20266515e-05 -9.99916235e-01 -1.04564551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.290385723 meters 0.015546242530271894 Centerline is valid? [True, True] Translation: X:235.14, Y:-112.99, Z:-10.46 [[ 8.76640451e-01 4.80982793e-01 -1.25328563e-02 2.35144451e+02] [ 4.80932007e-01 -8.76730029e-01 -6.99007778e-03 -1.12985755e+02] [-1.43500386e-02 1.00333212e-04 -9.99897028e-01 -1.04593676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.350385723 meters 0.015694401328560106 Centerline is valid? [True, True] Translation: X:235.17, Y:-112.98, Z:-10.46 [[ 8.37906216e-01 5.45672515e-01 -1.24370476e-02 2.35171941e+02] [ 5.45609786e-01 -8.37998499e-01 -8.27508913e-03 -1.12980480e+02] [-1.49377160e-02 1.47973725e-04 -9.99888415e-01 -1.04591271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.410385723 meters 0.016368623321283974 Centerline is valid? [True, True] Translation: X:235.20, Y:-112.97, Z:-10.46 [[ 7.93773189e-01 6.08098787e-01 -1.18316895e-02 2.35197775e+02] [ 6.08027904e-01 -7.93861344e-01 -9.28625923e-03 -1.12973359e+02] [-1.50396839e-02 1.77186224e-04 -9.99886882e-01 -1.04566859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.470385723 meters 0.016207272124091638 Centerline is valid? [True, True] Translation: X:235.22, Y:-112.96, Z:-10.46 [[ 7.45048507e-01 6.66917003e-01 -1.11549384e-02 2.35224545e+02] [ 6.66838061e-01 -7.45131980e-01 -1.02632026e-02 -1.12964794e+02] [-1.51566057e-02 2.08046262e-04 -9.99885110e-01 -1.04587363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.530385723 meters 0.016938991827549394 Centerline is valid? [True, True] Translation: X:235.25, Y:-112.95, Z:-10.46 [[ 6.93115476e-01 7.20757616e-01 -9.96977790e-03 2.35247592e+02] [ 7.20677762e-01 -6.93187129e-01 -1.07316278e-02 -1.12952797e+02] [-1.46458242e-02 2.53260093e-04 -9.99892712e-01 -1.04601093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.590385723 meters 0.017346014493579327 Centerline is valid? [True, True] Translation: X:235.27, Y:-112.94, Z:-10.46 [[ 6.36149558e-01 7.71520539e-01 -8.35447714e-03 2.35270775e+02] [ 7.71448574e-01 -6.36204361e-01 -1.05407539e-02 -1.12939736e+02] [-1.34475629e-02 2.60446455e-04 -9.99909544e-01 -1.04605987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.650385723 meters 0.017089289666648723 Centerline is valid? [True, True] Translation: X:235.30, Y:-112.93, Z:-10.46 [[ 5.73766375e-01 8.18989263e-01 -6.98099847e-03 2.35296803e+02] [ 8.18923449e-01 -5.73808791e-01 -1.03853667e-02 -1.12928404e+02] [-1.25112621e-02 2.41870850e-04 -9.99921702e-01 -1.04607357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.710385723 meters 0.017014931583155833 Centerline is valid? [True, True] Translation: X:235.32, Y:-112.91, Z:-10.46 [[ 5.06704771e-01 8.62101156e-01 -5.64554243e-03 2.35317713e+02] [ 8.62043048e-01 -5.06736179e-01 -1.00114085e-02 -1.12913174e+02] [-1.14916474e-02 2.06127838e-04 -9.99933948e-01 -1.04617977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.770385723 meters 0.016905367896396257 Centerline is valid? [True, True] Translation: X:235.34, Y:-112.90, Z:-10.46 [[ 4.36379318e-01 8.99750558e-01 -4.69299168e-03 2.35335657e+02] [ 8.99693919e-01 -4.36404513e-01 -1.00971284e-02 -1.12895578e+02] [-1.11329397e-02 1.83921918e-04 -9.99938010e-01 -1.04616671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.830385723 meters 0.017046286707535867 Centerline is valid? [True, True] Translation: X:235.35, Y:-112.88, Z:-10.46 [[ 3.63621667e-01 9.31536555e-01 -4.35085896e-03 2.35350562e+02] [ 9.31463386e-01 -3.63647644e-01 -1.16769612e-02 -1.12876448e+02] [-1.24596958e-02 1.93330265e-04 -9.99922356e-01 -1.04593208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.890385723 meters 0.016026973049005872 Centerline is valid? [True, True] Translation: X:235.37, Y:-112.86, Z:-10.46 [[ 2.89196100e-01 9.57264051e-01 -3.33951484e-03 2.35371129e+02] [ 9.57192705e-01 -2.89215322e-01 -1.16886105e-02 -1.12856505e+02] [-1.21549255e-02 1.83741317e-04 -9.99926109e-01 -1.04612342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.950385723 meters 0.016854212505940103 Centerline is valid? [True, True] Translation: X:235.38, Y:-112.83, Z:-10.46 [[ 2.13392350e-01 9.76964299e-01 -2.11276558e-03 2.35383734e+02] [ 9.76908664e-01 -2.13402748e-01 -1.04273298e-02 -1.12834952e+02] [-1.06379989e-02 1.61133397e-04 -9.99943402e-01 -1.04605914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.010385723 meters 0.016137309090703437 Centerline is valid? [True, True] Translation: X:235.40, Y:-112.81, Z:-10.46 [[ 1.37331510e-01 9.90524479e-01 -1.14544233e-03 2.35399024e+02] [ 9.90480076e-01 -1.37336200e-01 -9.38014833e-03 -1.12812654e+02] [-9.44857723e-03 1.53652125e-04 -9.99955349e-01 -1.04624395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.070385723 meters 0.01666200366344014 Centerline is valid? [True, True] Translation: X:235.41, Y:-112.79, Z:-10.46 [[ 6.09072438e-02 9.98143359e-01 -3.78314220e-04 2.35408526e+02] [ 9.98104845e-01 -6.09082175e-02 -8.76967471e-03 -1.12789214e+02] [-8.77643501e-03 1.56539459e-04 -9.99961474e-01 -1.04619533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.130385723 meters 0.016291958624500835 Centerline is valid? [True, True] Translation: X:235.42, Y:-112.76, Z:-10.46 [[-1.69492908e-02 9.99856301e-01 3.15514521e-04 2.35420689e+02] [ 9.99816340e-01 1.69514347e-02 -8.94060811e-03 -1.12764020e+02] [-8.94467178e-03 1.63919607e-04 -9.99959982e-01 -1.04619610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.190385723 meters 0.017182414931588078 Centerline is valid? [True, True] Translation: X:235.43, Y:-112.74, Z:-10.46 [[-9.52519364e-02 9.95452693e-01 1.00243283e-03 2.35429427e+02] [ 9.95413969e-01 9.52570744e-02 -8.78180243e-03 -1.12739607e+02] [-8.83735770e-03 1.61351956e-04 -9.99960937e-01 -1.04602263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.250385723 meters 0.016520073400493985 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.71, Z:-10.46 [[-1.72057985e-01 9.85085259e-01 1.75594964e-03 2.35441116e+02] [ 9.85043896e-01 1.72066854e-01 -9.02890490e-03 -1.12712305e+02] [-9.19638185e-03 1.76192290e-04 -9.99957697e-01 -1.04597950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31038572299997 meters 0.016707477278663257 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.68, Z:-10.46 [[-2.46887283e-01 9.69040722e-01 2.59796002e-03 2.35447906e+02] [ 9.68995469e-01 2.46900867e-01 -9.36710538e-03 -1.12684925e+02] [-9.71854514e-03 2.04792290e-04 -9.99952753e-01 -1.04595032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37038572299997 meters 0.017263928489302055 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.66, Z:-10.46 [[-3.20668558e-01 9.47186452e-01 3.08231291e-03 2.35453020e+02] [ 9.47148600e-01 3.20683307e-01 -8.47034676e-03 -1.12657237e+02] [-9.01144400e-03 2.03234475e-04 -9.99959375e-01 -1.04587103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.430385723 meters 0.017751385661252946 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.63, Z:-10.46 [[-3.92638080e-01 9.19685580e-01 3.71095714e-03 2.35451939e+02] [ 9.19649520e-01 3.92655558e-01 -8.14697890e-03 -1.12630320e+02] [-8.94978697e-03 2.13965802e-04 -9.99959927e-01 -1.04594204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.490385723 meters 0.018934857538662177 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.60, Z:-10.46 [[-4.59921226e-01 8.87950753e-01 3.99090265e-03 2.35449819e+02] [ 8.87921544e-01 4.59938483e-01 -7.20574260e-03 -1.12602671e+02] [-8.23391428e-03 2.29534473e-04 -9.99966074e-01 -1.04600328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.550385723 meters 0.018680151370352432 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.57, Z:-10.46 [[-5.27118129e-01 8.49783876e-01 3.72038633e-03 2.35448128e+02] [ 8.49765270e-01 5.27131222e-01 -5.62676665e-03 -1.12573003e+02] [-6.74266737e-03 1.95484387e-04 -9.99977249e-01 -1.04608332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.610385723 meters 0.01810073508845993 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.54, Z:-10.46 [[-5.92282586e-01 8.05723426e-01 3.33134160e-03 2.35447441e+02] [ 8.05712126e-01 5.92291935e-01 -4.27010411e-03 -1.12540777e+02] [-5.41364968e-03 1.54994017e-04 -9.99985334e-01 -1.04610410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.670385723 meters 0.018607077718554323 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.51, Z:-10.46 [[-6.53698959e-01 7.56745349e-01 3.76128704e-03 2.35441384e+02] [ 7.56734195e-01 6.53709761e-01 -4.11177870e-03 -1.12511780e+02] [-5.57035946e-03 1.58429065e-04 -9.99984473e-01 -1.04603343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.730385723 meters 0.019068440332000402 Centerline is valid? [True, True] Translation: X:235.43, Y:-112.48, Z:-10.46 [[-7.11116477e-01 7.03064654e-01 3.66722246e-03 2.35431513e+02] [ 7.03056316e-01 7.11125918e-01 -3.42700565e-03 -1.12484463e+02] [-5.01726348e-03 1.41263726e-04 -9.99987403e-01 -1.04600852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.790385723 meters 0.019074019262574557 Centerline is valid? [True, True] Translation: X:235.45, Y:-112.46, Z:-10.46 [[-7.59757945e-01 6.50194478e-01 3.87363754e-03 2.35454583e+02] [ 6.50186922e-01 7.59767808e-01 -3.13743155e-03 -1.12458896e+02] [-4.98300577e-03 1.34899929e-04 -9.99987576e-01 -1.04599016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.850385723 meters 0.017123848047491338 Centerline is valid? [True, True] Translation: X:235.48, Y:-112.43, Z:-10.46 [[-8.04551972e-01 5.93867878e-01 4.13136881e-03 2.35475356e+02] [ 5.93860874e-01 8.04562569e-01 -2.88707898e-03 -1.12428846e+02] [-5.03848816e-03 1.30653206e-04 -9.99987298e-01 -1.04602719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.910385723 meters 0.016348495052427137 Centerline is valid? [True, True] Translation: X:235.49, Y:-112.40, Z:-10.46 [[-8.45854800e-01 5.33393138e-01 4.62791650e-03 2.35492047e+02] [ 5.33385963e-01 8.45867451e-01 -2.76948034e-03 -1.12397983e+02] [-5.39182575e-03 1.25887462e-04 -9.99985456e-01 -1.04599829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.970385723 meters 0.016065669983123844 Centerline is valid? [True, True] Translation: X:235.51, Y:-112.37, Z:-10.46 [[-8.81491239e-01 4.72171889e-01 5.18674669e-03 2.35511542e+02] [ 4.72164433e-01 8.81506492e-01 -2.65560096e-03 -1.12366643e+02] [-5.82605100e-03 1.08108332e-04 -9.99983023e-01 -1.04595064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.030385723 meters 0.015683865558439473 Centerline is valid? [True, True] Translation: X:235.53, Y:-112.34, Z:-10.46 [[-9.13701568e-01 4.06348485e-01 5.50943509e-03 2.35525723e+02] [ 4.06341768e-01 9.13718172e-01 -2.33857061e-03 -1.12337294e+02] [-5.98434558e-03 1.01957963e-04 -9.99982088e-01 -1.04600901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.090385723 meters 0.014979830005591643 Centerline is valid? [True, True] Translation: X:235.54, Y:-112.31, Z:-10.46 [[-9.41447340e-01 3.37106487e-01 6.01026417e-03 2.35535125e+02] [ 3.37100193e-01 9.41466520e-01 -2.06172606e-03 -1.12306666e+02] [-6.35348373e-03 8.50546988e-05 -9.99979813e-01 -1.04604329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.150385723 meters 0.014264145634582642 Centerline is valid? [True, True] Translation: X:235.54, Y:-112.27, Z:-10.46 [[-9.64069097e-01 2.65584571e-01 5.96765628e-03 2.35537956e+02] [ 2.65579851e-01 9.64087565e-01 -1.58443897e-03 -1.12273171e+02] [-6.17414575e-03 5.73806154e-05 -9.99980938e-01 -1.04604605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.210385723 meters 0.014088903639791062 Centerline is valid? [True, True] Translation: X:235.70, Y:-111.66, Z:-11.46 [[-9.49350023e-01 -3.14156360e-01 6.34939852e-03 2.35698594e+02] [ 3.14149135e-01 -9.49371255e-01 -2.13092079e-03 -1.11661672e+02] [ 6.69737876e-03 -2.83316553e-05 9.99977572e-01 -1.14577676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.270385723 meters 0.014134933646509485 Centerline is valid? [True, True] Translation: X:235.49, Y:-112.26, Z:-10.46 [[-9.65797950e-01 2.59171879e-01 8.01608251e-03 2.35488576e+02] [ 2.59163412e-01 9.65831214e-01 -2.09560322e-03 -1.12263620e+02] [-8.28530413e-03 5.35460067e-05 -9.99965675e-01 -1.04601546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.330385723 meters 0.015248563082571276 Centerline is valid? [True, True] Translation: X:235.65, Y:-111.64, Z:-11.46 [[-9.50485274e-01 -3.10639409e-01 8.99455201e-03 2.35652172e+02] [ 3.10625619e-01 -9.50527831e-01 -2.92701928e-03 -1.11643671e+02] [ 9.45881955e-03 1.18495701e-05 9.99955264e-01 -1.14598823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.390385723 meters 0.01437945156134107 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.26, Z:-10.46 [[-9.66475423e-01 2.56601376e-01 8.99951495e-03 2.35439868e+02] [ 2.56590925e-01 9.66517319e-01 -2.31695174e-03 -1.12257412e+02] [-9.29272007e-03 6.99169605e-05 -9.99956819e-01 -1.04591760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.450385723 meters 0.014280949238042682 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.24, Z:-10.46 [[-9.81904652e-01 1.89143048e-01 9.38943517e-03 2.35442840e+02] [ 1.89135268e-01 9.81949540e-01 -1.71788326e-03 -1.12235829e+02] [-9.54487723e-03 8.90757699e-05 -9.99954443e-01 -1.04607518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.510385723 meters 0.015169295036994821 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.22, Z:-10.46 [[-9.92603604e-01 1.20961537e-01 1.03146175e-02 2.35442043e+02] [ 1.20956235e-01 9.92657188e-01 -1.13859200e-03 -1.12215087e+02] [-1.03766050e-02 1.17446774e-04 -9.99946155e-01 -1.04605143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.570385723 meters 0.014813209951032346 Centerline is valid? [True, True] Translation: X:235.44, Y:-112.19, Z:-10.46 [[-9.98673243e-01 5.05657100e-02 9.73978590e-03 2.35439986e+02] [ 5.05644174e-02 9.98720730e-01 -3.79074488e-04 -1.12191381e+02] [-9.74649425e-03 1.13915051e-04 -9.99952495e-01 -1.04618646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.630385723 meters 0.014956397574671548 Centerline is valid? [True, True] Translation: X:235.47, Y:-111.50, Z:-11.46 [[-9.95586162e-01 -9.33384496e-02 9.80448273e-03 2.35470769e+02] [ 9.33328539e-02 -9.95634432e-01 -1.02773558e-03 -1.11495845e+02] [ 9.85760784e-03 -1.08118966e-04 9.99951407e-01 -1.14551257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.690385723 meters 0.015306174054113554 Centerline is valid? [True, True] Translation: X:235.38, Y:-112.20, Z:-10.46 [[-9.98784300e-01 4.83250981e-02 9.72659307e-03 2.35375364e+02] [ 4.83241165e-02 9.98831651e-01 -3.36049009e-04 -1.12202919e+02] [-9.73146861e-03 1.34388542e-04 -9.99952639e-01 -1.04631144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.750385723 meters 0.015518648726661288 Centerline is valid? [True, True] Translation: X:235.37, Y:-112.18, Z:-10.46 [[-9.99742917e-01 -2.04655434e-02 9.76018877e-03 2.35374031e+02] [-2.04630261e-02 9.99790546e-01 3.57710144e-04 -1.12182288e+02] [-9.76546520e-03 1.57895185e-04 -9.99952304e-01 -1.04646052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81038572299997 meters 0.01579715713579086 Centerline is valid? [True, True] Translation: X:235.35, Y:-111.45, Z:-11.45 [[-9.99839244e-01 -1.42225361e-02 1.09181782e-02 2.35350410e+02] [ 1.42205862e-02 -9.99898850e-01 -2.56206227e-04 -1.11446965e+02] [ 1.09207177e-02 -1.00902146e-04 9.99940362e-01 -1.14540039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87038572299997 meters 0.0150954530593288 Centerline is valid? [True, True] Translation: X:235.29, Y:-112.19, Z:-10.46 [[-9.99571611e-01 -2.63545539e-02 1.27292054e-02 2.35292143e+02] [-2.63499364e-02 9.99652639e-01 5.30350749e-04 -1.12192331e+02] [-1.27387610e-02 1.94709799e-04 -9.99918840e-01 -1.04643916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.930385723 meters 0.015884983725733524 Centerline is valid? [True, True] Translation: X:235.29, Y:-112.17, Z:-10.46 [[-9.95191547e-01 -9.69430596e-02 1.39938550e-02 2.35285700e+02] [-9.69303409e-02 9.95289905e-01 1.58588737e-03 -1.12171415e+02] [-1.40816834e-02 2.21832570e-04 -9.99900824e-01 -1.04621904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.990385723 meters 0.016096027564030016 Centerline is valid? [True, True] Translation: X:235.28, Y:-112.15, Z:-10.46 [[-9.85934826e-01 -1.66492896e-01 1.45819914e-02 2.35278403e+02] [-1.66470911e-01 9.86042622e-01 2.71727670e-03 -1.12150337e+02] [-1.48308723e-02 2.51580332e-04 -9.99889985e-01 -1.04633293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.050385723 meters 0.01601399485875394 Centerline is valid? [True, True] Translation: X:235.26, Y:-112.13, Z:-10.47 [[-9.71254197e-01 -2.37661214e-01 1.35067053e-02 2.35259103e+02] [-2.37635038e-01 9.71348083e-01 3.53428968e-03 -1.12129892e+02] [-1.39596759e-02 2.23027249e-04 -9.99902534e-01 -1.04651900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.110385723 meters 0.015166940556671712 Centerline is valid? [True, True] Translation: X:235.22, Y:-112.11, Z:-10.47 [[-9.50909103e-01 -3.09203488e-01 1.28483793e-02 2.35224751e+02] [-3.09172636e-01 9.50995883e-01 4.37178718e-03 -1.12110947e+02] [-1.35705276e-02 1.84804948e-04 -9.99907899e-01 -1.04659661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.170385723 meters 0.014740485132830165 Centerline is valid? [True, True] Translation: X:235.17, Y:-112.11, Z:-10.47 [[-9.23719431e-01 -3.82830645e-01 1.35318124e-02 2.35166151e+02] [-3.82787602e-01 9.23818533e-01 5.74193989e-03 -1.12105423e+02] [-1.46991296e-02 1.24131436e-04 -9.99891954e-01 -1.04660582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.230385723 meters 0.01448284923897137 Centerline is valid? [True, True] Translation: X:235.10, Y:-112.11, Z:-10.46 [[-8.90586749e-01 -4.54610419e-01 1.35870908e-02 2.35097714e+02] [-4.54556705e-01 8.90690387e-01 6.98833451e-03 -1.12105227e+02] [-1.52788609e-02 4.76148603e-05 -9.99883270e-01 -1.04637048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.290385723 meters 0.014697357706486282 Centerline is valid? [True, True] Translation: X:235.02, Y:-112.11, Z:-10.46 [[-8.51598848e-01 -5.24018872e-01 1.35507765e-02 2.35017365e+02] [-5.23953253e-01 8.51706652e-01 8.29266819e-03 -1.12114109e+02] [-1.58868011e-02 -3.79467336e-05 -9.99873796e-01 -1.04606546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.350385723 meters 0.014598782646006489 Centerline is valid? [True, True] Translation: X:234.94, Y:-112.13, Z:-10.46 [[-8.08350430e-01 -5.88551536e-01 1.32917735e-02 2.34935813e+02] [-5.88473794e-01 8.08459697e-01 9.56620729e-03 -1.12131961e+02] [-1.63760691e-02 -8.90125871e-05 -9.99865899e-01 -1.04614962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.410385723 meters 0.01464713200670554 Centerline is valid? [True, True] Translation: X:234.84, Y:-112.17, Z:-10.46 [[-7.62466316e-01 -6.46890807e-01 1.33192141e-02 2.34843366e+02] [-6.46793953e-01 7.62582637e-01 1.11939473e-02 -1.12168062e+02] [-1.73982631e-02 -7.97793929e-05 -9.99848636e-01 -1.04602694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.470385723 meters 0.01461013814857173 Centerline is valid? [True, True] Translation: X:234.77, Y:-112.20, Z:-10.46 [[-7.14336643e-01 -6.99713133e-01 1.11665682e-02 2.34770067e+02] [-6.99627740e-01 7.14423916e-01 1.09313382e-02 -1.12201712e+02] [-1.56264643e-02 -3.78549045e-06 -9.99877899e-01 -1.04624680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.530385723 meters 0.014679129830895567 Centerline is valid? [True, True] Translation: X:234.68, Y:-112.26, Z:-10.46 [[-6.61188537e-01 -7.50148978e-01 1.03068184e-02 2.34680602e+02] [-7.50056992e-01 6.61268864e-01 1.17472862e-02 -1.12257295e+02] [-1.56277928e-02 3.64698089e-05 -9.99877878e-01 -1.04622576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.590385723 meters 0.015024794734772246 Centerline is valid? [True, True] Translation: X:234.60, Y:-112.32, Z:-10.46 [[-6.06278131e-01 -7.95202124e-01 8.96714046e-03 2.34597185e+02] [-7.95112428e-01 6.06344431e-01 1.19439304e-02 -1.12318227e+02] [-1.49350145e-02 1.11458952e-04 -9.99888460e-01 -1.04642009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.650385723 meters 0.015990154053404204 Centerline is valid? [True, True] Translation: X:234.52, Y:-112.39, Z:-10.46 [[-5.49493575e-01 -8.35461325e-01 7.82208593e-03 2.34516161e+02] [-8.35371244e-01 5.49549207e-01 1.22700498e-02 -1.12389383e+02] [-1.45497732e-02 2.07967882e-04 -9.99894125e-01 -1.04636830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.710385723 meters 0.0168724007226004 Centerline is valid? [True, True] Translation: X:234.44, Y:-112.47, Z:-10.46 [[-4.87924339e-01 -8.72856634e-01 7.15101068e-03 2.34436385e+02] [-8.72754168e-01 4.87976655e-01 1.33770780e-02 -1.12472157e+02] [-1.51657976e-02 2.85927564e-04 -9.99884952e-01 -1.04629125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.770385723 meters 0.017819589952807247 Centerline is valid? [True, True] Translation: X:234.36, Y:-112.57, Z:-10.46 [[-4.25325501e-01 -9.05018007e-01 6.37371525e-03 2.34357423e+02] [-9.04901947e-01 4.25373068e-01 1.44989146e-02 -1.12569828e+02] [-1.58329856e-02 3.99170774e-04 -9.99874571e-01 -1.04630696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.830385723 meters 0.01884333737919075 Centerline is valid? [True, True] Translation: X:234.29, Y:-112.66, Z:-10.46 [[-3.57598186e-01 -9.33861987e-01 5.03247934e-03 2.34289423e+02] [-9.33751802e-01 3.57633333e-01 1.43517154e-02 -1.12659734e+02] [-1.52023038e-02 4.33060738e-04 -9.99884345e-01 -1.04632556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.890385723 meters 0.01892074304557026 Centerline is valid? [True, True] Translation: X:234.22, Y:-112.76, Z:-10.47 [[-2.83688364e-01 -9.58910669e-01 3.35273048e-03 2.34223388e+02] [-9.58828138e-01 2.83707952e-01 1.25857060e-02 -1.12764378e+02] [-1.30197641e-02 3.55726024e-04 -9.99915176e-01 -1.04651334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.950385723 meters 0.01764504491473559 Centerline is valid? [True, True] Translation: X:234.16, Y:-112.88, Z:-10.47 [[-2.06755131e-01 -9.78389908e-01 2.34583762e-03 2.34163354e+02] [-9.78308227e-01 2.06768191e-01 1.26462979e-02 -1.12880503e+02] [-1.28580549e-02 3.19734742e-04 -9.99917281e-01 -1.04658198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.010385723 meters 0.016711380499411586 Centerline is valid? [True, True] Translation: X:234.11, Y:-113.00, Z:-10.47 [[-1.25321962e-01 -9.92115173e-01 1.37458241e-03 2.34109969e+02] [-9.92031856e-01 1.25329255e-01 1.28598057e-02 -1.12998848e+02] [-1.29306838e-02 2.47986550e-04 -9.99916364e-01 -1.04650971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.070385723 meters 0.01587278679355236 Centerline is valid? [True, True] Translation: X:234.07, Y:-113.12, Z:-10.47 [[-4.51481735e-02 -9.98980255e-01 3.02750657e-04 2.34066259e+02] [-9.98927846e-01 4.51489064e-02 1.02340442e-02 -1.13116942e+02] [-1.02372769e-02 1.59622341e-04 -9.99947585e-01 -1.04672988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.130385723 meters 0.015611045017325029 Centerline is valid? [True, True] Translation: X:234.04, Y:-113.24, Z:-10.47 [[ 3.49531291e-02 -9.99388870e-01 -4.06752272e-04 2.34035860e+02] [-9.99352003e-01 -3.49553337e-02 8.58479770e-03 -1.13240866e+02] [-8.59376943e-03 1.06423155e-04 -9.99963067e-01 -1.04695017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.190385723 meters 0.014667574001955348 Centerline is valid? [True, True] Translation: X:233.31, Y:-113.39, Z:-11.45 [[-1.11095056e-02 9.99938248e-01 2.82507209e-04 2.33309859e+02] [-9.99914485e-01 -1.11111901e-02 6.89674026e-03 -1.13393258e+02] [ 6.89945336e-03 -2.05863676e-04 9.99976177e-01 -1.14476479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.250385723 meters 0.014508422646649893 Centerline is valid? [True, True] Translation: X:234.04, Y:-113.54, Z:-10.47 [[ 5.05771135e-02 -9.98720079e-01 -3.98085255e-04 2.34036105e+02] [-9.98695600e-01 -5.05786610e-02 6.99270261e-03 -1.13541100e+02] [-7.00388713e-03 4.38952795e-05 -9.99975472e-01 -1.04697747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31038572299997 meters 0.014259491976696508 Centerline is valid? [True, True] Translation: X:234.02, Y:-113.66, Z:-10.47 [[ 1.29535360e-01 -9.91574240e-01 -1.05679007e-03 2.34015882e+02] [-9.91543122e-01 -1.29539667e-01 7.85571615e-03 -1.13664414e+02] [-7.92642200e-03 3.02599129e-05 -9.99968585e-01 -1.04684881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37038572299997 meters 0.014073819510730955 Centerline is valid? [True, True] Translation: X:234.00, Y:-113.79, Z:-10.47 [[ 2.06174092e-01 -9.78513943e-01 -1.64550066e-03 2.34004730e+02] [-9.78483642e-01 -2.06180657e-01 7.70057884e-03 -1.13790570e+02] [-7.87439417e-03 2.24356231e-05 -9.99968996e-01 -1.04685390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.430385723 meters 0.014152578418200541 Centerline is valid? [True, True] Translation: X:234.01, Y:-113.91, Z:-10.47 [[ 2.79141470e-01 -9.60248030e-01 -1.93917865e-03 2.34005944e+02] [-9.60225603e-01 -2.79148204e-01 6.56290860e-03 -1.13912731e+02] [-6.84333829e-03 3.00690312e-05 -9.99976584e-01 -1.04688354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.490385723 meters 0.01435693893096967 Centerline is valid? [True, True] Translation: X:234.02, Y:-114.04, Z:-10.47 [[ 3.48418916e-01 -9.37335296e-01 -2.60797909e-03 2.34020718e+02] [-9.37310297e-01 -3.48428672e-01 6.84596945e-03 -1.14043151e+02] [-7.32566349e-03 5.92204043e-05 -9.99973165e-01 -1.04686673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.550385723 meters 0.01488122727985901 Centerline is valid? [True, True] Translation: X:234.04, Y:-114.15, Z:-10.47 [[ 4.16156178e-01 -9.09287908e-01 -3.08806194e-03 2.34039478e+02] [-9.09264341e-01 -4.16167627e-01 6.54714209e-03 -1.14154799e+02] [-7.23838854e-03 8.32309743e-05 -9.99973799e-01 -1.04680572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.610385723 meters 0.015341894278298662 Centerline is valid? [True, True] Translation: X:234.06, Y:-114.26, Z:-10.47 [[ 4.81993572e-01 -8.76166920e-01 -3.70467578e-03 2.34064113e+02] [-8.76142744e-01 -4.82007797e-01 6.50967250e-03 -1.14261812e+02] [-7.48924232e-03 1.08204510e-04 -9.99971949e-01 -1.04680754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.670385723 meters 0.015631250380492907 Centerline is valid? [True, True] Translation: X:234.10, Y:-114.37, Z:-10.47 [[ 5.45750702e-01 -8.37936379e-01 -4.33546704e-03 2.34099039e+02] [-8.37911787e-01 -5.45767907e-01 6.42100912e-03 -1.14373619e+02] [-7.74655590e-03 1.28468696e-04 -9.99969987e-01 -1.04680016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.730385723 meters 0.015522536159227308 Centerline is valid? [True, True] Translation: X:234.14, Y:-114.48, Z:-10.47 [[ 6.07612632e-01 -7.94219397e-01 -4.73693837e-03 2.34140653e+02] [-7.94196920e-01 -6.07631082e-01 5.97661404e-03 -1.14481856e+02] [-7.62505379e-03 1.30595680e-04 -9.99970920e-01 -1.04681241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.790385723 meters 0.015927846023182413 Centerline is valid? [True, True] Translation: X:234.19, Y:-114.59, Z:-10.47 [[ 6.66643372e-01 -7.45356222e-01 -5.54231188e-03 2.34191580e+02] [-7.45332132e-01 -6.66666397e-01 5.99404596e-03 -1.14586230e+02] [-8.16257254e-03 1.34972124e-04 -9.99966677e-01 -1.04672364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.850385723 meters 0.015246022753791732 Centerline is valid? [True, True] Translation: X:234.24, Y:-114.68, Z:-10.47 [[ 7.21778110e-01 -6.92100509e-01 -5.76597930e-03 2.34242095e+02] [-6.92079791e-01 -7.21801129e-01 5.35652682e-03 -1.14682787e+02] [-7.86914531e-03 1.24293945e-04 -9.99969030e-01 -1.04684077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.910385723 meters 0.015275787203753163 Centerline is valid? [True, True] Translation: X:234.26, Y:-114.72, Z:-10.47 [[ 7.74094643e-01 -6.33044899e-01 -5.62501027e-03 2.34258903e+02] [-6.33029198e-01 -7.74115072e-01 4.45975071e-03 -1.14715181e+02] [-7.17762766e-03 1.08526611e-04 -9.99974235e-01 -1.04684331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.970385723 meters 0.015500875480265306 Centerline is valid? [True, True] Translation: X:234.28, Y:-114.74, Z:-10.47 [[ 8.20877380e-01 -5.71075977e-01 -5.70570330e-03 2.34278299e+02] [-5.71063093e-01 -8.20897202e-01 3.83755716e-03 -1.14743221e+02] [-6.87533258e-03 1.08152708e-04 -9.99976359e-01 -1.04674246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.030385723 meters 0.015724212828052395 Centerline is valid? [True, True] Translation: X:234.30, Y:-114.77, Z:-10.47 [[ 8.62741138e-01 -5.05614506e-01 -5.63034947e-03 2.34302777e+02] [-5.05604529e-01 -8.62759503e-01 3.17792096e-03 -1.14768646e+02] [-6.46444045e-03 1.05007053e-04 -9.99979100e-01 -1.04673826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.090385723 meters 0.015968180528416077 Centerline is valid? [True, True] Translation: X:234.33, Y:-114.79, Z:-10.47 [[ 8.99387002e-01 -4.37123488e-01 -5.10652411e-03 2.34329112e+02] [-4.37117037e-01 -8.99401494e-01 2.37658044e-03 -1.14792026e+02] [-5.63167454e-03 9.46831348e-05 -9.99984138e-01 -1.04673735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.150385723 meters 0.015987762040364582 Centerline is valid? [True, True] Translation: X:234.36, Y:-114.81, Z:-10.47 [[ 9.30389644e-01 -3.66532238e-01 -5.40640158e-03 2.34356781e+02] [-3.66526694e-01 -9.30405346e-01 2.01854560e-03 -1.14813743e+02] [-5.77000697e-03 1.03556575e-04 -9.99983348e-01 -1.04677759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.210385723 meters 0.016694683521749694 Centerline is valid? [True, True] Translation: X:234.39, Y:-114.83, Z:-10.47 [[ 9.56164519e-01 -2.92791677e-01 -4.73780793e-03 2.34386019e+02] [-2.92788542e-01 -9.56176253e-01 1.35778032e-03 -1.14830290e+02] [-4.92772621e-03 8.89145042e-05 -9.99987855e-01 -1.04681188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.270385723 meters 0.015146946854733168 Centerline is valid? [True, True] Translation: X:234.42, Y:-114.85, Z:-10.47 [[ 9.76622524e-01 -2.14929124e-01 -3.73054554e-03 2.34415048e+02] [-2.14927789e-01 -9.76629647e-01 7.59731727e-04 -1.14853515e+02] [-3.80664985e-03 5.98267881e-05 -9.99992753e-01 -1.04692937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.330385723 meters 0.014752911174894301 Centerline is valid? [True, True] Translation: X:234.44, Y:-114.87, Z:-10.47 [[ 9.90716357e-01 -1.35894419e-01 -3.71586872e-03 2.34443025e+02] [-1.35893658e-01 -9.90723324e-01 4.57699794e-04 -1.14871231e+02] [-3.74359666e-03 5.15123221e-05 -9.99992991e-01 -1.04690544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.390385723 meters 0.015091747443328188 Centerline is valid? [True, True] Translation: X:234.47, Y:-114.88, Z:-10.47 [[ 9.98501704e-01 -5.46074926e-02 -3.51686508e-03 2.34472100e+02] [-5.46072833e-02 -9.98507897e-01 1.55584641e-04 -1.14881614e+02] [-3.52011364e-03 3.66949188e-05 -9.99993804e-01 -1.04686896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.450385723 meters 0.014052564136009034 Centerline is valid? [True, True] Translation: X:234.50, Y:-114.90, Z:-10.47 [[ 9.99590528e-01 2.82660114e-02 -4.45081967e-03 2.34502465e+02] [ 2.82656134e-02 -9.99600436e-01 -1.52311226e-04 -1.14896964e+02] [-4.45334651e-03 2.64437111e-05 -9.99990083e-01 -1.04695073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.510385723 meters 0.01387241961825665 Centerline is valid? [True, True] Translation: X:234.53, Y:-114.91, Z:-10.47 [[ 9.93722593e-01 1.11741576e-01 -5.40632423e-03 2.34534181e+02] [ 1.11739902e-01 -9.93737299e-01 -6.11520264e-04 -1.14907094e+02] [-5.44079828e-03 3.57936037e-06 -9.99985199e-01 -1.04691687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.570385723 meters 0.013826354300479673 Centerline is valid? [True, True] Translation: X:234.56, Y:-114.91, Z:-10.47 [[ 9.81107192e-01 1.93370487e-01 -6.04425150e-03 2.34564595e+02] [ 1.93366956e-01 -9.81125810e-01 -1.16872190e-03 -1.14910253e+02] [-6.15616747e-03 -2.21170520e-05 -9.99981050e-01 -1.04696737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.630385723 meters 0.013902819386471381 Centerline is valid? [True, True] Translation: X:234.60, Y:-114.91, Z:-10.47 [[ 9.62344626e-01 2.71761009e-01 -6.22698913e-03 2.34596501e+02] [ 2.71755574e-01 -9.62364771e-01 -1.71905501e-03 -1.14912218e+02] [-6.45980709e-03 -3.78956549e-05 -9.99979135e-01 -1.04698318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.690385723 meters 0.014032124086697281 Centerline is valid? [True, True] Translation: X:234.63, Y:-114.91, Z:-10.47 [[ 9.37470684e-01 3.48010881e-01 -6.09447144e-03 2.34626763e+02] [ 3.48003875e-01 -9.37490493e-01 -2.20882597e-03 -1.14907901e+02] [-6.48220451e-03 -5.01900864e-05 -9.99978989e-01 -1.04697250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.750385723 meters 0.014401085204661278 Centerline is valid? [True, True] Translation: X:234.65, Y:-114.90, Z:-10.47 [[ 9.07241818e-01 4.20578434e-01 -5.10544393e-03 2.34653888e+02] [ 4.20572053e-01 -9.07256182e-01 -2.31711068e-03 -1.14899669e+02] [-5.60647235e-03 -4.50273307e-05 -9.99984283e-01 -1.04699705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81038572299997 meters 0.013938635955102889 Centerline is valid? [True, True] Translation: X:234.68, Y:-114.89, Z:-10.47 [[ 8.72278988e-01 4.88970400e-01 -6.10866032e-03 2.34680377e+02] [ 4.88958771e-01 -8.72300376e-01 -3.37261670e-03 -1.14886840e+02] [-6.97769643e-03 -4.50203584e-05 -9.99975655e-01 -1.04704424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87038572299997 meters 0.014099257641087458 Centerline is valid? [True, True] Translation: X:234.71, Y:-114.88, Z:-10.47 [[ 8.32001012e-01 5.54734039e-01 -6.66798915e-03 2.34705430e+02] [ 5.54716625e-01 -8.32027731e-01 -4.39556830e-03 -1.14875338e+02] [-7.98632324e-03 -4.17271629e-05 -9.99968108e-01 -1.04691695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.930385723 meters 0.014147751614642354 Centerline is valid? [True, True] Translation: X:234.73, Y:-114.86, Z:-10.47 [[ 7.88678436e-01 6.14766058e-01 -7.00131704e-03 2.34725392e+02] [ 6.14741923e-01 -7.88709512e-01 -5.44735372e-03 -1.14855411e+02] [-8.87085351e-03 -7.79268718e-06 -9.99960653e-01 -1.04688841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.990385723 meters 0.014339465053410345 Centerline is valid? [True, True] Translation: X:234.75, Y:-114.84, Z:-10.47 [[ 7.40618987e-01 6.71888206e-01 -7.05364638e-03 2.34745585e+02] [ 6.71857387e-01 -7.40652575e-01 -6.43542521e-03 -1.14838420e+02] [-9.54818766e-03 2.71536813e-05 -9.99954415e-01 -1.04684003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.050385723 meters 0.015009407929273659 Centerline is valid? [True, True] Translation: X:234.76, Y:-114.82, Z:-10.47 [[ 6.89679241e-01 7.24085882e-01 -6.49466280e-03 2.34759455e+02] [ 7.24052700e-01 -6.89709815e-01 -6.93238365e-03 -1.14816735e+02] [-9.49907381e-03 7.86429523e-05 -9.99954880e-01 -1.04697077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.110385723 meters 0.015301038440645315 Centerline is valid? [True, True] Translation: X:234.78, Y:-114.80, Z:-10.47 [[ 6.32722491e-01 7.74348024e-01 -6.88376990e-03 2.34779509e+02] [ 7.74300160e-01 -6.32759926e-01 -8.61035733e-03 -1.14801030e+02] [-1.10231869e-02 1.17862603e-04 -9.99939236e-01 -1.04697278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.170385723 meters 0.015170638895993774 Centerline is valid? [True, True] Translation: X:234.80, Y:-114.79, Z:-10.47 [[ 5.68466131e-01 8.22685368e-01 -5.91962576e-03 2.34803130e+02] [ 8.22639092e-01 -5.68496945e-01 -8.72624783e-03 -1.14788138e+02] [-1.05442456e-02 9.08607865e-05 -9.99944404e-01 -1.04688306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.230385723 meters 0.01490964817788945 Centerline is valid? [True, True] Translation: X:234.83, Y:-114.77, Z:-10.47 [[ 4.99915414e-01 8.66058652e-01 -5.19515767e-03 2.34825251e+02] [ 8.66010600e-01 -4.99942404e-01 -9.12323758e-03 -1.14772899e+02] [-1.04985385e-02 6.17854818e-05 -9.99944887e-01 -1.04687037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.290385723 meters 0.01461587470403975 Centerline is valid? [True, True] Translation: X:234.85, Y:-114.76, Z:-10.47 [[ 4.28714380e-01 9.03429445e-01 -4.38389054e-03 2.34849196e+02] [ 9.03381273e-01 -4.28736792e-01 -9.32947800e-03 -1.14757248e+02] [-1.03080603e-02 3.93567589e-05 -9.99946870e-01 -1.04703253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.350385723 meters 0.01458319205838779 Centerline is valid? [True, True] Translation: X:234.87, Y:-114.74, Z:-10.47 [[ 3.57298312e-01 9.33984210e-01 -3.37810742e-03 2.34867434e+02] [ 9.33941324e-01 -3.57314278e-01 -8.95045928e-03 -1.14739429e+02] [-9.56663366e-03 4.30298750e-05 -9.99954238e-01 -1.04710298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.410385723 meters 0.014632389709406283 Centerline is valid? [True, True] Translation: X:234.89, Y:-114.72, Z:-10.47 [[ 2.86519900e-01 9.58071935e-01 -2.12463075e-03 2.34885777e+02] [ 9.58043975e-01 -2.86527771e-01 -7.31970279e-03 -1.14719526e+02] [-7.62156753e-03 6.17508259e-05 -9.99970954e-01 -1.04715256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.470385723 meters 0.01555269667606128 Centerline is valid? [True, True] Translation: X:234.90, Y:-114.70, Z:-10.47 [[ 2.17135580e-01 9.76140341e-01 -1.47492308e-03 2.34895971e+02] [ 9.76114335e-01 -2.17140563e-01 -7.12603648e-03 -1.14697286e+02] [-7.27627730e-03 1.07622504e-04 -9.99973522e-01 -1.04713552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.530385723 meters 0.017094422749145393 Centerline is valid? [True, True] Translation: X:234.90, Y:-114.68, Z:-10.47 [[ 1.46510138e-01 9.89208726e-01 -9.36374540e-04 2.34904856e+02] [ 9.89180983e-01 -1.46513044e-01 -7.41018523e-03 -1.14675181e+02] [-7.46741097e-03 1.59423374e-04 -9.99972106e-01 -1.04705665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.590385723 meters 0.018680026041641085 Centerline is valid? [True, True] Translation: X:234.91, Y:-114.65, Z:-10.47 [[ 7.34513673e-02 9.97298752e-01 -3.08515761e-04 2.34911690e+02] [ 9.97277450e-01 -7.34518155e-02 -6.52060371e-03 -1.14651997e+02] [-6.52565099e-03 1.71271447e-04 -9.99978693e-01 -1.04707692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.650385723 meters 0.01745301203521352 Centerline is valid? [True, True] Translation: X:234.93, Y:-114.63, Z:-10.47 [[-3.60085197e-03 9.99993499e-01 1.90937065e-04 2.34925817e+02] [ 9.99974688e-01 3.60195580e-03 -6.13584500e-03 -1.14628139e+02] [-6.13649285e-03 1.68837962e-04 -9.99981157e-01 -1.04711955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.710385723 meters 0.017287414213483704 Centerline is valid? [True, True] Translation: X:234.94, Y:-114.60, Z:-10.47 [[-8.30573639e-02 9.96544588e-01 5.98107203e-04 2.34936040e+02] [ 9.96529734e-01 8.30593927e-02 -5.44299777e-03 -1.14603718e+02] [-5.47386840e-03 1.43950565e-04 -9.99985008e-01 -1.04717064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.770385723 meters 0.01644554083850066 Centerline is valid? [True, True] Translation: X:234.95, Y:-114.58, Z:-10.47 [[-1.64695601e-01 9.86343914e-01 1.02105844e-03 2.34945747e+02] [ 9.86329301e-01 1.64698721e-01 -5.37037010e-03 -1.14578178e+02] [-5.46519888e-03 1.22623527e-04 -9.99985058e-01 -1.04703946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.830385723 meters 0.015823650104837918 Centerline is valid? [True, True] Translation: X:234.95, Y:-114.55, Z:-10.47 [[-2.46302286e-01 9.69191493e-01 1.74160831e-03 2.34950630e+02] [ 9.69170480e-01 2.46308416e-01 -6.38314655e-03 -1.14553513e+02] [-6.61546412e-03 1.15731770e-04 -9.99978111e-01 -1.04692202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.890385723 meters 0.015381169859724961 Centerline is valid? [True, True] Translation: X:234.95, Y:-114.53, Z:-10.47 [[-3.24365176e-01 9.45929928e-01 1.95048583e-03 2.34950907e+02] [ 9.45914337e-01 3.24371029e-01 -5.43158252e-03 -1.14529200e+02] [-5.77057756e-03 8.31762921e-05 -9.99983347e-01 -1.04694477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.950385723 meters 0.015341233429796673 Centerline is valid? [True, True] Translation: X:234.95, Y:-114.51, Z:-10.47 [[-3.96895396e-01 9.17861072e-01 2.25757232e-03 2.34948147e+02] [ 9.17847390e-01 3.96901808e-01 -5.01240640e-03 -1.14505123e+02] [-5.49672725e-03 8.27058402e-05 -9.99984889e-01 -1.04696597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.010385723 meters 0.015963788364014696 Centerline is valid? [True, True] Translation: X:234.94, Y:-114.48, Z:-10.47 [[-4.65896663e-01 8.84835820e-01 2.42320891e-03 2.34942513e+02] [ 8.84824789e-01 4.65902957e-01 -4.41909152e-03 -1.14482074e+02] [-5.03915066e-03 8.52753140e-05 -9.99987300e-01 -1.04695941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.070385723 meters 0.016695420229450416 Centerline is valid? [True, True] Translation: X:234.93, Y:-114.46, Z:-10.47 [[-5.31816410e-01 8.46856637e-01 2.26778135e-03 2.34933167e+02] [ 8.46849566e-01 5.31821239e-01 -3.46168173e-03 -1.14460438e+02] [-4.13760243e-03 7.94904977e-05 -9.99991437e-01 -1.04705876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.130385723 meters 0.01727188916155685 Centerline is valid? [True, True] Translation: X:234.92, Y:-114.44, Z:-10.47 [[-5.95484826e-01 8.03364323e-01 1.89349551e-03 2.34924365e+02] [ 8.03360595e-01 5.95487834e-01 -2.44847826e-03 -1.14438934e+02] [-3.09457362e-03 6.31280264e-05 -9.99995210e-01 -1.04706025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.190385723 meters 0.016646221605046765 Centerline is valid? [True, True] Translation: X:234.92, Y:-114.41, Z:-10.47 [[-6.57608382e-01 7.53356996e-01 2.11034746e-03 2.34916915e+02] [ 7.53353406e-01 6.57611765e-01 -2.32651920e-03 -1.14414259e+02] [-3.14048883e-03 5.98989227e-05 -9.99995067e-01 -1.04702346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.250385723 meters 0.01640892417445329 Centerline is valid? [True, True] Translation: X:234.91, Y:-114.39, Z:-10.47 [[-7.16356126e-01 6.97730217e-01 2.53865340e-03 2.34906826e+02] [ 6.97726119e-01 7.16360622e-01 -2.39198301e-03 -1.14390918e+02] [-3.48755015e-03 5.77731046e-05 -9.99993917e-01 -1.04694658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31038572299997 meters 0.016054580864761643 Centerline is valid? [True, True] Translation: X:234.93, Y:-114.37, Z:-10.47 [[-7.64465951e-01 6.44658272e-01 2.74256287e-03 2.34931999e+02] [ 6.44654383e-01 7.64470869e-01 -2.23981142e-03 -1.14372311e+02] [-3.54052238e-03 5.57456078e-05 -9.99993731e-01 -1.04695124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37038572299997 meters 0.01678009770862348 Centerline is valid? [True, True] Translation: X:234.95, Y:-114.35, Z:-10.47 [[-8.08212575e-01 5.88884808e-01 2.66749693e-03 2.34952026e+02] [ 5.88881808e-01 8.08216976e-01 -1.88052500e-03 -1.14354267e+02] [-3.26332890e-03 5.09764554e-05 -9.99994674e-01 -1.04706920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.430385723 meters 0.016267355621543623 Centerline is valid? [True, True] Translation: X:235.42, Y:-113.70, Z:-11.45 [[-7.86498023e-01 -6.17586006e-01 2.89583085e-03 2.35417941e+02] [ 6.17581671e-01 -7.86503353e-01 -2.31422907e-03 -1.13700869e+02] [ 3.70681616e-03 -3.17245324e-05 9.99993129e-01 -1.14481673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.490385723 meters 0.01640984641117761 Centerline is valid? [True, True] Translation: X:234.90, Y:-114.32, Z:-10.47 [[-8.11810772e-01 5.83906630e-01 4.03958708e-03 2.34903314e+02] [ 5.83899795e-01 8.11820820e-01 -2.82598641e-03 -1.14315336e+02] [-4.92953309e-03 6.45478594e-05 -9.99987848e-01 -1.04693899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.550385723 meters 0.016231731890294896 Centerline is valid? [True, True] Translation: X:235.36, Y:-113.66, Z:-11.45 [[-7.86529682e-01 -6.17538165e-01 4.20401876e-03 2.35358107e+02] [ 6.17529047e-01 -7.86540916e-01 -3.35603986e-03 -1.13661192e+02] [ 5.37911547e-03 -4.35212716e-05 9.99985532e-01 -1.14484120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.610385723 meters 0.015659435152896663 Centerline is valid? [True, True] Translation: X:234.88, Y:-114.30, Z:-10.47 [[-8.16445804e-01 5.77400021e-01 5.04636703e-03 2.34882835e+02] [ 5.77389396e-01 8.16461397e-01 -3.50317861e-03 -1.14297048e+02] [-6.14289928e-03 5.35633362e-05 -9.99981131e-01 -1.04714684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.670385723 meters 0.015280602043497965 Centerline is valid? [True, True] Translation: X:234.90, Y:-114.27, Z:-10.47 [[-8.58021050e-01 5.13576224e-01 6.27213557e-03 2.34897678e+02] [ 5.13562708e-01 8.58043974e-01 -3.72593947e-03 -1.14269110e+02] [-7.29532205e-03 2.42004303e-05 -9.99973389e-01 -1.04717089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.730385723 meters 0.015163833479481543 Centerline is valid? [True, True] Translation: X:234.91, Y:-114.24, Z:-10.47 [[-8.94187481e-01 4.47623629e-01 7.86359773e-03 2.34914711e+02] [ 4.47606230e-01 8.94222057e-01 -3.94668100e-03 -1.14243914e+02] [-8.79843021e-03 -9.27740745e-06 -9.99961293e-01 -1.04711264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.790385723 meters 0.015391408338783568 Centerline is valid? [True, True] Translation: X:234.93, Y:-114.22, Z:-10.47 [[-9.25003581e-01 3.79862992e-01 8.51369277e-03 2.34927050e+02] [ 3.79846474e-01 9.25042759e-01 -3.54276876e-03 -1.14217097e+02] [-9.22129659e-03 -4.31776094e-05 -9.99957482e-01 -1.04721417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.850385723 meters 0.015489939559771309 Centerline is valid? [True, True] Translation: X:234.91, Y:-114.18, Z:-10.47 [[-9.49907858e-01 3.12434155e-01 7.74334400e-03 2.34906057e+02] [ 3.12423374e-01 9.49939417e-01 -2.59587447e-03 -1.14179052e+02] [-8.16674753e-03 -4.66398962e-05 -9.99966650e-01 -1.04730467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.910385723 meters 0.015446641915875409 Centerline is valid? [True, True] Translation: X:235.19, Y:-113.46, Z:-11.44 [[-9.22751687e-01 -3.85345057e-01 6.20574180e-03 2.35192560e+02] [ 3.85335985e-01 -9.22772553e-01 -2.64456773e-03 -1.13456947e+02] [ 6.74555930e-03 -4.89837051e-05 9.99977247e-01 -1.14427803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.970385723 meters 0.015341019577942103 Centerline is valid? [True, True] Translation: X:234.89, Y:-114.18, Z:-10.48 [[-9.49952608e-01 3.12355418e-01 4.91270555e-03 2.34892147e+02] [ 3.12351182e-01 9.49965311e-01 -1.62693778e-03 -1.14183233e+02] [-5.17508269e-03 -1.10244049e-05 -9.99986609e-01 -1.04775923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.030385723 meters 0.015381903693320908 Centerline is valid? [True, True] Translation: X:234.90, Y:-114.16, Z:-10.48 [[-9.68894826e-01 2.47411589e-01 5.50661967e-03 2.34901537e+02] [ 2.47407631e-01 9.68910474e-01 -1.39938805e-03 -1.14159508e+02] [-5.68164629e-03 6.51988592e-06 -9.99983859e-01 -1.04768776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.090385723 meters 0.015503612226656976 Centerline is valid? [True, True] Translation: X:234.91, Y:-114.13, Z:-10.48 [[-9.83859322e-01 1.78832192e-01 6.31526619e-03 2.34912668e+02] [ 1.78828587e-01 9.83879590e-01 -1.13554109e-03 -1.14133037e+02] [-6.41653281e-03 1.21374393e-05 -9.99979414e-01 -1.04766253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.150385723 meters 0.015702026306389928 Centerline is valid? [True, True] Translation: X:235.06, Y:-113.35, Z:-11.44 [[-9.70959554e-01 -2.39072436e-01 9.05068824e-03 2.35059205e+02] [ 2.39063564e-01 -9.71001723e-01 -2.06561118e-03 -1.13352806e+02] [ 9.28206456e-03 1.58064883e-04 9.99956908e-01 -1.14440327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.210385723 meters 0.01589644517236171 Centerline is valid? [True, True] Translation: X:234.86, Y:-114.13, Z:-10.47 [[-9.83828702e-01 1.78827778e-01 1.00851537e-02 2.34863996e+02] [ 1.78819004e-01 9.83880390e-01 -1.77239797e-03 -1.14127113e+02] [-1.02395389e-02 5.96811375e-05 -9.99947573e-01 -1.04735527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.270385723 meters 0.01605539449442363 Centerline is valid? [True, True] Translation: X:235.01, Y:-113.34, Z:-11.44 [[-9.72942993e-01 -2.30853422e-01 9.41430894e-03 2.35010073e+02] [ 2.30841724e-01 -9.72988535e-01 -2.32566448e-03 -1.13343043e+02] [ 9.69690227e-03 -8.95236499e-05 9.99952980e-01 -1.14439061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.330385723 meters 0.016684626967109276 Centerline is valid? [True, True] Translation: X:234.81, Y:-114.12, Z:-10.48 [[-9.83725293e-01 1.79482242e-01 8.40672184e-03 2.34813012e+02] [ 1.79476458e-01 9.83761209e-01 -1.44371945e-03 -1.14122118e+02] [-8.52932885e-03 8.85853141e-05 -9.99963621e-01 -1.04750003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.390385723 meters 0.01645240361918714 Centerline is valid? [True, True] Translation: X:234.95, Y:-113.33, Z:-11.44 [[-9.74172550e-01 -2.25673715e-01 7.69531999e-03 2.34951193e+02] [ 2.25665693e-01 -9.74202936e-01 -1.90663071e-03 -1.13332908e+02] [ 7.92707977e-03 -1.20817587e-04 9.99968573e-01 -1.14419562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.450385723 meters 0.01613261764409859 Centerline is valid? [True, True] Translation: X:234.76, Y:-114.11, Z:-10.48 [[-9.85053789e-01 1.72097904e-01 7.16547808e-03 2.34763232e+02] [ 1.72093716e-01 9.85079849e-01 -1.20161282e-03 -1.14107378e+02] [-7.26536311e-03 4.94804922e-05 -9.99973606e-01 -1.04756856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.510385723 meters 0.01590245243289802 Centerline is valid? [True, True] Translation: X:234.90, Y:-113.33, Z:-11.44 [[-9.73609624e-01 -2.28132457e-01 6.31520076e-03 2.34896055e+02] [ 2.28127025e-01 -9.73630101e-01 -1.57713453e-03 -1.13334478e+02] [ 6.50846513e-03 -9.48454002e-05 9.99978815e-01 -1.14415093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.570385723 meters 0.015933120114119077 Centerline is valid? [True, True] Translation: X:234.70, Y:-114.09, Z:-10.48 [[-9.86607191e-01 1.62984821e-01 6.49610846e-03 2.34697090e+02] [ 1.62981353e-01 9.86628577e-01 -1.06333639e-03 -1.14088955e+02] [-6.58255393e-03 9.64921341e-06 -9.99978335e-01 -1.04776148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.630385723 meters 0.01607582209255931 Centerline is valid? [True, True] Translation: X:234.71, Y:-114.06, Z:-10.48 [[-9.95524611e-01 9.42924580e-02 6.29925649e-03 2.34710878e+02] [ 9.42906992e-02 9.95544540e-01 -5.76282845e-04 -1.14059518e+02] [-6.32552953e-03 2.02575433e-05 -9.99979993e-01 -1.04765548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.690385723 meters 0.016288584857342636 Centerline is valid? [True, True] Translation: X:234.72, Y:-114.03, Z:-10.48 [[-9.99605865e-01 2.72537881e-02 6.73391820e-03 2.34720040e+02] [ 2.72534919e-02 9.99628545e-01 -1.35764897e-04 -1.14033540e+02] [-6.73511696e-03 4.78113980e-05 -9.99977318e-01 -1.04766445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.750385723 meters 0.017400372784855143 Centerline is valid? [True, True] Translation: X:234.75, Y:-113.26, Z:-11.44 [[-9.97347454e-01 -7.25810287e-02 5.48186935e-03 2.34745315e+02] [ 7.25793264e-02 -9.97362513e-01 -5.09083866e-04 -1.13259932e+02] [ 5.50436082e-03 -1.09863112e-04 9.99984845e-01 -1.14410072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81038572299997 meters 0.01863006529568068 Centerline is valid? [True, True] Translation: X:234.65, Y:-114.04, Z:-10.48 [[-9.99362162e-01 3.54286344e-02 4.48109461e-03 2.34649427e+02] [ 3.54286769e-02 9.99372205e-01 -6.99281307e-05 -1.14037515e+02] [-4.48075886e-03 8.88757251e-05 -9.99989957e-01 -1.04795670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87038572299997 meters 0.018304009172435777 Centerline is valid? [True, True] Translation: X:234.68, Y:-113.26, Z:-11.44 [[-9.98155586e-01 -6.05237559e-02 4.72238686e-03 2.34676138e+02] [ 6.05227093e-02 -9.98166754e-01 -3.64351579e-04 -1.13259945e+02] [ 4.73578149e-03 -7.78679173e-05 9.99988783e-01 -1.14387893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.930385723 meters 0.018697843334244457 Centerline is valid? [True, True] Translation: X:234.59, Y:-114.03, Z:-10.48 [[-9.99408938e-01 3.36375320e-02 7.09162800e-03 2.34587344e+02] [ 3.36378304e-02 9.99434085e-01 -7.72177025e-05 -1.14030987e+02] [-7.09021215e-03 1.61374918e-04 -9.99974851e-01 -1.04776819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.990385723 meters 0.0187795447186621 Centerline is valid? [True, True] Translation: X:234.60, Y:-113.27, Z:-11.44 [[-9.98406576e-01 -5.58783785e-02 7.86865326e-03 2.34600611e+02] [ 5.58756395e-02 -9.98437575e-01 -5.67669279e-04 -1.13267781e+02] [ 7.88807952e-03 -1.27098708e-04 9.99968881e-01 -1.14420715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.050385723 meters 0.018123458174245113 Centerline is valid? [True, True] Translation: X:234.52, Y:-114.02, Z:-10.48 [[-9.99598687e-01 2.72580453e-02 7.71129616e-03 2.34517193e+02] [ 2.72584831e-02 9.99628417e-01 -4.83498976e-05 -1.14020599e+02] [-7.70974870e-03 1.61867742e-04 -9.99970266e-01 -1.04776139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.110385723 meters 0.01829270418782431 Centerline is valid? [True, True] Translation: X:234.52, Y:-113.27, Z:-11.44 [[-9.98608256e-01 -5.21791909e-02 7.67354375e-03 2.34522503e+02] [ 5.21763984e-02 -9.98637725e-01 -5.63785544e-04 -1.13274476e+02] [ 7.69250815e-03 -1.62623023e-04 9.99970399e-01 -1.14417863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.170385723 meters 0.018551487002578044 Centerline is valid? [True, True] Translation: X:234.45, Y:-114.01, Z:-10.48 [[-9.99695199e-01 2.30268262e-02 8.90363991e-03 2.34445815e+02] [ 2.30276132e-02 9.99734829e-01 -1.41283668e-05 -1.14014097e+02] [-8.90160425e-03 1.90905516e-04 -9.99960362e-01 -1.04758506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.230385723 meters 0.017578153147668137 Centerline is valid? [True, True] Translation: X:234.45, Y:-113.28, Z:-11.44 [[-9.98850433e-01 -4.71467442e-02 8.66004768e-03 2.34450267e+02] [ 4.71432302e-02 -9.98887954e-01 -6.09566344e-04 -1.13283551e+02] [ 8.67915638e-03 -2.00602985e-04 9.99962315e-01 -1.14421509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.290385723 meters 0.017523915210155012 Centerline is valid? [True, True] Translation: X:234.37, Y:-114.00, Z:-10.48 [[-9.99806492e-01 1.74856403e-02 9.01284301e-03 2.34374540e+02] [ 1.74865984e-02 9.99847097e-01 2.75038394e-05 -1.14002958e+02] [-9.01098400e-03 1.85102483e-04 -9.99959383e-01 -1.04758457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.350385723 meters 0.017335478103249067 Centerline is valid? [True, True] Translation: X:234.37, Y:-113.29, Z:-11.44 [[-9.99015660e-01 -4.38402284e-02 6.76347324e-03 2.34373523e+02] [ 4.38372905e-02 -9.99038514e-01 -5.82082057e-04 -1.13293415e+02] [ 6.78248886e-03 -2.85016750e-04 9.99976958e-01 -1.14407918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.410385723 meters 0.01795908449245576 Centerline is valid? [True, True] Translation: X:234.30, Y:-113.99, Z:-10.48 [[-9.99882502e-01 1.37067228e-02 6.86348803e-03 2.34303154e+02] [ 1.37074104e-02 9.99906048e-01 5.31492249e-05 -1.13994831e+02] [-6.86211469e-03 1.47223627e-04 -9.99976445e-01 -1.04771165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.470385723 meters 0.01858850516597648 Centerline is valid? [True, True] Translation: X:234.30, Y:-113.96, Z:-10.48 [[-9.98364938e-01 -5.68066980e-02 6.35997210e-03 2.34296905e+02] [-5.68046449e-02 9.98385186e-01 5.03124180e-04 -1.13963688e+02] [-6.37828275e-03 1.41025584e-04 -9.99979649e-01 -1.04779234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.530385723 meters 0.017198997540178035 Centerline is valid? [True, True] Translation: X:234.29, Y:-113.93, Z:-10.48 [[-9.91754742e-01 -1.27995328e-01 6.30301170e-03 2.34286917e+02] [-1.27991850e-01 9.91774761e-01 9.53799415e-04 -1.13929741e+02] [-6.37324979e-03 1.39200964e-04 -9.99979681e-01 -1.04794991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.590385723 meters 0.01713162151973714 Centerline is valid? [True, True] Translation: X:234.27, Y:-113.90, Z:-10.48 [[-9.79852763e-01 -1.99589864e-01 7.24211606e-03 2.34268286e+02] [-1.99583255e-01 9.79879514e-01 1.63142852e-03 -1.13897474e+02] [-7.42201777e-03 1.53154649e-04 -9.99972445e-01 -1.04798680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.650385723 meters 0.017343920239285795 Centerline is valid? [True, True] Translation: X:234.24, Y:-113.87, Z:-10.48 [[-9.62921681e-01 -2.69694170e-01 6.84764590e-03 2.34242689e+02] [-2.69686278e-01 9.62946018e-01 2.06831700e-03 -1.13872604e+02] [-7.15172639e-03 1.44911150e-04 -9.99974416e-01 -1.04805487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.710385723 meters 0.017584667177836504 Centerline is valid? [True, True] Translation: X:234.20, Y:-113.85, Z:-10.48 [[-9.41425825e-01 -3.37105754e-01 8.78216906e-03 2.34203029e+02] [-3.37089054e-01 9.41466765e-01 3.36166494e-03 -1.13852254e+02] [-9.40135688e-03 2.04385126e-04 -9.99955785e-01 -1.04803070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.770385723 meters 0.01858663264263148 Centerline is valid? [True, True] Translation: X:234.14, Y:-113.85, Z:-10.48 [[-9.14785592e-01 -4.03802849e-01 1.05156766e-02 2.34141527e+02] [-4.03772766e-01 9.14845991e-01 4.93630000e-03 -1.13845531e+02] [-1.16135166e-02 2.69712277e-04 -9.99932524e-01 -1.04794642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.830385723 meters 0.017749030435335367 Centerline is valid? [True, True] Translation: X:234.07, Y:-113.84, Z:-10.48 [[-8.83137483e-01 -4.68999941e-01 1.03557282e-02 2.34073666e+02] [-4.68963831e-01 8.83198150e-01 5.82697256e-03 -1.13844598e+02] [-1.18790098e-02 2.89555906e-04 -9.99929400e-01 -1.04819869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.890385723 meters 0.018316851591288548 Centerline is valid? [True, True] Translation: X:234.00, Y:-113.86, Z:-10.48 [[-8.46355467e-01 -5.32508162e-01 1.08388576e-02 2.33997023e+02] [-5.32459526e-01 8.46424805e-01 7.20430320e-03 -1.13856663e+02] [-1.30106282e-02 3.26148419e-04 -9.99915305e-01 -1.04823147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.950385723 meters 0.01820537098257625 Centerline is valid? [True, True] Translation: X:233.91, Y:-113.88, Z:-10.48 [[-8.03331466e-01 -5.95431891e-01 1.09279418e-02 2.33911733e+02] [-5.95371322e-01 8.03405726e-01 8.49870215e-03 -1.13877249e+02] [-1.38399693e-02 3.21091672e-04 -9.99904171e-01 -1.04811385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.010385723 meters 0.020256859277097816 Centerline is valid? [True, True] Translation: X:233.83, Y:-113.91, Z:-10.48 [[-7.55448906e-01 -6.55125088e-01 1.03956219e-02 2.33825867e+02] [-6.55057553e-01 7.55520370e-01 9.41131219e-03 -1.13909227e+02] [-1.40196908e-02 3.00034878e-04 -9.99901674e-01 -1.04808906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.070385723 meters 0.020263888282498994 Centerline is valid? [True, True] Translation: X:233.74, Y:-113.95, Z:-10.48 [[-7.03652622e-01 -7.10479363e-01 9.59485719e-03 2.33740997e+02] [-7.10407693e-01 7.03717977e-01 1.00954326e-02 -1.13950175e+02] [-1.39246700e-02 2.87417276e-04 -9.99903006e-01 -1.04809481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.130385723 meters 0.017316515744870677 Centerline is valid? [True, True] Translation: X:233.66, Y:-114.00, Z:-10.48 [[-6.47448661e-01 -7.62081185e-01 6.51912861e-03 2.33656167e+02] [-7.62039396e-01 6.47481450e-01 7.98315368e-03 -1.14000817e+02] [-1.03048261e-02 2.00849326e-04 -9.99946884e-01 -1.04835629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.190385723 meters 0.01633702349813258 Centerline is valid? [True, True] Translation: X:233.57, Y:-114.06, Z:-10.49 [[-5.87902929e-01 -8.08918295e-01 4.61930381e-03 2.33570601e+02] [-8.08891233e-01 5.87921056e-01 6.61847572e-03 -1.14060423e+02] [-8.06959207e-03 1.54506903e-04 -9.99967428e-01 -1.04851410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.250385723 meters 0.020021182999383814 Centerline is valid? [True, True] Translation: X:233.49, Y:-114.13, Z:-10.48 [[-5.23967606e-01 -8.51721028e-01 5.40725061e-03 2.33488352e+02] [-8.51671896e-01 5.23995472e-01 9.15023419e-03 -1.14131712e+02] [-1.06268217e-02 1.89222921e-04 -9.99943516e-01 -1.04826185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31038572299997 meters 0.01741950013967972 Centerline is valid? [True, True] Translation: X:233.41, Y:-114.21, Z:-10.48 [[-4.54959644e-01 -8.90505923e-01 3.30490760e-03 2.33409741e+02] [-8.90480698e-01 4.54971635e-01 6.70348415e-03 -1.14210559e+02] [-7.47313156e-03 1.06858337e-04 -9.99972070e-01 -1.04825454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37038572299997 meters 0.015509007150935936 Centerline is valid? [True, True] Translation: X:233.34, Y:-114.30, Z:-10.48 [[-3.84494198e-01 -9.23126474e-01 1.31317903e-03 2.33336584e+02] [-9.23120700e-01 3.84496438e-01 3.26544469e-03 -1.14300330e+02] [-3.51933111e-03 4.33217901e-05 -9.99993806e-01 -1.04833097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.430385723 meters 0.015235701485065851 Centerline is valid? [True, True] Translation: X:233.27, Y:-114.39, Z:-10.48 [[-3.13004366e-01 -9.49751449e-01 6.71765799e-04 2.33272883e+02] [-9.49749077e-01 3.13005086e-01 2.12293309e-03 -1.14394389e+02] [-2.22652489e-03 2.64783803e-05 -9.99997521e-01 -1.04829114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.490385723 meters 0.01527628737992272 Centerline is valid? [True, True] Translation: X:233.22, Y:-114.49, Z:-10.48 [[-2.41472956e-01 -9.70407258e-01 7.52126148e-04 2.33218109e+02] [-9.70401954e-01 2.41474123e-01 3.20868883e-03 -1.14491120e+02] [-3.29535393e-03 4.49468935e-05 -9.99994569e-01 -1.04798559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.550385723 meters 0.018830916259243106 Centerline is valid? [True, True] Translation: X:233.17, Y:-114.60, Z:-10.48 [[-1.70214627e-01 -9.85406849e-01 5.67841696e-04 2.33173734e+02] [-9.85400053e-01 1.70215562e-01 3.66020410e-03 -1.14597614e+02] [-3.70344568e-03 6.34690381e-05 -9.99993140e-01 -1.04763434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.610385723 meters 0.01593278595459002 Centerline is valid? [True, True] Translation: X:233.13, Y:-114.71, Z:-10.48 [[-9.44832174e-02 -9.95526454e-01 -4.44743927e-05 2.33133419e+02] [-9.95526283e-01 9.44832273e-02 -5.82550849e-04 -1.14709239e+02] [ 5.84146865e-04 -1.07658517e-05 -9.99999829e-01 -1.04783486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.670385723 meters 0.01595331897914669 Centerline is valid? [True, True] Translation: X:233.10, Y:-114.83, Z:-10.48 [[-1.81710857e-02 -9.99834892e-01 -9.91968766e-07 2.33102929e+02] [-9.99833371e-01 1.81710598e-02 -1.74456329e-03 -1.14829793e+02] [ 1.74429328e-03 -3.07088057e-05 -9.99998478e-01 -1.04776427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.730385723 meters 0.0159486946709632 Centerline is valid? [True, True] Translation: X:233.08, Y:-114.94, Z:-10.48 [[ 5.90235764e-02 -9.98256573e-01 1.76091910e-04 2.33079166e+02] [-9.98253873e-01 -5.90238264e-02 -2.32243732e-03 -1.14942740e+02] [ 2.32878194e-03 -3.87058750e-05 -9.99997288e-01 -1.04764601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.790385723 meters 0.01576805438492724 Centerline is valid? [True, True] Translation: X:233.07, Y:-115.07, Z:-10.47 [[ 1.36667449e-01 -9.90616917e-01 3.62800348e-04 2.33066323e+02] [-9.90614091e-01 -1.36667925e-01 -2.36666814e-03 -1.15067768e+02] [ 2.39404467e-03 -3.59486399e-05 -9.99997134e-01 -1.04744084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.850385723 meters 0.01587403805967918 Centerline is valid? [True, True] Translation: X:233.06, Y:-115.19, Z:-10.47 [[ 2.13233813e-01 -9.77000863e-01 8.09574397e-04 2.33063703e+02] [-9.76994664e-01 -2.13235344e-01 -3.48073285e-03 -1.15186563e+02] [ 3.57330887e-03 -4.87399295e-05 -9.99993615e-01 -1.04742562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.910385723 meters 0.015883759931049575 Centerline is valid? [True, True] Translation: X:233.07, Y:-115.31, Z:-10.47 [[ 2.88254654e-01 -9.57552527e-01 1.55298399e-03 2.33068792e+02] [-9.57539814e-01 -2.88258830e-01 -4.93473950e-03 -1.15309865e+02] [ 5.17293363e-03 -6.45823777e-05 -9.99986618e-01 -1.04730245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.970385723 meters 0.015669842242160007 Centerline is valid? [True, True] Translation: X:233.08, Y:-115.43, Z:-10.47 [[ 3.61314089e-01 -9.32441601e-01 2.18858904e-03 2.33084805e+02] [-9.32425629e-01 -3.61320711e-01 -5.45807382e-03 -1.15429774e+02] [ 5.88011764e-03 -6.86175351e-05 -9.99982710e-01 -1.04720838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.030385723 meters 0.01579824374212142 Centerline is valid? [True, True] Translation: X:233.11, Y:-115.55, Z:-10.47 [[ 4.30661958e-01 -9.02509973e-01 2.45484964e-03 2.33111047e+02] [-9.02496224e-01 -4.30668949e-01 -4.98213115e-03 -1.15546458e+02] [ 5.55365057e-03 -6.98781766e-05 -9.99984576e-01 -1.04706717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.090385723 meters 0.015905717258358192 Centerline is valid? [True, True] Translation: X:233.14, Y:-115.66, Z:-10.47 [[ 4.96948159e-01 -8.67775938e-01 2.72906803e-03 2.33141889e+02] [-8.67763683e-01 -4.96955647e-01 -4.61254944e-03 -1.15657120e+02] [ 5.35888519e-03 -7.59881720e-05 -9.99985638e-01 -1.04690774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.150385723 meters 0.016599180690649994 Centerline is valid? [True, True] Translation: X:233.18, Y:-115.76, Z:-10.47 [[ 5.60063011e-01 -8.28446673e-01 2.35239571e-03 2.33184531e+02] [-8.28439858e-01 -5.60067947e-01 -3.36089768e-03 -1.15764359e+02] [ 4.10182594e-03 -6.65038984e-05 -9.99991585e-01 -1.04674299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.210385723 meters 0.01658112915203723 Centerline is valid? [True, True] Translation: X:233.23, Y:-115.87, Z:-10.47 [[ 6.21652982e-01 -7.83285270e-01 3.42863623e-03 2.33234589e+02] [-7.83274118e-01 -6.21662431e-01 -4.18056857e-03 -1.15868951e+02] [ 5.40603211e-03 -8.66991002e-05 -9.99985384e-01 -1.04680691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.270385723 meters 0.01631174558846783 Centerline is valid? [True, True] Translation: X:233.29, Y:-115.97, Z:-10.47 [[ 6.80910352e-01 -7.32358834e-01 3.41039117e-03 2.33290049e+02] [-7.32350153e-01 -6.80918889e-01 -3.56640384e-03 -1.15970617e+02] [ 4.93408713e-03 -6.91992048e-05 -9.99987825e-01 -1.04666966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.330385723 meters 0.01630094396441296 Centerline is valid? [True, True] Translation: X:233.35, Y:-116.06, Z:-10.47 [[ 7.36257030e-01 -6.76688217e-01 4.31774249e-03 2.33348189e+02] [-6.76677105e-01 -7.36269688e-01 -3.87845673e-03 -1.16062412e+02] [ 5.80352888e-03 -6.61764520e-05 -9.99983157e-01 -1.04671684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.390385723 meters 0.016262439432676558 Centerline is valid? [True, True] Translation: X:233.37, Y:-116.09, Z:-10.47 [[ 7.87880657e-01 -6.15804434e-01 5.38235305e-03 2.33369254e+02] [-6.15790640e-01 -7.87899038e-01 -4.12223327e-03 -1.16088321e+02] [ 6.77924032e-03 -6.65747762e-05 -9.99977018e-01 -1.04681955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.450385723 meters 0.016083578249900546 Centerline is valid? [True, True] Translation: X:233.39, Y:-116.11, Z:-10.47 [[ 8.34728875e-01 -5.50632423e-01 5.62494133e-03 2.33391613e+02] [-5.50620341e-01 -8.34747826e-01 -3.64793046e-03 -1.16114141e+02] [ 6.70407633e-03 -5.21742174e-05 -9.99977526e-01 -1.04673815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.510385723 meters 0.015887832002370792 Centerline is valid? [True, True] Translation: X:233.42, Y:-116.14, Z:-10.47 [[ 8.76047726e-01 -4.82195688e-01 5.26311010e-03 2.33416892e+02] [-4.82187235e-01 -8.76063535e-01 -2.85544667e-03 -1.16135528e+02] [ 5.98770291e-03 -3.62969478e-05 -9.99982073e-01 -1.04661270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.570385723 meters 0.01583860273871435 Centerline is valid? [True, True] Translation: X:233.44, Y:-116.16, Z:-10.46 [[ 9.11580506e-01 -4.11095391e-01 4.64338024e-03 2.33442397e+02] [-4.11090194e-01 -9.11592332e-01 -2.06709911e-03 -1.16158064e+02] [ 5.08264473e-03 -2.45208285e-05 -9.99987083e-01 -1.04645866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.630385723 meters 0.015705573455328758 Centerline is valid? [True, True] Translation: X:233.47, Y:-116.18, Z:-10.46 [[ 9.41873507e-01 -3.35940312e-01 4.28999666e-03 2.33469457e+02] [-3.35936873e-01 -9.41883277e-01 -1.52014475e-03 -1.16175431e+02] [ 4.55135401e-03 -9.38399677e-06 -9.99989643e-01 -1.04645328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.690385723 meters 0.0158046480393173 Centerline is valid? [True, True] Translation: X:233.50, Y:-116.19, Z:-10.46 [[ 9.65891446e-01 -2.58912290e-01 4.25925089e-03 2.33498018e+02] [-2.58909766e-01 -9.65900837e-01 -1.14338351e-03 -1.16190118e+02] [ 4.41005004e-03 1.62270066e-06 -9.99990276e-01 -1.04645992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.750385723 meters 0.01575747890924954 Centerline is valid? [True, True] Translation: X:233.53, Y:-116.20, Z:-10.47 [[ 9.83395982e-01 -1.81418033e-01 4.45426436e-03 2.33527862e+02] [-1.81416140e-01 -9.83406069e-01 -8.28878370e-04 -1.16201147e+02] [ 4.53072409e-03 7.04021416e-06 -9.99989736e-01 -1.04651202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81038572299997 meters 0.015646324726158747 Centerline is valid? [True, True] Translation: X:233.55, Y:-116.21, Z:-10.46 [[ 9.94443187e-01 -1.05190497e-01 4.20799043e-03 2.33554371e+02] [-1.05189551e-01 -9.94452090e-01 -4.46027142e-04 -1.16207360e+02] [ 4.23156270e-03 9.12027837e-07 -9.99991047e-01 -1.04644767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87038572299997 meters 0.01559159914373557 Centerline is valid? [True, True] Translation: X:233.58, Y:-116.21, Z:-10.46 [[ 9.99594095e-01 -2.83378356e-02 2.93478562e-03 2.33580816e+02] [-2.83377235e-02 -9.99598403e-01 -7.97805174e-05 -1.16212129e+02] [ 2.93586783e-03 -3.41700942e-06 -9.99995690e-01 -1.04640183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.930385723 meters 0.01562313433578443 Centerline is valid? [True, True] Translation: X:233.61, Y:-116.22, Z:-10.46 [[ 9.98763670e-01 4.96395187e-02 2.65515098e-03 2.33607790e+02] [ 4.96393322e-02 -9.98767199e-01 1.36117438e-04 -1.16219351e+02] [ 2.65863451e-03 -4.14923063e-06 -9.99996466e-01 -1.04635350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.990385723 meters 0.015601096302379783 Centerline is valid? [True, True] Translation: X:233.63, Y:-116.22, Z:-10.46 [[ 9.92057506e-01 1.25769179e-01 2.00458658e-03 2.33633848e+02] [ 1.25768907e-01 -9.92059531e-01 2.61417758e-04 -1.16216524e+02] [ 2.02154752e-03 -7.22678640e-06 -9.99997957e-01 -1.04641819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.050385723 meters 0.015677386565260094 Centerline is valid? [True, True] Translation: X:233.66, Y:-116.21, Z:-10.46 [[ 9.79479512e-01 2.01541323e-01 -9.90638916e-04 2.33659099e+02] [ 2.01541216e-01 -9.79480013e-01 -2.08091787e-04 -1.16214362e+02] [-1.01225011e-03 4.16707051e-06 -9.99999488e-01 -1.04630275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.110385723 meters 0.015528691785624571 Centerline is valid? [True, True] Translation: X:233.69, Y:-116.22, Z:-10.46 [[ 9.60298604e-01 2.78970863e-01 -1.35978198e-03 2.33686190e+02] [ 2.78970577e-01 -9.60299567e-01 -3.99239713e-04 -1.16218367e+02] [-1.41717429e-03 4.05017500e-06 -9.99998996e-01 -1.04628941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.170385723 meters 0.015287391108600949 Centerline is valid? [True, True] Translation: X:233.71, Y:-116.22, Z:-10.46 [[ 9.35203983e-01 3.54102400e-01 -2.23642270e-03 2.33713807e+02] [ 3.54101374e-01 -9.35206657e-01 -8.52386700e-04 -1.16222367e+02] [-2.39334957e-03 5.23508820e-06 -9.99997136e-01 -1.04623501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.230385723 meters 0.01527807215093178 Centerline is valid? [True, True] Translation: X:233.74, Y:-116.22, Z:-10.46 [[ 9.05417887e-01 4.24498295e-01 -4.43257152e-03 2.33741867e+02] [ 4.24493096e-01 -9.05428737e-01 -2.10111116e-03 -1.16221975e+02] [-4.90529574e-03 2.07876207e-05 -9.99987969e-01 -1.04617806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.290385723 meters 0.01545555406211915 Centerline is valid? [True, True] Translation: X:233.77, Y:-116.22, Z:-10.46 [[ 8.70910036e-01 4.91415318e-01 -5.16661222e-03 2.33767664e+02] [ 4.91406372e-01 -8.70925360e-01 -2.96552638e-03 -1.16217272e+02] [-5.95703870e-03 4.38005197e-05 -9.99982256e-01 -1.04619578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.350385723 meters 0.01610303132413974 Centerline is valid? [True, True] Translation: X:233.79, Y:-116.21, Z:-10.46 [[ 8.32586723e-01 5.53859703e-01 -6.22724637e-03 2.33792370e+02] [ 5.53843364e-01 -8.32610005e-01 -4.25527679e-03 -1.16211160e+02] [-7.54169397e-03 9.39678781e-05 -9.99971557e-01 -1.04600107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.410385723 meters 0.018161933635349594 Centerline is valid? [True, True] Translation: X:233.82, Y:-116.20, Z:-10.46 [[ 7.87390489e-01 6.16422458e-01 -6.29045397e-03 2.33819353e+02] [ 6.16401666e-01 -7.87415609e-01 -5.06420202e-03 -1.16204805e+02] [-8.07488950e-03 1.10058206e-04 -9.99967392e-01 -1.04574943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.470385723 meters 0.01610027230429469 Centerline is valid? [True, True] Translation: X:233.84, Y:-116.20, Z:-10.46 [[ 7.36145147e-01 6.76789795e-01 -6.77465855e-03 2.33844551e+02] [ 6.76759635e-01 -7.36176310e-01 -6.39044311e-03 -1.16195526e+02] [-9.31232982e-03 1.19478234e-04 -9.99956632e-01 -1.04609172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.530385723 meters 0.015818026684697135 Centerline is valid? [True, True] Translation: X:233.87, Y:-116.19, Z:-10.46 [[ 6.79858270e-01 7.33317639e-01 -6.16222914e-03 2.33871050e+02] [ 7.33286113e-01 -6.79886189e-01 -6.80045287e-03 -1.16186499e+02] [-9.17650652e-03 1.04667071e-04 -9.99957890e-01 -1.04619693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.590385723 meters 0.015642890772528187 Centerline is valid? [True, True] Translation: X:233.89, Y:-116.17, Z:-10.46 [[ 6.19056681e-01 7.85329121e-01 -5.19603083e-03 2.33894563e+02] [ 7.85300326e-01 -6.19078481e-01 -6.72548656e-03 -1.16172780e+02] [-8.49847132e-03 8.30126836e-05 -9.99963884e-01 -1.04635672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.650385723 meters 0.015630075669150343 Centerline is valid? [True, True] Translation: X:233.91, Y:-116.16, Z:-10.46 [[ 5.55174867e-01 8.31717625e-01 -5.16322022e-03 2.33914580e+02] [ 8.31680198e-01 -5.55198869e-01 -7.89073886e-03 -1.16156745e+02] [-9.42948061e-03 8.65918848e-05 -9.99955538e-01 -1.04638692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.710385723 meters 0.01603304292157775 Centerline is valid? [True, True] Translation: X:233.93, Y:-116.14, Z:-10.46 [[ 4.87617573e-01 8.73042573e-01 -5.07624640e-03 2.33929687e+02] [ 8.72993374e-01 -4.87643987e-01 -9.26886746e-03 -1.16138072e+02] [-1.05675169e-02 8.81331841e-05 -9.99944158e-01 -1.04630381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.770385723 meters 0.01565327271927284 Centerline is valid? [True, True] Translation: X:233.95, Y:-116.12, Z:-10.46 [[ 4.17464765e-01 9.08679884e-01 -4.90286512e-03 2.33946476e+02] [ 9.08614496e-01 -4.17493543e-01 -1.09013499e-02 -1.16119153e+02] [-1.19527519e-02 9.61151552e-05 -9.99928559e-01 -1.04624886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.830385723 meters 0.015637866463701664 Centerline is valid? [True, True] Translation: X:233.96, Y:-116.10, Z:-10.46 [[ 3.45604807e-01 9.38370441e-01 -4.26999755e-03 2.33961208e+02] [ 9.38294867e-01 -3.45631167e-01 -1.19095744e-02 -1.16098287e+02] [-1.26514368e-02 1.09489375e-04 -9.99919961e-01 -1.04624347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.890385723 meters 0.01577857838288257 Centerline is valid? [True, True] Translation: X:233.97, Y:-116.08, Z:-10.46 [[ 2.72558388e-01 9.62134996e-01 -2.85916822e-03 2.33973455e+02] [ 9.62077718e-01 -2.72573361e-01 -1.04988900e-02 -1.16076942e+02] [-1.08806825e-02 1.10818488e-04 -9.99940797e-01 -1.04646150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.950385723 meters 0.015564911483629712 Centerline is valid? [True, True] Translation: X:233.99, Y:-116.06, Z:-10.47 [[ 1.95884020e-01 9.80625231e-01 -1.89930760e-03 2.33986074e+02] [ 9.80574133e-01 -1.95893202e-01 -1.00111211e-02 -1.16055421e+02] [-1.01892194e-02 9.86067429e-05 -9.99948084e-01 -1.04660123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.010385723 meters 0.015395230529991494 Centerline is valid? [True, True] Translation: X:234.00, Y:-116.03, Z:-10.46 [[ 1.16766708e-01 9.93158747e-01 -1.11339922e-03 2.33998483e+02] [ 9.93106686e-01 -1.16771988e-01 -1.01692632e-02 -1.16033068e+02] [-1.02297065e-02 8.17071864e-05 -9.99947672e-01 -1.04645767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.070385723 meters 0.015435565234339721 Centerline is valid? [True, True] Translation: X:234.01, Y:-116.01, Z:-10.46 [[ 3.74529265e-02 9.99298336e-01 -3.36827067e-04 2.34007315e+02] [ 9.99237910e-01 -3.74543660e-02 -1.09895197e-02 -1.16010878e+02] [-1.09944244e-02 7.50192986e-05 -9.99939557e-01 -1.04629403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.130385723 meters 0.015324449757164186 Centerline is valid? [True, True] Translation: X:234.01, Y:-115.99, Z:-10.46 [[-4.05407829e-02 9.99177741e-01 5.35986653e-04 2.34014605e+02] [ 9.99114838e-01 4.05442450e-02 -1.12118214e-02 -1.15987299e+02] [-1.12243336e-02 8.09761986e-05 -9.99937002e-01 -1.04631539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.190385723 meters 0.015405748581058167 Centerline is valid? [True, True] Translation: X:234.02, Y:-115.96, Z:-10.46 [[-1.17139673e-01 9.93114435e-01 1.42003695e-03 2.34021555e+02] [ 9.93051403e-01 1.17148238e-01 -1.11893807e-02 -1.15963027e+02] [-1.12786903e-02 9.94492935e-05 -9.99936389e-01 -1.04635832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.250385723 meters 0.015611448161091184 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.94, Z:-10.46 [[-1.91941938e-01 9.81404080e-01 2.07930024e-03 2.34027612e+02] [ 9.81352945e-01 1.91953164e-01 -1.00190261e-02 -1.15937337e+02] [-1.02318414e-02 1.17456123e-04 -9.99947646e-01 -1.04643935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31038572299997 meters 0.01607581324445606 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.91, Z:-10.47 [[-2.65209007e-01 9.64188098e-01 2.34397101e-03 2.34031297e+02] [ 9.64154421e-01 2.65219336e-01 -8.05957842e-03 -1.15911883e+02] [-8.39261603e-03 1.22477229e-04 -9.99964774e-01 -1.04654315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37038572299997 meters 0.01649922757336124 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.89, Z:-10.47 [[-3.36841562e-01 9.41556694e-01 2.95882434e-03 2.34033488e+02] [ 9.41524175e-01 3.36854524e-01 -7.82676817e-03 -1.15885788e+02] [-8.36603933e-03 1.49423825e-04 -9.99964993e-01 -1.04661204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.430385723 meters 0.017119250746927793 Centerline is valid? [True, True] Translation: X:234.04, Y:-115.86, Z:-10.47 [[-4.06772831e-01 9.13522715e-01 3.48033693e-03 2.34036700e+02] [ 9.13492790e-01 4.06787684e-01 -7.39617576e-03 -1.15857734e+02] [-8.17233276e-03 1.70699333e-04 -9.99966591e-01 -1.04657500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.490385723 meters 0.017044574698462052 Centerline is valid? [True, True] Translation: X:234.04, Y:-115.83, Z:-10.47 [[-4.76188591e-01 8.79332729e-01 4.28687906e-03 2.34036878e+02] [ 8.79300613e-01 4.76207849e-01 -7.51770052e-03 -1.15829724e+02] [-8.65200557e-03 1.89612169e-04 -9.99962553e-01 -1.04656621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.550385723 meters 0.017214274100660804 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.80, Z:-10.47 [[-5.43121606e-01 8.39634529e-01 5.72527584e-03 2.34034710e+02] [ 8.39592249e-01 5.43151733e-01 -8.42916232e-03 -1.15801923e+02] [-1.01871092e-02 2.28837043e-04 -9.99948084e-01 -1.04652316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.610385723 meters 0.017736105985957294 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.78, Z:-10.46 [[-6.07182487e-01 7.94537047e-01 6.34881225e-03 2.34030160e+02] [ 7.94497492e-01 6.07215636e-01 -7.93135430e-03 -1.15775779e+02] [-1.01568529e-02 2.28335976e-04 -9.99948392e-01 -1.04641067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.670385723 meters 0.017480784983699555 Centerline is valid? [True, True] Translation: X:234.02, Y:-115.75, Z:-10.46 [[-6.69087971e-01 7.43157375e-01 6.19692174e-03 2.34022486e+02] [ 7.43128035e-01 6.69116642e-01 -6.60621173e-03 -1.15748710e+02] [-9.05591844e-03 1.84969478e-04 -9.99958977e-01 -1.04633995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.730385723 meters 0.017412548650605725 Centerline is valid? [True, True] Translation: X:234.01, Y:-115.73, Z:-10.46 [[-7.26470732e-01 6.87163365e-01 6.83998720e-03 2.34009477e+02] [ 6.87135129e-01 7.26502911e-01 -6.23179817e-03 -1.15726069e+02] [-9.25153401e-03 1.72776513e-04 -9.99957189e-01 -1.04637193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.790385723 meters 0.01701603047318603 Centerline is valid? [True, True] Translation: X:234.04, Y:-115.71, Z:-10.47 [[-7.74273409e-01 6.32818497e-01 6.43731405e-03 2.34037986e+02] [ 6.32798116e-01 7.74300155e-01 -5.08076887e-03 -1.15709956e+02] [-8.19961779e-03 1.39615965e-04 -9.99966373e-01 -1.04654917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.850385723 meters 0.01658868332005085 Centerline is valid? [True, True] Translation: X:234.06, Y:-115.69, Z:-10.47 [[-8.18005251e-01 5.75177853e-01 6.15195064e-03 2.34058108e+02] [ 5.75162638e-01 8.18028376e-01 -4.18515089e-03 -1.15685273e+02] [-7.43967629e-03 1.14896753e-04 -9.99972319e-01 -1.04659829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.910385723 meters 0.015947256124697832 Centerline is valid? [True, True] Translation: X:234.08, Y:-115.66, Z:-10.47 [[-8.57388221e-01 5.14628607e-01 6.54489652e-03 2.34077669e+02] [ 5.14614553e-01 8.57413194e-01 -3.80484012e-03 -1.15659636e+02] [-7.56976020e-03 1.05873897e-04 -9.99971343e-01 -1.04665497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.970385723 meters 0.015703615498361512 Centerline is valid? [True, True] Translation: X:234.09, Y:-115.63, Z:-10.47 [[-8.92393188e-01 4.51195318e-01 7.56196079e-03 2.34092783e+02] [ 4.51180103e-01 8.92425221e-01 -3.70683322e-03 -1.15631679e+02] [-8.42099032e-03 1.03853527e-04 -9.99964537e-01 -1.04660154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.030385723 meters 0.016360487005228384 Centerline is valid? [True, True] Translation: X:234.10, Y:-115.60, Z:-10.46 [[-9.21784095e-01 3.87588602e-01 9.44230378e-03 2.34103322e+02] [ 3.87569750e-01 9.21832446e-01 -3.82509967e-03 -1.15602253e+02] [-1.01867870e-02 1.33635267e-04 -9.99948104e-01 -1.04623837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.090385723 meters 0.016987831718043543 Centerline is valid? [True, True] Translation: X:234.11, Y:-115.58, Z:-10.46 [[-9.46314725e-01 3.23087308e-01 1.01505095e-02 2.34114189e+02] [ 3.23070535e-01 9.46369149e-01 -3.29607215e-03 -1.15575244e+02] [-1.06710481e-02 1.60208930e-04 -9.99943050e-01 -1.04612873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.150385723 meters 0.017100693804485725 Centerline is valid? [True, True] Translation: X:234.13, Y:-115.55, Z:-10.46 [[-9.66220743e-01 2.57518195e-01 1.00923099e-02 2.34126146e+02] [ 2.57506098e-01 9.66273433e-01 -2.50259863e-03 -1.15549022e+02] [-1.03963956e-02 1.80768638e-04 -9.99945940e-01 -1.04629819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.210385723 meters 0.0172158795130946 Centerline is valid? [True, True] Translation: X:234.13, Y:-115.52, Z:-10.46 [[-9.81639404e-01 1.90474789e-01 1.01703464e-02 2.34134749e+02] [ 1.90466694e-01 9.81692067e-01 -1.76766981e-03 -1.15519785e+02] [-1.03208450e-02 2.01897931e-04 -9.99946718e-01 -1.04632435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.270385723 meters 0.017345249933761502 Centerline is valid? [True, True] Translation: X:234.14, Y:-115.49, Z:-10.46 [[-9.92688251e-01 1.20393602e-01 8.68429299e-03 2.34138081e+02] [ 1.20390503e-01 9.92726222e-01 -8.80642651e-04 -1.15489203e+02] [-8.72714911e-03 1.71302789e-04 -9.99961903e-01 -1.04640636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.330385723 meters 0.016521455936326732 Centerline is valid? [True, True] Translation: X:234.14, Y:-115.46, Z:-10.46 [[-9.98874462e-01 4.68665116e-02 7.30331498e-03 2.34137923e+02] [ 4.68661606e-02 9.98901154e-01 -2.19287401e-04 -1.15456013e+02] [-7.30556699e-03 1.23237748e-04 -9.99973306e-01 -1.04648639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.390385723 meters 0.01675699735715691 Centerline is valid? [True, True] Translation: X:234.13, Y:-115.43, Z:-10.46 [[-9.99597056e-01 -2.68774093e-02 9.12854001e-03 2.34130165e+02] [-2.68751019e-02 9.99638729e-01 3.75361306e-04 -1.15427076e+02] [-9.13533087e-03 1.29879613e-04 -9.99958264e-01 -1.04629053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.450385723 meters 0.016495341970117365 Centerline is valid? [True, True] Translation: X:234.09, Y:-114.71, Z:-11.46 [[-9.99850534e-01 -1.35693281e-02 1.07136990e-02 2.34092835e+02] [ 1.35680488e-02 -9.99907931e-01 -1.92090585e-04 -1.14710877e+02] [ 1.07153191e-02 -4.66978840e-05 9.99942588e-01 -1.14565584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.510385723 meters 0.01618326406497534 Centerline is valid? [True, True] Translation: X:234.05, Y:-115.43, Z:-10.46 [[-9.99285297e-01 -3.61516696e-02 1.10431488e-02 2.34045959e+02] [-3.61482424e-02 9.99346309e-01 5.09851832e-04 -1.15426410e+02] [-1.10543619e-02 1.10297021e-04 -9.99938893e-01 -1.04612300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.570385723 meters 0.015910788121773153 Centerline is valid? [True, True] Translation: X:234.04, Y:-115.40, Z:-10.46 [[-9.94025545e-01 -1.08604808e-01 1.08725218e-02 2.34040365e+02] [-1.08597281e-01 9.94085000e-01 1.28210051e-03 -1.15397058e+02] [-1.09474532e-02 9.37143561e-05 -9.99940070e-01 -1.04614074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.630385723 meters 0.015864949839351557 Centerline is valid? [True, True] Translation: X:234.03, Y:-115.37, Z:-10.46 [[-9.83890057e-01 -1.78535483e-01 9.24315984e-03 2.34030069e+02] [-1.78526781e-01 9.83933470e-01 1.76481699e-03 -1.15370647e+02] [-9.40973679e-03 8.62343107e-05 -9.99955724e-01 -1.04630540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.690385723 meters 0.01593067886776587 Centerline is valid? [True, True] Translation: X:234.01, Y:-115.35, Z:-10.46 [[-9.69079571e-01 -2.46592831e-01 8.76132262e-03 2.34011551e+02] [-2.46581820e-01 9.69119170e-01 2.33242581e-03 -1.15346823e+02] [-9.06592519e-03 9.99233249e-05 -9.99958899e-01 -1.04635534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.750385723 meters 0.016231037760820563 Centerline is valid? [True, True] Translation: X:233.98, Y:-115.33, Z:-10.46 [[-9.49448371e-01 -3.13786594e-01 9.26089887e-03 2.33981443e+02] [-3.13770346e-01 9.49493527e-01 3.19578577e-03 -1.15327866e+02] [-9.79595825e-03 1.28438149e-04 -9.99952010e-01 -1.04635945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81038572299997 meters 0.016564630414611113 Centerline is valid? [True, True] Translation: X:233.93, Y:-115.32, Z:-10.46 [[-9.24607132e-01 -3.80785938e-01 1.01843745e-02 2.33926384e+02] [-3.80760877e-01 9.24663205e-01 4.37172980e-03 -1.15322184e+02] [-1.10818096e-02 1.64321203e-04 -9.99938581e-01 -1.04636631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87038572299997 meters 0.01676351732855455 Centerline is valid? [True, True] Translation: X:233.86, Y:-115.32, Z:-10.46 [[-8.94167238e-01 -4.47609717e-01 1.05114898e-02 2.33861828e+02] [-4.47576423e-01 8.94229003e-01 5.46226261e-03 -1.15323009e+02] [-1.18446408e-02 1.79481281e-04 -9.99929834e-01 -1.04633990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.930385723 meters 0.016540685046391005 Centerline is valid? [True, True] Translation: X:233.78, Y:-115.33, Z:-10.46 [[-8.58560236e-01 -5.12614628e-01 1.00281890e-02 2.33784619e+02] [-5.12577232e-01 8.58618781e-01 6.19434456e-03 -1.15334859e+02] [-1.17857031e-02 1.77996551e-04 -9.99930530e-01 -1.04640981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.990385723 meters 0.01639199982082951 Centerline is valid? [True, True] Translation: X:233.71, Y:-115.36, Z:-10.47 [[-8.18088902e-01 -5.75024263e-01 8.81160413e-03 2.33706371e+02] [-5.74988694e-01 8.18136339e-01 6.39791450e-03 -1.15356117e+02] [-1.08880496e-02 1.67490105e-04 -9.99940709e-01 -1.04659618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.050385723 meters 0.016371465162270622 Centerline is valid? [True, True] Translation: X:233.62, Y:-115.39, Z:-10.47 [[-7.72806752e-01 -6.34592924e-01 7.84509018e-03 2.33622170e+02] [-6.34558108e-01 7.72846554e-01 6.64923080e-03 -1.15388905e+02] [-1.02826057e-02 1.60404877e-04 -9.99947120e-01 -1.04684438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.110385723 meters 0.01582810734981648 Centerline is valid? [True, True] Translation: X:233.53, Y:-115.43, Z:-10.47 [[-7.20607976e-01 -6.93310380e-01 6.69786268e-03 2.33532159e+02] [-6.93278929e-01 7.20639094e-01 6.60482493e-03 -1.15430082e+02] [-9.40593537e-03 1.16002465e-04 -9.99955756e-01 -1.04690787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.170385723 meters 0.01566694510367689 Centerline is valid? [True, True] Translation: X:233.44, Y:-115.48, Z:-10.47 [[-6.64146907e-01 -7.47579491e-01 5.81303121e-03 2.33441276e+02] [-7.47549744e-01 6.64172341e-01 6.66945797e-03 -1.15483439e+02] [-8.84680454e-03 8.39698917e-05 -9.99960863e-01 -1.04688014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.230385723 meters 0.015424012605771894 Centerline is valid? [True, True] Translation: X:233.35, Y:-115.54, Z:-10.47 [[-6.02207190e-01 -7.98318615e-01 5.82143983e-03 2.33354383e+02] [-7.98280483e-01 6.02235325e-01 7.80286249e-03 -1.15544511e+02] [-9.73504708e-03 5.17980993e-05 -9.99952612e-01 -1.04693513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.290385723 meters 0.01533574697781693 Centerline is valid? [True, True] Translation: X:233.27, Y:-115.62, Z:-10.47 [[-5.37347392e-01 -8.43338134e-01 6.21068559e-03 2.33267872e+02] [-8.43281211e-01 5.37383282e-01 9.79837001e-03 -1.15616518e+02] [-1.16008577e-02 2.77741086e-05 -9.99932707e-01 -1.04689384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.350385723 meters 0.015252463681895008 Centerline is valid? [True, True] Translation: X:233.19, Y:-115.70, Z:-10.47 [[-4.69342176e-01 -8.83000727e-01 5.25717278e-03 2.33185713e+02] [-8.82945387e-01 4.69371618e-01 9.88571833e-03 -1.15697111e+02] [-1.11966642e-02 -2.01190671e-06 -9.99937315e-01 -1.04697762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.410385723 meters 0.015236165357053756 Centerline is valid? [True, True] Translation: X:233.11, Y:-115.79, Z:-10.47 [[-3.99226530e-01 -9.16842457e-01 4.25288111e-03 2.33111117e+02] [-9.16790925e-01 3.99249181e-01 9.72066039e-03 -1.15786496e+02] [-1.06102735e-02 -1.82572857e-05 -9.99943709e-01 -1.04708940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.470385723 meters 0.015334138694688996 Centerline is valid? [True, True] Translation: X:233.04, Y:-115.88, Z:-10.47 [[-3.26973676e-01 -9.45027422e-01 3.37434349e-03 2.33042170e+02] [-9.44977994e-01 3.26991086e-01 9.66541762e-03 -1.15884127e+02] [-1.02374649e-02 -2.83432141e-05 -9.99947595e-01 -1.04713942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.530385723 meters 0.015389887777058957 Centerline is valid? [True, True] Translation: X:232.98, Y:-115.99, Z:-10.47 [[-2.51601631e-01 -9.67826020e-01 3.06829141e-03 2.32978724e+02] [-9.67756867e-01 2.51620332e-01 1.15695341e-02 -1.15993829e+02] [-1.19693407e-02 -5.84464285e-05 -9.99928363e-01 -1.04697260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.590385723 meters 0.015426392104029489 Centerline is valid? [True, True] Translation: X:232.93, Y:-116.10, Z:-10.47 [[-1.75086311e-01 -9.84550365e-01 2.31556030e-03 2.32928211e+02] [-9.84470336e-01 1.75101604e-01 1.25533129e-02 -1.16096623e+02] [-1.27648272e-02 -8.16871643e-05 -9.99918523e-01 -1.04705811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.650385723 meters 0.015402964137586472 Centerline is valid? [True, True] Translation: X:232.89, Y:-116.22, Z:-10.47 [[-1.00118749e-01 -9.94974292e-01 1.54719926e-03 2.32885117e+02] [-9.94867162e-01 1.00130673e-01 1.46006266e-02 -1.16215024e+02] [-1.46821703e-02 -7.74612651e-05 -9.99892208e-01 -1.04691728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.710385723 meters 0.015464461127080437 Centerline is valid? [True, True] Translation: X:232.85, Y:-116.34, Z:-10.47 [[-2.42291843e-02 -9.99706329e-01 4.49130037e-04 2.32850175e+02] [-9.99583410e-01 2.42332481e-02 1.56765891e-02 -1.16337607e+02] [-1.56828692e-02 -6.91119686e-05 -9.99877014e-01 -1.04680772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.770385723 meters 0.015278850505498308 Centerline is valid? [True, True] Translation: X:232.83, Y:-116.46, Z:-10.47 [[ 4.82157865e-02 -9.98836693e-01 -7.06584335e-04 2.32828774e+02] [-9.98730096e-01 -4.82209635e-02 1.45922892e-02 -1.16455417e+02] [-1.46093861e-02 2.10833821e-06 -9.99893277e-01 -1.04679692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.830385723 meters 0.015093371789905422 Centerline is valid? [True, True] Translation: X:232.81, Y:-116.57, Z:-10.47 [[ 1.22942215e-01 -9.92412272e-01 -1.75896338e-03 2.32814514e+02] [-9.92314055e-01 -1.22954794e-01 1.39619181e-02 -1.16573463e+02] [-1.40722519e-02 2.89349367e-05 -9.99900981e-01 -1.04695865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.890385723 meters 0.015134443023773798 Centerline is valid? [True, True] Translation: X:232.08, Y:-116.78, Z:-11.45 [[ 6.07196265e-02 9.98154624e-01 -6.87976232e-04 2.32083372e+02] [-9.98070526e-01 6.07234414e-02 1.29571730e-02 -1.16781112e+02] [ 1.29750384e-02 -1.00105902e-04 9.99915816e-01 -1.14476230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.950385723 meters 0.015050616204171734 Centerline is valid? [True, True] Translation: X:232.86, Y:-116.87, Z:-10.47 [[ 1.32365170e-01 -9.91199563e-01 -1.69928239e-03 2.32856226e+02] [-9.91120628e-01 -1.32376075e-01 1.25090324e-02 -1.16871946e+02] [-1.26238917e-02 2.84336252e-05 -9.99920315e-01 -1.04694326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.010385723 meters 0.014959443519722402 Centerline is valid? [True, True] Translation: X:232.86, Y:-117.01, Z:-10.47 [[ 2.09012223e-01 -9.77908567e-01 -2.95372048e-03 2.32855520e+02] [-9.77812326e-01 -2.09033092e-01 1.37193910e-02 -1.17010056e+02] [-1.40337354e-02 2.06638753e-05 -9.99901522e-01 -1.04673831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.070385723 meters 0.015062947959607024 Centerline is valid? [True, True] Translation: X:232.86, Y:-117.11, Z:-10.47 [[ 2.84750463e-01 -9.58592229e-01 -4.25573251e-03 2.32856926e+02] [-9.58485564e-01 -2.84782264e-01 1.42998496e-02 -1.17113900e+02] [-1.49196818e-02 7.16939083e-06 -9.99888695e-01 -1.04655552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.130385723 meters 0.0150376052015364 Centerline is valid? [True, True] Translation: X:232.87, Y:-117.24, Z:-10.47 [[ 3.57887694e-01 -9.33749525e-01 -5.31249350e-03 2.32874963e+02] [-9.33646820e-01 -3.57927121e-01 1.38489184e-02 -1.17239134e+02] [-1.48329065e-02 3.63517559e-06 -9.99889986e-01 -1.04654730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.190385723 meters 0.014859915234309644 Centerline is valid? [True, True] Translation: X:232.90, Y:-117.35, Z:-10.47 [[ 4.28218164e-01 -9.03660098e-01 -5.25649786e-03 2.32898673e+02] [-9.03592291e-01 -4.28250426e-01 1.10699884e-02 -1.17353696e+02] [-1.22546043e-02 9.36081401e-06 -9.99924909e-01 -1.04680722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.250385723 meters 0.014938623488987753 Centerline is valid? [True, True] Translation: X:232.94, Y:-117.49, Z:-10.47 [[ 4.96804588e-01 -8.67845849e-01 -5.36496671e-03 2.32941137e+02] [-8.67795322e-01 -4.96833555e-01 9.36467865e-03 -1.17488873e+02] [-1.07925930e-02 3.27769565e-06 -9.99941758e-01 -1.04671533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31038572299997 meters 0.014874595520405196 Centerline is valid? [True, True] Translation: X:232.97, Y:-117.59, Z:-10.47 [[ 5.63045091e-01 -8.26404712e-01 -5.95623015e-03 2.32968165e+02] [-8.26358293e-01 -5.63076594e-01 8.75905718e-03 -1.17585787e+02] [-1.05923399e-02 -9.76397134e-06 -9.99943900e-01 -1.04684281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37038572299997 meters 0.016831687788918165 Centerline is valid? [True, True] Translation: X:233.01, Y:-117.70, Z:-10.47 [[ 6.25339173e-01 -7.80318572e-01 -7.33793357e-03 2.33013273e+02] [-7.80264483e-01 -6.25382224e-01 9.18751665e-03 -1.17697346e+02] [-1.17582031e-02 -1.97851135e-05 -9.99930870e-01 -1.04660277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.430385723 meters 0.014723283230706003 Centerline is valid? [True, True] Translation: X:233.07, Y:-117.80, Z:-10.47 [[ 6.83419598e-01 -7.29990375e-01 -7.19060949e-03 2.33065449e+02] [-7.29949645e-01 -6.83457425e-01 7.71125083e-03 -1.17802932e+02] [-1.05436143e-02 -2.12370940e-05 -9.99944414e-01 -1.04679981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.490385723 meters 0.014734391307611852 Centerline is valid? [True, True] Translation: X:233.12, Y:-117.90, Z:-10.47 [[ 7.35133339e-01 -6.77870954e-01 -8.36324781e-03 2.33122697e+02] [-6.77827254e-01 -7.35180910e-01 7.69694779e-03 -1.17899228e+02] [-1.13660375e-02 1.05543699e-05 -9.99935404e-01 -1.04671010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.550385723 meters 0.014677815551648609 Centerline is valid? [True, True] Translation: X:233.14, Y:-117.93, Z:-10.47 [[ 7.83523194e-01 -6.21308517e-01 -8.19338736e-03 2.33139125e+02] [-6.21275196e-01 -7.83566031e-01 6.43474505e-03 -1.17926575e+02] [-1.04180219e-02 4.85763392e-05 -9.99945730e-01 -1.04685460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.610385723 meters 0.014847177414483121 Centerline is valid? [True, True] Translation: X:233.16, Y:-117.95, Z:-10.47 [[ 8.27980241e-01 -5.60694452e-01 -8.39359855e-03 2.33157515e+02] [-5.60666591e-01 -8.28022781e-01 5.58998229e-03 -1.17952056e+02] [-1.00843629e-02 7.76154012e-05 -9.99949149e-01 -1.04694773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.670385723 meters 0.015477924067486118 Centerline is valid? [True, True] Translation: X:233.18, Y:-117.98, Z:-10.47 [[ 8.66094381e-01 -4.99804836e-01 -8.69769445e-03 2.33177185e+02] [-4.99781259e-01 -8.66138041e-01 4.85662938e-03 -1.17977056e+02] [-9.96077088e-03 1.40645270e-04 -9.99950380e-01 -1.04698967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.730385723 meters 0.015911191207934244 Centerline is valid? [True, True] Translation: X:233.20, Y:-118.00, Z:-10.47 [[ 9.00994950e-01 -4.33742845e-01 -8.67441233e-03 2.33197704e+02] [-4.33724536e-01 -9.01036690e-01 3.98879836e-03 -1.18001858e+02] [-9.54607652e-03 1.68418286e-04 -9.99954421e-01 -1.04699502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.790385723 meters 0.016567290412145812 Centerline is valid? [True, True] Translation: X:233.22, Y:-118.02, Z:-10.47 [[ 9.30616944e-01 -3.65876487e-01 -9.30054902e-03 2.33220996e+02] [-3.65860531e-01 -9.30663392e-01 3.42377758e-03 -1.18023854e+02] [-9.90836021e-03 2.16478374e-04 -9.99950888e-01 -1.04693542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.850385723 meters 0.017401520613549545 Centerline is valid? [True, True] Translation: X:233.24, Y:-118.05, Z:-10.47 [[ 9.55869631e-01 -2.93622559e-01 -9.95196225e-03 2.33244871e+02] [-2.93609290e-01 -9.55921405e-01 2.80202551e-03 -1.18045389e+02] [-1.03360316e-02 2.43617484e-04 -9.99946552e-01 -1.04682390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.910385723 meters 0.01748919705207262 Centerline is valid? [True, True] Translation: X:233.27, Y:-118.06, Z:-10.47 [[ 9.76126006e-01 -2.16987974e-01 -9.70769402e-03 2.33269913e+02] [-2.16979525e-01 -9.76174251e-01 1.92803040e-03 -1.18064054e+02] [-9.89476035e-03 2.24370223e-04 -9.99951020e-01 -1.04696368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.970385723 meters 0.017169899359109776 Centerline is valid? [True, True] Translation: X:233.29, Y:-118.08, Z:-10.47 [[ 9.90475078e-01 -1.37389054e-01 -9.13063597e-03 2.33292947e+02] [-1.37384937e-01 -9.90517145e-01 1.07959345e-03 -1.18082255e+02] [-9.19237579e-03 1.85101443e-04 -9.99957732e-01 -1.04702212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.030385723 meters 0.016383659381372435 Centerline is valid? [True, True] Translation: X:233.32, Y:-118.10, Z:-10.47 [[ 9.98327808e-01 -5.69696236e-02 -9.80049709e-03 2.33318683e+02] [-5.69685843e-02 -9.98375897e-01 3.85404254e-04 -1.18100775e+02] [-9.80653641e-03 1.73560661e-04 -9.99951900e-01 -1.04709563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.090385723 meters 0.015332576105557997 Centerline is valid? [True, True] Translation: X:233.35, Y:-118.12, Z:-10.47 [[ 9.99676898e-01 2.38371502e-02 -8.82552748e-03 2.33347053e+02] [ 2.38350333e-02 -9.99715846e-01 -3.44985640e-04 -1.18119733e+02] [-8.83124314e-03 1.34517433e-04 -9.99960995e-01 -1.04739376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.150385723 meters 0.014954001074672119 Centerline is valid? [True, True] Translation: X:233.38, Y:-118.14, Z:-10.48 [[ 9.94457381e-01 1.04818987e-01 -8.21564253e-03 2.33376362e+02] [ 1.04814555e-01 -9.94491312e-01 -9.69323597e-04 -1.18135725e+02] [-8.27198863e-03 1.02832089e-04 -9.99965781e-01 -1.04750304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.210385723 meters 0.014741422015971737 Centerline is valid? [True, True] Translation: X:233.41, Y:-118.15, Z:-10.47 [[ 9.82835859e-01 1.84264796e-01 -8.95321883e-03 2.33407642e+02] [ 1.84256261e-01 -9.82876633e-01 -1.77616519e-03 -1.18146035e+02] [-9.12719429e-03 9.59922190e-05 -9.99958342e-01 -1.04740798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.270385723 meters 0.016478857711529116 Centerline is valid? [True, True] Translation: X:233.44, Y:-118.15, Z:-10.47 [[ 9.64823393e-01 2.62634502e-01 -1.17872447e-02 2.33439122e+02] [ 2.62613590e-01 -9.64895387e-01 -3.31582440e-03 -1.18152864e+02] [-1.22443079e-02 1.03694296e-04 -9.99925030e-01 -1.04715104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.330385723 meters 0.014352098270073242 Centerline is valid? [True, True] Translation: X:233.47, Y:-118.16, Z:-10.47 [[ 9.41621795e-01 3.36457826e-01 -1.20219079e-02 2.33472679e+02] [ 3.36428773e-01 -9.41698528e-01 -4.42306757e-03 -1.18158698e+02] [-1.28091887e-02 1.20341095e-04 -9.99917952e-01 -1.04729918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.390385723 meters 0.01489286651291971 Centerline is valid? [True, True] Translation: X:233.50, Y:-118.16, Z:-10.47 [[ 9.13899862e-01 4.05775432e-01 -1.15472916e-02 2.33504312e+02] [ 4.05740743e-01 -9.13972795e-01 -5.30833507e-03 -1.18158275e+02] [-1.27079023e-02 1.66080017e-04 -9.99919238e-01 -1.04738695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.450385723 meters 0.016029167103770565 Centerline is valid? [True, True] Translation: X:233.53, Y:-118.15, Z:-10.47 [[ 8.81568445e-01 4.71944975e-01 -1.02477692e-02 2.33533774e+02] [ 4.71910329e-01 -8.81627981e-01 -5.72226175e-03 -1.18153040e+02] [-1.17353128e-02 2.08537264e-04 -9.99931117e-01 -1.04748543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.510385723 meters 0.016960231912365935 Centerline is valid? [True, True] Translation: X:233.56, Y:-118.15, Z:-10.47 [[ 8.43291717e-01 5.37344208e-01 -1.09673074e-02 2.33563831e+02] [ 5.37294603e-01 -8.43362988e-01 -7.30618234e-03 -1.18146065e+02] [-1.31753559e-02 2.68567996e-04 -9.99913165e-01 -1.04729150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.570385723 meters 0.017589450646118703 Centerline is valid? [True, True] Translation: X:233.59, Y:-118.14, Z:-10.47 [[ 7.98519101e-01 6.01847710e-01 -1.21070189e-02 2.33592349e+02] [ 6.01772584e-01 -7.98610817e-01 -9.51416690e-03 -1.18135920e+02] [-1.53948759e-02 3.11571917e-04 -9.99881443e-01 -1.04708997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.630385723 meters 0.017531974174074656 Centerline is valid? [True, True] Translation: X:233.62, Y:-118.12, Z:-10.47 [[ 7.47783833e-01 6.63820909e-01 -1.26940713e-02 2.33621802e+02] [ 6.63717962e-01 -7.47891502e-01 -1.16947967e-02 -1.18123329e+02] [-1.72570386e-02 3.19896763e-04 -9.99851035e-01 -1.04690354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.690385723 meters 0.017409149315486067 Centerline is valid? [True, True] Translation: X:233.65, Y:-118.11, Z:-10.47 [[ 6.92723417e-01 7.21103563e-01 -1.19966156e-02 2.33647268e+02] [ 7.20987684e-01 -6.92827220e-01 -1.29306931e-02 -1.18105581e+02] [-1.76359507e-02 3.07981788e-04 -9.99844427e-01 -1.04686844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.750385723 meters 0.01551734393246671 Centerline is valid? [True, True] Translation: X:233.68, Y:-118.09, Z:-10.47 [[ 6.31782554e-01 7.75073339e-01 -1.05888288e-02 2.33680958e+02] [ 7.74957918e-01 -6.31871236e-01 -1.33778116e-02 -1.18093796e+02] [-1.70595614e-02 2.45971205e-04 -9.99854445e-01 -1.04708433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81038572299997 meters 0.015042745337815034 Centerline is valid? [True, True] Translation: X:233.71, Y:-118.08, Z:-10.47 [[ 5.67152938e-01 8.23565586e-01 -8.79033023e-03 2.33708633e+02] [ 8.23461486e-01 -5.67221023e-01 -1.30955000e-02 -1.18075862e+02] [-1.57710632e-02 1.88652908e-04 -9.99875611e-01 -1.04718991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87038572299997 meters 0.014523950815669998 Centerline is valid? [True, True] Translation: X:233.74, Y:-118.06, Z:-10.47 [[ 5.00308977e-01 8.65812947e-01 -7.67257831e-03 2.33737894e+02] [ 8.65705712e-01 -5.00367775e-01 -1.36275118e-02 -1.18057603e+02] [-1.56379871e-02 1.75771624e-04 -9.99877704e-01 -1.04733844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.930385723 meters 0.014686411706326475 Centerline is valid? [True, True] Translation: X:233.76, Y:-118.04, Z:-10.47 [[ 4.30881009e-01 9.02385600e-01 -6.46413582e-03 2.33761407e+02] [ 9.02278051e-01 -4.30929460e-01 -1.39326501e-02 -1.18035406e+02] [-1.53582094e-02 1.70866459e-04 -9.99882041e-01 -1.04738828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.990385723 meters 0.014590347209397404 Centerline is valid? [True, True] Translation: X:233.78, Y:-118.01, Z:-10.47 [[ 3.59312397e-01 9.33201373e-01 -5.45880085e-03 2.33784216e+02] [ 9.33085903e-01 -3.59353814e-01 -1.46810880e-02 -1.18011047e+02] [-1.56620524e-02 1.81566792e-04 -9.99877326e-01 -1.04743480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.050385723 meters 0.014668739442072339 Centerline is valid? [True, True] Translation: X:233.80, Y:-117.99, Z:-10.47 [[ 2.85834457e-01 9.58270768e-01 -3.97472295e-03 2.33804647e+02] [ 9.58169241e-01 -2.85862035e-01 -1.39500344e-02 -1.17985773e+02] [-1.45041326e-02 1.78943248e-04 -9.99894794e-01 -1.04734260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.110385723 meters 0.01488980669187277 Centerline is valid? [True, True] Translation: X:233.82, Y:-117.96, Z:-10.47 [[ 2.11081034e-01 9.77464939e-01 -2.66264808e-03 2.33818849e+02] [ 9.77375924e-01 -2.11097748e-01 -1.31925576e-02 -1.17959216e+02] [-1.34573415e-02 1.82290562e-04 -9.99909429e-01 -1.04731687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.170385723 meters 0.014919224801242536 Centerline is valid? [True, True] Translation: X:233.83, Y:-117.93, Z:-10.47 [[ 1.34748407e-01 9.90878608e-01 -1.56542013e-03 2.33833748e+02] [ 9.90794630e-01 -1.34757370e-01 -1.29016481e-02 -1.17931288e+02] [-1.29949191e-02 1.87466682e-04 -9.99915545e-01 -1.04734554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.230385723 meters 0.015150284675042223 Centerline is valid? [True, True] Translation: X:233.84, Y:-117.90, Z:-10.47 [[ 5.66451494e-02 9.98394211e-01 -5.71279091e-04 2.33843089e+02] [ 9.98303115e-01 -5.66476988e-02 -1.34880887e-02 -1.17902261e+02] [-1.34987913e-02 1.93725104e-04 -9.99908868e-01 -1.04711318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.290385723 meters 0.014948221517974742 Centerline is valid? [True, True] Translation: X:233.85, Y:-117.87, Z:-10.47 [[-2.15205221e-02 9.99768283e-01 4.97475314e-04 2.33854370e+02] [ 9.99673263e-01 2.15253360e-02 -1.37850660e-02 -1.17872261e+02] [-1.37925801e-02 2.00650953e-04 -9.99904858e-01 -1.04711199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.350385723 meters 0.01581991728547923 Centerline is valid? [True, True] Translation: X:233.86, Y:-117.84, Z:-10.47 [[-9.97444071e-02 9.95011899e-01 1.54066231e-03 2.33858547e+02] [ 9.94921746e-01 9.97561111e-02 -1.33954641e-02 -1.17844057e+02] [-1.34823366e-02 1.96715810e-04 -9.99909090e-01 -1.04690605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.410385723 meters 0.015986572837784478 Centerline is valid? [True, True] Translation: X:233.86, Y:-117.82, Z:-10.47 [[-1.77458695e-01 9.84125253e-01 2.42851756e-03 2.33858225e+02] [ 9.84046718e-01 1.77475217e-01 -1.24340279e-02 -1.17815404e+02] [-1.26676425e-02 1.83248374e-04 -9.99919745e-01 -1.04683950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.470385723 meters 0.015878614113539604 Centerline is valid? [True, True] Translation: X:233.86, Y:-117.79, Z:-10.47 [[-2.53626975e-01 9.67295710e-01 3.51673961e-03 2.33858327e+02] [ 9.67213078e-01 2.53651281e-01 -1.26447349e-02 -1.17786182e+02] [-1.31232233e-02 1.94390674e-04 -9.99913868e-01 -1.04684604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.530385723 meters 0.016227819590017734 Centerline is valid? [True, True] Translation: X:233.85, Y:-117.76, Z:-10.47 [[-3.26315845e-01 9.45250805e-01 4.34560429e-03 2.33854954e+02] [ 9.45175698e-01 3.26344706e-01 -1.19177353e-02 -1.17757859e+02] [-1.26834138e-02 2.18413716e-04 -9.99919538e-01 -1.04686460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.590385723 meters 0.016821093310995575 Centerline is valid? [True, True] Translation: X:233.85, Y:-117.73, Z:-10.47 [[-3.95963287e-01 9.18253673e-01 4.82368184e-03 2.33851682e+02] [ 9.18192840e-01 3.95992593e-01 -1.05723851e-02 -1.17729377e+02] [-1.16182737e-02 2.42793777e-04 -9.99932476e-01 -1.04687013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.650385723 meters 0.017217732888271265 Centerline is valid? [True, True] Translation: X:233.85, Y:-117.70, Z:-10.47 [[-4.65163226e-01 8.85210160e-01 5.11325157e-03 2.33845267e+02] [ 8.85162194e-01 4.65191268e-01 -9.21817081e-03 -1.17701444e+02] [-1.05386584e-02 2.38102903e-04 -9.99944438e-01 -1.04696385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.710385723 meters 0.01802823460314731 Centerline is valid? [True, True] Translation: X:233.84, Y:-117.67, Z:-10.47 [[-5.34874325e-01 8.44912313e-01 5.71309120e-03 2.33838289e+02] [ 8.44868278e-01 5.34904794e-01 -8.62868144e-03 -1.17674704e+02] [-1.03464391e-02 2.11549365e-04 -9.99946452e-01 -1.04678312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.770385723 meters 0.017069367135564718 Centerline is valid? [True, True] Translation: X:233.83, Y:-117.65, Z:-10.47 [[-6.01337813e-01 7.98966661e-01 6.71628922e-03 2.33829322e+02] [ 7.98920437e-01 6.01375287e-01 -8.59647028e-03 -1.17648295e+02] [-1.09073035e-02 1.96398075e-04 -9.99940494e-01 -1.04678432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.830385723 meters 0.015915021715577883 Centerline is valid? [True, True] Translation: X:233.82, Y:-117.62, Z:-10.47 [[-6.64726828e-01 7.47057634e-01 6.56787732e-03 2.33818321e+02] [ 7.47023241e-01 6.64759259e-01 -7.16968787e-03 -1.17622311e+02] [-9.72222731e-03 1.40473131e-04 -9.99952728e-01 -1.04694450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.890385723 meters 0.015578333235838852 Centerline is valid? [True, True] Translation: X:233.81, Y:-117.60, Z:-10.47 [[-7.21832421e-01 6.92035935e-01 6.64990907e-03 2.33806720e+02] [ 6.92008133e-01 7.21863041e-01 -6.20438171e-03 -1.17595391e+02] [-9.09397869e-03 1.23267291e-04 -9.99958641e-01 -1.04698610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.950385723 meters 0.015500056255665898 Centerline is valid? [True, True] Translation: X:233.83, Y:-117.58, Z:-10.47 [[-7.69304525e-01 6.38850538e-01 6.36695875e-03 2.33825894e+02] [ 6.38829807e-01 7.69330864e-01 -5.14779546e-03 -1.17576324e+02] [-8.18696977e-03 1.07180691e-04 -9.99966480e-01 -1.04699370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.010385723 meters 0.015057688415910209 Centerline is valid? [True, True] Translation: X:233.84, Y:-117.55, Z:-10.47 [[-8.13567783e-01 5.81441499e-01 5.76592219e-03 2.33842990e+02] [ 5.81427594e-01 8.13588211e-01 -4.02201719e-03 -1.17554467e+02] [-7.02965402e-03 8.02826624e-05 -9.99975288e-01 -1.04715976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.070385723 meters 0.015112211282783599 Centerline is valid? [True, True] Translation: X:233.86, Y:-117.53, Z:-10.47 [[-8.53936576e-01 5.20336489e-01 6.50095504e-03 2.33858356e+02] [ 5.20322006e-01 8.53961319e-01 -3.88280699e-03 -1.17531679e+02] [-7.57193029e-03 6.69190567e-05 -9.99971330e-01 -1.04701350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.130385723 meters 0.01481518945951676 Centerline is valid? [True, True] Translation: X:234.24, Y:-116.91, Z:-11.45 [[-8.25973303e-01 -5.63657996e-01 7.60048781e-03 2.34236763e+02] [ 5.63634346e-01 -8.26008271e-01 -5.16340105e-03 -1.16912351e+02] [ 9.18845808e-03 1.90645543e-05 9.99957785e-01 -1.14487074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.190385723 meters 0.014797491401990883 Centerline is valid? [True, True] Translation: X:233.82, Y:-117.51, Z:-10.47 [[-8.56635538e-01 5.15853765e-01 8.39330322e-03 2.33817462e+02] [ 5.15829802e-01 8.56676653e-01 -4.97268983e-03 -1.17510547e+02] [-9.75552768e-03 6.97331040e-05 -9.99952411e-01 -1.04704920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.250385723 meters 0.01518867319771359 Centerline is valid? [True, True] Translation: X:233.83, Y:-117.49, Z:-10.47 [[-8.89887917e-01 4.56105241e-01 8.21610786e-03 2.33833427e+02] [ 4.56086715e-01 8.89925840e-01 -4.11190388e-03 -1.17490376e+02] [-9.18718761e-03 8.81240631e-05 -9.99957793e-01 -1.04713903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31038572299997 meters 0.016379762591704792 Centerline is valid? [True, True] Translation: X:234.17, Y:-116.83, Z:-11.45 [[-8.68828238e-01 -4.95075857e-01 6.11463670e-03 2.34169142e+02] [ 4.95062090e-01 -8.68849735e-01 -3.69662209e-03 -1.16832023e+02] [ 7.14280882e-03 -1.84604829e-04 9.99974473e-01 -1.14453865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37038572299997 meters 0.015702696134356885 Centerline is valid? [True, True] Translation: X:233.79, Y:-117.48, Z:-10.48 [[-8.89203312e-01 4.57486010e-01 4.90106008e-03 2.33792741e+02] [ 4.57479558e-01 8.89216815e-01 -2.43095518e-03 -1.17477602e+02] [-5.47023302e-03 8.05214052e-05 -9.99985035e-01 -1.04752621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.430385723 meters 0.015418125805719708 Centerline is valid? [True, True] Translation: X:233.80, Y:-117.45, Z:-10.48 [[-9.19520629e-01 3.93003994e-01 5.44737819e-03 2.33795280e+02] [ 3.92997640e-01 9.19536760e-01 -2.23642929e-03 -1.17447904e+02] [-5.88799014e-03 8.43639059e-05 -9.99982662e-01 -1.04760965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.490385723 meters 0.01534362011818492 Centerline is valid? [True, True] Translation: X:234.09, Y:-116.76, Z:-11.44 [[-9.02653206e-01 -4.30331973e-01 5.61990764e-03 2.34088779e+02] [ 4.30323175e-01 -9.02670698e-01 -2.75251702e-03 -1.16760307e+02] [ 6.25742203e-03 -6.61918094e-05 9.99980420e-01 -1.14427051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.550385723 meters 0.01500782299076241 Centerline is valid? [True, True] Translation: X:233.76, Y:-117.44, Z:-10.48 [[-9.22358751e-01 3.86277037e-01 6.66228388e-03 2.33763163e+02] [ 3.86267564e-01 9.22382808e-01 -2.70630821e-03 -1.17435399e+02] [-7.19056083e-03 7.72371132e-05 -9.99974145e-01 -1.04759272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.610385723 meters 0.015029875955580932 Centerline is valid? [True, True] Translation: X:233.77, Y:-117.41, Z:-10.48 [[-9.47607115e-01 3.19353749e-01 7.34432301e-03 2.33772541e+02] [ 3.19344794e-01 9.47635572e-01 -2.39274262e-03 -1.17408178e+02] [-7.72387306e-03 7.79913878e-05 -9.99970167e-01 -1.04759589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.670385723 meters 0.01542469404916398 Centerline is valid? [True, True] Translation: X:233.78, Y:-117.38, Z:-10.48 [[-9.67455928e-01 2.52947234e-01 6.83550209e-03 2.33782883e+02] [ 2.52941522e-01 9.67480072e-01 -1.70193949e-03 -1.17383912e+02] [-7.04371294e-03 8.24308568e-05 -9.99975189e-01 -1.04771787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.730385723 meters 0.015699995617298932 Centerline is valid? [True, True] Translation: X:233.97, Y:-116.66, Z:-11.44 [[-9.55975977e-01 -2.93394143e-01 5.45967233e-03 2.33968779e+02] [ 2.93388486e-01 -9.55991556e-01 -1.82778998e-03 -1.16657489e+02] [ 5.75566352e-03 -1.45518312e-04 9.99983425e-01 -1.14409466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.790385723 meters 0.015882613725964004 Centerline is valid? [True, True] Translation: X:233.73, Y:-117.37, Z:-10.48 [[-9.67755721e-01 2.51848134e-01 4.62409232e-03 2.33727802e+02] [ 2.51845595e-01 9.67766766e-01 -1.13298343e-03 -1.17373249e+02] [-4.76038263e-03 6.81060864e-05 -9.99988667e-01 -1.04798584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.850385723 meters 0.015621808291624765 Centerline is valid? [True, True] Translation: X:233.74, Y:-117.35, Z:-10.48 [[-9.83640223e-01 1.80065915e-01 5.30829095e-03 2.33740238e+02] [ 1.80063638e-01 9.83654544e-01 -9.07574745e-04 -1.17345076e+02] [-5.38494780e-03 6.31031583e-05 -9.99985499e-01 -1.04789656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.910385723 meters 0.014696333332214262 Centerline is valid? [True, True] Translation: X:233.74, Y:-117.31, Z:-10.48 [[-9.94481023e-01 1.04768857e-01 5.56611574e-03 2.33743415e+02] [ 1.04767424e-01 9.94496599e-01 -5.49279911e-04 -1.17311159e+02] [-5.59303060e-03 3.68991597e-05 -9.99984358e-01 -1.04778332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.970385723 meters 0.014342731267407607 Centerline is valid? [True, True] Translation: X:233.81, Y:-116.58, Z:-11.44 [[-9.86596220e-01 -1.63038823e-01 6.80013067e-03 2.33813797e+02] [ 1.63035250e-01 -9.86619653e-01 -1.08014121e-03 -1.16577342e+02] [ 6.88524752e-03 4.29977758e-05 9.99976295e-01 -1.14423991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.030385723 meters 0.014173721478445879 Centerline is valid? [True, True] Translation: X:233.68, Y:-117.30, Z:-10.48 [[-9.95671282e-01 9.26902552e-02 6.87137479e-03 2.33683849e+02] [ 9.26879753e-02 9.95694992e-01 -6.50192654e-04 -1.17301482e+02] [-6.90205999e-03 -1.04843368e-05 -9.99976180e-01 -1.04763861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.090385723 meters 0.01419325172187008 Centerline is valid? [True, True] Translation: X:233.76, Y:-116.57, Z:-11.44 [[-9.86644266e-01 -1.62774657e-01 6.12397733e-03 2.33755090e+02] [ 1.62771302e-01 -9.86663271e-01 -1.04563467e-03 -1.16571699e+02] [ 6.21250632e-03 -3.48616856e-05 9.99980702e-01 -1.14412707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.150385723 meters 0.01429741744025279 Centerline is valid? [True, True] Translation: X:233.63, Y:-117.30, Z:-10.48 [[-9.96072369e-01 8.83569023e-02 5.73531222e-03 2.33625126e+02] [ 8.83553774e-02 9.96088880e-01 -5.19203058e-04 -1.17303433e+02] [-5.75875590e-03 -1.04181439e-05 -9.99983418e-01 -1.04784229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.210385723 meters 0.014365807004387717 Centerline is valid? [True, True] Translation: X:233.70, Y:-116.56, Z:-11.44 [[-9.87439893e-01 -1.57843798e-01 6.91324143e-03 2.33696376e+02] [ 1.57840568e-01 -9.87464089e-01 -1.01377730e-03 -1.16560507e+02] [ 6.98659611e-03 9.01458091e-05 9.99975589e-01 -1.14416751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.270385723 meters 0.014381855600040839 Centerline is valid? [True, True] Translation: X:233.56, Y:-117.30, Z:-10.48 [[-9.96101925e-01 8.79817638e-02 6.33753197e-03 2.33564962e+02] [ 8.79800605e-02 9.96122085e-01 -5.47595249e-04 -1.17304858e+02] [-6.36113395e-03 1.21157648e-05 -9.99979768e-01 -1.04777386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.330385723 meters 0.01458042621848535 Centerline is valid? [True, True] Translation: X:233.57, Y:-117.28, Z:-10.48 [[-9.99763114e-01 2.08594951e-02 6.21272739e-03 2.33574964e+02] [ 2.08593144e-02 9.99782416e-01 -9.38939282e-05 -1.17281451e+02] [-6.21333418e-03 3.57215477e-05 -9.99980696e-01 -1.04789333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.390385723 meters 0.014746281241644845 Centerline is valid? [True, True] Translation: X:233.59, Y:-116.52, Z:-11.44 [[-9.97226215e-01 -7.40214304e-02 7.79126306e-03 2.33593762e+02] [ 7.40196007e-02 -9.97256649e-01 -5.23328374e-04 -1.16515949e+02] [ 7.80862641e-03 5.48294069e-05 9.99969511e-01 -1.14421053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.450385723 meters 0.015085383149154794 Centerline is valid? [True, True] Translation: X:233.50, Y:-117.28, Z:-10.48 [[-9.99761754e-01 2.02387979e-02 8.17477213e-03 2.33501869e+02] [ 2.02387677e-02 9.99795171e-01 -8.64298599e-05 -1.17283265e+02] [-8.17484694e-03 7.90380456e-05 -9.99966582e-01 -1.04751027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.510385723 meters 0.014830749744376323 Centerline is valid? [True, True] Translation: X:233.50, Y:-117.25, Z:-10.48 [[-9.98770919e-01 -4.90191104e-02 7.33336519e-03 2.33501328e+02] [-4.90171674e-02 9.98797837e-01 4.44563365e-04 -1.17254062e+02] [-7.34634139e-03 8.45561715e-05 -9.99973012e-01 -1.04770376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.570385723 meters 0.016119412242711358 Centerline is valid? [True, True] Translation: X:233.47, Y:-116.49, Z:-11.44 [[-9.99952729e-01 6.50945573e-03 7.22268621e-03 2.33465521e+02] [-6.50994404e-03 -9.99978809e-01 -4.40995067e-05 -1.16487295e+02] [ 7.22224609e-03 -9.11167051e-05 9.99973915e-01 -1.14425377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.630385723 meters 0.014796650737428437 Centerline is valid? [True, True] Translation: X:233.42, Y:-117.26, Z:-10.48 [[-9.98569566e-01 -5.30726067e-02 6.48997042e-03 2.33416378e+02] [-5.30709542e-02 9.98590653e-01 4.26703457e-04 -1.17257593e+02] [-6.50347006e-03 8.16641631e-05 -9.99978849e-01 -1.04779061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.690385723 meters 0.014529626138144697 Centerline is valid? [True, True] Translation: X:233.42, Y:-117.23, Z:-10.48 [[-9.92190852e-01 -1.24601701e-01 5.63292337e-03 2.33417526e+02] [-1.24599305e-01 9.92206839e-01 7.75756919e-04 -1.17225893e+02] [-5.68568572e-03 6.78405832e-05 -9.99983834e-01 -1.04783222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.750385723 meters 0.014295247235787456 Centerline is valid? [True, True] Translation: X:233.41, Y:-117.20, Z:-10.48 [[-9.80283231e-01 -1.97495113e-01 6.36131200e-03 2.33406048e+02] [-1.97490548e-01 9.80303869e-01 1.34420510e-03 -1.17195278e+02] [-6.50149270e-03 6.14027207e-05 -9.99978863e-01 -1.04771253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81038572299997 meters 0.014125325643338937 Centerline is valid? [True, True] Translation: X:233.38, Y:-117.17, Z:-10.48 [[-9.63260874e-01 -2.68502411e-01 5.91141799e-03 2.33380562e+02] [-2.68497041e-01 9.63279011e-01 1.69881492e-03 -1.17168292e+02] [-6.15048078e-03 4.92037023e-05 -9.99981084e-01 -1.04764760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87038572299997 meters 0.014211119408147956 Centerline is valid? [True, True] Translation: X:233.34, Y:-117.15, Z:-10.48 [[-9.41352999e-01 -3.37367406e-01 6.14530312e-03 2.33344188e+02] [-3.37359853e-01 9.41373056e-01 2.25810031e-03 -1.17147501e+02] [-6.54683222e-03 5.24909364e-05 -9.99978568e-01 -1.04754932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.930385723 meters 0.013988495693426441 Centerline is valid? [True, True] Translation: X:233.29, Y:-117.14, Z:-10.48 [[-9.14101676e-01 -4.05446081e-01 5.62154087e-03 2.33287831e+02] [-4.05438086e-01 9.14118960e-01 2.54664115e-03 -1.17135636e+02] [-6.17128276e-03 4.87021744e-05 -9.99980956e-01 -1.04774979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.990385723 meters 0.014191693572785923 Centerline is valid? [True, True] Translation: X:233.22, Y:-117.14, Z:-10.48 [[-8.82474183e-01 -4.70320470e-01 6.16213951e-03 2.33220781e+02] [-4.70308471e-01 8.82495695e-01 3.36024347e-03 -1.17135023e+02] [-7.01845288e-03 6.72217027e-05 -9.99975368e-01 -1.04762315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.050385723 meters 0.014367675620632521 Centerline is valid? [True, True] Translation: X:233.14, Y:-117.15, Z:-10.48 [[-8.45625098e-01 -5.33736616e-01 6.58926712e-03 2.33143071e+02] [-5.33719658e-01 8.45650766e-01 4.25542620e-03 -1.17147761e+02] [-7.84349557e-03 8.16737991e-05 -9.99969236e-01 -1.04752822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.110385723 meters 0.01429320293953754 Centerline is valid? [True, True] Translation: X:233.06, Y:-117.17, Z:-10.48 [[-8.03326928e-01 -5.95513176e-01 5.46855470e-03 2.33060454e+02] [-5.95498794e-01 8.03345538e-01 4.13926810e-03 -1.17166540e+02] [-6.85812770e-03 6.86677967e-05 -9.99976480e-01 -1.04763072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.170385723 meters 0.014957863529169139 Centerline is valid? [True, True] Translation: X:232.98, Y:-117.20, Z:-10.48 [[-7.56851749e-01 -6.53567865e-01 4.94736326e-03 2.32977793e+02] [-6.53553285e-01 7.56867915e-01 4.36603559e-03 -1.17196443e+02] [-6.59800107e-03 7.10761598e-05 -9.99978230e-01 -1.04758255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.230385723 meters 0.01575774691598867 Centerline is valid? [True, True] Translation: X:232.89, Y:-117.24, Z:-10.47 [[-7.06672072e-01 -7.07523688e-01 4.98132638e-03 2.32893072e+02] [-7.07505212e-01 7.06689623e-01 5.11399899e-03 -1.17238539e+02] [-7.13852708e-03 8.96058879e-05 -9.99974516e-01 -1.04748367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.290385723 meters 0.014601634397620439 Centerline is valid? [True, True] Translation: X:232.80, Y:-117.29, Z:-10.48 [[-6.51666375e-01 -7.58489372e-01 4.98070983e-03 2.32801083e+02] [-7.58466021e-01 6.51685401e-01 5.95258118e-03 -1.17293463e+02] [-7.76082545e-03 1.01397838e-04 -9.99969879e-01 -1.04755684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.350385723 meters 0.014773621985140161 Centerline is valid? [True, True] Translation: X:232.71, Y:-117.35, Z:-10.48 [[-5.89263198e-01 -8.07929730e-01 4.29355270e-03 2.32714241e+02] [-8.07907437e-01 5.89278836e-01 6.00228489e-03 -1.17351707e+02] [-7.37952415e-03 6.81324370e-05 -9.99972769e-01 -1.04750401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.410385723 meters 0.014211814422620185 Centerline is valid? [True, True] Translation: X:232.63, Y:-117.42, Z:-10.48 [[-5.24652415e-01 -8.51309449e-01 3.47358429e-03 2.32630477e+02] [-8.51290170e-01 5.24663911e-01 5.72944306e-03 -1.17423828e+02] [-6.69999334e-03 4.89379732e-05 -9.99977554e-01 -1.04755462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.470385723 meters 0.014114949881510696 Centerline is valid? [True, True] Translation: X:232.55, Y:-117.51, Z:-10.48 [[-4.57415803e-01 -8.89247522e-01 3.10289207e-03 2.32550012e+02] [-8.89226420e-01 4.57426325e-01 6.12621059e-03 -1.17506578e+02] [-6.86706210e-03 4.30519328e-05 -9.99976421e-01 -1.04753134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.530385723 meters 0.013947674057632586 Centerline is valid? [True, True] Translation: X:232.47, Y:-117.60, Z:-10.48 [[-3.87406942e-01 -9.21905755e-01 2.37479754e-03 2.32474207e+02] [-9.21887917e-01 3.87414219e-01 5.73509417e-03 -1.17598733e+02] [-6.20724665e-03 3.25181419e-05 -9.99980734e-01 -1.04757309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.590385723 meters 0.013921277003528165 Centerline is valid? [True, True] Translation: X:232.41, Y:-117.69, Z:-10.48 [[-3.14386799e-01 -9.49293508e-01 1.66589777e-03 2.32407355e+02] [-9.49279852e-01 3.14391212e-01 5.09190146e-03 -1.17692500e+02] [-5.35745262e-03 1.94234166e-05 -9.99985649e-01 -1.04761441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.650385723 meters 0.013843215813404402 Centerline is valid? [True, True] Translation: X:232.35, Y:-117.80, Z:-10.47 [[-2.39364389e-01 -9.70928722e-01 1.45156269e-03 2.32345277e+02] [-9.70910560e-01 2.39368790e-01 5.93862816e-03 -1.17797038e+02] [-6.11344345e-03 1.21585548e-05 -9.99981313e-01 -1.04745302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.710385723 meters 0.013797988577885206 Centerline is valid? [True, True] Translation: X:232.30, Y:-117.90, Z:-10.47 [[-1.64549561e-01 -9.86368260e-01 1.04734216e-03 2.32295020e+02] [-9.86347738e-01 1.64552893e-01 6.36279830e-03 -1.17903717e+02] [-6.44840547e-03 1.39520926e-05 -9.99979209e-01 -1.04729601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.770385723 meters 0.013799857657662753 Centerline is valid? [True, True] Translation: X:232.25, Y:-118.02, Z:-10.47 [[-9.02426189e-02 -9.95919654e-01 5.58894015e-04 2.32254934e+02] [-9.95898783e-01 9.02443461e-02 6.44762569e-03 -1.18017705e+02] [-6.47175417e-03 2.52487591e-05 -9.99979058e-01 -1.04730488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.830385723 meters 0.01368716748889447 Centerline is valid? [True, True] Translation: X:232.22, Y:-118.14, Z:-10.47 [[-1.49468419e-02 -9.99888287e-01 6.93469199e-05 2.32222852e+02] [-9.99862627e-01 1.49469551e-02 7.16348568e-03 -1.18136005e+02] [-7.16372195e-03 3.77340943e-05 -9.99974340e-01 -1.04738504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.890385723 meters 0.013811281180107788 Centerline is valid? [True, True] Translation: X:232.20, Y:-118.27, Z:-10.47 [[ 6.05906723e-02 -9.98162542e-01 -5.57591989e-04 2.32200880e+02] [-9.98128087e-01 -6.05932138e-02 8.29365574e-03 -1.18265517e+02] [-8.31220278e-03 5.40300485e-05 -9.99965452e-01 -1.04724105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.950385723 meters 0.01386607127094712 Centerline is valid? [True, True] Translation: X:232.19, Y:-118.38, Z:-10.47 [[ 1.36160377e-01 -9.90685889e-01 -1.34954335e-03 2.32186702e+02] [-9.90642189e-01 -1.36167047e-01 9.30527689e-03 -1.18380642e+02] [-9.40236984e-03 6.99045670e-05 -9.99955794e-01 -1.04712477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.010385723 meters 0.01436996304798792 Centerline is valid? [True, True] Translation: X:232.18, Y:-118.50, Z:-10.47 [[ 2.11807272e-01 -9.77309110e-01 -2.14076565e-03 2.32182676e+02] [-9.77262587e-01 -2.11818078e-01 9.53611250e-03 -1.18504551e+02] [-9.77318249e-03 7.22721991e-05 -9.99952239e-01 -1.04710593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.070385723 meters 0.013722141353187237 Centerline is valid? [True, True] Translation: X:232.19, Y:-118.63, Z:-10.47 [[ 2.86168597e-01 -9.58176164e-01 -2.44398608e-03 2.32185937e+02] [-9.58143023e-01 -2.86179027e-01 7.96947347e-03 -1.18628046e+02] [-8.33557708e-03 6.10751621e-05 -9.99965257e-01 -1.04727190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.130385723 meters 0.013696328123379247 Centerline is valid? [True, True] Translation: X:232.20, Y:-118.75, Z:-10.47 [[ 3.58593453e-01 -9.33488052e-01 -3.28508790e-03 2.32199038e+02] [-9.33450590e-01 -3.58608493e-01 8.36326110e-03 -1.18748087e+02] [-8.98506474e-03 6.74565669e-05 -9.99959631e-01 -1.04713785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.190385723 meters 0.013815801473929475 Centerline is valid? [True, True] Translation: X:232.22, Y:-118.87, Z:-10.47 [[ 4.28955309e-01 -9.03315996e-01 -4.18987416e-03 2.32224706e+02] [-9.03274564e-01 -4.28975765e-01 8.65193417e-03 -1.18869924e+02] [-9.61278500e-03 7.33136596e-05 -9.99953793e-01 -1.04717559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.250385723 meters 0.013816469178014113 Centerline is valid? [True, True] Translation: X:232.25, Y:-118.98, Z:-10.47 [[ 4.96893644e-01 -8.67798488e-01 -4.74244735e-03 2.32254000e+02] [-8.67760327e-01 -4.96916270e-01 8.13849919e-03 -1.18983069e+02] [-9.41917654e-03 7.13391461e-05 -9.99955636e-01 -1.04710771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31038572299997 meters 0.013536729221747677 Centerline is valid? [True, True] Translation: X:232.30, Y:-119.10, Z:-10.47 [[ 5.63444470e-01 -8.26130867e-01 -6.17413174e-03 2.32295729e+02] [-8.26082450e-01 -5.63478293e-01 8.94421544e-03 -1.19098647e+02] [-1.08680817e-02 6.07731579e-05 -9.99940939e-01 -1.04703822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37038572299997 meters 0.013330250809509066 Centerline is valid? [True, True] Translation: X:232.34, Y:-119.20, Z:-10.47 [[ 6.25989812e-01 -7.79796754e-01 -7.33328975e-03 2.32340218e+02] [-7.79744154e-01 -6.26032763e-01 9.05730245e-03 -1.19202278e+02] [-1.16537347e-02 4.83107545e-05 -9.99932092e-01 -1.04705718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.430385723 meters 0.01327718277829306 Centerline is valid? [True, True] Translation: X:232.40, Y:-119.30, Z:-10.47 [[ 6.84129455e-01 -7.29313762e-01 -8.26589139e-03 2.32395167e+02] [-7.29261265e-01 -6.84179388e-01 8.75059999e-03 -1.19303659e+02] [-1.20372855e-02 4.14512121e-05 -9.99927548e-01 -1.04698655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.490385723 meters 0.0132565602846313 Centerline is valid? [True, True] Translation: X:232.45, Y:-119.39, Z:-10.47 [[ 7.37302676e-01 -6.75505730e-01 -8.76203198e-03 2.32452894e+02] [-6.75458786e-01 -7.37354736e-01 7.96377869e-03 -1.19394447e+02] [-1.18403039e-02 4.66761380e-05 -9.99929900e-01 -1.04705431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.550385723 meters 0.013234363287787636 Centerline is valid? [True, True] Translation: X:232.47, Y:-119.42, Z:-10.47 [[ 7.87863431e-01 -6.15791286e-01 -8.50324075e-03 2.32471305e+02] [-6.15755998e-01 -7.87909316e-01 6.59245824e-03 -1.19422421e+02] [-1.07593609e-02 4.19647318e-05 -9.99942116e-01 -1.04710186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.610385723 meters 0.013327813466266204 Centerline is valid? [True, True] Translation: X:232.49, Y:-119.45, Z:-10.47 [[ 8.32784848e-01 -5.53534978e-01 -8.27194091e-03 2.32493693e+02] [-5.53508306e-01 -8.32825928e-01 5.43408028e-03 -1.19445919e+02] [-9.89704037e-03 5.31682806e-05 -9.99951022e-01 -1.04705401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.670385723 meters 0.01323732711983479 Centerline is valid? [True, True] Translation: X:232.52, Y:-119.47, Z:-10.47 [[ 8.74382023e-01 -4.85165468e-01 -8.39918142e-03 2.32515744e+02] [-4.85143456e-01 -8.74422362e-01 4.62160362e-03 -1.19470381e+02] [-9.58667455e-03 3.37607753e-05 -9.99954046e-01 -1.04714584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.730385723 meters 0.013172718096415919 Centerline is valid? [True, True] Translation: X:232.54, Y:-119.50, Z:-10.47 [[ 9.12205095e-01 -4.09612060e-01 -9.99121016e-03 2.32538040e+02] [-4.09587131e-01 -9.12259809e-01 4.51915829e-03 -1.19495322e+02] [-1.09656812e-02 -3.01281153e-05 -9.99939875e-01 -1.04688713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.790385723 meters 0.013437165589009745 Centerline is valid? [True, True] Translation: X:232.56, Y:-119.52, Z:-10.47 [[ 9.42381832e-01 -3.34351152e-01 -1.12156469e-02 2.32563179e+02] [-3.34326631e-01 -9.42448568e-01 4.04983032e-03 -1.19516670e+02] [-1.19242358e-02 -6.67970769e-05 -9.99928902e-01 -1.04676753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.850385723 meters 0.013714036211220509 Centerline is valid? [True, True] Translation: X:232.59, Y:-119.53, Z:-10.47 [[ 9.66157373e-01 -2.57642282e-01 -1.26643055e-02 2.32590600e+02] [-2.57618782e-01 -9.66240366e-01 3.48124046e-03 -1.19532228e+02] [-1.31336779e-02 -1.00863189e-04 -9.99913744e-01 -1.04669182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.910385723 meters 0.013474540884191397 Centerline is valid? [True, True] Translation: X:232.62, Y:-119.54, Z:-10.47 [[ 9.82861401e-01 -1.83933857e-01 -1.23208362e-02 2.32618736e+02] [-1.83918608e-01 -9.82938621e-01 2.36921942e-03 -1.19542902e+02] [-1.25464054e-02 -6.25832706e-05 -9.99921289e-01 -1.04688432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.970385723 meters 0.013499866392118065 Centerline is valid? [True, True] Translation: X:232.64, Y:-119.55, Z:-10.47 [[ 9.93891281e-01 -1.09645242e-01 -1.25714782e-02 2.32642968e+02] [-1.09636193e-01 -9.93970785e-01 1.40876811e-03 -1.19550753e+02] [-1.26501468e-02 -2.18733359e-05 -9.99919983e-01 -1.04696434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.030385723 meters 0.013600117587063398 Centerline is valid? [True, True] Translation: X:232.67, Y:-119.56, Z:-10.47 [[ 9.99245790e-01 -3.67035928e-02 -1.26766202e-02 2.32668679e+02] [-3.67011977e-02 -9.99326195e-01 4.21595832e-04 -1.19557459e+02] [-1.26835527e-02 4.39692824e-05 -9.99919560e-01 -1.04699429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.090385723 meters 0.014099647110954499 Centerline is valid? [True, True] Translation: X:232.69, Y:-119.56, Z:-10.47 [[ 9.99218359e-01 3.70934114e-02 -1.36656420e-02 2.32694447e+02] [ 3.70884366e-02 -9.99311797e-01 -6.17372841e-04 -1.19559502e+02] [-1.36791378e-02 1.10052978e-04 -9.99906430e-01 -1.04687220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.150385723 meters 0.014626199937486121 Centerline is valid? [True, True] Translation: X:232.72, Y:-119.56, Z:-10.47 [[ 9.93539229e-01 1.12700748e-01 -1.33544654e-02 2.32719837e+02] [ 1.12688650e-01 -9.93628966e-01 -1.65740116e-03 -1.19560382e+02] [-1.34561740e-02 1.41796399e-04 -9.99909452e-01 -1.04689552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.210385723 meters 0.014664750037575608 Centerline is valid? [True, True] Translation: X:232.75, Y:-119.56, Z:-10.47 [[ 9.81796065e-01 1.89535368e-01 -1.23624957e-02 2.32745137e+02] [ 1.89518543e-01 -9.81873884e-01 -2.52928752e-03 -1.19562027e+02] [-1.26178012e-02 1.40322349e-04 -9.99920383e-01 -1.04691744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.270385723 meters 0.014095977803781882 Centerline is valid? [True, True] Translation: X:232.77, Y:-119.57, Z:-10.47 [[ 9.63094272e-01 2.68906415e-01 -1.17798046e-02 2.32772492e+02] [ 2.68885070e-01 -9.63166305e-01 -3.38948746e-03 -1.19567478e+02] [-1.22573658e-02 9.69823701e-05 -9.99924871e-01 -1.04699906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.330385723 meters 0.01382512887285107 Centerline is valid? [True, True] Translation: X:232.80, Y:-119.57, Z:-10.47 [[ 9.38800725e-01 3.44259419e-01 -1.17750106e-02 2.32800314e+02] [ 3.44231147e-01 -9.38874563e-01 -4.41282943e-03 -1.19571504e+02] [-1.25744160e-02 8.94420747e-05 -9.99920935e-01 -1.04703120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.390385723 meters 0.014049531896335043 Centerline is valid? [True, True] Translation: X:232.83, Y:-119.57, Z:-10.47 [[ 9.08091650e-01 4.18594220e-01 -1.21833702e-02 2.32827651e+02] [ 4.18555543e-01 -9.08173372e-01 -5.69062382e-03 -1.19573314e+02] [-1.34466747e-02 6.81908354e-05 -9.99909587e-01 -1.04678625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.450385723 meters 0.01378167083876115 Centerline is valid? [True, True] Translation: X:232.86, Y:-119.57, Z:-10.47 [[ 8.72316416e-01 4.88815518e-01 -1.11112197e-02 2.32856847e+02] [ 4.88775010e-01 -8.72387177e-01 -6.29315189e-03 -1.19573203e+02] [-1.27694759e-02 5.87331899e-05 -9.99918465e-01 -1.04697144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.510385723 meters 0.013671061891400608 Centerline is valid? [True, True] Translation: X:232.89, Y:-119.57, Z:-10.47 [[ 8.31846472e-01 5.54921140e-01 -9.69411839e-03 2.32885615e+02] [ 5.54882575e-01 -8.31902954e-01 -6.54239345e-03 -1.19570374e+02] [-1.16950782e-02 6.31695351e-05 -9.99931608e-01 -1.04709978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.570385723 meters 0.013950366398028918 Centerline is valid? [True, True] Translation: X:232.91, Y:-119.56, Z:-10.47 [[ 7.87441207e-01 6.16315210e-01 -9.58686864e-03 2.32912819e+02] [ 6.16268017e-01 -7.87499557e-01 -7.62749266e-03 -1.19564641e+02] [-1.22505946e-02 9.81215019e-05 -9.99924954e-01 -1.04712243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.630385723 meters 0.01402769742193305 Centerline is valid? [True, True] Translation: X:232.94, Y:-119.56, Z:-10.47 [[ 7.37734071e-01 6.75024619e-01 -9.49763401e-03 2.32940728e+02] [ 6.74966536e-01 -7.37795194e-01 -8.85585578e-03 -1.19558106e+02] [-1.29852294e-02 1.22681406e-04 -9.99915681e-01 -1.04707088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.690385723 meters 0.014046630408142548 Centerline is valid? [True, True] Translation: X:232.97, Y:-119.55, Z:-10.47 [[ 6.82433396e-01 7.30895093e-01 -8.77625281e-03 2.32966693e+02] [ 7.30832405e-01 -6.82489816e-01 -9.57322948e-03 -1.19548489e+02] [-1.29867296e-02 1.19121556e-04 -9.99915662e-01 -1.04702651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.750385723 meters 0.013846144399857782 Centerline is valid? [True, True] Translation: X:232.99, Y:-119.54, Z:-10.47 [[ 6.22403213e-01 7.82656233e-01 -7.96627202e-03 2.32994694e+02] [ 7.82589923e-01 -6.22454183e-01 -1.01883984e-02 -1.19539168e+02] [-1.29326528e-02 1.06967689e-04 -9.99916364e-01 -1.04707430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81038572299997 meters 0.013961599481558324 Centerline is valid? [True, True] Translation: X:233.02, Y:-119.53, Z:-10.47 [[ 5.59860736e-01 8.28560189e-01 -6.63092277e-03 2.33019304e+02] [ 8.28499772e-01 -5.59899992e-01 -1.00063089e-02 -1.19525485e+02] [-1.20034828e-02 1.08421459e-04 -9.99927950e-01 -1.04719727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87038572299997 meters 0.013769855236133445 Centerline is valid? [True, True] Translation: X:233.04, Y:-119.51, Z:-10.47 [[ 4.93645928e-01 8.69644866e-01 -5.61288934e-03 2.33044459e+02] [ 8.69586122e-01 -4.93677825e-01 -1.01084881e-02 -1.19509984e+02] [-1.15617538e-02 1.09123336e-04 -9.99933155e-01 -1.04729898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.930385723 meters 0.013714982455827486 Centerline is valid? [True, True] Translation: X:233.07, Y:-119.49, Z:-10.47 [[ 4.23484882e-01 9.05891597e-01 -4.57925208e-03 2.33068871e+02] [ 9.05836132e-01 -4.23509628e-01 -1.00247749e-02 -1.19493560e+02] [-1.10207167e-02 9.72886267e-05 -9.99939265e-01 -1.04728427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.990385723 meters 0.013569305524098333 Centerline is valid? [True, True] Translation: X:233.09, Y:-119.47, Z:-10.47 [[ 3.50266231e-01 9.36641141e-01 -4.11588395e-03 2.33092361e+02] [ 9.36573291e-01 -3.50290400e-01 -1.12741364e-02 -1.19474246e+02] [-1.20015746e-02 9.41223020e-05 -9.99927974e-01 -1.04729150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.050385723 meters 0.013591807351584117 Centerline is valid? [True, True] Translation: X:233.11, Y:-119.45, Z:-10.47 [[ 2.75593738e-01 9.61268861e-01 -3.20454512e-03 2.33111909e+02] [ 9.61200013e-01 -2.75612354e-01 -1.15049851e-02 -1.19453313e+02] [-1.19425961e-02 9.04930314e-05 -9.99928681e-01 -1.04732635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.110385723 meters 0.013639782199090268 Centerline is valid? [True, True] Translation: X:233.13, Y:-119.43, Z:-10.48 [[ 2.02032198e-01 9.79376565e-01 -2.12966410e-03 2.33131429e+02] [ 9.79316133e-01 -2.02043391e-01 -1.08802846e-02 -1.19430547e+02] [-1.10861803e-02 1.12553403e-04 -9.99938540e-01 -1.04757401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.170385723 meters 0.014247557451396114 Centerline is valid? [True, True] Translation: X:233.15, Y:-119.41, Z:-10.48 [[ 1.27604265e-01 9.91824188e-01 -1.39000115e-03 2.33147357e+02] [ 9.91751000e-01 -1.27611736e-01 -1.20498617e-02 -1.19406011e+02] [-1.21287248e-02 1.59078718e-04 -9.99926432e-01 -1.04754773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.230385723 meters 0.01454017371902048 Centerline is valid? [True, True] Translation: X:233.16, Y:-119.38, Z:-10.48 [[ 5.08240632e-02 9.98707525e-01 -4.40955599e-04 2.33163907e+02] [ 9.98634439e-01 -5.08256790e-02 -1.20833977e-02 -1.19380313e+02] [-1.20901921e-02 1.73773921e-04 -9.99926896e-01 -1.04759362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.290385723 meters 0.014501410346725472 Centerline is valid? [True, True] Translation: X:233.18, Y:-119.35, Z:-10.48 [[-2.57522400e-02 9.99668260e-01 4.38576876e-04 2.33179215e+02] [ 9.99613633e-01 2.57554183e-02 -1.04519453e-02 -1.19353030e+02] [-1.04597737e-02 1.69246420e-04 -9.99945281e-01 -1.04776134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.350385723 meters 0.014984941410945658 Centerline is valid? [True, True] Translation: X:233.19, Y:-119.32, Z:-10.48 [[-1.03092241e-01 9.94670601e-01 1.54430439e-03 2.33191243e+02] [ 9.94588667e-01 1.03103573e-01 -1.27685820e-02 -1.19324872e+02] [-1.28597565e-02 2.19605915e-04 -9.99917286e-01 -1.04764107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.410385723 meters 0.015460211955174517 Centerline is valid? [True, True] Translation: X:233.20, Y:-119.30, Z:-10.48 [[-1.79684480e-01 9.83719925e-01 2.93215822e-03 2.33198754e+02] [ 9.83612235e-01 1.79708203e-01 -1.45579102e-02 -1.19295434e+02] [-1.48478392e-02 2.68276164e-04 -9.99889729e-01 -1.04760875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.470385723 meters 0.015585131179422004 Centerline is valid? [True, True] Translation: X:233.21, Y:-119.27, Z:-10.48 [[-2.54864099e-01 9.66969740e-01 3.71651672e-03 2.33205336e+02] [ 9.66881531e-01 2.54891059e-01 -1.30634637e-02 -1.19265104e+02] [-1.35792810e-02 2.64023476e-04 -9.99907762e-01 -1.04779981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.530385723 meters 0.018073687622722125 Centerline is valid? [True, True] Translation: X:233.21, Y:-119.23, Z:-10.48 [[-3.28225261e-01 9.44586812e-01 4.89213448e-03 2.33211359e+02] [ 9.44494989e-01 3.28261583e-01 -1.31737720e-02 -1.19233168e+02] [-1.40496711e-02 2.96631761e-04 -9.99901255e-01 -1.04793382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5903857229999 meters 0.015050534552096682 Centerline is valid? [True, True] Translation: X:233.22, Y:-119.20, Z:-10.48 [[-4.03131964e-01 9.15126700e-01 5.26709699e-03 2.33219046e+02] [ 9.15056146e-01 4.03166301e-01 -1.13658820e-02 -1.19199265e+02] [-1.25247381e-02 2.37739155e-04 -9.99921534e-01 -1.04792583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.650385723 meters 0.014785184190676195 Centerline is valid? [True, True] Translation: X:233.22, Y:-119.17, Z:-10.48 [[-4.75997004e-01 8.79429926e-01 5.46427550e-03 2.33221887e+02] [ 8.79376289e-01 4.76028332e-01 -9.71435151e-03 -1.19166366e+02] [-1.11442414e-02 1.81152106e-04 -9.99937885e-01 -1.04796048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.710385723 meters 0.014803327050305709 Centerline is valid? [True, True] Translation: X:233.22, Y:-119.13, Z:-10.48 [[-5.44598145e-01 8.38671015e-01 6.61731589e-03 2.33219638e+02] [ 8.38613004e-01 5.44638318e-01 -9.86575647e-03 -1.19132669e+02] [-1.18781678e-02 1.76494487e-04 -9.99929437e-01 -1.04797771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.770385723 meters 0.014752500931074742 Centerline is valid? [True, True] Translation: X:233.21, Y:-119.10, Z:-10.48 [[-6.08770994e-01 7.93311105e-01 7.44100606e-03 2.33214150e+02] [ 7.93255338e-01 6.08816442e-01 -9.40789073e-03 -1.19099750e+02] [-1.19935910e-02 1.75366789e-04 -9.99928059e-01 -1.04801694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.830385723 meters 0.014245829624493079 Centerline is valid? [True, True] Translation: X:233.21, Y:-119.06, Z:-10.48 [[-6.71262455e-01 7.41185093e-01 7.16753802e-03 2.33212324e+02] [ 7.41144780e-01 6.71300709e-01 -7.73129934e-03 -1.19060513e+02] [-1.05418972e-02 1.22452416e-04 -9.99944425e-01 -1.04802984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.890385723 meters 0.014330502251757988 Centerline is valid? [True, True] Translation: X:233.20, Y:-119.03, Z:-10.48 [[-7.28075336e-01 6.85461800e-01 6.95879635e-03 2.33201003e+02] [ 6.85431778e-01 7.28108584e-01 -6.41619772e-03 -1.19027170e+02] [-9.46481780e-03 9.83048425e-05 -9.99955203e-01 -1.04805410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.950385723 meters 0.014421783878445065 Centerline is valid? [True, True] Translation: X:233.63, Y:-118.57, Z:-11.44 [[-6.95896526e-01 -7.18118778e-01 5.78327624e-03 2.33628101e+02] [ 7.18092210e-01 -6.95920541e-01 -6.17887446e-03 -1.18568851e+02] [ 8.46186651e-03 -1.46931654e-04 9.99964187e-01 -1.14390388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.010385723 meters 0.015168916096532287 Centerline is valid? [True, True] Translation: X:233.59, Y:-118.53, Z:-11.44 [[-6.97756948e-01 -7.16319466e-01 4.65444017e-03 2.33587550e+02] [ 7.16302662e-01 -6.97772466e-01 -4.90736055e-03 -1.18528170e+02] [ 6.76297809e-03 -9.01570390e-05 9.99977127e-01 -1.14388095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.070385723 meters 0.015273732682162906 Centerline is valid? [True, True] Translation: X:233.55, Y:-118.49, Z:-11.44 [[-6.98641305e-01 -7.15466821e-01 2.74862721e-03 2.33545058e+02] [ 7.15460960e-01 -6.98646710e-01 -2.89648572e-03 -1.18487753e+02] [ 3.99265878e-03 -5.70691009e-05 9.99992028e-01 -1.14376439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.130385723 meters 0.01595283368394891 Centerline is valid? [True, True] Translation: X:233.50, Y:-118.45, Z:-11.44 [[-6.97879595e-01 -7.16210735e-01 2.50072946e-03 2.33501887e+02] [ 7.16205894e-01 -6.97884074e-01 -2.63377426e-03 -1.18449222e+02] [ 3.63155667e-03 -4.70201376e-05 9.99993405e-01 -1.14391569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.190385723 meters 0.01516175242296209 Centerline is valid? [True, True] Translation: X:233.46, Y:-118.41, Z:-11.44 [[-6.95633877e-01 -7.18392907e-01 2.26746567e-03 2.33460209e+02] [ 7.18388941e-01 -6.95637571e-01 -2.38712720e-03 -1.18410004e+02] [ 3.29222956e-03 -3.16442879e-05 9.99994580e-01 -1.14404217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.250385723 meters 0.01460655789415911 Centerline is valid? [True, True] Translation: X:233.42, Y:-118.37, Z:-11.44 [[-6.94833896e-01 -7.19169065e-01 1.30863965e-03 2.33417715e+02] [ 7.19167747e-01 -6.94835128e-01 -1.37693681e-03 -1.18369897e+02] [ 1.89953916e-03 -1.56109380e-05 9.99998196e-01 -1.14395016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.310385723 meters 0.014564384629939786 Centerline is valid? [True, True] Translation: X:233.38, Y:-118.33, Z:-11.44 [[-6.94490139e-01 -7.19501041e-01 1.30349398e-03 2.33376938e+02] [ 7.19499736e-01 -6.94491362e-01 -1.37067609e-03 -1.18329368e+02] [ 1.89146818e-03 -1.40574554e-05 9.99998211e-01 -1.14404445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.370385723 meters 0.014609985963509362 Centerline is valid? [True, True] Translation: X:233.34, Y:-118.29, Z:-11.44 [[-6.94725259e-01 -7.19271965e-01 2.15757351e-03 2.33336293e+02] [ 7.19268391e-01 -6.94728609e-01 -2.26752244e-03 -1.18287921e+02] [ 3.12989336e-03 -2.34306848e-05 9.99995102e-01 -1.14418718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.430385723 meters 0.01441864734134168 Centerline is valid? [True, True] Translation: X:233.30, Y:-118.25, Z:-11.44 [[-6.94361408e-01 -7.19624809e-01 1.53956582e-03 2.33295208e+02] [ 7.19622992e-01 -6.94363114e-01 -1.61710103e-03 -1.18246782e+02] [ 2.23272374e-03 -1.49455868e-05 9.99997507e-01 -1.14416657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.490385723 meters 0.014331939811517399 Centerline is valid? [True, True] Translation: X:233.25, Y:-118.21, Z:-11.44 [[-6.94082675e-01 -7.19894362e-01 1.16117389e-03 2.33254766e+02] [ 7.19893330e-01 -6.94083646e-01 -1.21896368e-03 -1.18205239e+02] [ 1.68347689e-03 -1.01402339e-05 9.99998583e-01 -1.14414426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.550385723 meters 0.014352214625295102 Centerline is valid? [True, True] Translation: X:233.22, Y:-118.16, Z:-11.44 [[-6.94847488e-01 -7.19156572e-01 8.90672786e-04 2.33215743e+02] [ 7.19155965e-01 -6.94848059e-01 -9.34462761e-04 -1.18161846e+02] [ 1.29090729e-03 -8.77645569e-06 9.99999167e-01 -1.14419302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.610385723 meters 0.014537826214607615 Centerline is valid? [True, True] Translation: X:233.18, Y:-118.12, Z:-11.44 [[-6.96575354e-01 -7.17482208e-01 1.43402099e-03 2.33177636e+02] [ 7.17480633e-01 -6.96576830e-01 -1.50367611e-03 -1.18117518e+02] [ 2.07776665e-03 -1.85414314e-05 9.99997841e-01 -1.14425002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.670385723 meters 0.014657492113829633 Centerline is valid? [True, True] Translation: X:233.14, Y:-118.07, Z:-11.44 [[-6.97691986e-01 -7.16393649e-01 2.45587777e-03 2.33139701e+02] [ 7.16389027e-01 -6.97696308e-01 -2.57373830e-03 -1.18072988e+02] [ 3.55726663e-03 -3.63127007e-05 9.99993672e-01 -1.14432934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.730385723 meters 0.014647837513458477 Centerline is valid? [True, True] Translation: X:233.10, Y:-118.03, Z:-11.44 [[-6.97851947e-01 -7.16237996e-01 2.40710612e-03 2.33102374e+02] [ 7.16233560e-01 -6.97856097e-01 -2.52106734e-03 -1.18029841e+02] [ 3.48549790e-03 -3.52815623e-05 9.99993925e-01 -1.14433157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.790385723 meters 0.014786119975405054 Centerline is valid? [True, True] Translation: X:233.07, Y:-117.99, Z:-11.44 [[-6.98400809e-01 -7.15703508e-01 2.19060896e-03 2.33065970e+02] [ 7.15699836e-01 -6.98404244e-01 -2.29290881e-03 -1.17985440e+02] [ 3.17097347e-03 -3.35508983e-05 9.99994972e-01 -1.14428186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.850385723 meters 0.01591062406776495 Centerline is valid? [True, True] Translation: X:233.03, Y:-117.94, Z:-11.44 [[-6.99297584e-01 -7.14827240e-01 2.21495591e-03 2.33031290e+02] [ 7.14823486e-01 -6.99301091e-01 -2.31691253e-03 -1.17940431e+02] [ 3.20511327e-03 -3.69088292e-05 9.99994863e-01 -1.14437305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.910385723 meters 0.014859806066887684 Centerline is valid? [True, True] Translation: X:232.99, Y:-117.90, Z:-11.44 [[-6.99146909e-01 -7.14971882e-01 2.96767795e-03 2.32994050e+02] [ 7.14965153e-01 -6.99153206e-01 -3.10242148e-03 -1.17896411e+02] [ 4.29300567e-03 -4.72620706e-05 9.99990784e-01 -1.14440240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.970385723 meters 0.014611985169345166 Centerline is valid? [True, True] Translation: X:232.96, Y:-117.85, Z:-11.44 [[-6.98415666e-01 -7.15687302e-01 2.69115704e-03 2.32958412e+02] [ 7.15681780e-01 -6.98420850e-01 -2.81165747e-03 -1.17851840e+02] [ 3.89182774e-03 -3.76935654e-05 9.99992426e-01 -1.14432215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.030385723 meters 0.014368493184067596 Centerline is valid? [True, True] Translation: X:232.92, Y:-117.81, Z:-11.44 [[-6.96724206e-01 -7.17333129e-01 2.92613649e-03 2.32921966e+02] [ 7.17326621e-01 -6.96730350e-01 -3.05575193e-03 -1.17808458e+02] [ 4.23072019e-03 -3.00207350e-05 9.99991050e-01 -1.14434324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0903857229999 meters 0.014160504626954028 Centerline is valid? [True, True] Translation: X:232.89, Y:-117.76, Z:-11.44 [[-6.95514513e-01 -7.18505884e-01 2.97596324e-03 2.32885223e+02] [ 7.18499171e-01 -6.95520879e-01 -3.10597600e-03 -1.17764736e+02] [ 4.30150660e-03 -2.20242584e-05 9.99990748e-01 -1.14440591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.150385723 meters 0.013983169547899058 Centerline is valid? [True, True] Translation: X:232.85, Y:-117.72, Z:-11.44 [[-6.95965399e-01 -7.18070674e-01 2.58301492e-03 2.32849478e+02] [ 7.18065619e-01 -6.95970192e-01 -2.69435147e-03 -1.17718965e+02] [ 3.73243617e-03 -2.04011885e-05 9.99993034e-01 -1.14425830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.210385723 meters 0.014004642656822554 Centerline is valid? [True, True] Translation: X:232.81, Y:-117.67, Z:-11.44 [[-6.96366702e-01 -7.17682953e-01 2.14346383e-03 2.32814514e+02] [ 7.17679475e-01 -6.96370001e-01 -2.23439038e-03 -1.17674456e+02] [ 3.09622779e-03 -1.76350638e-05 9.99995207e-01 -1.14419603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.270385723 meters 0.013926688857086774 Centerline is valid? [True, True] Translation: X:232.78, Y:-117.63, Z:-11.44 [[-6.95321272e-01 -7.18695482e-01 2.26557360e-03 2.32777171e+02] [ 7.18691607e-01 -6.95324963e-01 -2.36030572e-03 -1.17630261e+02] [ 3.27165093e-03 -1.29220456e-05 9.99994648e-01 -1.14422416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.330385723 meters 0.01391287027009424 Centerline is valid? [True, True] Translation: X:232.74, Y:-117.59, Z:-11.44 [[-6.94577104e-01 -7.19411198e-01 3.18983853e-03 2.32739920e+02] [ 7.19403533e-01 -6.94584428e-01 -3.32109183e-03 -1.17587616e+02] [ 4.60484283e-03 -1.19732375e-05 9.99989398e-01 -1.14433712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.390385723 meters 0.013971268600270724 Centerline is valid? [True, True] Translation: X:232.70, Y:-117.54, Z:-11.44 [[-6.95121914e-01 -7.18881383e-01 3.88357250e-03 2.32702329e+02] [ 7.18870025e-01 -6.95132762e-01 -4.04110395e-03 -1.17542518e+02] [ 5.60467288e-03 -1.72760529e-05 9.99984294e-01 -1.14432148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.450385723 meters 0.014324902474272337 Centerline is valid? [True, True] Translation: X:232.67, Y:-117.49, Z:-11.44 [[-6.98344681e-01 -7.15747203e-01 4.54408024e-03 2.32668611e+02] [ 7.15731603e-01 -6.98359463e-01 -4.72577934e-03 -1.17493785e+02] [ 6.55586478e-03 -4.78810290e-05 9.99978509e-01 -1.14429679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.510385723 meters 0.014731919321529653 Centerline is valid? [True, True] Translation: X:232.63, Y:-117.45, Z:-11.44 [[-7.01328005e-01 -7.12823659e-01 4.63248084e-03 2.32632529e+02] [ 7.12807401e-01 -7.01343300e-01 -4.81505881e-03 -1.17448082e+02] [ 6.68124725e-03 -7.48689650e-05 9.99977677e-01 -1.14427194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.570385723 meters 0.015473503176744596 Centerline is valid? [True, True] Translation: X:232.60, Y:-117.40, Z:-11.44 [[-7.04189097e-01 -7.09996470e-01 4.76746413e-03 2.32597686e+02] [ 7.09979203e-01 -7.04205227e-01 -4.95262748e-03 -1.17401309e+02] [ 6.87362118e-03 -1.02785886e-04 9.99976371e-01 -1.14427310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.630385723 meters 0.015670631032229352 Centerline is valid? [True, True] Translation: X:232.56, Y:-117.36, Z:-11.44 [[-7.04570373e-01 -7.09612676e-01 5.51723901e-03 2.32561843e+02] [ 7.09589567e-01 -7.04591964e-01 -5.72800348e-03 -1.17356853e+02] [ 7.95206615e-03 -1.20806306e-04 9.99968375e-01 -1.14426804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.690385723 meters 0.0156860431048564 Centerline is valid? [True, True] Translation: X:232.52, Y:-117.31, Z:-11.44 [[-7.04459837e-01 -7.09722096e-01 5.55731918e-03 2.32523286e+02] [ 7.09698682e-01 -7.04481747e-01 -5.76608394e-03 -1.17314445e+02] [ 8.00734710e-03 -1.17952454e-04 9.99967934e-01 -1.14426180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.750385723 meters 0.014917268229182323 Centerline is valid? [True, True] Translation: X:232.48, Y:-117.27, Z:-11.44 [[-7.01254097e-01 -7.12890763e-01 5.42688599e-03 2.32483974e+02] [ 7.12868554e-01 -7.01275092e-01 -5.62765218e-03 -1.17272115e+02] [ 7.81764123e-03 -7.77577833e-05 9.99969439e-01 -1.14425602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.810385723 meters 0.01454635053825718 Centerline is valid? [True, True] Translation: X:232.44, Y:-117.23, Z:-11.44 [[-6.99076225e-01 -7.15027580e-01 5.29076137e-03 2.32444494e+02] [ 7.15006558e-01 -6.99096244e-01 -5.48311429e-03 -1.17230650e+02] [ 7.61932934e-03 -5.01857620e-05 9.99970971e-01 -1.14429156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.870385723 meters 0.014430750625651141 Centerline is valid? [True, True] Translation: X:232.41, Y:-117.19, Z:-11.44 [[-6.98712214e-01 -7.15387422e-01 4.69882439e-03 2.32405319e+02] [ 7.15370869e-01 -6.98728012e-01 -4.86666140e-03 -1.17188309e+02] [ 6.76474857e-03 -3.89936693e-05 9.99977118e-01 -1.14423128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.930385723 meters 0.01447325902947206 Centerline is valid? [True, True] Translation: X:232.37, Y:-117.14, Z:-11.44 [[-6.98376711e-01 -7.15717609e-01 4.27486644e-03 2.32367837e+02] [ 7.15703931e-01 -6.98389794e-01 -4.42487341e-03 -1.17144902e+02] [ 6.15248290e-03 -3.06898237e-05 9.99981073e-01 -1.14414842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.990385723 meters 0.014474098212971262 Centerline is valid? [True, True] Translation: X:232.33, Y:-117.10, Z:-11.44 [[-6.99307566e-01 -7.14805444e-01 4.70166795e-03 2.32330828e+02] [ 7.14788899e-01 -6.99323370e-01 -4.86361799e-03 -1.17101133e+02] [ 6.76452689e-03 -4.04648030e-05 9.99977120e-01 -1.14425783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.050385723 meters 0.01484108701470762 Centerline is valid? [True, True] Translation: X:232.29, Y:-117.06, Z:-11.45 [[-7.00214036e-01 -7.13910463e-01 5.67059250e-03 2.32294679e+02] [ 7.13886393e-01 -7.00236994e-01 -5.86252161e-03 -1.17056099e+02] [ 8.15607416e-03 -5.68610895e-05 9.99966737e-01 -1.14452462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.110385723 meters 0.014808697989494636 Centerline is valid? [True, True] Translation: X:232.26, Y:-117.01, Z:-11.44 [[-7.01704290e-01 -7.12445329e-01 5.72221282e-03 2.32258484e+02] [ 7.12420801e-01 -7.01727617e-01 -5.91221067e-03 -1.17011616e+02] [ 8.22756164e-03 -7.20001464e-05 9.99966150e-01 -1.14446567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.170385723 meters 0.01503615880926879 Centerline is valid? [True, True] Translation: X:232.22, Y:-116.97, Z:-11.44 [[-7.03523730e-01 -7.10647799e-01 5.83665627e-03 2.32222165e+02] [ 7.10622246e-01 -7.03547935e-01 -6.02713165e-03 -1.16966085e+02] [ 8.38953531e-03 -9.25723553e-05 9.99964803e-01 -1.14445659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.230385723 meters 0.015425116478582173 Centerline is valid? [True, True] Translation: X:232.19, Y:-116.92, Z:-11.44 [[-7.04763241e-01 -7.09413908e-01 6.37819131e-03 2.32185134e+02] [ 7.09383376e-01 -7.04792093e-01 -6.58274529e-03 -1.16921285e+02] [ 9.16518987e-03 -1.14694026e-04 9.99957992e-01 -1.14449005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.290385723 meters 0.014945316433109873 Centerline is valid? [True, True] Translation: X:232.14, Y:-116.88, Z:-11.45 [[-7.02270809e-01 -7.11878415e-01 6.69572213e-03 2.32144823e+02] [ 7.11844915e-01 -7.02302723e-01 -6.90667509e-03 -1.16879904e+02] [ 9.61913681e-03 -8.40405486e-05 9.99953732e-01 -1.14455917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.350385723 meters 0.014999242824341464 Centerline is valid? [True, True] Translation: X:232.10, Y:-116.84, Z:-11.45 [[-6.99550869e-01 -7.14552641e-01 6.56540072e-03 2.32101484e+02] [ 7.14520585e-01 -6.99581676e-01 -6.76847370e-03 -1.16841153e+02] [ 9.42946480e-03 -4.37776981e-05 9.99955541e-01 -1.14465640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.410385723 meters 0.016233153163154036 Centerline is valid? [True, True] Translation: X:232.06, Y:-116.80, Z:-11.45 [[-6.99429748e-01 -7.14672342e-01 6.43984270e-03 2.32062144e+02] [ 7.14641545e-01 -6.99459393e-01 -6.63470422e-03 -1.16801397e+02] [ 9.24604807e-03 -3.83303645e-05 9.99957254e-01 -1.14468336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.470385723 meters 0.014921551225067022 Centerline is valid? [True, True] Translation: X:232.02, Y:-116.76, Z:-11.44 [[-6.99881145e-01 -7.14235979e-01 5.77486740e-03 2.32022589e+02] [ 7.14211231e-01 -6.99904968e-01 -5.94580527e-03 -1.16761192e+02] [ 8.28856643e-03 -3.68818392e-05 9.99965649e-01 -1.14443235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.530385723 meters 0.015049547567883114 Centerline is valid? [True, True] Translation: X:231.98, Y:-116.72, Z:-11.44 [[-7.00943182e-01 -7.13196247e-01 5.45606639e-03 2.31980704e+02] [ 7.13174151e-01 -7.00964415e-01 -5.61413159e-03 -1.16721682e+02] [ 7.82848597e-03 -4.40617434e-05 9.99969356e-01 -1.14442082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5903857229999 meters 0.015252418984854396 Centerline is valid? [True, True] Translation: X:231.94, Y:-116.68, Z:-11.44 [[-7.02873641e-01 -7.11298443e-01 4.81358168e-03 2.31940383e+02] [ 7.11281222e-01 -7.02890121e-01 -4.94991539e-03 -1.16680480e+02] [ 6.90428612e-03 -5.53547930e-05 9.99976164e-01 -1.14432024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.650385723 meters 0.01602141216602561 Centerline is valid? [True, True] Translation: X:231.90, Y:-116.64, Z:-11.44 [[-7.05908316e-01 -7.08288007e-01 4.64198473e-03 2.31901555e+02] [ 7.08271945e-01 -7.05923574e-01 -4.77067810e-03 -1.16638716e+02] [ 6.65590053e-03 -7.98737888e-05 9.99977846e-01 -1.14446008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.710385723 meters 0.01712942793709411 Centerline is valid? [True, True] Translation: X:231.86, Y:-116.60, Z:-11.44 [[-7.09500255e-01 -7.04689423e-01 4.71222313e-03 2.31863867e+02] [ 7.04672806e-01 -7.09515894e-01 -4.84078067e-03 -1.16596544e+02] [ 6.75464414e-03 -1.13959630e-04 9.99977181e-01 -1.14449403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.770385723 meters 0.0182617361513029 Centerline is valid? [True, True] Translation: X:231.82, Y:-116.55, Z:-11.45 [[-7.13182477e-01 -7.00963230e-01 4.61567910e-03 2.31824522e+02] [ 7.00947225e-01 -7.13197398e-01 -4.73907226e-03 -1.16553411e+02] [ 6.61380572e-03 -1.44475838e-04 9.99978118e-01 -1.14452546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.830385723 meters 0.01963095271210113 Centerline is valid? [True, True] Translation: X:231.79, Y:-116.51, Z:-11.45 [[-7.15831924e-01 -6.98261078e-01 4.01554270e-03 2.31785480e+02] [ 6.98248935e-01 -7.15843171e-01 -4.12059682e-03 -1.16510821e+02] [ 5.75175120e-03 -1.45806335e-04 9.99983448e-01 -1.14452223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.890385723 meters 0.01914835595165041 Centerline is valid? [True, True] Translation: X:231.74, Y:-116.47, Z:-11.45 [[-7.16095643e-01 -6.97993695e-01 3.43974938e-03 2.31742514e+02] [ 6.97984792e-01 -7.16103893e-01 -3.52761900e-03 -1.16472550e+02] [ 4.92547374e-03 -1.25219840e-04 9.99987862e-01 -1.14462804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.950385723 meters 0.01837743321897338 Centerline is valid? [True, True] Translation: X:231.70, Y:-116.43, Z:-11.45 [[-7.14352448e-01 -6.99781102e-01 2.64378058e-03 2.31699719e+02] [ 6.99775860e-01 -7.14357335e-01 -2.70985426e-03 -1.16433615e+02] [ 3.78490885e-03 -8.57371948e-05 9.99992834e-01 -1.14457211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.010385723 meters 0.01766539339279473 Centerline is valid? [True, True] Translation: X:231.66, Y:-116.40, Z:-11.45 [[-7.11646179e-01 -7.02534245e-01 2.31304386e-03 2.31656203e+02] [ 7.02530252e-01 -7.11649935e-01 -2.36957410e-03 -1.16395410e+02] [ 3.31078447e-03 -6.13150649e-05 9.99994517e-01 -1.14460407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.070385723 meters 0.016676466382457636 Centerline is valid? [True, True] Translation: X:231.61, Y:-116.36, Z:-11.45 [[-7.09062041e-01 -7.05143013e-01 2.08631148e-03 2.31611050e+02] [ 7.05139779e-01 -7.09065109e-01 -2.13613738e-03 -1.16358552e+02] [ 2.98561303e-03 -4.35127104e-05 9.99995542e-01 -1.14465850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.130385723 meters 0.016408818055466623 Centerline is valid? [True, True] Translation: X:231.57, Y:-116.32, Z:-11.45 [[-7.07009512e-01 -7.07201111e-01 2.03429905e-03 2.31568485e+02] [ 7.07198048e-01 -7.07012438e-01 -2.08176675e-03 -1.16319732e+02] [ 2.91050249e-03 -3.31765811e-05 9.99995764e-01 -1.14466002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.190385723 meters 0.01610058190962082 Centerline is valid? [True, True] Translation: X:231.53, Y:-116.28, Z:-11.45 [[-7.05370812e-01 -7.08837235e-01 1.33892758e-03 2.31526817e+02] [ 7.08835912e-01 -7.05372082e-01 -1.36933696e-03 -1.16282278e+02] [ 1.91507916e-03 -1.68103712e-05 9.99998166e-01 -1.14458458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.250385723 meters 0.017940330103366472 Centerline is valid? [True, True] Translation: X:231.48, Y:-116.24, Z:-11.45 [[-7.04327433e-01 -7.09874141e-01 1.25336676e-03 2.31483320e+02] [ 7.09872985e-01 -7.04328548e-01 -1.28107954e-03 -1.16244182e+02] [ 1.79218723e-03 -1.25682547e-05 9.99998394e-01 -1.14480772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.310385723 meters 0.015719927123166652 Centerline is valid? [True, True] Translation: X:231.44, Y:-116.20, Z:-11.45 [[-7.04546148e-01 -7.09657026e-01 1.27706092e-03 2.31441227e+02] [ 7.09655827e-01 -7.04547306e-01 -1.30457076e-03 -1.16204673e+02] [ 1.82554763e-03 -1.28565798e-05 9.99998334e-01 -1.14458646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.370385723 meters 0.01642717758975298 Centerline is valid? [True, True] Translation: X:231.40, Y:-116.16, Z:-11.45 [[-7.08617482e-01 -7.05591784e-01 1.22444403e-03 2.31403586e+02] [ 7.05590677e-01 -7.08618539e-01 -1.25009159e-03 -1.16161896e+02] [ 1.74971810e-03 -2.18804661e-05 9.99998469e-01 -1.14456145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.430385723 meters 0.01832336811759362 Centerline is valid? [True, True] Translation: X:231.37, Y:-116.12, Z:-11.45 [[-7.16252284e-01 -6.97837790e-01 2.25475579e-03 2.31365413e+02] [ 6.97834002e-01 -7.16255830e-01 -2.30061807e-03 -1.16118967e+02] [ 3.22044020e-03 -7.43776919e-05 9.99994812e-01 -1.14468468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.490385723 meters 0.02087877793852093 Centerline is valid? [True, True] Translation: X:231.33, Y:-116.08, Z:-11.45 [[-7.20514384e-01 -6.93437824e-01 1.73399810e-03 2.31328493e+02] [ 6.93435573e-01 -7.20516467e-01 -1.76854955e-03 -1.16075306e+02] [ 2.47575333e-03 -7.18494200e-05 9.99996933e-01 -1.14460164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.550385723 meters 0.019551202818475576 Centerline is valid? [True, True] Translation: X:231.28, Y:-116.04, Z:-11.45 [[-7.21651764e-01 -6.92253599e-01 1.91975814e-03 2.31284494e+02] [ 6.92250838e-01 -7.21654313e-01 -1.95693309e-03 -1.16037424e+02] [ 2.74009571e-03 -8.32700379e-05 9.99996242e-01 -1.14462380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.610385723 meters 0.019775156392013014 Centerline is valid? [True, True] Translation: X:231.24, Y:-116.00, Z:-11.45 [[-7.21291743e-01 -6.92626989e-01 2.46502844e-03 2.31242234e+02] [ 6.92622444e-01 -7.21295948e-01 -2.51114745e-03 -1.16000178e+02] [ 3.51730352e-03 -1.03935898e-04 9.99993809e-01 -1.14467826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.670385723 meters 0.01824877595014498 Centerline is valid? [True, True] Translation: X:231.20, Y:-115.96, Z:-11.45 [[-7.19144116e-01 -6.94856293e-01 2.54416408e-03 2.31195449e+02] [ 6.94851472e-01 -7.19148610e-01 -2.59030442e-03 -1.15964792e+02] [ 3.62952139e-03 -9.49860290e-05 9.99993409e-01 -1.14457781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.730385723 meters 0.01772957566221636 Centerline is valid? [True, True] Translation: X:231.15, Y:-115.93, Z:-11.45 [[-7.17691862e-01 -6.96356547e-01 2.43938080e-03 2.31150508e+02] [ 6.96352127e-01 -7.17696003e-01 -2.48234018e-03 -1.15926824e+02] [ 3.47932769e-03 -8.28873393e-05 9.99993944e-01 -1.14462681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.790385723 meters 0.016889864495059522 Centerline is valid? [True, True] Translation: X:231.11, Y:-115.89, Z:-11.45 [[-7.15604782e-01 -6.98499529e-01 2.86437644e-03 2.31105716e+02] [ 6.98493459e-01 -7.15610509e-01 -2.91320751e-03 -1.15889835e+02] [ 4.08465196e-03 -8.39570220e-05 9.99991654e-01 -1.14457008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.850385723 meters 0.01661107141429295 Centerline is valid? [True, True] Translation: X:231.06, Y:-115.85, Z:-11.45 [[-7.14486595e-01 -6.99643323e-01 2.85056087e-03 2.31062806e+02] [ 6.99637327e-01 -7.14492277e-01 -2.89777602e-03 -1.15852607e+02] [ 4.06411337e-03 -7.60633360e-05 9.99991739e-01 -1.14459676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.910385723 meters 0.016531829471816063 Centerline is valid? [True, True] Translation: X:231.02, Y:-115.81, Z:-11.44 [[-7.15838814e-01 -6.98261609e-01 2.34875404e-03 2.31020056e+02] [ 6.98257535e-01 -7.15842664e-01 -2.38633911e-03 -1.15813074e+02] [ 3.34762734e-03 -6.81989497e-05 9.99994394e-01 -1.14447461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.970385723 meters 0.017897162621216715 Centerline is valid? [True, True] Translation: X:230.98, Y:-115.77, Z:-11.45 [[-7.17956964e-01 -6.96082192e-01 2.71646524e-03 2.30977117e+02] [ 6.96076732e-01 -7.17962098e-01 -2.75842039e-03 -1.15773779e+02] [ 3.87040640e-03 -8.95588800e-05 9.99992506e-01 -1.14471381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.030385723 meters 0.016912622470036064 Centerline is valid? [True, True] Translation: X:230.94, Y:-115.73, Z:-11.45 [[-7.19989219e-01 -6.93980512e-01 2.56399660e-03 2.30935146e+02] [ 6.93975639e-01 -7.19993778e-01 -2.60217521e-03 -1.15733675e+02] [ 3.65192048e-03 -9.41869218e-05 9.99993327e-01 -1.14463510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0903857229999 meters 0.01793863994619286 Centerline is valid? [True, True] Translation: X:230.90, Y:-115.69, Z:-11.45 [[-7.20731380e-01 -6.93209904e-01 2.51158469e-03 2.30895625e+02] [ 6.93205228e-01 -7.20735749e-01 -2.54794644e-03 -1.15692361e+02] [ 3.57645058e-03 -9.53413169e-05 9.99993600e-01 -1.14467205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.150385723 meters 0.01762143892246402 Centerline is valid? [True, True] Translation: X:230.85, Y:-115.65, Z:-11.45 [[-7.22853541e-01 -6.90998967e-01 1.78487730e-03 2.30852314e+02] [ 6.90996601e-01 -7.22855740e-01 -1.80976844e-03 -1.15653299e+02] [ 2.54075692e-03 -7.48533777e-05 9.99996769e-01 -1.14456275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.210385723 meters 0.017895642138918803 Centerline is valid? [True, True] Translation: X:230.81, Y:-115.61, Z:-11.45 [[-7.22436518e-01 -6.91435634e-01 1.49715836e-03 2.30809794e+02] [ 6.91433972e-01 -7.22438067e-01 -1.51718084e-03 -1.15614595e+02] [ 2.13063709e-03 -6.08806926e-05 9.99997728e-01 -1.14465761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.270385723 meters 0.019476076646634206 Centerline is valid? [True, True] Translation: X:230.77, Y:-115.58, Z:-11.45 [[-7.20789781e-01 -6.93150204e-01 2.21055002e-03 2.30765733e+02] [ 6.93146593e-01 -7.20793166e-01 -2.23888501e-03 -1.15576121e+02] [ 3.14523295e-03 -8.15302231e-05 9.99995050e-01 -1.14499556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.330385723 meters 0.018606125667396084 Centerline is valid? [True, True] Translation: X:230.72, Y:-115.54, Z:-11.45 [[-7.19323569e-01 -6.94673126e-01 1.68834529e-03 2.30722560e+02] [ 6.94671026e-01 -7.19325548e-01 -1.70906210e-03 -1.15536782e+02] [ 2.40170941e-03 -5.65240909e-05 9.99997114e-01 -1.14494612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.390385723 meters 0.015534148744128484 Centerline is valid? [True, True] Translation: X:230.68, Y:-115.50, Z:-11.45 [[-7.18222977e-01 -6.95811622e-01 1.39364190e-03 2.30676535e+02] [ 6.95810194e-01 -7.18224328e-01 -1.41003215e-03 -1.15499470e+02] [ 1.98206427e-03 -4.30072475e-05 9.99998035e-01 -1.14484450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.450385723 meters 0.017782549378930958 Centerline is valid? [True, True] Translation: X:230.63, Y:-115.46, Z:-11.45 [[-7.17150847e-01 -6.96914829e-01 2.09368486e-03 2.30633740e+02] [ 6.96911616e-01 -7.17153901e-01 -2.11713860e-03 -1.15460045e+02] [ 2.97695955e-03 -5.91944389e-05 9.99995567e-01 -1.14513334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.510385723 meters 0.015446696537688197 Centerline is valid? [True, True] Translation: X:230.59, Y:-115.42, Z:-11.45 [[-7.17208970e-01 -6.96857925e-01 5.71272021e-04 2.30591131e+02] [ 6.96857686e-01 -7.17209197e-01 -5.77312946e-04 -1.15421167e+02] [ 8.12026649e-04 -1.59587245e-05 9.99999670e-01 -1.14486176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.570385723 meters 0.016221730417315318 Centerline is valid? [True, True] Translation: X:230.55, Y:-115.38, Z:-11.45 [[-7.18604755e-01 -6.95417345e-01 1.38662810e-03 2.30549883e+02] [ 6.95415936e-01 -7.18606091e-01 -1.40073607e-03 -1.15382360e+02] [ 1.97053556e-03 -4.22923226e-05 9.99998058e-01 -1.14501750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.630385723 meters 0.01617143123885348 Centerline is valid? [True, True] Translation: X:230.51, Y:-115.34, Z:-11.45 [[-7.20951649e-01 -6.92985051e-01 6.62660927e-04 2.30507841e+02] [ 6.92984728e-01 -7.20951953e-01 -6.69030350e-04 -1.15342160e+02] [ 9.41374721e-04 -2.31246321e-05 9.99999557e-01 -1.14499664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.690385723 meters 0.017756000455170055 Centerline is valid? [True, True] Translation: X:230.47, Y:-115.30, Z:-11.45 [[-7.24196389e-01 -6.89593719e-01 -3.04612019e-04 2.30468532e+02] [ 6.89593651e-01 -7.24196453e-01 3.07407139e-04 -1.15301688e+02] [-4.32584976e-04 1.25646262e-05 9.99999906e-01 -1.14496090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.750385723 meters 0.018772291711720485 Centerline is valid? [True, True] Translation: X:230.43, Y:-115.26, Z:-11.45 [[-7.26027499e-01 -6.87665529e-01 4.37847887e-04 2.30426897e+02] [ 6.87665387e-01 -7.26027630e-01 -4.41619871e-04 -1.15260713e+02] [ 6.21576426e-04 -1.95353340e-05 9.99999807e-01 -1.14507682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.810385723 meters 0.018673253632259235 Centerline is valid? [True, True] Translation: X:230.38, Y:-115.22, Z:-11.45 [[-7.25429706e-01 -6.88296128e-01 4.25998825e-04 2.30382844e+02] [ 6.88295995e-01 -7.25429831e-01 -4.29440764e-04 -1.15222272e+02] [ 6.04614671e-04 -1.83158019e-05 9.99999817e-01 -1.14510110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.870385723 meters 0.020049898327329566 Centerline is valid? [True, True] Translation: X:230.34, Y:-115.18, Z:-11.45 [[-7.24611065e-01 -6.89157038e-01 1.17567241e-03 2.30340869e+02] [ 6.89156021e-01 -7.24612017e-01 -1.18472343e-03 -1.15184055e+02] [ 1.66836685e-03 -4.82419875e-05 9.99998607e-01 -1.14530177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.930385723 meters 0.01614158950474837 Centerline is valid? [True, True] Translation: X:230.29, Y:-115.15, Z:-11.45 [[-7.24164101e-01 -6.89624904e-01 1.96131987e-03 2.30293795e+02] [ 6.89622079e-01 -7.24166753e-01 -1.97530645e-03 -1.15149379e+02] [ 2.78254316e-03 -7.78765288e-05 9.99996126e-01 -1.14525040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.990385723 meters 0.016894523779180406 Centerline is valid? [True, True] Translation: X:230.25, Y:-115.11, Z:-11.45 [[-7.24202015e-01 -6.89584723e-01 2.08591590e-03 2.30250845e+02] [ 6.89581532e-01 -7.24205015e-01 -2.09955162e-03 -1.15111812e+02] [ 2.95844947e-03 -8.20904321e-05 9.99995620e-01 -1.14537229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.050385723 meters 0.016823142931785866 Centerline is valid? [True, True] Translation: X:230.21, Y:-115.07, Z:-11.45 [[-7.25313936e-01 -6.88415742e-01 1.86017363e-03 2.30207367e+02] [ 6.88413203e-01 -7.25316317e-01 -1.87129566e-03 -1.15073270e+02] [ 2.63744368e-03 -7.67087373e-05 9.99996519e-01 -1.14537182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.110385723 meters 0.016828273592637503 Centerline is valid? [True, True] Translation: X:230.16, Y:-115.03, Z:-11.45 [[-7.26555285e-01 -6.87106884e-01 1.24435402e-03 2.30163545e+02] [ 6.87105747e-01 -7.26556348e-01 -1.25113623e-03 -1.15034359e+02] [ 1.76375763e-03 -5.40168410e-05 9.99998443e-01 -1.14528686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.170385723 meters 0.017255928260426892 Centerline is valid? [True, True] Translation: X:230.12, Y:-115.00, Z:-11.45 [[-7.26211603e-01 -6.87468740e-01 1.85463687e-03 2.30120294e+02] [ 6.87466217e-01 -7.26213967e-01 -1.86399351e-03 -1.14996621e+02] [ 2.62830047e-03 -7.86535240e-05 9.99996543e-01 -1.14534735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.230385723 meters 0.016841108292806186 Centerline is valid? [True, True] Translation: X:230.08, Y:-114.96, Z:-11.45 [[-7.24809966e-01 -6.88942222e-01 3.02115979e-03 2.30075536e+02] [ 6.88935548e-01 -7.24816253e-01 -3.03485125e-03 -1.14958661e+02] [ 4.28062288e-03 -1.18306054e-04 9.99990831e-01 -1.14545316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.290385723 meters 0.017676657735961495 Centerline is valid? [True, True] Translation: X:230.03, Y:-114.92, Z:-11.46 [[-7.21566259e-01 -6.92335805e-01 3.64228436e-03 2.30031414e+02] [ 6.92326157e-01 -7.21575442e-01 -3.65695976e-03 -1.14922640e+02] [ 5.16002713e-03 -1.17090038e-04 9.99986680e-01 -1.14559092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.350385723 meters 0.014102794453810326 Centerline is valid? [True, True] Translation: X:229.98, Y:-114.89, Z:-11.46 [[-7.18504994e-01 -6.95507277e-01 4.49467487e-03 2.29984276e+02] [ 6.95492661e-01 -7.18519043e-01 -4.51041078e-03 -1.14886829e+02] [ 6.36653300e-03 -1.14739288e-04 9.99979727e-01 -1.14551267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.410385723 meters 0.013949736379927653 Centerline is valid? [True, True] Translation: X:229.94, Y:-114.85, Z:-11.46 [[-7.17364626e-01 -6.96682005e-01 4.70933121e-03 2.29942819e+02] [ 6.96666002e-01 -7.17380076e-01 -4.72317283e-03 -1.14846633e+02] [ 6.66892989e-03 -1.07406158e-04 9.99977757e-01 -1.14551586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.470385723 meters 0.013894682244185321 Centerline is valid? [True, True] Translation: X:229.90, Y:-114.81, Z:-11.45 [[-7.17380212e-01 -6.96665748e-01 4.73998472e-03 2.29900780e+02] [ 6.96649554e-01 -7.17395863e-01 -4.75123472e-03 -1.14806432e+02] [ 6.71046792e-03 -1.06333526e-04 9.99977479e-01 -1.14547958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.530385723 meters 0.013958834420601071 Centerline is valid? [True, True] Translation: X:229.86, Y:-114.77, Z:-11.46 [[-7.16305898e-01 -6.97773101e-01 4.30803707e-03 2.29860259e+02] [ 6.97759759e-01 -7.16318848e-01 -4.31583340e-03 -1.14765949e+02] [ 6.09740061e-03 -8.54820113e-05 9.99981407e-01 -1.14550451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5903857229999 meters 0.013552658095778844 Centerline is valid? [True, True] Translation: X:229.82, Y:-114.72, Z:-11.45 [[-7.15358505e-01 -6.98746110e-01 4.01032507e-03 2.29818744e+02] [ 6.98734572e-01 -7.15369742e-01 -4.01620336e-03 -1.14724703e+02] [ 5.67517169e-03 -7.08724587e-05 9.99983894e-01 -1.14539598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.650385723 meters 0.012968144265375842 Centerline is valid? [True, True] Translation: X:229.78, Y:-114.69, Z:-11.45 [[-7.12566381e-01 -7.01594091e-01 3.85800493e-03 2.29776278e+02] [ 7.01583465e-01 -7.12576824e-01 -3.86155808e-03 -1.14685323e+02] [ 5.45837123e-03 -4.49039988e-05 9.99985102e-01 -1.14544035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.710385723 meters 0.012584418483089775 Centerline is valid? [True, True] Translation: X:229.74, Y:-114.64, Z:-11.45 [[-7.09623927e-01 -7.04565173e-01 4.66882796e-03 2.29735533e+02] [ 7.04549694e-01 -7.09639286e-01 -4.67046473e-03 -1.14644448e+02] [ 6.60383053e-03 -2.48522154e-05 9.99978194e-01 -1.14549766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.770385723 meters 0.012714686463900829 Centerline is valid? [True, True] Translation: X:229.70, Y:-114.60, Z:-11.45 [[-7.10565331e-01 -7.03620314e-01 3.91973745e-03 2.29698080e+02] [ 7.03609402e-01 -7.10576142e-01 -3.91864766e-03 -1.14602791e+02] [ 5.54251201e-03 -2.64910476e-05 9.99984640e-01 -1.14541448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.830385723 meters 0.013168202897229392 Centerline is valid? [True, True] Translation: X:229.31, Y:-114.99, Z:-10.47 [[-7.48738374e-01 6.62855953e-01 3.58237855e-03 2.29306647e+02] [ 6.62848670e-01 7.48746943e-01 -3.10752757e-03 -1.14986115e+02] [-4.74213814e-03 4.78497154e-05 -9.99988755e-01 -1.04654489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.890385723 meters 0.015899722959042392 Centerline is valid? [True, True] Translation: X:229.32, Y:-114.97, Z:-10.46 [[-7.89007075e-01 6.14371513e-01 3.93443217e-03 2.29316478e+02] [ 6.14364428e-01 7.89016880e-01 -2.95172032e-03 -1.14969735e+02] [-4.91778627e-03 8.82469500e-05 -9.99987904e-01 -1.04646247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.950385723 meters 0.014907001910152253 Centerline is valid? [True, True] Translation: X:229.34, Y:-114.95, Z:-10.47 [[-8.29014867e-01 5.59215183e-01 3.56772335e-03 2.29335904e+02] [ 5.59210457e-01 8.29022539e-01 -2.30095388e-03 -1.14947113e+02] [-4.24445142e-03 8.75832238e-05 -9.99990988e-01 -1.04660163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.010385723 meters 0.01729946502687365 Centerline is valid? [True, True] Translation: X:229.65, Y:-114.47, Z:-11.45 [[-8.18669745e-01 -5.74257100e-01 2.93797600e-03 2.29647277e+02] [ 5.74252930e-01 -8.18675010e-01 -2.19104083e-03 -1.14472141e+02] [ 3.66346829e-03 -1.06597516e-04 9.99993284e-01 -1.14535771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.070385723 meters 0.018357613970385468 Centerline is valid? [True, True] Translation: X:229.30, Y:-114.93, Z:-10.47 [[-8.24397876e-01 5.65997087e-01 3.92925751e-03 2.29299147e+02] [ 5.65991524e-01 8.24407226e-01 -2.51418115e-03 -1.14930317e+02] [-4.66232749e-03 1.51240842e-04 -9.99989120e-01 -1.04656202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.130385723 meters 0.018901610547408555 Centerline is valid? [True, True] Translation: X:229.61, Y:-114.45, Z:-11.45 [[-8.22201237e-01 -5.69184513e-01 3.75711876e-03 2.29609607e+02] [ 5.69177722e-01 -8.22209808e-01 -2.78442536e-03 -1.14448605e+02] [ 4.67399169e-03 -1.50889681e-04 9.99989065e-01 -1.14540351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.190385723 meters 0.016795691449119052 Centerline is valid? [True, True] Translation: X:229.26, Y:-114.90, Z:-10.46 [[-8.30259850e-01 5.57355681e-01 4.81934504e-03 2.29262490e+02] [ 5.57347305e-01 8.30273824e-01 -3.05918206e-03 -1.14896985e+02] [-5.70642854e-03 1.46132928e-04 -9.99983708e-01 -1.04637141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.250385723 meters 0.016520592749991264 Centerline is valid? [True, True] Translation: X:229.27, Y:-114.87, Z:-10.46 [[-8.68873424e-01 4.95015376e-01 4.33026512e-03 2.29272893e+02] [ 4.95009877e-01 8.68884207e-01 -2.33590428e-03 -1.14865884e+02] [-4.91880751e-03 1.13918860e-04 -9.99987896e-01 -1.04648492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.310385723 meters 0.01593825327335321 Centerline is valid? [True, True] Translation: X:229.28, Y:-114.83, Z:-10.47 [[-9.02023984e-01 4.31674271e-01 3.17109775e-03 2.29279835e+02] [ 4.31671907e-01 9.02029555e-01 -1.43080924e-03 -1.14833394e+02] [-3.47806743e-03 7.82495591e-05 -9.99993948e-01 -1.04663093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.370385723 meters 0.016417309735421954 Centerline is valid? [True, True] Translation: X:229.29, Y:-114.80, Z:-10.47 [[-9.30513675e-01 3.66245103e-01 2.97062573e-03 2.29286031e+02] [ 3.66243475e-01 9.30518414e-01 -1.09417813e-03 -1.14801040e+02] [-3.16495933e-03 6.98245792e-05 -9.99994989e-01 -1.04665090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.430385723 meters 0.016289504303849345 Centerline is valid? [True, True] Translation: X:229.47, Y:-114.30, Z:-11.45 [[-9.22530241e-01 -3.85916842e-01 2.47901691e-03 2.29468332e+02] [ 3.85915194e-01 -9.22533568e-01 -1.13121866e-03 -1.14301668e+02] [ 2.72353265e-03 -8.68931270e-05 9.99996287e-01 -1.14516131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.490385723 meters 0.01653147919819023 Centerline is valid? [True, True] Translation: X:229.24, Y:-114.78, Z:-10.47 [[-9.31032221e-01 3.64920225e-01 3.49762795e-03 2.29243538e+02] [ 3.64918014e-01 9.31038786e-01 -1.27360581e-03 -1.14780173e+02] [-3.72119180e-03 9.05793960e-05 -9.99993072e-01 -1.04670831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.550385723 meters 0.01636896583063915 Centerline is valid? [True, True] Translation: X:229.24, Y:-114.75, Z:-10.47 [[-9.54912091e-01 2.96854795e-01 4.48661644e-03 2.29244039e+02] [ 2.96852048e-01 9.54922625e-01 -1.28158618e-03 -1.14747344e+02] [-4.66481655e-03 1.08059135e-04 -9.99989114e-01 -1.04665800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.610385723 meters 0.01667251681386897 Centerline is valid? [True, True] Translation: X:229.24, Y:-114.72, Z:-10.47 [[-9.73344385e-01 2.29289077e-01 5.21796577e-03 2.29241341e+02] [ 2.29286490e-01 9.73358363e-01 -1.09684102e-03 -1.14716735e+02] [-5.33044428e-03 1.28805006e-04 -9.99985785e-01 -1.04659960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.670385723 meters 0.01691597380838456 Centerline is valid? [True, True] Translation: X:229.34, Y:-114.21, Z:-11.46 [[-9.69141077e-01 -2.46363655e-01 8.39780841e-03 2.29343708e+02] [ 2.46354392e-01 -9.69177460e-01 -2.13636141e-03 -1.14211538e+02] [ 8.66528843e-03 -1.59860965e-06 9.99962456e-01 -1.14553059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.730385723 meters 0.017592138062343932 Centerline is valid? [True, True] Translation: X:229.19, Y:-114.71, Z:-10.46 [[-9.73446413e-01 2.28743274e-01 8.86540710e-03 2.29192039e+02] [ 2.28736095e-01 9.73486751e-01 -1.82902573e-03 -1.14708564e+02] [-9.04873368e-03 2.47380068e-04 -9.99959029e-01 -1.04645494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.790385723 meters 0.018487421225345517 Centerline is valid? [True, True] Translation: X:229.30, Y:-114.20, Z:-11.45 [[-9.71447808e-01 -2.37125322e-01 7.79341008e-03 2.29301926e+02] [ 2.37115380e-01 -9.71479029e-01 -2.18916914e-03 -1.14200504e+02] [ 8.09024189e-03 -2.78726174e-04 9.99967235e-01 -1.14531391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.850385723 meters 0.019982356507308997 Centerline is valid? [True, True] Translation: X:229.15, Y:-114.70, Z:-10.47 [[-9.72978257e-01 2.30704547e-01 9.41932557e-03 2.29147911e+02] [ 2.30696896e-01 9.73023798e-01 -1.90572725e-03 -1.14704776e+02] [-9.60488788e-03 3.18777988e-04 -9.99953821e-01 -1.04651373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.910385723 meters 0.02042705491197318 Centerline is valid? [True, True] Translation: X:229.25, Y:-114.19, Z:-11.45 [[-9.72820908e-01 -2.31353777e-01 9.74216989e-03 2.29245714e+02] [ 2.31339035e-01 -9.72869640e-01 -2.62941700e-03 -1.14187945e+02] [ 1.00861869e-02 -3.04207659e-04 9.99949087e-01 -1.14537283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.970385723 meters 0.0183556503133671 Centerline is valid? [True, True] Translation: X:229.10, Y:-114.69, Z:-10.47 [[-9.74860314e-01 2.22570443e-01 1.04769173e-02 2.29097412e+02] [ 2.22560940e-01 9.74916563e-01 -2.07919641e-03 -1.14686472e+02] [-1.06768879e-02 3.04826504e-04 -9.99942954e-01 -1.04660060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.030385723 meters 0.01601604804153656 Centerline is valid? [True, True] Translation: X:229.09, Y:-114.65, Z:-10.47 [[-9.89613600e-01 1.43456291e-01 9.23119686e-03 2.29086344e+02] [ 1.43451713e-01 9.89656638e-01 -1.15964771e-03 -1.14649978e+02] [-9.30207401e-03 1.76627854e-04 -9.99956719e-01 -1.04685123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0903857229999 meters 0.015370298505615125 Centerline is valid? [True, True] Translation: X:229.07, Y:-114.62, Z:-10.47 [[-9.97681875e-01 6.76650073e-02 7.23344780e-03 2.29073347e+02] [ 6.76639531e-02 9.97708092e-01 -3.90641160e-04 -1.14617628e+02] [-7.24330214e-03 9.97080677e-05 -9.99973762e-01 -1.04697366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.150385723 meters 0.01545740829025573 Centerline is valid? [True, True] Translation: X:229.06, Y:-114.59, Z:-10.47 [[-9.99969212e-01 -3.34016149e-03 7.10063671e-03 2.29064294e+02] [-3.33938110e-03 9.99994417e-01 1.21757197e-04 -1.14590026e+02] [-7.10100376e-03 9.80417167e-05 -9.99974783e-01 -1.04700136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.210385723 meters 0.015404677010234255 Centerline is valid? [True, True] Translation: X:229.05, Y:-114.09, Z:-11.45 [[-9.99352494e-01 -3.52602032e-02 7.16308895e-03 2.29049834e+02] [ 3.52586195e-02 -9.99378161e-01 -3.47301605e-04 -1.14094738e+02] [ 7.17088059e-03 -9.45160982e-05 9.99974284e-01 -1.14492152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.270385723 meters 0.015217417663205472 Centerline is valid? [True, True] Translation: X:229.01, Y:-114.59, Z:-10.47 [[-9.99938933e-01 -8.14390480e-03 7.47035692e-03 2.29006749e+02] [-8.14295131e-03 9.99966833e-01 1.58042842e-04 -1.14594611e+02] [-7.47139624e-03 9.72024384e-05 -9.99972084e-01 -1.04709188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.330385723 meters 0.014707966346471134 Centerline is valid? [True, True] Translation: X:228.99, Y:-114.10, Z:-11.45 [[-9.99199802e-01 -3.91668941e-02 8.10617387e-03 2.28988939e+02] [ 3.91651208e-02 -9.99232681e-01 -3.77449538e-04 -1.14095777e+02] [ 8.11473738e-03 -5.96682249e-05 9.99967073e-01 -1.14481312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.390385723 meters 0.014373426663973224 Centerline is valid? [True, True] Translation: X:228.94, Y:-114.59, Z:-10.47 [[-9.99608542e-01 -2.59367930e-02 1.04902833e-02 2.28943078e+02] [-2.59354543e-02 9.99663585e-01 2.63655504e-04 -1.14594750e+02] [-1.04935926e-02 -8.51796951e-06 -9.99944941e-01 -1.04688788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.450385723 meters 0.014356029334598263 Centerline is valid? [True, True] Translation: X:228.93, Y:-114.09, Z:-11.45 [[-9.98948280e-01 -4.48440745e-02 9.55734906e-03 2.28925102e+02] [ 4.48415023e-02 -9.98993997e-01 -4.83357937e-04 -1.14093391e+02] [ 9.56941008e-03 -5.42836897e-05 9.99954211e-01 -1.14498818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.510385723 meters 0.014247644479590873 Centerline is valid? [True, True] Translation: X:228.89, Y:-114.61, Z:-10.47 [[-9.99486698e-01 -3.05252410e-02 9.72365896e-03 2.28887011e+02] [-3.05239247e-02 9.99533996e-01 2.83783623e-04 -1.14607668e+02] [-9.72779026e-03 -1.31662778e-05 -9.99952684e-01 -1.04695631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.570385723 meters 0.014354327718596537 Centerline is valid? [True, True] Translation: X:228.87, Y:-114.08, Z:-11.45 [[-9.99135412e-01 -4.01337963e-02 1.08492436e-02 2.28866774e+02] [ 4.01323982e-02 -9.99194311e-01 -3.46636908e-04 -1.14084562e+02] [ 1.08544143e-02 8.90689544e-05 9.99941085e-01 -1.14514561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.630385723 meters 0.014336099449961363 Centerline is valid? [True, True] Translation: X:228.83, Y:-114.62, Z:-10.47 [[-9.99185185e-01 -3.90841047e-02 1.00696633e-02 2.28826362e+02] [-3.90827230e-02 9.99235923e-01 3.34033567e-04 -1.14619157e+02] [-1.00750247e-02 -5.97884684e-05 -9.99949244e-01 -1.04696949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.690385723 meters 0.014780030401230677 Centerline is valid? [True, True] Translation: X:228.80, Y:-114.08, Z:-11.45 [[-9.98958855e-01 -4.46604070e-02 9.30886061e-03 2.28801009e+02] [ 4.46584911e-02 -9.99002226e-01 -4.13680700e-04 -1.14079910e+02] [ 9.31804763e-03 2.46967121e-06 9.99956586e-01 -1.14494222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.750385723 meters 0.015083416247520489 Centerline is valid? [True, True] Translation: X:228.76, Y:-114.63, Z:-10.47 [[-9.98619154e-01 -5.15110292e-02 1.03150108e-02 2.28761155e+02] [-5.15098024e-02 9.98672415e-01 3.84750683e-04 -1.14630252e+02] [-1.03211356e-02 -1.47104764e-04 -9.99946725e-01 -1.04691912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.810385723 meters 0.01550184447500193 Centerline is valid? [True, True] Translation: X:228.73, Y:-114.07, Z:-11.45 [[-9.98881272e-01 -4.60020905e-02 1.09549711e-02 2.28733366e+02] [ 4.60015056e-02 -9.98941324e-01 -3.05502902e-04 -1.14071549e+02] [ 1.09574271e-02 1.98784037e-04 9.99939946e-01 -1.14507386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.870385723 meters 0.01566888273711844 Centerline is valid? [True, True] Translation: X:228.70, Y:-114.64, Z:-10.47 [[-9.98284051e-01 -5.76056660e-02 1.05138442e-02 2.28701900e+02] [-5.76042561e-02 9.98339401e-01 4.37125470e-04 -1.14643324e+02] [-1.05215659e-02 -1.69266791e-04 -9.99944632e-01 -1.04688976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.930385723 meters 0.015671660011147143 Centerline is valid? [True, True] Translation: X:228.69, Y:-114.62, Z:-10.47 [[-9.91964181e-01 -1.26124277e-01 9.98647287e-03 2.28690818e+02] [-1.26119290e-01 9.92014439e-01 1.13010709e-03 -1.14623661e+02] [-1.00492592e-02 -1.38461120e-04 -9.99949495e-01 -1.04685793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.990385723 meters 0.014595204039154973 Centerline is valid? [True, True] Translation: X:228.68, Y:-114.61, Z:-10.47 [[-9.81402469e-01 -1.91735142e-01 9.31827334e-03 2.28678949e+02] [-1.91727327e-01 9.81446702e-01 1.73317801e-03 -1.14609398e+02] [-9.47769977e-03 -8.56224591e-05 -9.99955082e-01 -1.04701783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.050385723 meters 0.014312077535762519 Centerline is valid? [True, True] Translation: X:228.67, Y:-114.59, Z:-10.47 [[-9.66479038e-01 -2.56589501e-01 8.94969234e-03 2.28669258e+02] [-2.56578864e-01 9.66520474e-01 2.33674046e-03 -1.14591492e+02] [-9.24964395e-03 -3.78912210e-05 -9.99957220e-01 -1.04692495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.110385723 meters 0.014111269937728332 Centerline is valid? [True, True] Translation: X:228.64, Y:-114.58, Z:-10.47 [[-9.46764881e-01 -3.21813320e-01 8.51158575e-03 2.28643195e+02] [-3.21800337e-01 9.46803141e-01 2.89068435e-03 -1.14580369e+02] [-8.98905685e-03 -2.23273583e-06 -9.99959598e-01 -1.04710898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.170385723 meters 0.01409538084724426 Centerline is valid? [True, True] Translation: X:228.60, Y:-114.58, Z:-10.47 [[-9.22418111e-01 -3.86086412e-01 9.06146416e-03 2.28601283e+02] [-3.86067397e-01 9.22462618e-01 3.83195864e-03 -1.14575973e+02] [-9.83832911e-03 3.63321747e-05 -9.99951602e-01 -1.04709061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.230385723 meters 0.014105039220125142 Centerline is valid? [True, True] Translation: X:228.54, Y:-114.58, Z:-10.47 [[-8.91904136e-01 -4.52130630e-01 9.21444964e-03 2.28537503e+02] [-4.52105952e-01 8.91951731e-01 4.72409215e-03 -1.14582378e+02] [-1.03547511e-02 4.75298032e-05 -9.99946387e-01 -1.04702002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.290385723 meters 0.014027428873043063 Centerline is valid? [True, True] Translation: X:228.47, Y:-114.59, Z:-10.47 [[-8.55808946e-01 -5.17232686e-01 7.83564148e-03 2.28469286e+02] [-5.17210609e-01 8.55844815e-01 4.77890472e-03 -1.14594624e+02] [-9.17789886e-03 3.71525116e-05 -9.99957882e-01 -1.04704667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.350385723 meters 0.014074264074250947 Centerline is valid? [True, True] Translation: X:228.40, Y:-114.62, Z:-10.47 [[-8.14995810e-01 -5.79433863e-01 6.18284185e-03 2.28395321e+02] [-5.79416905e-01 8.15019262e-01 4.43316443e-03 -1.14617412e+02] [-7.60786079e-03 3.05673521e-05 -9.99971059e-01 -1.04702664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.410385723 meters 0.013868708543226914 Centerline is valid? [True, True] Translation: X:228.32, Y:-114.65, Z:-10.47 [[-7.69266284e-01 -6.38906480e-01 5.28154858e-03 2.28316117e+02] [-6.38891191e-01 7.69284414e-01 4.41996946e-03 -1.14650318e+02] [-6.88696013e-03 2.57986175e-05 -9.99976284e-01 -1.04722162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.470385723 meters 0.013839669580021126 Centerline is valid? [True, True] Translation: X:228.23, Y:-114.70, Z:-10.47 [[-7.19666189e-01 -6.94310850e-01 3.60831730e-03 2.28231538e+02] [-6.94301964e-01 7.19675234e-01 3.51292329e-03 -1.14697178e+02] [-5.03587735e-03 2.28703275e-05 -9.99987320e-01 -1.04732658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.530385723 meters 0.013858083868443132 Centerline is valid? [True, True] Translation: X:228.15, Y:-114.75, Z:-10.47 [[-6.64566365e-01 -7.47218566e-01 3.99515999e-03 2.28150178e+02] [-7.47204853e-01 6.64578373e-01 4.52700185e-03 -1.14749590e+02] [-6.03775675e-03 2.32902278e-05 -9.99981772e-01 -1.04720484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5903857229999 meters 0.013864908582061353 Centerline is valid? [True, True] Translation: X:228.07, Y:-114.82, Z:-10.47 [[-6.05846463e-01 -7.95567828e-01 4.67913526e-03 2.28066066e+02] [-7.95543729e-01 6.05864531e-01 6.19235025e-03 -1.14815033e+02] [-7.76135673e-03 2.91567833e-05 -9.99969880e-01 -1.04705327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.650385723 meters 0.014147909162409702 Centerline is valid? [True, True] Translation: X:227.99, Y:-114.89, Z:-10.47 [[-5.46402988e-01 -8.37510739e-01 4.42004603e-03 2.27987036e+02] [-8.37482460e-01 5.46420862e-01 6.88262115e-03 -1.14890326e+02] [-8.17947448e-03 5.89737347e-05 -9.99966546e-01 -1.04695286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.710385723 meters 0.015349389447634452 Centerline is valid? [True, True] Translation: X:227.91, Y:-114.98, Z:-10.47 [[-4.86857810e-01 -8.73471865e-01 4.04637801e-03 2.27914552e+02] [-8.73439604e-01 4.86874610e-01 7.50818272e-03 -1.14977371e+02] [-8.52826508e-03 1.21150594e-04 -9.99963626e-01 -1.04700693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.770385723 meters 0.017435430498600718 Centerline is valid? [True, True] Translation: X:227.84, Y:-115.07, Z:-10.47 [[-4.24737985e-01 -9.05309083e-01 3.62041258e-03 2.27844514e+02] [-9.05272311e-01 4.24753373e-01 8.16179699e-03 -1.15068878e+02] [-8.92673141e-03 1.89165948e-04 -9.99960138e-01 -1.04670926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.830385723 meters 0.017080924868338006 Centerline is valid? [True, True] Translation: X:227.78, Y:-115.17, Z:-10.47 [[-3.56517050e-01 -9.34284810e-01 2.73604668e-03 2.27781233e+02] [-9.34252941e-01 3.56527495e-01 7.71926403e-03 -1.15165415e+02] [-8.18746700e-03 1.95889587e-04 -9.99966463e-01 -1.04687901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.890385723 meters 0.016837991804921477 Centerline is valid? [True, True] Translation: X:227.72, Y:-115.28, Z:-10.47 [[-2.80953657e-01 -9.59719318e-01 1.96823667e-03 2.27718582e+02] [-9.59691633e-01 2.80960506e-01 7.29139696e-03 -1.15276835e+02] [-7.55069129e-03 1.59644379e-04 -9.99971480e-01 -1.04691416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.950385723 meters 0.015245666249960139 Centerline is valid? [True, True] Translation: X:227.66, Y:-115.39, Z:-10.47 [[-2.00079530e-01 -9.79778615e-01 1.43091834e-03 2.27659160e+02] [-9.79749325e-01 2.00084614e-01 7.57674891e-03 -1.15394792e+02] [-7.70984129e-03 1.14011080e-04 -9.99970272e-01 -1.04694371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.010385723 meters 0.01468817993074647 Centerline is valid? [True, True] Translation: X:227.61, Y:-115.51, Z:-10.47 [[-1.19791632e-01 -9.92798757e-01 7.69791119e-04 2.27612325e+02] [-9.92774104e-01 1.19794083e-01 6.99681806e-03 -1.15509028e+02] [-7.03864870e-03 7.39315678e-05 -9.99975226e-01 -1.04720325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.070385723 meters 0.014975437878644983 Centerline is valid? [True, True] Translation: X:227.58, Y:-115.63, Z:-10.47 [[-4.21838647e-02 -9.99109844e-01 2.04064397e-04 2.27575415e+02] [-9.99090058e-01 4.21843136e-02 6.28798798e-03 -1.15630440e+02] [-6.29099900e-03 6.13729232e-05 -9.99980210e-01 -1.04720123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.130385723 meters 0.015609280497623562 Centerline is valid? [True, True] Translation: X:227.55, Y:-115.75, Z:-10.47 [[ 3.00167145e-02 -9.99549327e-01 -3.74592797e-04 2.27550835e+02] [-9.99513803e-01 -3.00188062e-02 8.42784570e-03 -1.15747862e+02] [-8.43529233e-03 1.21434433e-04 -9.99964415e-01 -1.04728496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.190385723 meters 0.016646077300547613 Centerline is valid? [True, True] Translation: X:227.53, Y:-115.87, Z:-10.47 [[ 1.02995090e-01 -9.94681309e-01 -1.05169058e-03 2.27534522e+02] [-9.94644129e-01 -1.03000334e-01 8.60166376e-03 -1.15871822e+02] [-8.66423865e-03 1.60128734e-04 -9.99962452e-01 -1.04729093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.250385723 meters 0.017146050641200648 Centerline is valid? [True, True] Translation: X:227.53, Y:-116.00, Z:-10.47 [[ 1.77184801e-01 -9.84176206e-01 -1.65563606e-03 2.27526600e+02] [-9.84141932e-01 -1.77192451e-01 8.21537266e-03 -1.15996334e+02] [-8.37874051e-03 1.73741698e-04 -9.99964883e-01 -1.04737112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.310385723 meters 0.017463321502287178 Centerline is valid? [True, True] Translation: X:227.53, Y:-116.13, Z:-10.47 [[ 2.51545491e-01 -9.67842069e-01 -2.56800871e-03 2.27528636e+02] [-9.67799664e-01 -2.51558515e-01 9.06219783e-03 -1.16126172e+02] [-9.41678076e-03 2.05762966e-04 -9.99955640e-01 -1.04740684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.370385723 meters 0.017932980257536785 Centerline is valid? [True, True] Translation: X:227.54, Y:-116.26, Z:-10.47 [[ 3.24378884e-01 -9.45922963e-01 -2.84392149e-03 2.27540945e+02] [-9.45891542e-01 -3.24391296e-01 7.71212849e-03 -1.16258995e+02] [-8.21762281e-03 1.88389650e-04 -9.99966217e-01 -1.04749262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.430385723 meters 0.018780662199068446 Centerline is valid? [True, True] Translation: X:227.56, Y:-116.37, Z:-10.48 [[ 3.92893616e-01 -9.19578564e-01 -3.14167681e-03 2.27555822e+02] [-9.19553131e-01 -3.92906126e-01 6.84221749e-03 -1.16372146e+02] [-7.52634060e-03 2.00675177e-04 -9.99971657e-01 -1.04751663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.490385723 meters 0.020252084438952163 Centerline is valid? [True, True] Translation: X:227.59, Y:-116.50, Z:-10.48 [[ 4.59372789e-01 -8.88238693e-01 -2.94370035e-03 2.27586637e+02] [-8.88222925e-01 -4.59382185e-01 5.29570382e-03 -1.16496269e+02] [-6.05613253e-03 1.81959904e-04 -9.99981645e-01 -1.04760952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.550385723 meters 0.021350284715339722 Centerline is valid? [True, True] Translation: X:227.63, Y:-116.63, Z:-10.48 [[ 5.24412712e-01 -8.51456341e-01 -3.66158861e-03 2.27628833e+02] [-8.51438358e-01 -5.24425451e-01 5.53793551e-03 -1.16627584e+02] [-6.63554056e-03 2.13453213e-04 -9.99977962e-01 -1.04751641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.610385723 meters 0.02243906114860472 Centerline is valid? [True, True] Translation: X:227.66, Y:-116.72, Z:-10.47 [[ 5.87827597e-01 -8.08970554e-01 -5.03572539e-03 2.27655912e+02] [-8.08944685e-01 -5.87849105e-01 6.47499042e-03 -1.16719522e+02] [-8.19832325e-03 2.67445231e-04 -9.99966357e-01 -1.04745655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.670385723 meters 0.02034020202980522 Centerline is valid? [True, True] Translation: X:227.70, Y:-116.83, Z:-10.48 [[ 6.47762384e-01 -7.61825146e-01 -5.13240376e-03 2.27696967e+02] [-7.61804227e-01 -6.47782668e-01 5.65108172e-03 -1.16829151e+02] [-7.62981836e-03 2.49328709e-04 -9.99970861e-01 -1.04760108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.730385723 meters 0.01940142319706067 Centerline is valid? [True, True] Translation: X:227.75, Y:-116.93, Z:-10.48 [[ 7.04039348e-01 -7.10151617e-01 -3.64384107e-03 2.27747833e+02] [-7.10143279e-01 -7.04048758e-01 3.44517261e-03 -1.16933842e+02] [-5.01203668e-03 1.62112171e-04 -9.99987427e-01 -1.04787643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.790385723 meters 0.020123412776856205 Centerline is valid? [True, True] Translation: X:227.76, Y:-116.96, Z:-10.48 [[ 7.57682753e-01 -6.52612878e-01 -3.64380736e-03 2.27763477e+02] [-6.52606266e-01 -7.57691500e-01 2.94151754e-03 -1.16962356e+02] [-4.68055409e-03 1.49234402e-04 -9.99989035e-01 -1.04793312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.850385723 meters 0.021021415921754934 Centerline is valid? [True, True] Translation: X:227.78, Y:-116.99, Z:-10.48 [[ 8.07449628e-01 -5.89930080e-01 -2.75663529e-03 2.27778317e+02] [-5.89927061e-01 -8.07454327e-01 1.88994073e-03 -1.16993057e+02] [-3.34078998e-03 1.00181812e-04 -9.99994415e-01 -1.04800404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.910385723 meters 0.02045638007688076 Centerline is valid? [True, True] Translation: X:227.80, Y:-117.02, Z:-10.48 [[ 8.50628420e-01 -5.25750154e-01 -4.25043298e-03 2.27796599e+02] [-5.25744475e-01 -8.50639026e-01 2.44843588e-03 -1.17023580e+02] [-4.90284971e-03 1.51932513e-04 -9.99987969e-01 -1.04785283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.970385723 meters 0.02085550476320992 Centerline is valid? [True, True] Translation: X:227.82, Y:-117.05, Z:-10.48 [[ 8.88081741e-01 -4.59658794e-01 -4.96124202e-03 2.27818023e+02] [-4.59652760e-01 -8.88095580e-01 2.36224763e-03 -1.17051844e+02] [-5.49188501e-03 1.82579598e-04 -9.99984903e-01 -1.04788130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.030385723 meters 0.022183961132822297 Centerline is valid? [True, True] Translation: X:227.84, Y:-117.08, Z:-10.48 [[ 9.20504937e-01 -3.90680102e-01 -6.30233229e-03 2.27842535e+02] [-3.90672702e-01 -9.20526480e-01 2.41633122e-03 -1.17076704e+02] [-6.74547629e-03 2.37904367e-04 -9.99977221e-01 -1.04778432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0903857229999 meters 0.022257661004779182 Centerline is valid? [True, True] Translation: X:227.87, Y:-117.10, Z:-10.48 [[ 9.48180605e-01 -3.17623721e-01 -8.28930951e-03 2.27868695e+02] [-3.17614391e-01 -9.48216789e-01 2.45374741e-03 -1.17101897e+02] [-8.63943082e-03 3.06208282e-04 -9.99962633e-01 -1.04759748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.150385723 meters 0.022985405297442568 Centerline is valid? [True, True] Translation: X:227.90, Y:-117.12, Z:-10.48 [[ 9.70173820e-01 -2.42244259e-01 -8.97097740e-03 2.27897634e+02] [-2.42236960e-01 -9.70215242e-01 1.90793249e-03 -1.17121662e+02] [-9.16596470e-03 3.22076141e-04 -9.99957940e-01 -1.04761507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.210385723 meters 0.018424125515330937 Centerline is valid? [True, True] Translation: X:227.92, Y:-117.16, Z:-10.48 [[ 9.86663225e-01 -1.62604578e-01 -7.44528733e-03 2.27923796e+02] [-1.62601785e-01 -9.86691286e-01 9.82928807e-04 -1.17156211e+02] [-7.50602885e-03 2.40797305e-04 -9.99971800e-01 -1.04782522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.270385723 meters 0.01689424744939773 Centerline is valid? [True, True] Translation: X:227.95, Y:-117.18, Z:-10.48 [[ 9.97000634e-01 -7.69046586e-02 -8.68381589e-03 2.27953848e+02] [-7.69035712e-02 -9.97038429e-01 4.59560895e-04 -1.17181447e+02] [-8.69344053e-03 2.09633950e-04 -9.99962189e-01 -1.04774967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.330385723 meters 0.014887917187050915 Centerline is valid? [True, True] Translation: X:227.99, Y:-117.21, Z:-10.48 [[ 9.99874411e-01 1.31780982e-02 -8.80346389e-03 2.27985913e+02] [ 1.31766305e-02 -9.99913159e-01 -2.24695745e-04 -1.17206134e+02] [-8.80566045e-03 1.08667535e-04 -9.99961224e-01 -1.04773054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.390385723 meters 0.014122655770174035 Centerline is valid? [True, True] Translation: X:228.02, Y:-117.22, Z:-10.48 [[ 9.94996467e-01 9.95128332e-02 -8.90094408e-03 2.28020945e+02] [ 9.95085145e-02 -9.95036278e-01 -9.27860889e-04 -1.17221937e+02] [-8.94909633e-03 3.74985838e-05 -9.99959955e-01 -1.04776381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.450385723 meters 0.013981569829695558 Centerline is valid? [True, True] Translation: X:228.06, Y:-117.23, Z:-10.48 [[ 9.83619238e-01 1.80020771e-01 -9.25835674e-03 2.28055805e+02] [ 1.80012683e-01 -9.83662809e-01 -1.70640595e-03 -1.17228646e+02] [-9.41428971e-03 1.18320755e-05 -9.99955685e-01 -1.04783938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.510385723 meters 0.013815652677393726 Centerline is valid? [True, True] Translation: X:228.09, Y:-117.23, Z:-10.48 [[ 9.66642455e-01 2.55937700e-01 -9.91254890e-03 2.28091351e+02] [ 2.55924048e-01 -9.66693278e-01 -2.64351941e-03 -1.17229671e+02] [-1.02589707e-02 1.84784471e-05 -9.99947375e-01 -1.04774659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.570385723 meters 0.013781970484220172 Centerline is valid? [True, True] Translation: X:228.13, Y:-117.23, Z:-10.48 [[ 9.44215411e-01 3.29191595e-01 -9.49479707e-03 2.28125876e+02] [ 3.29174576e-01 -9.44263148e-01 -3.34749003e-03 -1.17226573e+02] [-1.00675525e-02 3.53058697e-05 -9.99949320e-01 -1.04780313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.630385723 meters 0.013697668673745856 Centerline is valid? [True, True] Translation: X:228.16, Y:-117.22, Z:-10.48 [[ 9.15969689e-01 4.01138556e-01 -9.34816899e-03 2.28160291e+02] [ 4.01117147e-01 -9.16017389e-01 -4.14465794e-03 -1.17221234e+02] [-1.02256675e-02 4.66701689e-05 -9.99947715e-01 -1.04789493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.690385723 meters 0.013769356715355036 Centerline is valid? [True, True] Translation: X:228.19, Y:-117.21, Z:-10.48 [[ 8.81811309e-01 4.71505108e-01 -9.57857373e-03 2.28194256e+02] [ 4.71476667e-01 -8.81863329e-01 -5.17899977e-03 -1.17213777e+02] [-1.08889178e-02 5.08265476e-05 -9.99940713e-01 -1.04778996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.750385723 meters 0.013751117424253492 Centerline is valid? [True, True] Translation: X:228.23, Y:-117.20, Z:-10.48 [[ 8.42714894e-01 5.38294482e-01 -8.40583026e-03 2.28225086e+02] [ 5.38267040e-01 -8.42756814e-01 -5.43563278e-03 -1.17201766e+02] [-1.00100419e-02 5.61073316e-05 -9.99949897e-01 -1.04776310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.810385723 meters 0.013825434942793167 Centerline is valid? [True, True] Translation: X:228.26, Y:-117.19, Z:-10.48 [[ 7.97285655e-01 6.03542838e-01 -8.46333260e-03 2.28257925e+02] [ 6.03508203e-01 -7.97330572e-01 -6.46595715e-03 -1.17190335e+02] [-1.06505560e-02 4.75242305e-05 -9.99943280e-01 -1.04777453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.870385723 meters 0.013684804907089235 Centerline is valid? [True, True] Translation: X:228.29, Y:-117.18, Z:-10.48 [[ 7.45417052e-01 6.66548198e-01 -8.18034740e-03 2.28288855e+02] [ 6.66507876e-01 -7.45461937e-01 -7.33156168e-03 -1.17175275e+02] [-1.09849768e-02 1.28051212e-05 -9.99939663e-01 -1.04765635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.930385723 meters 0.013917982550083679 Centerline is valid? [True, True] Translation: X:228.32, Y:-117.16, Z:-10.48 [[ 6.89129818e-01 7.24612709e-01 -6.04283941e-03 2.28317433e+02] [ 7.24585008e-01 -6.89156312e-01 -6.33587578e-03 -1.17157702e+02] [-8.75551703e-03 -1.23099144e-05 -9.99961670e-01 -1.04779034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.990385723 meters 0.013883727070354413 Centerline is valid? [True, True] Translation: X:228.34, Y:-117.14, Z:-10.48 [[ 6.29781686e-01 7.76756354e-01 -4.95930519e-03 2.28343527e+02] [ 7.76732473e-01 -6.29801212e-01 -6.09088800e-03 -1.17137643e+02] [-7.85451238e-03 -1.61236693e-05 -9.99969153e-01 -1.04775776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.050385723 meters 0.014032186919388755 Centerline is valid? [True, True] Translation: X:228.37, Y:-117.12, Z:-10.48 [[ 5.67501740e-01 8.23364566e-01 -3.54487202e-03 2.28366171e+02] [ 8.23348610e-01 -5.67512811e-01 -5.12591682e-03 -1.17115234e+02] [-6.23225856e-03 -9.69873249e-06 -9.99980579e-01 -1.04774916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.110385723 meters 0.01405194700531948 Centerline is valid? [True, True] Translation: X:228.38, Y:-117.09, Z:-10.48 [[ 5.01866363e-01 8.64942818e-01 -2.01875235e-03 2.28384619e+02] [ 8.64935853e-01 -5.01870423e-01 -3.47103532e-03 -1.17089842e+02] [-4.01539917e-03 -4.09541555e-06 -9.99991938e-01 -1.04784933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.170385723 meters 0.014122989533691005 Centerline is valid? [True, True] Translation: X:228.40, Y:-117.06, Z:-10.48 [[ 4.33678459e-01 9.01067064e-01 -1.06806827e-03 2.28400081e+02] [ 9.01064331e-01 -4.33679774e-01 -2.21902326e-03 -1.17064845e+02] [-2.46268838e-03 -5.56308465e-08 -9.99996968e-01 -1.04774655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.230385723 meters 0.01415739462258472 Centerline is valid? [True, True] Translation: X:228.41, Y:-117.04, Z:-10.48 [[ 3.62063737e-01 9.32152670e-01 -1.11784487e-03 2.28412786e+02] [ 9.32148217e-01 -3.62065463e-01 -2.88128358e-03 -1.17038600e+02] [-3.09052920e-03 1.21120029e-06 -9.99995224e-01 -1.04768424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.290385723 meters 0.014150373554931242 Centerline is valid? [True, True] Translation: X:228.43, Y:-117.01, Z:-10.48 [[ 2.89041186e-01 9.57315947e-01 -1.17037674e-03 2.28427782e+02] [ 9.57308006e-01 -2.89043556e-01 -3.89918420e-03 -1.17013138e+02] [-4.07104107e-03 6.61380721e-06 -9.99991713e-01 -1.04755991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.350385723 meters 0.014275290014373944 Centerline is valid? [True, True] Translation: X:228.44, Y:-116.99, Z:-10.47 [[ 2.15678936e-01 9.76464004e-01 -8.03670486e-04 2.28438981e+02] [ 9.76456948e-01 -2.15680433e-01 -3.71216563e-03 -1.16988251e+02] [-3.79813211e-03 1.58863036e-05 -9.99992787e-01 -1.04742708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.410385723 meters 0.014583078510160932 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.96, Z:-10.47 [[ 1.42622453e-01 9.89777072e-01 -4.29558868e-04 2.28447647e+02] [ 9.89772008e-01 -1.42623097e-01 -3.16624003e-03 -1.16961811e+02] [-3.19513680e-03 2.64115748e-05 -9.99994895e-01 -1.04733327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.470385723 meters 0.014923177562284427 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.94, Z:-10.47 [[ 6.80146597e-02 9.97684317e-01 -1.00926074e-04 2.28451530e+02] [ 9.97682735e-01 -6.80147316e-02 -1.77643490e-03 -1.16935011e+02] [-1.77918570e-03 2.01314136e-05 -9.99998417e-01 -1.04722341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.530385723 meters 0.01495334176764481 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.91, Z:-10.47 [[-1.14394800e-02 9.99934566e-01 4.17474395e-05 2.28457019e+02] [ 9.99932714e-01 1.14395392e-02 -1.92467212e-03 -1.16909828e+02] [-1.92502376e-03 1.97273823e-05 -9.99998147e-01 -1.04705381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5903857229999 meters 0.014591635289493234 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.88, Z:-10.47 [[-9.24163213e-02 9.95720453e-01 5.53885505e-05 2.28459503e+02] [ 9.95720296e-01 9.24163379e-02 -5.59848455e-04 -1.16884074e+02] [-5.62571365e-04 3.41236907e-06 -9.99999842e-01 -1.04703172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.650385723 meters 0.014215481698284706 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.86, Z:-10.47 [[-1.73461166e-01 9.84840673e-01 2.69518160e-04 2.28458688e+02] [ 9.84839539e-01 1.73461375e-01 -1.49485543e-03 -1.16858833e+02] [-1.51894542e-03 6.13277410e-06 -9.99998846e-01 -1.04687084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.710385723 meters 0.014060296429286108 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.83, Z:-10.47 [[-2.51230927e-01 9.67927073e-01 4.50954601e-04 2.28462186e+02] [ 9.67925550e-01 2.51231332e-01 -1.71671322e-03 -1.16831994e+02] [-1.77494713e-03 5.19902558e-06 -9.99998425e-01 -1.04685310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.770385723 meters 0.013889726753807412 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.81, Z:-10.47 [[-3.28928465e-01 9.44354134e-01 1.15553555e-03 2.28460480e+02] [ 9.44348323e-01 3.28930494e-01 -3.31271434e-03 -1.16806038e+02] [-3.50846637e-03 1.58201800e-06 -9.99993845e-01 -1.04664059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.830385723 meters 0.013910848034518905 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.78, Z:-10.47 [[-3.99555297e-01 9.16708375e-01 1.14908305e-03 2.28450903e+02] [ 9.16704645e-01 3.99556949e-01 -2.61511243e-03 -1.16782487e+02] [-2.85641959e-03 8.48774234e-06 -9.99995920e-01 -1.04673733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.890385723 meters 0.014148591512805165 Centerline is valid? [True, True] Translation: X:228.44, Y:-116.76, Z:-10.47 [[-4.66527027e-01 8.84506231e-01 1.12259105e-03 2.28441779e+02] [ 8.84503756e-01 4.66528377e-01 -2.09267945e-03 -1.16761376e+02] [-2.37470860e-03 1.66444724e-05 -9.99997180e-01 -1.04675494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.950385723 meters 0.01496051871127552 Centerline is valid? [True, True] Translation: X:228.43, Y:-116.74, Z:-10.47 [[-5.29919077e-01 8.48047928e-01 6.95858603e-04 2.28429926e+02] [ 8.48047234e-01 5.29919533e-01 -1.08469110e-03 -1.16741628e+02] [-1.28861911e-03 1.53224554e-05 -9.99999170e-01 -1.04677886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.010385723 meters 0.016108962036528326 Centerline is valid? [True, True] Translation: X:228.42, Y:-116.72, Z:-10.47 [[-5.90767627e-01 8.06841708e-01 2.61896346e-04 2.28416963e+02] [ 8.06841634e-01 5.90767685e-01 -3.46610035e-04 -1.16723506e+02] [-4.34379331e-04 6.54288725e-06 -9.99999906e-01 -1.04667253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.070385723 meters 0.015103602543550938 Centerline is valid? [True, True] Translation: X:228.41, Y:-116.70, Z:-10.47 [[-6.52541045e-01 7.57753276e-01 -3.96856314e-04 2.28412856e+02] [ 7.57753146e-01 6.52541166e-01 4.43377785e-04 -1.16696298e+02] [ 5.94936051e-04 -1.13969171e-05 -9.99999823e-01 -1.04673144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.130385723 meters 0.014134235937114204 Centerline is valid? [True, True] Translation: X:228.41, Y:-116.67, Z:-10.47 [[-7.14373320e-01 6.99764668e-01 -4.09763884e-04 2.28409612e+02] [ 6.99764559e-01 7.14373438e-01 3.91190449e-04 -1.16668404e+02] [ 5.66465689e-04 -7.28222382e-06 -9.99999840e-01 -1.04655947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.190385723 meters 0.01354004327056803 Centerline is valid? [True, True] Translation: X:228.43, Y:-116.65, Z:-10.46 [[-7.65701625e-01 6.43195819e-01 -3.98497310e-04 2.28433450e+02] [ 6.43195735e-01 7.65701729e-01 3.29905961e-04 -1.16645158e+02] [ 5.17324215e-04 -3.70223979e-06 -9.99999866e-01 -1.04649596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.250385723 meters 0.013321178320895815 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.62, Z:-10.46 [[-8.10715991e-01 5.85439629e-01 1.47415901e-04 2.28450328e+02] [ 5.85439619e-01 8.10716005e-01 -1.07114638e-04 -1.16618922e+02] [-1.82221584e-04 -5.36440326e-07 -9.99999983e-01 -1.04643238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.310385723 meters 0.01323967702625891 Centerline is valid? [True, True] Translation: X:228.47, Y:-116.60, Z:-10.46 [[-8.50087039e-01 5.26641607e-01 8.02262495e-04 2.28470611e+02] [ 5.26641374e-01 8.50087418e-01 -4.95235410e-04 -1.16596796e+02] [-9.42804825e-04 1.51141912e-06 -9.99999556e-01 -1.04630122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.370385723 meters 0.013620869511387424 Centerline is valid? [True, True] Translation: X:228.47, Y:-116.57, Z:-10.46 [[-8.82899453e-01 4.69559101e-01 1.67527002e-03 2.28473781e+02] [ 4.69558285e-01 8.82901042e-01 -8.75854869e-04 -1.16571286e+02] [-1.89036327e-03 1.33451339e-05 -9.99998213e-01 -1.04625537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.430385723 meters 0.014676578791811822 Centerline is valid? [True, True] Translation: X:228.50, Y:-116.56, Z:-10.46 [[-9.10791521e-01 4.12865261e-01 1.04031554e-03 2.28497193e+02] [ 4.12865012e-01 9.10792115e-01 -4.53680698e-04 -1.16557363e+02] [-1.13482019e-03 1.63013546e-05 -9.99999356e-01 -1.04632039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.490385723 meters 0.015214268631314726 Centerline is valid? [True, True] Translation: X:228.81, Y:-115.81, Z:-11.46 [[-8.97249940e-01 -4.41522712e-01 4.89892482e-04 2.28812645e+02] [ 4.41522622e-01 -8.97250073e-01 -2.84518585e-04 -1.15811295e+02] [ 5.65177483e-04 -3.89856708e-05 9.99999840e-01 -1.14555844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.550385723 meters 0.015163093855108408 Centerline is valid? [True, True] Translation: X:228.47, Y:-116.55, Z:-10.46 [[-9.10168477e-01 4.14237184e-01 9.47928691e-04 2.28472299e+02] [ 4.14236983e-01 9.10168971e-01 -4.09131092e-04 -1.16548117e+02] [-1.03225259e-03 2.02888974e-05 -9.99999467e-01 -1.04635834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.610385723 meters 0.015116259062982442 Centerline is valid? [True, True] Translation: X:228.48, Y:-116.52, Z:-10.46 [[-9.38295063e-01 3.45833412e-01 1.27525100e-03 2.28482978e+02] [ 3.45833126e-01 9.38295929e-01 -4.45920518e-04 -1.16519248e+02] [-1.35077704e-03 2.26190189e-05 -9.99999087e-01 -1.04631015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.670385723 meters 0.014265453245780092 Centerline is valid? [True, True] Translation: X:228.49, Y:-116.49, Z:-10.46 [[-9.61266320e-01 2.75614689e-01 1.89895175e-03 2.28494621e+02] [ 2.75614207e-01 9.61268195e-01 -5.15869880e-04 -1.16488220e+02] [-1.96758324e-03 2.74897393e-05 -9.99998064e-01 -1.04623786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.730385723 meters 0.013781478971270356 Centerline is valid? [True, True] Translation: X:228.50, Y:-116.46, Z:-10.46 [[-9.79101364e-01 2.03346977e-01 3.24436330e-03 2.28500211e+02] [ 2.03345979e-01 9.79106739e-01 -6.37949958e-04 -1.16456639e+02] [-3.30630316e-03 3.51105561e-05 -9.99994534e-01 -1.04616509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.790385723 meters 0.013263085091724832 Centerline is valid? [True, True] Translation: X:228.50, Y:-116.43, Z:-10.46 [[-9.91511778e-01 1.30003900e-01 1.83865542e-03 2.28504375e+02] [ 1.30003701e-01 9.91513482e-01 -2.28061303e-04 -1.16425261e+02] [-1.85270050e-03 1.29065415e-05 -9.99998284e-01 -1.04629062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.850385723 meters 0.013212828074450856 Centerline is valid? [True, True] Translation: X:228.61, Y:-115.65, Z:-11.46 [[-9.83290924e-01 -1.82019918e-01 2.77644878e-03 2.28606277e+02] [ 1.82019312e-01 -9.83294843e-01 -4.71807611e-04 -1.15653851e+02] [ 2.81594614e-03 4.14431540e-05 9.99996034e-01 -1.14557916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.910385723 meters 0.0132666598884256 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.42, Z:-10.46 [[-9.91939556e-01 1.26698961e-01 1.81384165e-03 2.28450505e+02] [ 1.26698775e-01 9.91941215e-01 -2.17956084e-04 -1.16417566e+02] [-1.82683910e-03 1.36122534e-05 -9.99998331e-01 -1.04640918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.970385723 meters 0.013187070169131369 Centerline is valid? [True, True] Translation: X:228.46, Y:-116.39, Z:-10.46 [[-9.98458477e-01 5.54668334e-02 2.02484401e-03 2.28455398e+02] [ 5.54667482e-02 9.98460530e-01 -9.82270687e-05 -1.16388448e+02] [-2.02717517e-03 1.42358634e-05 -9.99997945e-01 -1.04645676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.030385723 meters 0.013031135347139775 Centerline is valid? [True, True] Translation: X:228.45, Y:-116.36, Z:-10.47 [[-9.99838903e-01 -1.78842442e-02 1.52365310e-03 2.28449038e+02] [-1.78842129e-02 9.99840064e-01 3.41191599e-05 -1.16358411e+02] [-1.52401961e-03 6.86432689e-06 -9.99998839e-01 -1.04650861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0903857229999 meters 0.012914403282326003 Centerline is valid? [True, True] Translation: X:228.44, Y:-115.59, Z:-11.45 [[-9.99150115e-01 -4.12118651e-02 7.94268794e-04 2.28437088e+02] [ 4.12118105e-02 -9.99150429e-01 -8.48981318e-05 -1.15587623e+02] [ 7.97092817e-04 -5.20927231e-05 9.99999681e-01 -1.14535568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.150385723 meters 0.01278676358865018 Centerline is valid? [True, True] Translation: X:228.38, Y:-116.36, Z:-10.47 [[-9.99679585e-01 -2.51052375e-02 3.23319448e-03 2.28375215e+02] [-2.51050773e-02 9.99684814e-01 9.01196573e-05 -1.16361128e+02] [-3.23443789e-03 8.92118423e-06 -9.99994769e-01 -1.04654643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.210385723 meters 0.012998637459145451 Centerline is valid? [True, True] Translation: X:228.36, Y:-116.34, Z:-10.46 [[-9.95499155e-01 -9.45822567e-02 5.96904762e-03 2.28364483e+02] [-9.45803957e-02 9.95517050e-01 5.93917036e-04 -1.16336283e+02] [-5.99846269e-03 2.66890216e-05 -9.99982009e-01 -1.04626712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.270385723 meters 0.013180133844161682 Centerline is valid? [True, True] Translation: X:228.36, Y:-116.31, Z:-10.46 [[-9.86556389e-01 -1.63317561e-01 5.81942679e-03 2.28364848e+02] [-1.63314491e-01 9.86573552e-01 1.00204399e-03 -1.16310315e+02] [-5.90494394e-03 3.81761769e-05 -9.99982565e-01 -1.04633238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.330385723 meters 0.014121671337351187 Centerline is valid? [True, True] Translation: X:228.35, Y:-116.29, Z:-10.47 [[-9.73536028e-01 -2.28479167e-01 4.98722148e-03 2.28351201e+02] [-2.28475855e-01 9.73548800e-01 1.23164853e-03 -1.16290232e+02] [-5.13670952e-03 5.95945276e-05 -9.99986805e-01 -1.04653330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.390385723 meters 0.014683520461635548 Centerline is valid? [True, True] Translation: X:228.31, Y:-116.27, Z:-10.47 [[-9.55726122e-01 -2.94216255e-01 4.93706393e-03 2.28310505e+02] [-2.94211893e-01 9.55738871e-01 1.60416169e-03 -1.16274160e+02] [-5.19051435e-03 8.05963056e-05 -9.99986526e-01 -1.04650650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.450385723 meters 0.014519024361445797 Centerline is valid? [True, True] Translation: X:228.27, Y:-116.26, Z:-10.46 [[-9.31621018e-01 -3.63373872e-01 6.45818358e-03 2.28265937e+02] [-3.63364312e-01 9.31643396e-01 2.63827314e-03 -1.16259650e+02] [-6.97540361e-03 1.11197280e-04 -9.99975665e-01 -1.04642840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.510385723 meters 0.014953938147993432 Centerline is valid? [True, True] Translation: X:228.20, Y:-116.26, Z:-10.46 [[-9.01711068e-01 -4.32295188e-01 6.16607505e-03 2.28199041e+02] [-4.32284319e-01 9.01732144e-01 3.06718115e-03 -1.16256339e+02] [-6.88607573e-03 1.00213643e-04 -9.99976286e-01 -1.04634076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.570385723 meters 0.014862256832589063 Centerline is valid? [True, True] Translation: X:228.12, Y:-116.26, Z:-10.46 [[-8.67049413e-01 -4.98183857e-01 6.17729100e-03 2.28122721e+02] [-4.98170363e-01 8.67071412e-01 3.66816908e-03 -1.16263995e+02] [-7.18357505e-03 1.03140546e-04 -9.99974192e-01 -1.04633094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.630385723 meters 0.014063688196774294 Centerline is valid? [True, True] Translation: X:228.03, Y:-116.28, Z:-10.46 [[-8.26497101e-01 -5.62912459e-01 5.66627304e-03 2.28029227e+02] [-5.62898513e-01 8.26516519e-01 3.96321540e-03 -1.16284404e+02] [-6.91421160e-03 8.60493707e-05 -9.99976093e-01 -1.04649818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.690385723 meters 0.013855649569429813 Centerline is valid? [True, True] Translation: X:227.94, Y:-116.31, Z:-10.47 [[-7.81195666e-01 -6.24257800e-01 5.96071035e-03 2.27940554e+02] [-6.24238774e-01 7.81218402e-01 4.87454799e-03 -1.16310818e+02] [-7.69959122e-03 8.70692434e-05 -9.99970354e-01 -1.04656361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.750385723 meters 0.014013982972189585 Centerline is valid? [True, True] Translation: X:227.86, Y:-116.34, Z:-10.47 [[-7.32505678e-01 -6.80734015e-01 6.05248579e-03 2.27861293e+02] [-6.80709602e-01 7.32530675e-01 5.76609244e-03 -1.16337986e+02] [-8.35880676e-03 1.03710264e-04 -9.99965059e-01 -1.04664804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.810385723 meters 0.014846238223028664 Centerline is valid? [True, True] Translation: X:227.77, Y:-116.39, Z:-10.47 [[-6.80969941e-01 -7.32297254e-01 4.54661403e-03 2.27772323e+02] [-7.32279916e-01 6.80985111e-01 5.04011911e-03 -1.16385597e+02] [-6.78704185e-03 1.02775470e-04 -9.99976962e-01 -1.04687083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.870385723 meters 0.015500116892581956 Centerline is valid? [True, True] Translation: X:227.68, Y:-116.45, Z:-10.47 [[-6.26050525e-01 -7.79769500e-01 4.50177077e-03 2.27678913e+02] [-7.79747771e-01 6.26066696e-01 5.82290555e-03 -1.16446957e+02] [-7.35893291e-03 1.35187358e-04 -9.99972914e-01 -1.04702293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.930385723 meters 0.014922055130170236 Centerline is valid? [True, True] Translation: X:227.58, Y:-116.52, Z:-10.47 [[-5.63032470e-01 -8.26423053e-01 4.40179200e-03 2.27583929e+02] [-8.26396010e-01 5.63049662e-01 6.68674874e-03 -1.16519461e+02] [-8.00451081e-03 1.27233319e-04 -9.99967955e-01 -1.04720477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.990385723 meters 0.014741584055651902 Centerline is valid? [True, True] Translation: X:227.50, Y:-116.59, Z:-10.47 [[-4.94212368e-01 -8.69331532e-01 4.10161116e-03 2.27502775e+02] [-8.69300009e-01 4.94229379e-01 7.40375435e-03 -1.16585069e+02] [-8.46345384e-03 9.34963535e-05 -9.99964180e-01 -1.04714952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.050385723 meters 0.014112339281340302 Centerline is valid? [True, True] Translation: X:227.42, Y:-116.67, Z:-10.47 [[-4.23472382e-01 -9.05900536e-01 3.91920632e-03 2.27420356e+02] [-9.05860137e-01 4.23490511e-01 8.55562937e-03 -1.16669988e+02] [-9.41029592e-03 7.28199761e-05 -9.99955720e-01 -1.04722046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.110385723 meters 0.014061724895561763 Centerline is valid? [True, True] Translation: X:227.35, Y:-116.77, Z:-10.47 [[-3.51056851e-01 -9.36347839e-01 3.43684037e-03 2.27345089e+02] [-9.36301432e-01 3.51073669e-01 9.32241034e-03 -1.16766013e+02] [-9.93560293e-03 5.47774496e-05 -9.99950639e-01 -1.04721516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.170385723 meters 0.014058754248724391 Centerline is valid? [True, True] Translation: X:227.28, Y:-116.86, Z:-10.47 [[-2.77215836e-01 -9.60802675e-01 3.09844764e-03 2.27279929e+02] [-9.60740730e-01 2.77233147e-01 1.09101523e-02 -1.16863034e+02] [-1.13414959e-02 4.76621526e-05 -9.99935682e-01 -1.04706043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.230385723 meters 0.014086159858987802 Centerline is valid? [True, True] Translation: X:227.22, Y:-116.97, Z:-10.47 [[-2.03512714e-01 -9.79069179e-01 2.47324875e-03 2.27223748e+02] [-9.78993266e-01 2.03527734e-01 1.21920915e-02 -1.16970387e+02] [-1.24402757e-02 5.99517630e-05 -9.99922615e-01 -1.04708543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.290385723 meters 0.01419784044807861 Centerline is valid? [True, True] Translation: X:227.18, Y:-117.08, Z:-10.47 [[-1.26107359e-01 -9.92015209e-01 1.66139790e-03 2.27175608e+02] [-9.91924827e-01 1.26118296e-01 1.33907940e-02 -1.17084315e+02] [-1.34934040e-02 4.06958393e-05 -9.99908959e-01 -1.04701533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.350385723 meters 0.014305958988365687 Centerline is valid? [True, True] Translation: X:227.14, Y:-117.20, Z:-10.47 [[-4.50483787e-02 -9.98984629e-01 5.95927485e-04 2.27135033e+02] [-9.98903443e-01 4.50523150e-02 1.27357682e-02 -1.17202951e+02] [-1.27496846e-02 -2.15483052e-05 -9.99918719e-01 -1.04695171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.410385723 meters 0.01443734063243833 Centerline is valid? [True, True] Translation: X:227.11, Y:-117.32, Z:-10.47 [[ 3.58304831e-02 -9.99357812e-01 -3.73753411e-04 2.27105057e+02] [-9.99279983e-01 -3.58323572e-02 1.24722531e-02 -1.17324144e+02] [-1.24776360e-02 -7.34025506e-05 -9.99922149e-01 -1.04717477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.470385723 meters 0.014612248869485058 Centerline is valid? [True, True] Translation: X:227.09, Y:-117.45, Z:-10.47 [[ 1.15907497e-01 -9.93259524e-01 -9.85053080e-04 2.27085041e+02] [-9.93216870e-01 -1.15911649e-01 9.20535793e-03 -1.17453458e+02] [-9.25748856e-03 -8.85986634e-05 -9.99957145e-01 -1.04730622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.530385723 meters 0.014548315474546459 Centerline is valid? [True, True] Translation: X:227.08, Y:-117.57, Z:-10.47 [[ 1.92225767e-01 -9.81349593e-01 -1.49390041e-03 2.27078880e+02] [-9.81316558e-01 -1.92231554e-01 8.05253230e-03 -1.17567969e+02] [-8.18952409e-03 -8.19149880e-05 -9.99966462e-01 -1.04747577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5903857229999 meters 0.014305334881164913 Centerline is valid? [True, True] Translation: X:227.08, Y:-117.69, Z:-10.47 [[ 2.64637630e-01 -9.64345729e-01 -2.05895815e-03 2.27083875e+02] [-9.64314743e-01 -2.64645633e-01 7.73086781e-03 -1.17688433e+02] [-8.00012364e-03 -6.03948375e-05 -9.99967997e-01 -1.04744162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.650385723 meters 0.014298050018418357 Centerline is valid? [True, True] Translation: X:227.10, Y:-117.82, Z:-10.47 [[ 3.36082096e-01 -9.41830022e-01 -2.24376593e-03 2.27100113e+02] [-9.41808259e-01 -3.36089584e-01 6.40265939e-03 -1.17819282e+02] [-6.78432319e-03 -3.86219013e-05 -9.99976985e-01 -1.04727491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.710385723 meters 0.01432282152384184 Centerline is valid? [True, True] Translation: X:227.12, Y:-117.93, Z:-10.47 [[ 4.06038880e-01 -9.13850858e-01 -3.00628343e-03 2.27120708e+02] [-9.13825245e-01 -4.06050008e-01 6.84201303e-03 -1.17927910e+02] [-7.47328089e-03 -3.09056150e-05 -9.99972074e-01 -1.04713806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.770385723 meters 0.014312263075037693 Centerline is valid? [True, True] Translation: X:227.15, Y:-118.04, Z:-10.47 [[ 4.73764698e-01 -8.80645664e-01 -3.19774456e-03 2.27152750e+02] [-8.80625336e-01 -4.73775490e-01 5.98350360e-03 -1.18044548e+02] [-6.78435949e-03 -1.87579001e-05 -9.99976986e-01 -1.04706909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.830385723 meters 0.014183472103429053 Centerline is valid? [True, True] Translation: X:227.19, Y:-118.16, Z:-10.47 [[ 5.38675963e-01 -8.42507823e-01 -2.96222251e-03 2.27194482e+02] [-8.42495006e-01 -5.38684107e-01 4.64725466e-03 -1.18159461e+02] [-5.51105059e-03 -7.70670251e-06 -9.99984814e-01 -1.04709156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.890385723 meters 0.01421714162199706 Centerline is valid? [True, True] Translation: X:227.24, Y:-118.27, Z:-10.47 [[ 5.99605033e-01 -8.00292834e-01 -2.27701828e-03 2.27244199e+02] [-8.00287089e-01 -5.99609357e-01 3.03230844e-03 -1.18267615e+02] [-3.79205618e-03 4.08092825e-06 -9.99992810e-01 -1.04709316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.950385723 meters 0.014388131846218838 Centerline is valid? [True, True] Translation: X:227.29, Y:-118.37, Z:-10.47 [[ 6.57013291e-01 -7.53876802e-01 -1.81727899e-03 2.27294592e+02] [-7.53873962e-01 -6.57015804e-01 2.06934123e-03 -1.18366779e+02] [-2.75400937e-03 1.04146208e-05 -9.99996208e-01 -1.04703998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.010385723 meters 0.014577273141512168 Centerline is valid? [True, True] Translation: X:227.35, Y:-118.46, Z:-10.47 [[ 7.11595333e-01 -7.02587432e-01 -1.72713455e-03 2.27349798e+02] [-7.02585406e-01 -7.11597429e-01 1.68727724e-03 -1.18458511e+02] [-2.41448428e-03 1.28009181e-05 -9.99997085e-01 -1.04696642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.070385723 meters 0.014597558116650838 Centerline is valid? [True, True] Translation: X:227.37, Y:-118.48, Z:-10.47 [[ 7.65586540e-01 -6.43330492e-01 -1.76884770e-03 2.27368217e+02] [-6.43328798e-01 -7.65588583e-01 1.47647516e-03 -1.18483764e+02] [-2.30407109e-03 7.58115109e-06 -9.99997346e-01 -1.04687201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.130385723 meters 0.014566190073243846 Centerline is valid? [True, True] Translation: X:227.39, Y:-118.51, Z:-10.47 [[ 8.15699034e-01 -5.78473526e-01 -1.86157683e-03 2.27386912e+02] [-5.78472017e-01 -8.15701158e-01 1.32149926e-03 -1.18508334e+02] [-2.28294271e-03 -1.07557107e-06 -9.99997394e-01 -1.04672246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.190385723 meters 0.014585144199833198 Centerline is valid? [True, True] Translation: X:227.41, Y:-118.53, Z:-10.47 [[ 8.59196714e-01 -5.11643633e-01 -1.34158138e-03 2.27406888e+02] [-5.11643003e-01 -8.59197761e-01 8.02815605e-04 -1.18531116e+02] [-1.56343921e-03 -3.36580456e-06 -9.99998778e-01 -1.04670839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.250385723 meters 0.014643603153682893 Centerline is valid? [True, True] Translation: X:227.43, Y:-118.55, Z:-10.47 [[ 8.96350016e-01 -4.43347048e-01 -2.08182381e-04 2.27427683e+02] [-4.43347035e-01 -8.96350041e-01 1.04284723e-04 -1.18553872e+02] [-2.32838610e-04 -1.17857148e-06 -9.99999973e-01 -1.04680680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.310385723 meters 0.014673039359934923 Centerline is valid? [True, True] Translation: X:227.45, Y:-118.57, Z:-10.47 [[ 9.27184908e-01 -3.74603925e-01 -2.15223875e-04 2.27449556e+02] [-3.74603914e-01 -9.27184933e-01 8.74926208e-05 -1.18572926e+02] [-2.32327413e-04 -4.98131654e-07 -9.99999973e-01 -1.04675828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.370385723 meters 0.015105904349459187 Centerline is valid? [True, True] Translation: X:227.47, Y:-118.59, Z:-10.46 [[ 9.51655020e-01 -3.07166282e-01 -1.26382084e-03 2.27474041e+02] [-3.07166026e-01 -9.51655860e-01 3.97322649e-04 -1.18590258e+02] [-1.32476663e-03 1.00887305e-05 -9.99999122e-01 -1.04647579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.430385723 meters 0.016060889804067436 Centerline is valid? [True, True] Translation: X:227.50, Y:-118.60, Z:-10.46 [[ 9.71218782e-01 -2.38184947e-01 -1.41730987e-03 2.27500598e+02] [-2.38184724e-01 -9.71219816e-01 3.26288392e-04 -1.18603651e+02] [-1.45423641e-03 2.06841445e-05 -9.99998942e-01 -1.04644875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.490385723 meters 0.016522056664246176 Centerline is valid? [True, True] Translation: X:227.52, Y:-118.61, Z:-10.46 [[ 9.86623413e-01 -1.63009070e-01 -1.51155670e-03 2.27522728e+02] [-1.63008916e-01 -9.86624570e-01 2.25171948e-04 -1.18614252e+02] [-1.52804405e-03 2.42373037e-05 -9.99998832e-01 -1.04644410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.550385723 meters 0.0166178996178586 Centerline is valid? [True, True] Translation: X:227.55, Y:-118.63, Z:-10.46 [[ 9.96130751e-01 -8.78793459e-02 -8.64787205e-04 2.27546307e+02] [-8.78793263e-02 -9.96131126e-01 6.06261057e-05 -1.18632598e+02] [-8.66769235e-04 1.56053889e-05 -9.99999624e-01 -1.04639681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.610385723 meters 0.016431828324523553 Centerline is valid? [True, True] Translation: X:227.57, Y:-118.65, Z:-10.46 [[ 9.99960837e-01 -8.85003152e-03 -3.58474997e-05 2.27572164e+02] [-8.85003150e-03 -9.99960838e-01 5.75930726e-07 -1.18648044e+02] [-3.58511929e-05 -2.58656672e-07 -9.99999999e-01 -1.04642745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.670385723 meters 0.01598229762744484 Centerline is valid? [True, True] Translation: X:227.60, Y:-118.66, Z:-10.46 [[ 9.97535598e-01 7.01605866e-02 -4.71716442e-04 2.27598495e+02] [ 7.01605752e-02 -9.97535710e-01 -4.06114863e-05 -1.18664003e+02] [-4.73403322e-04 7.41550638e-06 -9.99999888e-01 -1.04631108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.730385723 meters 0.01598699156422033 Centerline is valid? [True, True] Translation: X:227.63, Y:-118.67, Z:-10.46 [[ 9.88969033e-01 1.48118252e-01 -1.11152026e-03 2.27626195e+02] [ 1.48118137e-01 -9.88969657e-01 -1.85490380e-04 -1.18674948e+02] [-1.12673432e-03 1.88079319e-05 -9.99999365e-01 -1.04624396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.790385723 meters 0.016221246089626308 Centerline is valid? [True, True] Translation: X:227.66, Y:-118.68, Z:-10.46 [[ 9.74345434e-01 2.25045355e-01 -2.35860879e-03 2.27655074e+02] [ 2.25044592e-01 -9.74348288e-01 -5.87560999e-04 -1.18681010e+02] [-2.43033431e-03 4.16952227e-05 -9.99997046e-01 -1.04616822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.850385723 meters 0.016539340655630955 Centerline is valid? [True, True] Translation: X:227.68, Y:-118.68, Z:-10.46 [[ 9.53797003e-01 3.00448985e-01 -1.29761386e-03 2.27682133e+02] [ 3.00448673e-01 -9.53797886e-01 -4.33275549e-04 -1.18683051e+02] [-1.36783856e-03 2.33905568e-05 -9.99999064e-01 -1.04625683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.910385723 meters 0.016479236594337383 Centerline is valid? [True, True] Translation: X:227.71, Y:-118.68, Z:-10.46 [[ 9.26653570e-01 3.75915989e-01 5.74405707e-04 2.27709724e+02] [ 3.75915909e-01 -9.26653748e-01 2.44710127e-04 -1.18681039e+02] [ 6.24265651e-04 -1.08332696e-05 -9.99999805e-01 -1.04644718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.970385723 meters 0.015198679172841102 Centerline is valid? [True, True] Translation: X:227.74, Y:-118.68, Z:-10.46 [[ 8.92910528e-01 4.50232130e-01 1.34865114e-03 2.27742252e+02] [ 4.50231582e-01 -8.92911546e-01 7.02560868e-04 -1.18684903e+02] [ 1.52054165e-03 -2.01186586e-05 -9.99998844e-01 -1.04648865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.030385723 meters 0.014743090921555489 Centerline is valid? [True, True] Translation: X:227.77, Y:-118.68, Z:-10.46 [[ 8.52502409e-01 5.22723160e-01 3.75651628e-04 2.27771931e+02] [ 5.22723107e-01 -8.52502491e-01 2.35539998e-04 -1.18683772e+02] [ 4.43366161e-04 -4.43662993e-06 -9.99999902e-01 -1.04636409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0903857229999 meters 0.014307487179834386 Centerline is valid? [True, True] Translation: X:227.80, Y:-118.68, Z:-10.46 [[ 8.07152630e-01 5.90342647e-01 -4.37723379e-04 2.27801277e+02] [ 5.90342559e-01 -8.07152748e-01 -3.22357031e-04 -1.18676855e+02] [-5.43610732e-04 1.78458567e-06 -9.99999852e-01 -1.04631269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.150385723 meters 0.01421963715734237 Centerline is valid? [True, True] Translation: X:227.83, Y:-118.67, Z:-10.46 [[ 7.58288426e-01 6.51917909e-01 -1.30511434e-03 2.27830031e+02] [ 6.51916927e-01 -7.58289549e-01 -1.13143875e-03 -1.18667594e+02] [-1.72725975e-03 7.13078299e-06 -9.99998508e-01 -1.04632057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.210385723 meters 0.01434385206965163 Centerline is valid? [True, True] Translation: X:227.86, Y:-118.65, Z:-10.46 [[ 7.06066234e-01 7.08143827e-01 -1.67141252e-03 2.27856275e+02] [ 7.08141796e-01 -7.06068212e-01 -1.69615938e-03 -1.18654706e+02] [-2.38125605e-03 1.40037987e-05 -9.99997165e-01 -1.04622240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.270385723 meters 0.01491532413353091 Centerline is valid? [True, True] Translation: X:227.88, Y:-118.64, Z:-10.46 [[ 6.51825411e-01 7.58367758e-01 -1.40615027e-03 2.27877974e+02] [ 7.58365918e-01 -6.51826927e-01 -1.67043975e-03 -1.18639611e+02] [-2.18337426e-03 2.24586360e-05 -9.99997616e-01 -1.04621901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.330385723 meters 0.015724798623934003 Centerline is valid? [True, True] Translation: X:227.90, Y:-118.62, Z:-10.46 [[ 5.94701035e-01 8.03945974e-01 -1.24475725e-03 2.27898359e+02] [ 8.03944095e-01 -5.94702337e-01 -1.73859885e-03 -1.18621549e+02] [-2.13799959e-03 3.32312981e-05 -9.99997714e-01 -1.04629893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.390385723 meters 0.016283193051755233 Centerline is valid? [True, True] Translation: X:227.92, Y:-118.60, Z:-10.46 [[ 5.32608444e-01 8.46361769e-01 2.11857359e-05 2.27919170e+02] [ 8.46361768e-01 -5.32608445e-01 3.68390495e-05 -1.18603323e+02] [ 4.24628649e-05 -1.68999199e-06 -9.99999999e-01 -1.04640131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.450385723 meters 0.016067377361719197 Centerline is valid? [True, True] Translation: X:227.94, Y:-118.59, Z:-10.46 [[ 4.64620248e-01 8.85509961e-01 -3.64998552e-04 2.27941194e+02] [ 8.85509663e-01 -4.64620391e-01 -7.27066508e-04 -1.18585700e+02] [-8.13410406e-04 1.46000769e-05 -9.99999669e-01 -1.04636591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.510385723 meters 0.01595288118195209 Centerline is valid? [True, True] Translation: X:227.96, Y:-118.57, Z:-10.46 [[ 3.92698060e-01 9.19665853e-01 -1.71804218e-03 2.27960856e+02] [ 9.19656139e-01 -3.92701810e-01 -4.22788383e-03 -1.18565775e+02] [-4.56291866e-03 8.02737411e-05 -9.99989587e-01 -1.04595103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.570385723 meters 0.016350946204707666 Centerline is valid? [True, True] Translation: X:227.98, Y:-118.54, Z:-10.46 [[ 3.20007951e-01 9.47412643e-01 -2.04800411e-03 2.27975497e+02] [ 9.47390705e-01 -3.20014481e-01 -6.44866243e-03 -1.18544543e+02] [-6.76493529e-03 1.23363193e-04 -9.99977110e-01 -1.04567393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.630385723 meters 0.01706972381156009 Centerline is valid? [True, True] Translation: X:227.99, Y:-118.52, Z:-10.46 [[ 2.46655148e-01 9.69102226e-01 -1.45367801e-03 2.27986179e+02] [ 9.69082187e-01 -2.46659398e-01 -6.23344467e-03 -1.18521516e+02] [-6.39940845e-03 1.28777753e-04 -9.99979515e-01 -1.04575280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.690385723 meters 0.01624454870502015 Centerline is valid? [True, True] Translation: X:228.00, Y:-118.50, Z:-10.46 [[ 1.70354922e-01 9.85382374e-01 -8.82076161e-04 2.28004122e+02] [ 9.85365272e-01 -1.70357163e-01 -5.80672351e-03 -1.18498383e+02] [-5.87211099e-03 1.20036712e-04 -9.99982752e-01 -1.04575153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.750385723 meters 0.01553714090275951 Centerline is valid? [True, True] Translation: X:228.02, Y:-118.47, Z:-10.46 [[ 8.96598957e-02 9.95972389e-01 -3.20758605e-04 2.28021858e+02] [ 9.95962570e-01 -8.96604363e-02 -4.42334797e-03 -1.18473751e+02] [-4.43429180e-03 7.71333530e-05 -9.99990166e-01 -1.04574425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.810385723 meters 0.014660163130051746 Centerline is valid? [True, True] Translation: X:228.04, Y:-118.45, Z:-10.46 [[ 8.22105338e-03 9.99966206e-01 2.15541777e-05 2.28039832e+02] [ 9.99959649e-01 -8.22092140e-03 -3.62174541e-03 -1.18447627e+02] [-3.62144583e-03 5.13278703e-05 -9.99993441e-01 -1.04583918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.870385723 meters 0.014194854860402568 Centerline is valid? [True, True] Translation: X:228.05, Y:-118.42, Z:-10.46 [[-7.46693856e-02 9.97208314e-01 2.48301207e-04 2.28053418e+02] [ 9.97203984e-01 7.46697931e-02 -2.93877573e-03 -1.18420732e+02] [-2.94911219e-03 2.81703751e-05 -9.99995651e-01 -1.04581802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.930385723 meters 0.01352726286583291 Centerline is valid? [True, True] Translation: X:228.07, Y:-118.39, Z:-10.46 [[-1.58203985e-01 9.87406253e-01 6.24329187e-04 2.28066080e+02] [ 9.87398937e-01 1.58205216e-01 -3.80128458e-03 -1.18391448e+02] [-3.85218430e-03 1.50836072e-05 -9.99992580e-01 -1.04568649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.990385723 meters 0.013280848053441577 Centerline is valid? [True, True] Translation: X:228.07, Y:-118.36, Z:-10.46 [[-2.40260985e-01 9.70707532e-01 1.24401584e-03 2.28074158e+02] [ 9.70694364e-01 2.40264205e-01 -5.05608093e-03 -1.18361277e+02] [-5.20686831e-03 -7.21982229e-06 -9.99986444e-01 -1.04552387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.050385723 meters 0.01333583831011882 Centerline is valid? [True, True] Translation: X:228.08, Y:-118.33, Z:-10.45 [[-3.16968111e-01 9.48434761e-01 1.64923463e-03 2.28076280e+02] [ 9.48421677e-01 3.16972402e-01 -4.98198892e-03 -1.18332227e+02] [-5.24785333e-03 -1.49617412e-05 -9.99986230e-01 -1.04547273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.110385723 meters 0.013307322032726315 Centerline is valid? [True, True] Translation: X:228.07, Y:-118.31, Z:-10.45 [[-3.88561722e-01 9.21419199e-01 2.53937247e-03 2.28071573e+02] [ 9.21399415e-01 3.88570020e-01 -6.03797870e-03 -1.18305719e+02] [-6.55023351e-03 -6.35109176e-06 -9.99978547e-01 -1.04523365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.170385723 meters 0.013415474315374296 Centerline is valid? [True, True] Translation: X:228.06, Y:-118.28, Z:-10.45 [[-4.55258801e-01 8.90353562e-01 3.15579572e-03 2.28059887e+02] [ 8.90332570e-01 4.55269738e-01 -6.11392034e-03 -1.18281654e+02] [-6.88028904e-03 2.62916677e-05 -9.99976330e-01 -1.04525690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.230385723 meters 0.013708235695435611 Centerline is valid? [True, True] Translation: X:228.05, Y:-118.25, Z:-10.45 [[-5.19354935e-01 8.54549001e-01 4.05656314e-03 2.28052469e+02] [ 8.54523945e-01 5.19370773e-01 -6.54430892e-03 -1.18254370e+02] [-7.69929299e-03 6.76111994e-05 -9.99970358e-01 -1.04523492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.290385723 meters 0.014403943131029773 Centerline is valid? [True, True] Translation: X:228.04, Y:-118.23, Z:-10.45 [[-5.81723017e-01 8.13371319e-01 5.04266107e-03 2.28041808e+02] [ 8.13342326e-01 5.81744863e-01 -6.86837120e-03 -1.18229176e+02] [-8.52007832e-03 1.05920072e-04 -9.99963698e-01 -1.04513540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.350385723 meters 0.014808031341302678 Centerline is valid? [True, True] Translation: X:228.03, Y:-118.20, Z:-10.45 [[-6.41526370e-01 7.67076963e-01 6.07032771e-03 2.28031555e+02] [ 7.67044690e-01 6.41555074e-01 -7.03783166e-03 -1.18203574e+02] [-9.29300808e-03 1.41258028e-04 -9.99956809e-01 -1.04500556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.410385723 meters 0.014755444614226466 Centerline is valid? [True, True] Translation: X:228.02, Y:-118.18, Z:-10.45 [[-6.99251080e-01 7.14848310e-01 6.31027939e-03 2.28021246e+02] [ 7.14820988e-01 6.99279539e-01 -6.25149398e-03 -1.18176471e+02] [-8.88151917e-03 1.39356232e-04 -9.99960549e-01 -1.04501685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.470385723 meters 0.014821492509865714 Centerline is valid? [True, True] Translation: X:228.05, Y:-118.16, Z:-10.45 [[-7.48259678e-01 6.63371751e-01 6.73597616e-03 2.28045893e+02] [ 6.63346506e-01 7.48289985e-01 -5.78897408e-03 -1.18160869e+02] [-8.88070537e-03 1.36630370e-04 -9.99960556e-01 -1.04506588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.530385723 meters 0.014447138989258585 Centerline is valid? [True, True] Translation: X:228.06, Y:-118.14, Z:-10.45 [[-7.94647207e-01 6.07034432e-01 6.70933107e-03 2.28064538e+02] [ 6.07013961e-01 7.94675523e-01 -4.98649838e-03 -1.18137857e+02] [-8.35871738e-03 1.10150615e-04 -9.99965059e-01 -1.04518596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5903857229999 meters 0.013976286043909266 Centerline is valid? [True, True] Translation: X:228.08, Y:-118.11, Z:-10.45 [[-8.36978548e-01 5.47212227e-01 5.06842262e-03 2.28084483e+02] [ 5.47202643e-01 8.36993892e-01 -3.23925042e-03 -1.18113932e+02] [-6.01479621e-03 6.22711381e-05 -9.99981909e-01 -1.04532986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.650385723 meters 0.01393643764473473 Centerline is valid? [True, True] Translation: X:228.10, Y:-118.09, Z:-10.45 [[-8.73571426e-01 4.86671996e-01 4.83038225e-03 2.28101558e+02] [ 4.86664917e-01 8.73584779e-01 -2.62557236e-03 -1.18089885e+02] [-5.49754095e-03 5.71525849e-05 -9.99984887e-01 -1.04532624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.710385723 meters 0.013905475397555662 Centerline is valid? [True, True] Translation: X:228.11, Y:-118.06, Z:-10.45 [[-9.05403789e-01 4.24523277e-01 4.89557501e-03 2.28112149e+02] [ 4.24517438e-01 9.05417022e-01 -2.22745210e-03 -1.18063046e+02] [-5.37814221e-03 6.15133889e-05 -9.99985536e-01 -1.04541533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.770385723 meters 0.01417447412237323 Centerline is valid? [True, True] Translation: X:228.13, Y:-118.04, Z:-10.45 [[-9.32272371e-01 3.61729402e-01 4.47955467e-03 2.28126762e+02] [ 3.61725569e-01 9.32283130e-01 -1.66662977e-03 -1.18040196e+02] [-4.77908224e-03 6.66165750e-05 -9.99988578e-01 -1.04549223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.830385723 meters 0.014080602433600566 Centerline is valid? [True, True] Translation: X:228.14, Y:-118.01, Z:-10.45 [[-9.55121149e-01 2.96193465e-01 3.60860648e-03 2.28138882e+02] [ 2.96191579e-01 9.55127964e-01 -1.05842097e-03 -1.18012520e+02] [-3.76017834e-03 5.79186011e-05 -9.99992929e-01 -1.04549902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.890385723 meters 0.014314781787517319 Centerline is valid? [True, True] Translation: X:228.14, Y:-117.98, Z:-10.46 [[-9.73814350e-01 2.27320653e-01 3.30645558e-03 2.28139301e+02] [ 2.27319519e-01 9.73819962e-01 -7.19986291e-04 -1.17983773e+02] [-3.38356020e-03 5.04889104e-05 -9.99994274e-01 -1.04554032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.950385723 meters 0.014193735844549832 Centerline is valid? [True, True] Translation: X:228.15, Y:-117.95, Z:-10.45 [[-9.87742422e-01 1.56040072e-01 4.05016671e-03 2.28148588e+02] [ 1.56038986e-01 9.87750724e-01 -5.84607872e-04 -1.17954016e+02] [-4.09177735e-03 5.45419117e-05 -9.99991627e-01 -1.04531976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.010385723 meters 0.013691990724763575 Centerline is valid? [True, True] Translation: X:228.14, Y:-117.92, Z:-10.45 [[-9.96556842e-01 8.27532403e-02 5.13432824e-03 2.28144218e+02] [ 8.27524223e-02 9.96570067e-01 -3.71916652e-04 -1.17921832e+02] [-5.14749515e-03 5.42420145e-05 -9.99986750e-01 -1.04527339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.070385723 meters 0.013519743380878295 Centerline is valid? [True, True] Translation: X:228.20, Y:-117.21, Z:-11.47 [[-9.91208496e-01 -1.32161262e-01 6.25452487e-03 2.28199819e+02] [ 1.32158709e-01 -9.91228228e-01 -8.21505667e-04 -1.17209025e+02] [ 6.30823284e-03 1.23065376e-05 9.99980103e-01 -1.14676799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.130385723 meters 0.013269224929258258 Centerline is valid? [True, True] Translation: X:228.09, Y:-117.91, Z:-10.45 [[-9.97369434e-01 7.22207250e-02 6.19514498e-03 2.28087417e+02] [ 7.22194877e-02 9.97388674e-01 -4.23489793e-04 -1.17911977e+02] [-6.20955217e-03 2.50344217e-05 -9.99980720e-01 -1.04523147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.190385723 meters 0.01333221919526172 Centerline is valid? [True, True] Translation: X:228.08, Y:-117.88, Z:-10.45 [[-9.99973482e-01 -1.70981921e-03 7.07899371e-03 2.28079713e+02] [-1.70972126e-03 9.99998538e-01 1.98885946e-05 -1.17881943e+02] [-7.07901736e-03 7.78496116e-06 -9.99974943e-01 -1.04533265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.250385723 meters 0.013323100289591064 Centerline is valid? [True, True] Translation: X:228.08, Y:-117.85, Z:-10.45 [[-9.97235543e-01 -7.38911431e-02 7.83389762e-03 2.28076791e+02] [-7.38888622e-02 9.97266313e-01 5.80573903e-04 -1.17852902e+02] [-7.85538147e-03 1.31149398e-07 -9.99969146e-01 -1.04538776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.310385723 meters 0.01355536433749031 Centerline is valid? [True, True] Translation: X:228.03, Y:-117.15, Z:-11.46 [[-9.99924736e-01 9.40584368e-03 7.87730582e-03 2.28028536e+02] [-9.40554176e-03 -9.99955764e-01 7.53741091e-05 -1.17152773e+02] [ 7.87766631e-03 1.27810737e-06 9.99968971e-01 -1.14641543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.370385723 meters 0.01432131816801111 Centerline is valid? [True, True] Translation: X:228.00, Y:-117.86, Z:-10.46 [[-9.97549518e-01 -6.95514885e-02 7.58619218e-03 2.27995837e+02] [-6.95489195e-02 9.97578360e-01 6.02245738e-04 -1.17864201e+02] [-7.60970824e-03 7.31584766e-05 -9.99971043e-01 -1.04559621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.430385723 meters 0.01614234212517299 Centerline is valid? [True, True] Translation: X:227.99, Y:-117.84, Z:-10.46 [[-9.91040168e-01 -1.33275623e-01 8.77460402e-03 2.27991420e+02] [-1.33269057e-01 9.91079001e-01 1.33133789e-03 -1.17839934e+02] [-8.87376067e-03 1.50026123e-04 -9.99960616e-01 -1.04558989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.490385723 meters 0.016090442092870104 Centerline is valid? [True, True] Translation: X:227.98, Y:-117.81, Z:-10.46 [[-9.79560306e-01 -2.00887358e-01 1.02896646e-02 2.27978338e+02] [-2.00874029e-01 9.79614325e-01 2.32353299e-03 -1.17810561e+02] [-1.05466712e-02 2.09114312e-04 -9.99944360e-01 -1.04552597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.550385723 meters 0.01659031808883179 Centerline is valid? [True, True] Translation: X:227.95, Y:-117.79, Z:-10.45 [[-9.62755058e-01 -2.70146664e-01 1.11120905e-02 2.27948147e+02] [-2.70125804e-01 9.62819154e-01 3.36556959e-03 -1.17787000e+02] [-1.16081310e-02 2.38556758e-04 -9.99932595e-01 -1.04538279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.610385723 meters 0.017769297144338253 Centerline is valid? [True, True] Translation: X:227.91, Y:-117.77, Z:-10.45 [[-9.40831294e-01 -3.38729993e-01 9.92309898e-03 2.27907178e+02] [-3.38708661e-01 9.40883597e-01 3.80798718e-03 -1.17771471e+02] [-1.06263605e-02 2.21633940e-04 -9.99943514e-01 -1.04546686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.670385723 meters 0.016352169895386817 Centerline is valid? [True, True] Translation: X:227.84, Y:-117.76, Z:-10.46 [[-9.12299043e-01 -4.09391797e-01 1.04313316e-02 2.27841532e+02] [-4.09362423e-01 9.12358654e-01 4.90850540e-03 -1.17760130e+02] [-1.15266175e-02 2.07829609e-04 -9.99933545e-01 -1.04553525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.730385723 meters 0.016286083009007295 Centerline is valid? [True, True] Translation: X:227.77, Y:-117.76, Z:-10.45 [[-8.78573671e-01 -4.77512896e-01 9.47311109e-03 2.27770608e+02] [-4.77483039e-01 8.78624724e-01 5.34250997e-03 -1.17760524e+02] [-1.08744270e-02 1.70538722e-04 -9.99940857e-01 -1.04549436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.790385723 meters 0.015646570328650373 Centerline is valid? [True, True] Translation: X:227.69, Y:-117.77, Z:-10.46 [[-8.40409704e-01 -5.41896652e-01 7.71674608e-03 2.27693087e+02] [-5.41872288e-01 8.40445120e-01 5.14037836e-03 -1.17769134e+02] [-9.27105541e-03 1.38533001e-04 -9.99957013e-01 -1.04565830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.850385723 meters 0.01580267619786101 Centerline is valid? [True, True] Translation: X:227.61, Y:-117.79, Z:-10.46 [[-7.97259471e-01 -6.03588325e-01 7.64653258e-03 2.27610790e+02] [-6.03558896e-01 7.97296127e-01 5.96194172e-03 -1.17789805e+02] [-9.69510923e-03 1.38081748e-04 -9.99952992e-01 -1.04552783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.910385723 meters 0.015470858813689587 Centerline is valid? [True, True] Translation: X:227.53, Y:-117.82, Z:-10.46 [[-7.49832688e-01 -6.61599431e-01 6.09366971e-03 2.27525531e+02] [-6.61576319e-01 7.49857439e-01 5.53125650e-03 -1.17820927e+02] [-8.22885971e-03 1.16089352e-04 -9.99966136e-01 -1.04570473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.970385723 meters 0.015518262059494047 Centerline is valid? [True, True] Translation: X:227.44, Y:-117.87, Z:-10.46 [[-6.97448671e-01 -7.16600538e-01 7.00140839e-03 2.27436647e+02] [-7.16562473e-01 6.97483799e-01 7.38729902e-03 -1.17866129e+02] [-1.01771114e-02 1.35315380e-04 -9.99948203e-01 -1.04558898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.030385723 meters 0.015529754173890065 Centerline is valid? [True, True] Translation: X:227.35, Y:-117.92, Z:-10.45 [[-6.40455782e-01 -7.67960652e-01 7.26832073e-03 2.27349571e+02] [-7.67908730e-01 6.40497008e-01 8.93111916e-03 -1.17917367e+02] [-1.15140858e-02 1.38579958e-04 -9.99933701e-01 -1.04529781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0903857229999 meters 0.015292481425677292 Centerline is valid? [True, True] Translation: X:227.27, Y:-117.98, Z:-10.45 [[-5.79951874e-01 -8.14624932e-01 6.48412303e-03 2.27266134e+02] [-8.14571545e-01 5.79988107e-01 9.32707830e-03 -1.17980653e+02] [-1.13587848e-02 1.27474434e-04 -9.99935479e-01 -1.04538308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.150385723 meters 0.015551113530082638 Centerline is valid? [True, True] Translation: X:227.19, Y:-118.06, Z:-10.45 [[-5.17449351e-01 -8.55692513e-01 6.04085851e-03 2.27186365e+02] [-8.55630860e-01 5.17484591e-01 1.02728110e-02 -1.18055182e+02] [-1.19164186e-02 1.46914431e-04 -9.99928986e-01 -1.04539220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.210385723 meters 0.015784124700532302 Centerline is valid? [True, True] Translation: X:227.11, Y:-118.14, Z:-10.46 [[-4.55176987e-01 -8.90390572e-01 4.30583096e-03 2.27111085e+02] [-8.90347214e-01 4.55197322e-01 8.78848904e-03 -1.18138249e+02] [-9.78519051e-03 1.66633363e-04 -9.99952110e-01 -1.04571688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.270385723 meters 0.016052602729417227 Centerline is valid? [True, True] Translation: X:227.04, Y:-118.23, Z:-10.46 [[-3.87549121e-01 -9.21843011e-01 3.33798605e-03 2.27041197e+02] [-9.21804985e-01 3.87563459e-01 8.37460768e-03 -1.18227504e+02] [-9.01375498e-03 1.68599658e-04 -9.99959361e-01 -1.04581793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.330385723 meters 0.015819911242568825 Centerline is valid? [True, True] Translation: X:226.98, Y:-118.32, Z:-10.46 [[-3.16763453e-01 -9.48501217e-01 2.52131923e-03 2.26976069e+02] [-9.48466928e-01 3.16773444e-01 8.06672072e-03 -1.18323007e+02] [-8.44998139e-03 1.63854398e-04 -9.99964285e-01 -1.04590045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.390385723 meters 0.01580402675489479 Centerline is valid? [True, True] Translation: X:226.92, Y:-118.43, Z:-10.46 [[-2.43935381e-01 -9.69789710e-01 1.85717766e-03 2.26916251e+02] [-9.69756255e-01 2.43942395e-01 8.05687077e-03 -1.18429520e+02] [-8.26651473e-03 1.64346192e-04 -9.99965818e-01 -1.04590838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.450385723 meters 0.015940381253204194 Centerline is valid? [True, True] Translation: X:226.86, Y:-118.54, Z:-10.46 [[-1.66673703e-01 -9.86011179e-01 1.35343503e-03 2.26864722e+02] [-9.85970558e-01 1.66679124e-01 8.95148152e-03 -1.18540881e+02] [-9.05185021e-03 1.57529482e-04 -9.99959019e-01 -1.04574795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.510385723 meters 0.014699551485505015 Centerline is valid? [True, True] Translation: X:226.82, Y:-118.66, Z:-10.46 [[-8.58811122e-02 -9.96305132e-01 7.20424732e-04 2.26819469e+02] [-9.96257201e-01 8.58840478e-02 9.77344469e-03 -1.18655203e+02] [-9.79920609e-03 1.21625973e-04 -9.99951979e-01 -1.04581138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.570385723 meters 0.014126993451189349 Centerline is valid? [True, True] Translation: X:226.78, Y:-118.78, Z:-10.46 [[-4.78115679e-03 -9.99988570e-01 -2.83073884e-05 2.26784369e+02] [-9.99941965e-01 4.78066066e-03 9.65467124e-03 -1.18777725e+02] [-9.65442556e-03 7.44662426e-05 -9.99953392e-01 -1.04580152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.630385723 meters 0.013949765561649676 Centerline is valid? [True, True] Translation: X:226.76, Y:-118.89, Z:-10.46 [[ 7.31580276e-02 -9.97320077e-01 -7.53529589e-04 2.26761037e+02] [-9.97275210e-01 -7.31618841e-02 9.46017591e-03 -1.18894503e+02] [-9.48995301e-03 5.93885683e-05 -9.99954968e-01 -1.04577352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.690385723 meters 0.01408257371114621 Centerline is valid? [True, True] Translation: X:226.75, Y:-119.02, Z:-10.46 [[ 1.47547640e-01 -9.89054280e-01 -1.15092570e-03 2.26750868e+02] [-9.89027245e-01 -1.47552117e-01 7.31315744e-03 -1.19018043e+02] [-7.40293119e-03 5.92577524e-05 -9.99972596e-01 -1.04592280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.750385723 meters 0.01454208248246751 Centerline is valid? [True, True] Translation: X:226.75, Y:-119.14, Z:-10.46 [[ 2.18708563e-01 -9.75789060e-01 -1.50829776e-03 2.26751407e+02] [-9.75768320e-01 -2.18713749e-01 6.36258976e-03 -1.19136851e+02] [-6.53843093e-03 8.01963084e-05 -9.99978621e-01 -1.04605945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.810385723 meters 0.015185084966836043 Centerline is valid? [True, True] Translation: X:226.76, Y:-119.26, Z:-10.46 [[ 2.88632457e-01 -9.57437898e-01 -1.99430957e-03 2.26759417e+02] [-9.57417583e-01 -2.88639326e-01 6.23793027e-03 -1.19255168e+02] [-6.54806701e-03 1.08917905e-04 -9.99978555e-01 -1.04591485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.870385723 meters 0.01597409956285079 Centerline is valid? [True, True] Translation: X:226.78, Y:-119.37, Z:-10.46 [[ 3.58610429e-01 -9.33481903e-01 -3.17768984e-03 2.26778333e+02] [-9.33449191e-01 -3.58624470e-01 7.81641583e-03 -1.19374107e+02] [-8.43608006e-03 1.63163779e-04 -9.99964402e-01 -1.04573833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.930385723 meters 0.01588618672504414 Centerline is valid? [True, True] Translation: X:226.80, Y:-119.49, Z:-10.46 [[ 4.29395726e-01 -9.03105402e-01 -4.46573253e-03 2.26803151e+02] [-9.03061067e-01 -4.29418905e-01 8.95061456e-03 -1.19492620e+02] [-1.00010183e-02 1.89473546e-04 -9.99949971e-01 -1.04550327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.990385723 meters 0.015247960179659095 Centerline is valid? [True, True] Translation: X:226.84, Y:-119.61, Z:-10.46 [[ 4.99920100e-01 -8.66054870e-01 -5.37176213e-03 2.26838694e+02] [-8.66008373e-01 -4.99948933e-01 8.97565777e-03 -1.19609769e+02] [-1.04590189e-02 1.64879253e-04 -9.99945289e-01 -1.04553700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.050385723 meters 0.014871068941773856 Centerline is valid? [True, True] Translation: X:226.88, Y:-119.72, Z:-10.45 [[ 5.67898415e-01 -8.23077925e-01 -5.84112998e-03 2.26880985e+02] [-8.23036530e-01 -5.67928442e-01 8.25566720e-03 -1.19720140e+02] [-1.01124013e-02 1.19083027e-04 -9.99948861e-01 -1.04546447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.110385723 meters 0.014150955703658529 Centerline is valid? [True, True] Translation: X:226.93, Y:-119.83, Z:-10.46 [[ 6.32540636e-01 -7.74509125e-01 -5.28752947e-03 2.26931534e+02] [-7.74482849e-01 -6.32562733e-01 6.38004738e-03 -1.19829515e+02] [-8.28609900e-03 5.94616593e-05 -9.99965668e-01 -1.04559494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.170385723 meters 0.013805620436087575 Centerline is valid? [True, True] Translation: X:226.99, Y:-119.93, Z:-10.46 [[ 6.91965096e-01 -7.21919992e-01 -3.97880617e-03 2.26987897e+02] [-7.21908248e-01 -6.91976534e-01 4.11802276e-03 -1.19927398e+02] [-5.72612346e-03 2.28049822e-05 -9.99983605e-01 -1.04586507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.230385723 meters 0.013733640895114724 Centerline is valid? [True, True] Translation: X:227.05, Y:-120.02, Z:-10.46 [[ 7.45655425e-01 -6.66325982e-01 -2.77022778e-03 2.27051606e+02] [-6.66321433e-01 -7.45660570e-01 2.46216671e-03 -1.20019839e+02] [-3.70625527e-03 9.93417990e-06 -9.99993132e-01 -1.04603056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.290385723 meters 0.013621983925724493 Centerline is valid? [True, True] Translation: X:227.07, Y:-120.04, Z:-10.46 [[ 7.95482139e-01 -6.05970222e-01 -2.87336554e-03 2.27072890e+02] [-6.05966312e-01 -7.95487329e-01 2.17683982e-03 -1.20043647e+02] [-3.60482599e-03 9.52552851e-06 -9.99993503e-01 -1.04597653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.350385723 meters 0.013817381834700316 Centerline is valid? [True, True] Translation: X:227.10, Y:-120.06, Z:-10.46 [[ 8.39631922e-01 -5.43141051e-01 -4.00442990e-03 2.27097541e+02] [-5.43134986e-01 -8.39641470e-01 2.56686959e-03 -1.20063280e+02] [-4.75645766e-03 1.97203291e-05 -9.99988688e-01 -1.04594442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.410385723 meters 0.013966026645767673 Centerline is valid? [True, True] Translation: X:227.12, Y:-120.08, Z:-10.46 [[ 8.78376521e-01 -4.77936764e-01 -5.58002560e-03 2.27120672e+02] [-4.77927421e-01 -8.78394244e-01 2.98861437e-03 -1.20084360e+02] [-6.32983105e-03 4.17185516e-05 -9.99979966e-01 -1.04582541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.470385723 meters 0.014328664943019417 Centerline is valid? [True, True] Translation: X:227.14, Y:-120.10, Z:-10.46 [[ 9.12000543e-01 -4.10148507e-01 -5.76305351e-03 2.27144331e+02] [-4.10140716e-01 -9.12018749e-01 2.52867868e-03 -1.20102408e+02] [-6.29314664e-03 5.75065640e-05 -9.99980196e-01 -1.04570720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.530385723 meters 0.014566569640416463 Centerline is valid? [True, True] Translation: X:227.17, Y:-120.12, Z:-10.46 [[ 9.40622729e-01 -3.39401893e-01 -5.93601778e-03 2.27169634e+02] [-3.39395599e-01 -9.40641457e-01 2.06808157e-03 -1.20118889e+02] [-6.28557522e-03 6.93737830e-05 -9.99980243e-01 -1.04571003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5903857229999 meters 0.014394880687540764 Centerline is valid? [True, True] Translation: X:227.19, Y:-120.14, Z:-10.46 [[ 9.64495025e-01 -2.64063649e-01 -4.44257341e-03 2.27194660e+02] [-2.64061071e-01 -9.64505255e-01 1.16780115e-03 -1.20138982e+02] [-4.59325924e-03 4.67722987e-05 -9.99989450e-01 -1.04593435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.650385723 meters 0.014198345280773943 Centerline is valid? [True, True] Translation: X:227.22, Y:-120.16, Z:-10.46 [[ 9.82647694e-01 -1.85452211e-01 -3.31466787e-03 2.27219711e+02] [-1.85451244e-01 -9.82653284e-01 5.99334410e-04 -1.20159788e+02] [-3.36831716e-03 2.57747064e-05 -9.99994327e-01 -1.04604332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.710385723 meters 0.014009748158444713 Centerline is valid? [True, True] Translation: X:227.24, Y:-120.18, Z:-10.46 [[ 9.94245484e-01 -1.07101178e-01 -2.29254208e-03 2.27244572e+02] [-1.07100928e-01 -9.94248127e-01 2.31634654e-04 -1.20178906e+02] [-2.30416402e-03 1.52316772e-05 -9.99997345e-01 -1.04609518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.770385723 meters 0.014502454104376571 Centerline is valid? [True, True] Translation: X:227.27, Y:-120.19, Z:-10.46 [[ 9.99452627e-01 -3.30203985e-02 -2.02453976e-03 2.27269889e+02] [-3.30203744e-02 -9.99454678e-01 4.53502143e-05 -1.20190472e+02] [-2.02493322e-03 2.15256701e-05 -9.99997950e-01 -1.04602050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.830385723 meters 0.015598164339537623 Centerline is valid? [True, True] Translation: X:227.30, Y:-120.20, Z:-10.46 [[ 9.99199225e-01 3.99416970e-02 -2.36004961e-03 2.27296853e+02] [ 3.99414957e-02 -9.99202011e-01 -1.32373041e-04 -1.20197869e+02] [-2.36345352e-03 3.80031291e-05 -9.99997206e-01 -1.04590014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.890385723 meters 0.015900757201092172 Centerline is valid? [True, True] Translation: X:227.33, Y:-120.21, Z:-10.46 [[ 9.93277299e-01 1.15723295e-01 -2.88557650e-03 2.27325107e+02] [ 1.15722649e-01 -9.93281489e-01 -3.90484624e-04 -1.20205727e+02] [-2.91137789e-03 5.39329561e-05 -9.99995760e-01 -1.04584895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.950385723 meters 0.015481285014818227 Centerline is valid? [True, True] Translation: X:227.35, Y:-120.21, Z:-10.46 [[ 9.80713265e-01 1.95416276e-01 -3.73781481e-03 2.27354013e+02] [ 1.95414614e-01 -9.80720386e-01 -8.08294568e-04 -1.20214646e+02] [-3.82370510e-03 6.22815660e-05 -9.99992688e-01 -1.04572169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.010385723 meters 0.014527026338088889 Centerline is valid? [True, True] Translation: X:227.38, Y:-120.22, Z:-10.46 [[ 9.60822234e-01 2.77142066e-01 -3.59315717e-03 2.27384833e+02] [ 2.77139974e-01 -9.60828951e-01 -1.07744321e-03 -1.20223003e+02] [-3.75101427e-03 3.94239053e-05 -9.99992964e-01 -1.04578460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.070385723 meters 0.013994652564531767 Centerline is valid? [True, True] Translation: X:227.42, Y:-120.23, Z:-10.46 [[ 9.33860835e-01 3.57626359e-01 -2.70693695e-03 2.27416301e+02] [ 3.57624822e-01 -9.33864758e-01 -1.04874346e-03 -1.20227125e+02] [-2.90297132e-03 1.13125960e-05 -9.99995786e-01 -1.04593484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.130385723 meters 0.013944894937904424 Centerline is valid? [True, True] Translation: X:227.45, Y:-120.23, Z:-10.46 [[ 9.01908707e-01 4.31923935e-01 -1.54896830e-03 2.27446683e+02] [ 4.31923294e-01 -9.01910037e-01 -7.43957867e-04 -1.20226123e+02] [-1.71836326e-03 1.94658811e-06 -9.99998524e-01 -1.04606420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.190385723 meters 0.013961597564276885 Centerline is valid? [True, True] Translation: X:227.47, Y:-120.22, Z:-10.46 [[ 8.65925792e-01 5.00171561e-01 -9.65427213e-04 2.27474263e+02] [ 5.00171247e-01 -8.65926330e-01 -5.60262411e-04 -1.20220450e+02] [-1.11621617e-03 2.26673897e-06 -9.99999377e-01 -1.04600728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.250385723 meters 0.014394637385190751 Centerline is valid? [True, True] Translation: X:227.50, Y:-120.21, Z:-10.46 [[ 8.26952993e-01 5.62267704e-01 -1.94324836e-03 2.27500480e+02] [ 5.62266101e-01 -8.26955276e-01 -1.34278408e-03 -1.20208314e+02] [-2.36198360e-03 1.77966393e-05 -9.99997210e-01 -1.04589667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.310385723 meters 0.014887271965813633 Centerline is valid? [True, True] Translation: X:227.53, Y:-120.20, Z:-10.46 [[ 7.83517815e-01 6.21358332e-01 -3.69555429e-03 2.27528328e+02] [ 6.21351051e-01 -7.83526528e-01 -3.00853309e-03 -1.20198401e+02] [-4.76494192e-03 6.10027271e-05 -9.99988646e-01 -1.04567866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.370385723 meters 0.015611352376406845 Centerline is valid? [True, True] Translation: X:227.56, Y:-120.19, Z:-10.46 [[ 7.34973803e-01 6.78082358e-01 -4.22183871e-03 2.27556184e+02] [ 6.78070410e-01 -7.34985923e-01 -4.02645833e-03 -1.20187381e+02] [-5.83326238e-03 9.66374898e-05 -9.99982982e-01 -1.04564576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.430385723 meters 0.015833052369270254 Centerline is valid? [True, True] Translation: X:227.58, Y:-120.18, Z:-10.46 [[ 6.81732744e-01 7.31586016e-01 -4.72940577e-03 2.27584950e+02] [ 7.31566993e-01 -6.81749135e-01 -5.27746770e-03 -1.20175884e+02] [-7.08518986e-03 1.37945380e-04 -9.99974890e-01 -1.04564356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.490385723 meters 0.016198208223416864 Centerline is valid? [True, True] Translation: X:227.61, Y:-120.16, Z:-10.46 [[ 6.23173079e-01 7.82070028e-01 -4.66743154e-03 2.27613133e+02] [ 7.82046169e-01 -6.23190538e-01 -6.11092532e-03 -1.20163174e+02] [-7.68787071e-03 1.58017197e-04 -9.99970435e-01 -1.04555799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.550385723 meters 0.016095521128777983 Centerline is valid? [True, True] Translation: X:227.64, Y:-120.15, Z:-10.46 [[ 5.59771864e-01 8.28638865e-01 -3.61825633e-03 2.27642384e+02] [ 8.28619977e-01 -5.59783542e-01 -5.59646989e-03 -1.20149922e+02] [-6.66289280e-03 1.34586909e-04 -9.99977794e-01 -1.04553736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.610385723 meters 0.015874729876664214 Centerline is valid? [True, True] Translation: X:227.67, Y:-120.13, Z:-10.46 [[ 4.91746440e-01 8.70735335e-01 -2.32721712e-03 2.27667934e+02] [ 8.70724696e-01 -4.91751938e-01 -4.30529254e-03 -1.20132738e+02] [-4.89318386e-03 9.07468621e-05 -9.99988024e-01 -1.04570904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.670385723 meters 0.015745626707257536 Centerline is valid? [True, True] Translation: X:227.69, Y:-120.11, Z:-10.46 [[ 4.19977623e-01 9.07531515e-01 -2.31217667e-03 2.27690120e+02] [ 9.07516518e-01 -4.19983978e-01 -5.21798320e-03 -1.20113021e+02] [-5.70656135e-03 9.30976616e-05 -9.99983713e-01 -1.04568297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.730385723 meters 0.01556442146574202 Centerline is valid? [True, True] Translation: X:227.71, Y:-120.09, Z:-10.46 [[ 3.47179331e-01 9.37797054e-01 -1.78830041e-03 2.27712562e+02] [ 9.37783321e-01 -3.47183926e-01 -5.07595282e-03 -1.20092046e+02] [-5.38108276e-03 8.52276075e-05 -9.99985518e-01 -1.04582355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.790385723 meters 0.015183953817033023 Centerline is valid? [True, True] Translation: X:227.74, Y:-120.07, Z:-10.46 [[ 2.71291604e-01 9.62496801e-01 -8.79349792e-04 2.27737008e+02] [ 9.62491147e-01 -2.71293025e-01 -3.29949669e-03 -1.20069632e+02] [-3.41431647e-03 4.87593604e-05 -9.99994170e-01 -1.04585679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.850385723 meters 0.014965526342576363 Centerline is valid? [True, True] Translation: X:227.76, Y:-120.04, Z:-10.46 [[ 1.93685318e-01 9.81063483e-01 -6.62990885e-04 2.27757085e+02] [ 9.81056873e-01 -1.93686447e-01 -3.60175086e-03 -1.20044544e+02] [-3.66195860e-03 4.71744966e-05 -9.99993294e-01 -1.04581640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.910385723 meters 0.014949173207002127 Centerline is valid? [True, True] Translation: X:227.77, Y:-120.02, Z:-10.46 [[ 1.15669547e-01 9.93287626e-01 -4.98069215e-04 2.27773415e+02] [ 9.93276069e-01 -1.15670604e-01 -4.79188671e-03 -1.20017978e+02] [-4.81733374e-03 5.95551312e-05 -9.99988395e-01 -1.04565096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.970385723 meters 0.014760857078565174 Centerline is valid? [True, True] Translation: X:227.79, Y:-119.99, Z:-10.46 [[ 3.69288031e-02 9.99317891e-01 -1.27533857e-04 2.27791151e+02] [ 9.99305075e-01 -3.69289754e-02 -5.06137532e-03 -1.19989528e+02] [-5.06263261e-03 5.94653020e-05 -9.99987183e-01 -1.04563733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.030385723 meters 0.014842183072446115 Centerline is valid? [True, True] Translation: X:227.80, Y:-119.96, Z:-10.46 [[-4.19203630e-02 9.99120897e-01 3.39950308e-04 2.27803448e+02] [ 9.99100542e-01 4.19216791e-02 -6.37815221e-03 -1.19960279e+02] [-6.38679645e-03 7.22700807e-05 -9.99979602e-01 -1.04556853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0903857229999 meters 0.015043617115419386 Centerline is valid? [True, True] Translation: X:227.81, Y:-119.93, Z:-10.46 [[-1.19536373e-01 9.92829419e-01 8.94469848e-04 2.27810196e+02] [ 9.92806460e-01 1.19539692e-01 -6.75236552e-03 -1.19931335e+02] [-6.81087179e-03 8.08821589e-05 -9.99976802e-01 -1.04551446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.150385723 meters 0.016111478539393206 Centerline is valid? [True, True] Translation: X:227.81, Y:-119.90, Z:-10.45 [[-1.91479392e-01 9.81495467e-01 1.51349053e-03 2.27814124e+02] [ 9.81469820e-01 1.91485331e-01 -7.09650619e-03 -1.19900913e+02] [-7.25499990e-03 1.26610585e-04 -9.99973674e-01 -1.04541523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.210385723 meters 0.016597909913024584 Centerline is valid? [True, True] Translation: X:227.82, Y:-119.87, Z:-10.45 [[-2.64524396e-01 9.64376867e-01 2.02542082e-03 2.27816209e+02] [ 9.64352739e-01 2.64532108e-01 -6.82338946e-03 -1.19870896e+02] [-7.11610779e-03 1.48267141e-04 -9.99974669e-01 -1.04546541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.270385723 meters 0.016130762317615337 Centerline is valid? [True, True] Translation: X:227.82, Y:-119.84, Z:-10.46 [[-3.37969366e-01 9.41155548e-01 1.71515597e-03 2.27823351e+02] [ 9.41144974e-01 3.37973702e-01 -4.46271409e-03 -1.19837382e+02] [-4.77978574e-03 1.05949771e-04 -9.99988571e-01 -1.04559726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.330385723 meters 0.015643375828947356 Centerline is valid? [True, True] Translation: X:227.83, Y:-119.80, Z:-10.46 [[-4.12989188e-01 9.10733382e-01 2.15340598e-03 2.27826519e+02] [ 9.10722210e-01 4.12994790e-01 -4.51206493e-03 -1.19804028e+02] [-4.99863361e-03 9.77206276e-05 -9.99987502e-01 -1.04551624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.390385723 meters 0.015313747323146772 Centerline is valid? [True, True] Translation: X:227.83, Y:-119.77, Z:-10.46 [[-4.87027253e-01 8.73382558e-01 2.71344326e-03 2.27825526e+02] [ 8.73369920e-01 4.87034805e-01 -4.69909515e-03 -1.19772207e+02] [-5.42564905e-03 8.12523182e-05 -9.99985278e-01 -1.04550829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.450385723 meters 0.0142458901449872 Centerline is valid? [True, True] Translation: X:227.82, Y:-119.74, Z:-10.45 [[-5.58257789e-01 8.29658763e-01 3.81805531e-03 2.27822377e+02] [ 8.29640162e-01 5.58270842e-01 -5.55607048e-03 -1.19737902e+02] [-6.74115151e-03 6.58924015e-05 -9.99977276e-01 -1.04542458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.510385723 meters 0.013894028325023839 Centerline is valid? [True, True] Translation: X:227.81, Y:-119.71, Z:-10.45 [[-6.23890873e-01 7.81493912e-01 5.23876853e-03 2.27813792e+02] [ 7.81467114e-01 6.23912865e-01 -6.47203455e-03 -1.19705892e+02] [-8.32639068e-03 5.60820343e-05 -9.99965333e-01 -1.04533452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.570385723 meters 0.01394748215138762 Centerline is valid? [True, True] Translation: X:227.80, Y:-119.68, Z:-10.45 [[-6.81276164e-01 7.32010254e-01 4.87608882e-03 2.27800920e+02] [ 7.31992197e-01 6.81293610e-01 -5.14191499e-03 -1.19676484e+02] [-7.08598266e-03 6.61948479e-05 -9.99974892e-01 -1.04541721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.630385723 meters 0.014609846138510374 Centerline is valid? [True, True] Translation: X:227.78, Y:-119.65, Z:-10.45 [[-7.32651802e-01 6.80589426e-01 4.40112644e-03 2.27784824e+02] [ 6.80577870e-01 7.32665016e-01 -3.96714005e-03 -1.19649689e+02] [-5.92454494e-03 8.87769554e-05 -9.99982446e-01 -1.04546234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.690385723 meters 0.015065243189763374 Centerline is valid? [True, True] Translation: X:227.80, Y:-119.63, Z:-10.46 [[-7.77677637e-01 6.28648105e-01 4.36502299e-03 2.27801093e+02] [ 6.28638879e-01 7.77689882e-01 -3.40714707e-03 -1.19630421e+02] [-5.53653076e-03 9.43610717e-05 -9.99984669e-01 -1.04554189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.750385723 meters 0.015152459184886943 Centerline is valid? [True, True] Translation: X:227.82, Y:-119.60, Z:-10.45 [[-8.20687545e-01 5.71358705e-01 4.60256874e-03 2.27815741e+02] [ 5.71350332e-01 8.20700446e-01 -3.09450766e-03 -1.19604929e+02] [-5.54540411e-03 9.00552836e-05 -9.99984620e-01 -1.04544866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.810385723 meters 0.015489335945080824 Centerline is valid? [True, True] Translation: X:227.82, Y:-119.58, Z:-10.45 [[-8.60539923e-01 5.09347365e-01 6.02510615e-03 2.27824235e+02] [ 5.09335638e-01 8.60561010e-01 -3.45756051e-03 -1.19576264e+02] [-6.94607077e-03 9.34324320e-05 -9.99975871e-01 -1.04517955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.870385723 meters 0.01415758038589826 Centerline is valid? [True, True] Translation: X:227.84, Y:-119.55, Z:-10.45 [[-8.95184319e-01 4.45634129e-01 7.43356679e-03 2.27837258e+02] [ 4.45619667e-01 8.95215177e-01 -3.59142745e-03 -1.19548707e+02] [-8.25510446e-03 9.75540232e-05 -9.99965921e-01 -1.04527931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.930385723 meters 0.01383584019122988 Centerline is valid? [True, True] Translation: X:227.85, Y:-119.52, Z:-10.45 [[-9.24953570e-01 3.79978543e-01 8.78633055e-03 2.27847331e+02] [ 3.79962428e-01 9.24995295e-01 -3.50092349e-03 -1.19520979e+02] [-9.45759023e-03 1.00283808e-04 -9.99955271e-01 -1.04522904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.990385723 meters 0.013707047673455928 Centerline is valid? [True, True] Translation: X:227.85, Y:-119.49, Z:-10.45 [[-9.49631120e-01 3.13223184e-01 9.59025466e-03 2.27852446e+02] [ 3.13208321e-01 9.49679539e-01 -3.05320328e-03 -1.19492663e+02] [-1.00640027e-02 1.04330705e-04 -9.99949351e-01 -1.04521114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.050385723 meters 0.013790332203149172 Centerline is valid? [True, True] Translation: X:227.85, Y:-119.47, Z:-10.45 [[-9.69384667e-01 2.45339155e-01 1.01027530e-02 2.27850224e+02] [ 2.45327014e-01 9.69437304e-01 -2.44323291e-03 -1.19465096e+02] [-1.03934063e-02 1.10045707e-04 -9.99945981e-01 -1.04514596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.110385723 meters 0.013992287149174212 Centerline is valid? [True, True] Translation: X:227.86, Y:-119.44, Z:-10.45 [[-9.84125552e-01 1.77169896e-01 1.03790827e-02 2.27859348e+02] [ 1.77161368e-01 9.84180274e-01 -1.74272157e-03 -1.19440456e+02] [-1.05236463e-02 1.23715669e-04 -9.99944617e-01 -1.04512439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.170385723 meters 0.01427172387822046 Centerline is valid? [True, True] Translation: X:227.86, Y:-119.41, Z:-10.45 [[-9.94082924e-01 1.08259630e-01 8.88775175e-03 2.27857523e+02] [ 1.08256357e-01 9.94122648e-01 -8.49914022e-04 -1.19413873e+02] [-8.92752668e-03 1.17270613e-04 -9.99960142e-01 -1.04517980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.230385723 meters 0.01369591454913407 Centerline is valid? [True, True] Translation: X:227.92, Y:-118.76, Z:-11.47 [[-9.88581735e-01 -1.50523739e-01 6.98261172e-03 2.27921442e+02] [ 1.50518455e-01 -9.88606372e-01 -1.27925731e-03 -1.18756154e+02] [ 7.09561303e-03 -2.13638489e-04 9.99974803e-01 -1.14650478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.290385723 meters 0.01335206079466738 Centerline is valid? [True, True] Translation: X:227.80, Y:-119.41, Z:-10.45 [[-9.95037668e-01 9.92743855e-02 6.68102008e-03 2.27802970e+02] [ 9.92725168e-02 9.95060095e-01 -6.11574099e-04 -1.19408815e+02] [-6.70873013e-03 5.47024135e-05 -9.99977495e-01 -1.04542382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.350385723 meters 0.01324591676501887 Centerline is valid? [True, True] Translation: X:227.86, Y:-118.75, Z:-11.47 [[-9.88498731e-01 -1.51070378e-01 6.92814266e-03 2.27862410e+02] [ 1.51066403e-01 -9.88523009e-01 -1.09646513e-03 -1.18751976e+02] [ 7.01427183e-03 -3.72447991e-05 9.99975399e-01 -1.14658110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.410385723 meters 0.013471403255967244 Centerline is valid? [True, True] Translation: X:227.74, Y:-119.41, Z:-10.45 [[-9.95570850e-01 9.36150374e-02 8.65492506e-03 2.27743985e+02] [ 9.36119894e-02 9.95608468e-01 -7.57496223e-04 -1.19407960e+02] [-8.68782972e-03 5.60635955e-05 -9.99962259e-01 -1.04527276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.470385723 meters 0.013455010042510427 Centerline is valid? [True, True] Translation: X:227.81, Y:-118.74, Z:-11.47 [[-9.88996772e-01 -1.47691439e-01 8.52196778e-03 2.27805753e+02] [ 1.47685436e-01 -9.89033485e-01 -1.33291481e-03 -1.18742581e+02] [ 8.62537160e-03 -5.96779134e-05 9.99962799e-01 -1.14674613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.530385723 meters 0.013201060684692739 Centerline is valid? [True, True] Translation: X:227.69, Y:-119.41, Z:-10.45 [[-9.96176710e-01 8.69691815e-02 8.26578801e-03 2.27689441e+02] [ 8.69664473e-02 9.96211002e-01 -6.90324628e-04 -1.19406056e+02] [-8.29450593e-03 3.11609008e-05 -9.99965600e-01 -1.04524754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5903857229999 meters 0.013160240952385978 Centerline is valid? [True, True] Translation: X:227.69, Y:-119.38, Z:-10.45 [[-9.99873796e-01 1.30029625e-02 9.12766154e-03 2.27686110e+02] [ 1.30024831e-02 9.99915458e-01 -1.11859971e-04 -1.19378452e+02] [-9.12834438e-03 6.83641074e-06 -9.99958336e-01 -1.04521605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.650385723 meters 0.013010062977290935 Centerline is valid? [True, True] Translation: X:227.68, Y:-119.36, Z:-10.45 [[-9.98307994e-01 -5.77017903e-02 7.18693947e-03 2.27680816e+02] [-5.77002360e-02 9.98333864e-01 4.23604607e-04 -1.19355703e+02] [-7.19940780e-03 8.19976236e-06 -9.99974084e-01 -1.04544308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.710385723 meters 0.013042298867257739 Centerline is valid? [True, True] Translation: X:227.67, Y:-119.33, Z:-10.46 [[-9.91922408e-01 -1.26648016e-01 7.08633462e-03 2.27669424e+02] [-1.26644627e-01 9.91947720e-01 9.26750935e-04 -1.19331960e+02] [-7.14664464e-03 2.18188127e-05 -9.99974462e-01 -1.04552765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.770385723 meters 0.013237294284020209 Centerline is valid? [True, True] Translation: X:227.66, Y:-119.31, Z:-10.46 [[-9.81007543e-01 -1.93826128e-01 7.45867377e-03 2.27662609e+02] [-1.93820149e-01 9.81035896e-01 1.52317742e-03 -1.19310694e+02] [-7.61245828e-03 4.86072749e-05 -9.99971024e-01 -1.04558518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.830385723 meters 0.013554184356054167 Centerline is valid? [True, True] Translation: X:227.64, Y:-119.29, Z:-10.46 [[-9.65604587e-01 -2.59947468e-01 5.92412865e-03 2.27643589e+02] [-2.59942179e-01 9.65622758e-01 1.65933254e-03 -1.19291105e+02] [-6.15181273e-03 6.23281994e-05 -9.99981075e-01 -1.04565078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.890385723 meters 0.014032224029271517 Centerline is valid? [True, True] Translation: X:227.61, Y:-119.27, Z:-10.46 [[-9.45190729e-01 -3.26472668e-01 5.48474946e-03 2.27611664e+02] [-3.26466714e-01 9.45206640e-01 1.97304904e-03 -1.19274516e+02] [-5.82836819e-03 7.43195267e-05 -9.99983012e-01 -1.04552175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.950385723 meters 0.014427489991961053 Centerline is valid? [True, True] Translation: X:227.55, Y:-119.27, Z:-10.45 [[-9.19478503e-01 -3.93099802e-01 5.64175973e-03 2.27552364e+02] [-3.93091842e-01 9.19495807e-01 2.50289833e-03 -1.19272602e+02] [-6.17146325e-03 8.36314813e-05 -9.99980953e-01 -1.04535932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.010385723 meters 0.01406592311666443 Centerline is valid? [True, True] Translation: X:227.50, Y:-119.27, Z:-10.45 [[-8.87213941e-01 -4.61330911e-01 5.02128898e-03 2.27499744e+02] [-4.61323078e-01 8.87228147e-01 2.68934342e-03 -1.19266487e+02] [-5.69570617e-03 6.95864924e-05 -9.99983777e-01 -1.04528682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.070385723 meters 0.013723678504002149 Centerline is valid? [True, True] Translation: X:227.42, Y:-119.28, Z:-10.45 [[-8.49058313e-01 -5.28278740e-01 4.64266716e-03 2.27424371e+02] [-5.28270513e-01 8.49071004e-01 2.94878974e-03 -1.19278694e+02] [-5.49973699e-03 5.11102855e-05 -9.99984875e-01 -1.04518977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.130385723 meters 0.01357580287741048 Centerline is valid? [True, True] Translation: X:227.34, Y:-119.30, Z:-10.45 [[-8.05092731e-01 -5.93137084e-01 3.75418233e-03 2.27344555e+02] [-5.93130485e-01 8.05101484e-01 2.79785329e-03 -1.19302338e+02] [-4.68200830e-03 2.58113594e-05 -9.99989039e-01 -1.04525185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.190385723 meters 0.01349109000833198 Centerline is valid? [True, True] Translation: X:227.25, Y:-119.34, Z:-10.45 [[-7.55314025e-01 -6.55353413e-01 3.55368337e-03 2.27251157e+02] [-6.55346144e-01 7.55322385e-01 3.08650503e-03 -1.19340535e+02] [-4.70692820e-03 2.38784138e-06 -9.99988922e-01 -1.04516026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.250385723 meters 0.013707427119726234 Centerline is valid? [True, True] Translation: X:227.17, Y:-119.38, Z:-10.45 [[-7.00888372e-01 -7.13265048e-01 2.90892889e-03 2.27172575e+02] [-7.13258991e-01 7.00894408e-01 2.93948374e-03 -1.19376108e+02] [-4.13548300e-03 -1.45697158e-05 -9.99991449e-01 -1.04506104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.310385723 meters 0.013834317365378015 Centerline is valid? [True, True] Translation: X:227.09, Y:-119.43, Z:-10.45 [[-6.44155586e-01 -7.64888394e-01 3.05367710e-03 2.27085401e+02] [-7.64879958e-01 6.44162824e-01 3.59254464e-03 -1.19433455e+02] [-4.71496097e-03 -2.15387080e-05 -9.99988884e-01 -1.04498009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.370385723 meters 0.013958680250527643 Centerline is valid? [True, True] Translation: X:227.00, Y:-119.50, Z:-10.45 [[-5.85807066e-01 -8.10445980e-01 2.71934491e-03 2.27003917e+02] [-8.10437342e-01 5.85813378e-01 3.74189309e-03 -1.19496107e+02] [-4.62563084e-03 -1.18312487e-05 -9.99989302e-01 -1.04491324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.430385723 meters 0.014045649413879757 Centerline is valid? [True, True] Translation: X:226.92, Y:-119.57, Z:-10.45 [[-5.23925996e-01 -8.51760098e-01 2.50714653e-03 2.26921640e+02] [-8.51750382e-01 5.23931994e-01 4.06841111e-03 -1.19572003e+02] [-4.77888453e-03 -3.91667997e-06 -9.99988581e-01 -1.04485931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.490385723 meters 0.014137566738091412 Centerline is valid? [True, True] Translation: X:226.84, Y:-119.65, Z:-10.45 [[-4.56975574e-01 -8.89475223e-01 2.67446134e-03 2.26840463e+02] [-8.89460091e-01 4.56983400e-01 5.18829950e-03 -1.19654995e+02] [-5.83704829e-03 -7.90048311e-06 -9.99982964e-01 -1.04477501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.550385723 meters 0.014290754451304588 Centerline is valid? [True, True] Translation: X:226.76, Y:-119.74, Z:-10.45 [[-3.88167891e-01 -9.21585041e-01 2.58843813e-03 2.26764310e+02] [-9.21564639e-01 3.88176522e-01 6.13223257e-03 -1.19744083e+02] [-6.65614471e-03 -5.07726012e-06 -9.99977848e-01 -1.04462042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.610385723 meters 0.014265644728533804 Centerline is valid? [True, True] Translation: X:226.69, Y:-119.85, Z:-10.45 [[-3.18506594e-01 -9.47917936e-01 2.26613688e-03 2.26694199e+02] [-9.47893728e-01 3.18514656e-01 6.77453991e-03 -1.19851102e+02] [-7.14350570e-03 9.67870338e-06 -9.99974485e-01 -1.04461222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.670385723 meters 0.014928991105037308 Centerline is valid? [True, True] Translation: X:226.64, Y:-119.94, Z:-10.45 [[-2.51739580e-01 -9.67793426e-01 1.75137181e-03 2.26642754e+02] [-9.67768282e-01 2.51745665e-01 6.97650181e-03 -1.19937788e+02] [-7.19271285e-03 6.13395445e-05 -9.99974130e-01 -1.04463490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.730385723 meters 0.015546328988293927 Centerline is valid? [True, True] Translation: X:226.59, Y:-120.05, Z:-10.44 [[-1.80008832e-01 -9.83663951e-01 1.43242156e-03 2.26591253e+02] [-9.83628145e-01 1.80014503e-01 8.39350795e-03 -1.20047782e+02] [-8.51424784e-03 1.01935401e-04 -9.99963748e-01 -1.04446709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.790385723 meters 0.01550565955494713 Centerline is valid? [True, True] Translation: X:226.55, Y:-120.16, Z:-10.44 [[-1.08080351e-01 -9.94141769e-01 8.83909484e-04 2.26545306e+02] [-9.94095719e-01 1.08083853e-01 9.56985149e-03 -1.20164812e+02] [-9.60932543e-03 1.55622271e-04 -9.99953817e-01 -1.04445721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.850385723 meters 0.015852658736184175 Centerline is valid? [True, True] Translation: X:226.51, Y:-120.29, Z:-10.45 [[-3.18225224e-02 -9.99493527e-01 1.25962970e-04 2.26509428e+02] [-9.99459041e-01 3.18224709e-02 8.30394839e-03 -1.20286028e+02] [-8.30375112e-03 1.38357754e-04 -9.99965514e-01 -1.04461251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.910385723 meters 0.015551403292982904 Centerline is valid? [True, True] Translation: X:226.48, Y:-120.41, Z:-10.45 [[ 4.69477491e-02 -9.98897239e-01 -4.64435481e-04 2.26481318e+02] [-9.98869034e-01 -4.69499140e-02 7.50721971e-03 -1.20408347e+02] [-7.52074625e-03 1.11463153e-04 -9.99971713e-01 -1.04463114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.970385723 meters 0.014663048937261813 Centerline is valid? [True, True] Translation: X:226.46, Y:-120.53, Z:-10.45 [[ 1.27907366e-01 -9.91785756e-01 -8.48743671e-04 2.26459957e+02] [-9.91767117e-01 -1.27910166e-01 6.08069482e-03 -1.20532629e+02] [-6.13930946e-03 6.39904051e-05 -9.99981152e-01 -1.04480579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.030385723 meters 0.014235182473316862 Centerline is valid? [True, True] Translation: X:226.45, Y:-120.66, Z:-10.45 [[ 2.07275461e-01 -9.78282055e-01 -1.05072527e-03 2.26451379e+02] [-9.78270285e-01 -2.07278122e-01 4.79891736e-03 -1.20663267e+02] [-4.91248710e-03 3.31954962e-05 -9.99987933e-01 -1.04491369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0903857229999 meters 0.013808946841346792 Centerline is valid? [True, True] Translation: X:226.45, Y:-120.79, Z:-10.45 [[ 2.86136616e-01 -9.58187610e-01 -1.53021329e-03 2.26450050e+02] [-9.58174118e-01 -2.86140708e-01 5.08478432e-03 -1.20794166e+02] [-5.31003365e-03 1.12677898e-05 -9.99985902e-01 -1.04480631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.150385723 meters 0.013592228617934502 Centerline is valid? [True, True] Translation: X:226.46, Y:-120.91, Z:-10.45 [[ 3.59031660e-01 -9.33323840e-01 -1.69604015e-03 2.26456207e+02] [-9.33313539e-01 -3.59035666e-01 4.38501178e-03 -1.20909969e+02] [-4.70157493e-03 8.57917897e-06 -9.99988948e-01 -1.04472681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.210385723 meters 0.013822059769701902 Centerline is valid? [True, True] Translation: X:226.48, Y:-121.03, Z:-10.45 [[ 4.26780951e-01 -9.04350145e-01 -2.97254569e-03 2.26477671e+02] [-9.04328753e-01 -4.26791302e-01 6.22025404e-03 -1.21030294e+02] [-6.89394428e-03 3.34726017e-05 -9.99976236e-01 -1.04455674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.270385723 meters 0.014558903171220734 Centerline is valid? [True, True] Translation: X:226.51, Y:-121.14, Z:-10.44 [[ 4.89067962e-01 -8.72237296e-01 -3.82469344e-03 2.26508099e+02] [-8.72212006e-01 -4.89082909e-01 6.64255892e-03 -1.21143113e+02] [-7.66447983e-03 8.72807797e-05 -9.99970624e-01 -1.04443212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.330385723 meters 0.015384300911216807 Centerline is valid? [True, True] Translation: X:226.54, Y:-121.25, Z:-10.44 [[ 5.47918862e-01 -8.36522044e-01 -3.97377046e-03 2.26539521e+02] [-8.36501797e-01 -5.47933255e-01 5.82170974e-03 -1.21249576e+02] [-7.04734951e-03 1.34241561e-04 -9.99975158e-01 -1.04439135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.390385723 meters 0.016517455531872092 Centerline is valid? [True, True] Translation: X:226.58, Y:-121.36, Z:-10.44 [[ 6.07164975e-01 -7.94567968e-01 -3.52656285e-03 2.26584025e+02] [-7.94555775e-01 -6.07175203e-01 4.40368976e-03 -1.21358051e+02] [-5.64027234e-03 1.28284700e-04 -9.99984085e-01 -1.04448846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.450385723 meters 0.016065475953580873 Centerline is valid? [True, True] Translation: X:226.63, Y:-121.46, Z:-10.45 [[ 6.66761218e-01 -7.45268858e-01 -1.95122775e-03 2.26628214e+02] [-7.45265932e-01 -6.66764071e-01 2.08902121e-03 -1.21461613e+02] [-2.85789101e-03 6.13052394e-05 -9.99995914e-01 -1.04472660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.510385723 meters 0.015250838512652035 Centerline is valid? [True, True] Translation: X:226.68, Y:-121.56, Z:-10.45 [[ 7.24863999e-01 -6.88891297e-01 -9.82003088e-04 2.26676464e+02] [-6.88890705e-01 -7.24864663e-01 9.03423240e-04 -1.21563482e+02] [-1.33417975e-03 2.16338173e-05 -9.99999110e-01 -1.04469415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.570385723 meters 0.014282750529754674 Centerline is valid? [True, True] Translation: X:226.69, Y:-121.60, Z:-10.45 [[ 7.80405658e-01 -6.25271406e-01 -1.63651769e-03 2.26691453e+02] [-6.25270087e-01 -7.80407374e-01 1.28436792e-03 -1.21599795e+02] [-2.08022901e-03 2.09375671e-05 -9.99997836e-01 -1.04465754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.630385723 meters 0.013851796660905615 Centerline is valid? [True, True] Translation: X:226.71, Y:-121.63, Z:-10.44 [[ 8.29872683e-01 -5.57944466e-01 -3.05015816e-03 2.26710013e+02] [-5.57940775e-01 -8.29878288e-01 2.02954306e-03 -1.21632826e+02] [-3.66363234e-03 1.75452653e-05 -9.99993289e-01 -1.04448471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.690385723 meters 0.013680650483583056 Centerline is valid? [True, True] Translation: X:226.73, Y:-121.67, Z:-10.44 [[ 8.72097484e-01 -4.89311782e-01 -4.46744896e-03 2.26730997e+02] [-4.89305437e-01 -8.72108926e-01 2.49200255e-03 -1.21666327e+02] [-5.11546833e-03 1.26779065e-05 -9.99986916e-01 -1.04438102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.750385723 meters 0.013677734612904727 Centerline is valid? [True, True] Translation: X:226.76, Y:-121.70, Z:-10.44 [[ 9.07588922e-01 -4.19832146e-01 -4.82875664e-03 2.26755479e+02] [-4.19826288e-01 -9.07601768e-01 2.21788240e-03 -1.21699092e+02] [-5.31372639e-03 1.43134835e-05 -9.99985882e-01 -1.04440584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.810385723 meters 0.013927846609062947 Centerline is valid? [True, True] Translation: X:226.78, Y:-121.73, Z:-10.44 [[ 9.36241360e-01 -3.51316703e-01 -5.35634578e-03 2.26783719e+02] [-3.51311186e-01 -9.36256681e-01 1.96934578e-03 -1.21727410e+02] [-5.70677859e-03 3.79612143e-05 -9.99983715e-01 -1.04443274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.870385723 meters 0.014552581409003937 Centerline is valid? [True, True] Translation: X:226.81, Y:-121.75, Z:-10.45 [[ 9.59144040e-01 -2.82894336e-01 -3.67488701e-03 2.26814582e+02] [-2.82892453e-01 -9.59151079e-01 1.03328574e-03 -1.21751026e+02] [-3.81708252e-03 4.85279425e-05 -9.99992714e-01 -1.04463080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.930385723 meters 0.015272280425091203 Centerline is valid? [True, True] Translation: X:226.85, Y:-121.77, Z:-10.45 [[ 9.77593721e-01 -2.10480050e-01 -2.94382973e-03 2.26847794e+02] [-2.10479246e-01 -9.77598152e-01 5.84045276e-04 -1.21773245e+02] [-3.00081238e-03 4.86560652e-05 -9.99995496e-01 -1.04466135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.990385723 meters 0.01530371294218704 Centerline is valid? [True, True] Translation: X:226.88, Y:-121.79, Z:-10.45 [[ 9.91168857e-01 -1.32539348e-01 -4.19737784e-03 2.26881650e+02] [-1.32538438e-01 -9.91177742e-01 4.95611907e-04 -1.21792664e+02] [-4.22603557e-03 6.50788139e-05 -9.99991068e-01 -1.04457974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.050385723 meters 0.014717679202177173 Centerline is valid? [True, True] Translation: X:226.91, Y:-121.81, Z:-10.44 [[ 9.98640854e-01 -5.17265090e-02 -6.38849925e-03 2.26914846e+02] [-5.17259659e-02 -9.98661285e-01 2.50318320e-04 -1.21812084e+02] [-6.39289496e-03 8.04731934e-05 -9.99979562e-01 -1.04446162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.110385723 meters 0.014701378434684368 Centerline is valid? [True, True] Translation: X:226.95, Y:-121.83, Z:-10.44 [[ 9.99579579e-01 2.76498604e-02 -8.72644091e-03 2.26949382e+02] [ 2.76479238e-02 -9.99617664e-01 -3.42505938e-04 -1.21826285e+02] [-8.73257472e-03 1.01093967e-04 -9.99961865e-01 -1.04434721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.170385723 meters 0.015035078639049172 Centerline is valid? [True, True] Translation: X:226.98, Y:-121.83, Z:-10.44 [[ 9.94497771e-01 1.04292744e-01 -9.85934102e-03 2.26984822e+02] [ 1.04286319e-01 -9.94546634e-01 -1.16492725e-03 -1.21834901e+02] [-9.92706788e-03 1.30323171e-04 -9.99950717e-01 -1.04434920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.230385723 meters 0.015455665777189884 Centerline is valid? [True, True] Translation: X:227.02, Y:-121.84, Z:-10.44 [[ 9.83782449e-01 1.79144426e-01 -8.90884400e-03 2.27020062e+02] [ 1.79135753e-01 -9.83822776e-01 -1.76859268e-03 -1.21838530e+02] [-9.08155715e-03 1.44017960e-04 -9.99958751e-01 -1.04448185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.290385723 meters 0.01589858354205565 Centerline is valid? [True, True] Translation: X:227.05, Y:-121.84, Z:-10.45 [[ 9.66928965e-01 2.54913982e-01 -8.19993537e-03 2.27053728e+02] [ 2.54903576e-01 -9.66963723e-01 -2.30759750e-03 -1.21837265e+02] [-8.51727890e-03 1.41090014e-04 -9.99963717e-01 -1.04451659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.350385723 meters 0.014999314127763197 Centerline is valid? [True, True] Translation: X:227.09, Y:-121.84, Z:-10.44 [[ 9.43131523e-01 3.32319298e-01 -8.17403570e-03 2.27090469e+02] [ 3.32305702e-01 -9.43166936e-01 -3.00852500e-03 -1.21839358e+02] [-8.70927112e-03 1.21156093e-04 -9.99962066e-01 -1.04449677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.410385723 meters 0.014673684973116982 Centerline is valid? [True, True] Translation: X:227.13, Y:-121.84, Z:-10.45 [[ 9.12548755e-01 4.08885054e-01 -8.23303070e-03 2.27125395e+02] [ 4.08867531e-01 -9.12585889e-01 -3.78648115e-03 -1.21835778e+02] [-9.06158319e-03 8.91297252e-05 -9.99958939e-01 -1.04451655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.470385723 meters 0.014595101087962385 Centerline is valid? [True, True] Translation: X:227.16, Y:-121.83, Z:-10.44 [[ 8.76609362e-01 4.81112606e-01 -9.31058026e-03 2.27158446e+02] [ 4.81084493e-01 -8.76658802e-01 -5.20156569e-03 -1.21827070e+02] [-1.06647410e-02 8.05653930e-05 -9.99943127e-01 -1.04436664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.530385723 meters 0.01445237689217017 Centerline is valid? [True, True] Translation: X:227.19, Y:-121.81, Z:-10.44 [[ 8.36023488e-01 5.48601941e-01 -1.00318375e-02 2.27191392e+02] [ 5.48561214e-01 -8.36083670e-01 -6.68515774e-03 -1.21814476e+02] [-1.20549460e-02 8.58719308e-05 -9.99927333e-01 -1.04438673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5903857229999 meters 0.016437930584467766 Centerline is valid? [True, True] Translation: X:227.22, Y:-121.80, Z:-10.44 [[ 7.91916051e-01 6.10528968e-01 -1.11061763e-02 2.27219478e+02] [ 6.10466563e-01 -7.91993915e-01 -8.73002199e-03 -1.21796931e+02] [-1.41259554e-02 1.33495271e-04 -9.99900215e-01 -1.04408318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.650385723 meters 0.015495658789143373 Centerline is valid? [True, True] Translation: X:227.25, Y:-121.78, Z:-10.44 [[ 7.43998693e-01 6.68100670e-01 -1.03652955e-02 2.27247180e+02] [ 6.68032417e-01 -7.44070872e-01 -9.55135060e-03 -1.21777228e+02] [-1.40937782e-02 1.81838978e-04 -9.99900661e-01 -1.04426794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.710385723 meters 0.016138426425892888 Centerline is valid? [True, True] Translation: X:227.27, Y:-121.76, Z:-10.44 [[ 6.90570924e-01 7.23212745e-01 -8.66746829e-03 2.27270443e+02] [ 7.23152402e-01 -6.90625290e-01 -9.34408693e-03 -1.21755817e+02] [-1.27437356e-02 1.84854230e-04 -9.99918778e-01 -1.04429398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.770385723 meters 0.015181423977147984 Centerline is valid? [True, True] Translation: X:227.30, Y:-121.74, Z:-10.45 [[ 6.30964175e-01 7.75781281e-01 -6.90026071e-03 2.27297160e+02] [ 7.75732294e-01 -6.31001887e-01 -8.71933871e-03 -1.21735407e+02] [-1.11183773e-02 1.48835293e-04 -9.99938178e-01 -1.04470243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.830385723 meters 0.014608816805181266 Centerline is valid? [True, True] Translation: X:227.32, Y:-121.71, Z:-10.45 [[ 5.64530988e-01 8.25393716e-01 -5.47518476e-03 2.27322888e+02] [ 8.25353406e-01 -5.64557531e-01 -8.15772435e-03 -1.21714427e+02] [-9.82439121e-03 8.63257909e-05 -9.99951736e-01 -1.04476387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.890385723 meters 0.014176535319037188 Centerline is valid? [True, True] Translation: X:227.35, Y:-121.69, Z:-10.45 [[ 4.92119048e-01 8.70511258e-01 -5.38437798e-03 2.27346801e+02] [ 8.70458716e-01 -4.92148503e-01 -9.56423475e-03 -1.21692192e+02] [-1.09756876e-02 1.98633527e-05 -9.99939765e-01 -1.04472193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.950385723 meters 0.014164919117210711 Centerline is valid? [True, True] Translation: X:227.37, Y:-121.67, Z:-10.45 [[ 4.20189208e-01 9.07424168e-01 -4.73374327e-03 2.27369507e+02] [ 9.07366803e-01 -4.20215872e-01 -1.02032160e-02 -1.21668287e+02] [-1.12478389e-02 -7.96022831e-06 -9.99936741e-01 -1.04472089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.010385723 meters 0.014401500294034676 Centerline is valid? [True, True] Translation: X:227.39, Y:-121.64, Z:-10.45 [[ 3.43051319e-01 9.39308533e-01 -3.90802210e-03 2.27387272e+02] [ 9.39249750e-01 -3.43073572e-01 -1.05086560e-02 -1.21643091e+02] [-1.12116093e-02 -6.56004890e-05 -9.99937146e-01 -1.04463027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.070385723 meters 0.014617365403410711 Centerline is valid? [True, True] Translation: X:227.40, Y:-121.62, Z:-10.45 [[ 2.67150107e-01 9.63649783e-01 -3.14909179e-03 2.27399712e+02] [ 9.63586421e-01 -2.67168654e-01 -1.10507367e-02 -1.21615164e+02] [-1.14903786e-02 -8.22166033e-05 -9.99933980e-01 -1.04476288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.130385723 meters 0.01448017503734101 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.59, Z:-10.45 [[ 1.91960902e-01 9.81400180e-01 -2.16744561e-03 2.27405134e+02] [ 9.81341453e-01 -1.91973127e-01 -1.07364749e-02 -1.21585986e+02] [-1.09528697e-02 -6.60208158e-05 -9.99940013e-01 -1.04500083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.190385723 meters 0.014449882782719272 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.56, Z:-10.45 [[ 1.17410295e-01 9.93082488e-01 -1.41220815e-03 2.27408438e+02] [ 9.93014338e-01 -1.17418782e-01 -1.16341972e-02 -1.21558259e+02] [-1.17195373e-02 -3.63684131e-05 -9.99931323e-01 -1.04493138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.250385723 meters 0.014302171883646592 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.53, Z:-10.45 [[ 4.25615815e-02 9.99093734e-01 -4.72174820e-04 2.27411061e+02] [ 9.99031655e-01 -4.25642005e-02 -1.11373668e-02 -1.21529727e+02] [-1.11473712e-02 2.30635493e-06 -9.99937866e-01 -1.04501448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.310385723 meters 0.014603507435179993 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.50, Z:-10.45 [[-3.21730735e-02 9.99482227e-01 4.13433958e-04 2.27408881e+02] [ 9.99416514e-01 3.21756991e-02 -1.14610581e-02 -1.21502019e+02] [-1.14684264e-02 4.44552588e-05 -9.99934234e-01 -1.04507347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.370385723 meters 0.014697563545494839 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.47, Z:-10.45 [[-1.09557775e-01 9.93979284e-01 1.50912922e-03 2.27413557e+02] [ 9.93892546e-01 1.09568151e-01 -1.31311291e-02 -1.21473992e+02] [-1.32174228e-02 6.12949959e-05 -9.99912644e-01 -1.04512683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.430385723 meters 0.015005114052977674 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.45, Z:-10.45 [[-1.88742692e-01 9.82022687e-01 2.76392739e-03 2.27412798e+02] [ 9.81920653e-01 1.88762924e-01 -1.41559320e-02 -1.21448050e+02] [-1.44231734e-02 4.21286672e-05 -9.99895980e-01 -1.04500903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.490385723 meters 0.014775912679635034 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.42, Z:-10.45 [[-2.66040324e-01 9.63953518e-01 4.02004378e-03 2.27413184e+02] [ 9.63845129e-01 2.66070693e-01 -1.44552223e-02 -1.21421082e+02] [-1.50037782e-02 2.90275887e-05 -9.99887437e-01 -1.04516564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.550385723 meters 0.014814475742210797 Centerline is valid? [True, True] Translation: X:227.41, Y:-121.39, Z:-10.45 [[-3.41133297e-01 9.40000731e-01 5.16707791e-03 2.27409094e+02] [ 9.39893934e-01 3.41172426e-01 -1.41692659e-02 -1.21394939e+02] [-1.50819848e-02 2.28967868e-05 -9.99886260e-01 -1.04521897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.610385723 meters 0.015199956038694796 Centerline is valid? [True, True] Translation: X:227.40, Y:-121.37, Z:-10.45 [[-4.13480600e-01 9.10492303e-01 6.12857900e-03 2.27401741e+02] [ 9.10393238e-01 4.13526015e-01 -1.34308364e-02 -1.21371739e+02] [-1.47630000e-02 2.60265962e-05 -9.99891021e-01 -1.04501444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.670385723 meters 0.014755753776735277 Centerline is valid? [True, True] Translation: X:227.40, Y:-121.35, Z:-10.45 [[-4.82715217e-01 8.75750584e-01 6.85081065e-03 2.27396723e+02] [ 8.75663514e-01 4.82763827e-01 -1.23490150e-02 -1.21345747e+02] [-1.41219807e-02 3.79474739e-05 -9.99900279e-01 -1.04544119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.730385723 meters 0.01468112071665278 Centerline is valid? [True, True] Translation: X:227.39, Y:-121.32, Z:-10.46 [[-5.51530905e-01 8.34118847e-01 7.70776090e-03 2.27391117e+02] [ 8.34037635e-01 5.51584761e-01 -1.16393696e-02 -1.21318932e+02] [-1.39601010e-02 9.09062094e-06 -9.99902553e-01 -1.04559567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.790385723 meters 0.014688646054626782 Centerline is valid? [True, True] Translation: X:227.39, Y:-121.29, Z:-10.46 [[-6.16692434e-01 7.87158719e-01 8.46124630e-03 2.27385908e+02] [ 7.87084252e-01 6.16750477e-01 -1.08272929e-02 -1.21292099e+02] [-1.37412757e-02 -1.73959032e-05 -9.99905584e-01 -1.04556740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.850385723 meters 0.014713904927177505 Centerline is valid? [True, True] Translation: X:227.38, Y:-121.27, Z:-10.46 [[-6.77170712e-01 7.35764499e-01 9.50942859e-03 2.27376588e+02] [ 7.35691305e-01 6.77237478e-01 -1.03779525e-02 -1.21268107e+02] [-1.40758705e-02 -3.16415826e-05 -9.99900930e-01 -1.04558631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.910385723 meters 0.014685573865165424 Centerline is valid? [True, True] Translation: X:227.36, Y:-121.24, Z:-10.46 [[-7.32000804e-01 6.81221949e-01 1.05583478e-02 2.27364579e+02] [ 6.81150746e-01 7.32076946e-01 -9.84917291e-03 -1.21243250e+02] [-1.44389958e-02 -1.77759944e-05 -9.99895752e-01 -1.04569421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.970385723 meters 0.014744013052726553 Centerline is valid? [True, True] Translation: X:227.38, Y:-121.22, Z:-10.46 [[-7.77547607e-01 6.28716447e-01 1.16339139e-02 2.27379076e+02] [ 6.28646101e-01 7.77634638e-01 -9.40476203e-03 -1.21218561e+02] [-1.49598630e-02 9.64408005e-07 -9.99888095e-01 -1.04558034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.030385723 meters 0.014818076154675007 Centerline is valid? [True, True] Translation: X:227.40, Y:-121.20, Z:-10.46 [[-8.19047549e-01 5.73591631e-01 1.23997430e-02 2.27401037e+02] [ 5.73526437e-01 8.19141404e-01 -8.64789548e-03 -1.21199957e+02] [-1.51175033e-02 2.85427964e-05 -9.99885724e-01 -1.04550544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0903857229999 meters 0.014771427342757264 Centerline is valid? [True, True] Translation: X:227.42, Y:-121.18, Z:-10.46 [[-8.56725509e-01 5.15621200e-01 1.24972358e-02 2.27420659e+02] [ 5.15567233e-01 8.56816652e-01 -7.46006546e-03 -1.21178731e+02] [-1.45544076e-02 5.19368762e-05 -9.99894078e-01 -1.04570831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.150385723 meters 0.014773841457888333 Centerline is valid? [True, True] Translation: X:227.43, Y:-121.15, Z:-10.46 [[-8.89977885e-01 4.55845801e-01 1.19987238e-02 2.27433549e+02] [ 4.55805587e-01 8.90058762e-01 -6.05539188e-03 -1.21154111e+02] [-1.34398942e-02 7.99205002e-05 -9.99909677e-01 -1.04591892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.210385723 meters 0.015088794019274144 Centerline is valid? [True, True] Translation: X:227.45, Y:-121.13, Z:-10.46 [[-9.18774441e-01 3.94597282e-01 1.21042351e-02 2.27454598e+02] [ 3.94564759e-01 9.18854162e-01 -5.06752486e-03 -1.21134364e+02] [-1.31216583e-02 1.19992277e-04 -9.99913900e-01 -1.04598098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.270385723 meters 0.015111237727818536 Centerline is valid? [True, True] Translation: X:227.47, Y:-121.11, Z:-10.46 [[-9.44068656e-01 3.29537512e-01 1.18068349e-02 2.27469575e+02] [ 3.29513425e-01 9.44142474e-01 -3.98629569e-03 -1.21109490e+02] [-1.24609683e-02 1.27173784e-04 -9.99922351e-01 -1.04603891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.330385723 meters 0.016961449438316498 Centerline is valid? [True, True] Translation: X:227.48, Y:-121.08, Z:-10.46 [[-9.64734330e-01 2.62959632e-01 1.18281321e-02 2.27483177e+02] [ 2.62941602e-01 9.64806827e-01 -3.08227470e-03 -1.21082513e+02] [-1.22223764e-02 1.36531781e-04 -9.99925295e-01 -1.04586109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.390385723 meters 0.01529698898064962 Centerline is valid? [True, True] Translation: X:227.68, Y:-120.35, Z:-11.46 [[-9.51772886e-01 -3.06658442e-01 9.43258448e-03 2.27678760e+02] [ 3.06640747e-01 -9.51819592e-01 -3.30392293e-03 -1.20353673e+02] [ 9.99129457e-03 -2.52169511e-04 9.99950054e-01 -1.14588636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.450385723 meters 0.015376113843740477 Centerline is valid? [True, True] Translation: X:227.43, Y:-121.07, Z:-10.46 [[-9.65977785e-01 2.58465400e-01 9.08597728e-03 2.27434326e+02] [ 2.58454915e-01 9.66020511e-01 -2.33016803e-03 -1.21065737e+02] [-9.37950822e-03 9.74249299e-05 -9.99956007e-01 -1.04604158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.510385723 meters 0.014920050239572628 Centerline is valid? [True, True] Translation: X:227.62, Y:-120.35, Z:-11.46 [[-9.52227733e-01 -3.05238855e-01 9.57001832e-03 2.27621229e+02] [ 3.05222806e-01 -9.52275820e-01 -3.13060883e-03 -1.20347833e+02] [ 1.00688805e-02 -6.00647047e-05 9.99949306e-01 -1.14589231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.570385723 meters 0.0146731606784125 Centerline is valid? [True, True] Translation: X:227.39, Y:-121.04, Z:-10.46 [[-9.67981421e-01 2.50838766e-01 9.58552164e-03 2.27389371e+02] [ 2.50827098e-01 9.68028879e-01 -2.42008510e-03 -1.21044833e+02] [-9.88611292e-03 6.17111638e-05 -9.99951129e-01 -1.04608271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.630385723 meters 0.01452790391920753 Centerline is valid? [True, True] Translation: X:227.40, Y:-121.01, Z:-10.46 [[-9.83528424e-01 1.80504324e-01 9.48831916e-03 2.27396967e+02] [ 1.80496413e-01 9.83574190e-01 -1.69061753e-03 -1.21012043e+02] [-9.63762961e-03 4.98371803e-05 -9.99953556e-01 -1.04595864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.690385723 meters 0.014490177702988367 Centerline is valid? [True, True] Translation: X:227.40, Y:-120.98, Z:-10.46 [[-9.93885191e-01 1.09951381e-01 1.01449782e-02 2.27399561e+02] [ 1.09946163e-01 9.93936965e-01 -1.07238074e-03 -1.20980840e+02] [-1.02013786e-02 4.95780923e-05 -9.99947963e-01 -1.04595221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.750385723 meters 0.014464859199696981 Centerline is valid? [True, True] Translation: X:227.40, Y:-120.95, Z:-10.46 [[-9.99183582e-01 3.89664011e-02 1.06671713e-02 2.27397786e+02] [ 3.89647217e-02 9.99240520e-01 -3.65295672e-04 -1.20949876e+02] [-1.06733041e-02 5.06459239e-05 -9.99943037e-01 -1.04595672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.810385723 meters 0.014495733182407171 Centerline is valid? [True, True] Translation: X:227.42, Y:-120.25, Z:-11.46 [[-9.95271817e-01 -9.65629742e-02 1.04690723e-02 2.27423663e+02] [ 9.65570028e-02 -9.95326875e-01 -1.07552159e-03 -1.20246714e+02] [ 1.05240046e-02 -5.95740801e-05 9.99944619e-01 -1.14607393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.870385723 meters 0.014418045846608205 Centerline is valid? [True, True] Translation: X:227.34, Y:-120.95, Z:-10.46 [[-9.99295655e-01 3.65442468e-02 8.52714559e-03 2.27335186e+02] [ 3.65434011e-02 9.99332034e-01 -2.55019537e-04 -1.20945126e+02] [-8.53076924e-03 5.67709862e-05 -9.99963611e-01 -1.04622783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.930385723 meters 0.014537151474737418 Centerline is valid? [True, True] Translation: X:227.36, Y:-120.25, Z:-11.46 [[-9.95911910e-01 -8.99337801e-02 8.44881175e-03 2.27360508e+02] [ 8.99300396e-02 -9.95947745e-01 -8.22367392e-04 -1.20248743e+02] [ 8.48853363e-03 -5.92035047e-05 9.99963970e-01 -1.14571681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.990385723 meters 0.014711147544475573 Centerline is valid? [True, True] Translation: X:227.27, Y:-120.94, Z:-10.46 [[-9.99405440e-01 3.33499214e-02 8.74928151e-03 2.27274877e+02] [ 3.33492391e-02 9.99443734e-01 -2.23905596e-04 -1.20939048e+02] [-8.75188182e-03 6.80094102e-05 -9.99961699e-01 -1.04618517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.050385723 meters 0.014533051881996968 Centerline is valid? [True, True] Translation: X:227.27, Y:-120.91, Z:-10.46 [[-9.99236823e-01 -3.79669335e-02 9.18065170e-03 2.27270055e+02] [-3.79646945e-02 9.99278994e-01 4.18105033e-04 -1.20908295e+02] [-9.18990655e-03 6.92453079e-05 -9.99957770e-01 -1.04629902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.110385723 meters 0.014612935219155028 Centerline is valid? [True, True] Translation: X:227.24, Y:-120.23, Z:-11.46 [[-9.99852982e-01 -1.47450447e-02 8.75207611e-03 2.27240455e+02] [ 1.47436509e-02 -9.99891281e-01 -2.23756935e-04 -1.20226919e+02] [ 8.75442391e-03 -9.46864830e-05 9.99961675e-01 -1.14559762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.170385723 meters 0.01478786517891763 Centerline is valid? [True, True] Translation: X:227.20, Y:-120.91, Z:-10.46 [[-9.99111933e-01 -4.12666141e-02 8.50948402e-03 2.27197991e+02] [-4.12644735e-02 9.99148168e-01 4.27054511e-04 -1.20906231e+02] [-8.51985846e-03 7.55358804e-05 -9.99963703e-01 -1.04633816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.230385723 meters 0.015111847999471361 Centerline is valid? [True, True] Translation: X:227.17, Y:-120.24, Z:-11.46 [[-9.99930907e-01 -7.63431660e-03 8.93864822e-03 2.27168977e+02] [ 7.63354667e-03 -9.99970857e-01 -1.20249511e-04 -1.20235553e+02] [ 8.93930574e-03 -5.20076138e-05 9.99960042e-01 -1.14573540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.290385723 meters 0.015541243646829751 Centerline is valid? [True, True] Translation: X:227.12, Y:-120.90, Z:-10.46 [[-9.99018241e-01 -4.30732361e-02 1.03562256e-02 2.27124289e+02] [-4.30696725e-02 9.99071910e-01 5.66981543e-04 -1.20903877e+02] [-1.03710358e-02 1.20385659e-04 -9.99946212e-01 -1.04614360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.350385723 meters 0.015798315459813098 Centerline is valid? [True, True] Translation: X:227.12, Y:-120.87, Z:-10.46 [[-9.93611171e-01 -1.12404201e-01 1.01062475e-02 2.27120762e+02] [-1.12397004e-01 9.93662557e-01 1.27909999e-03 -1.20873960e+02] [-1.01859760e-02 1.35016098e-04 -9.99948113e-01 -1.04615378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.410385723 meters 0.015505445530299302 Centerline is valid? [True, True] Translation: X:227.11, Y:-120.84, Z:-10.46 [[-9.83439178e-01 -1.80971180e-01 9.83952225e-03 2.27107877e+02] [-1.80960568e-01 9.83488388e-01 1.96577240e-03 -1.20842148e+02] [-1.00328040e-02 1.52652061e-04 -9.99949659e-01 -1.04633929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.470385723 meters 0.015494196232328327 Centerline is valid? [True, True] Translation: X:226.98, Y:-120.21, Z:-11.46 [[-9.89602659e-01 1.43462917e-01 1.02453901e-02 2.26983172e+02] [-1.43456660e-01 -9.89655684e-01 1.34684770e-03 -1.20212234e+02] [ 1.03326313e-02 -1.36925378e-04 9.99946608e-01 -1.14566277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.530385723 meters 0.01512287010731849 Centerline is valid? [True, True] Translation: X:227.01, Y:-120.85, Z:-10.46 [[-9.81662628e-01 -1.90311251e-01 1.09595596e-02 2.27008996e+02] [-1.90297897e-01 9.81723795e-01 2.25829002e-03 -1.20850362e+02] [-1.11890384e-02 1.31297772e-04 -9.99937392e-01 -1.04627090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5903857229999 meters 0.015057382908988491 Centerline is valid? [True, True] Translation: X:226.98, Y:-120.82, Z:-10.46 [[-9.65159991e-01 -2.61369240e-01 1.23414850e-02 2.26984425e+02] [-2.61346131e-01 9.65238884e-01 3.47805600e-03 -1.20824100e+02] [-1.28215381e-02 1.31481134e-04 -9.99917792e-01 -1.04621010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.650385723 meters 0.01510561770233882 Centerline is valid? [True, True] Translation: X:226.95, Y:-120.80, Z:-10.46 [[-9.44093355e-01 -3.29458285e-01 1.20405818e-02 2.26950329e+02] [-3.29429591e-01 9.44170122e-01 4.35041583e-03 -1.20804536e+02] [-1.28016381e-02 1.40674736e-04 -9.99918046e-01 -1.04613257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.710385723 meters 0.015097525667268345 Centerline is valid? [True, True] Translation: X:226.90, Y:-120.80, Z:-10.46 [[-9.18730323e-01 -3.94746320e-01 1.04850873e-02 2.26903309e+02] [-3.94718662e-01 9.18790138e-01 4.67544242e-03 -1.20796489e+02] [-1.14792085e-02 1.56811077e-04 -9.99934099e-01 -1.04644079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.770385723 meters 0.014961139612154915 Centerline is valid? [True, True] Translation: X:226.84, Y:-120.80, Z:-10.46 [[-8.86947029e-01 -4.61763300e-01 9.98107308e-03 2.26836329e+02] [-4.61732220e-01 8.87003176e-01 5.35940632e-03 -1.20796209e+02] [-1.13280207e-02 1.44926482e-04 -9.99935825e-01 -1.04630246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.830385723 meters 0.015336278758395614 Centerline is valid? [True, True] Translation: X:226.77, Y:-120.81, Z:-10.46 [[-8.49606407e-01 -5.27312194e-01 1.05263288e-02 2.26766398e+02] [-5.27269694e-01 8.49671602e-01 6.69619241e-03 -1.20806912e+02] [-1.24749066e-02 1.38913800e-04 -9.99922176e-01 -1.04604515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.890385723 meters 0.014720313527363336 Centerline is valid? [True, True] Translation: X:226.69, Y:-120.83, Z:-10.46 [[-8.08363112e-01 -5.88596211e-01 1.01774518e-02 2.26689091e+02] [-5.88547276e-01 8.08427164e-01 7.59108548e-03 -1.20827636e+02] [-1.26958126e-02 1.46441970e-04 -9.99919394e-01 -1.04632674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.950385723 meters 0.014780490712493911 Centerline is valid? [True, True] Translation: X:226.61, Y:-120.86, Z:-10.46 [[-7.62575417e-01 -6.46826746e-01 9.68988529e-03 2.26608416e+02] [-6.46771927e-01 7.62636962e-01 8.42247614e-03 -1.20857648e+02] [-1.28377475e-02 1.55627476e-04 -9.99917581e-01 -1.04619180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.010385723 meters 0.015138592308110198 Centerline is valid? [True, True] Translation: X:226.53, Y:-120.90, Z:-10.46 [[-7.13464844e-01 -7.00638680e-01 8.56483683e-03 2.26527365e+02] [-7.00585257e-01 7.13516230e-01 8.65378802e-03 -1.20901584e+02] [-1.21743287e-02 1.73775113e-04 -9.99925875e-01 -1.04628944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.070385723 meters 0.015183258611479476 Centerline is valid? [True, True] Translation: X:226.44, Y:-120.95, Z:-10.46 [[-6.60531781e-01 -7.50743604e-01 9.04470979e-03 2.26442879e+02] [-7.50668332e-01 6.60593662e-01 1.06334320e-02 -1.20954149e+02] [-1.39578590e-02 2.34142538e-04 -9.99902557e-01 -1.04619344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.130385723 meters 0.015813037886110392 Centerline is valid? [True, True] Translation: X:226.36, Y:-121.02, Z:-10.46 [[-6.03217099e-01 -7.97529523e-01 8.70580309e-03 2.26362446e+02] [-7.97439891e-01 6.03279857e-01 1.19596800e-02 -1.21016184e+02] [-1.47902335e-02 2.71928807e-04 -9.99890582e-01 -1.04606538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.190385723 meters 0.016121022079222145 Centerline is valid? [True, True] Translation: X:226.28, Y:-121.09, Z:-10.46 [[-5.40439731e-01 -8.41353778e-01 6.97973915e-03 2.26283459e+02] [-8.41277958e-01 5.40484750e-01 1.12974531e-02 -1.21093532e+02] [-1.32775974e-02 2.33691815e-04 -9.99911822e-01 -1.04619291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.250385723 meters 0.015455931933101293 Centerline is valid? [True, True] Translation: X:226.20, Y:-121.17, Z:-10.46 [[-4.72856906e-01 -8.81115339e-01 6.48896346e-03 2.26204668e+02] [-8.81026046e-01 4.72901378e-01 1.25456196e-02 -1.21173045e+02] [-1.41227777e-02 2.15337067e-04 -9.99900245e-01 -1.04611926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.310385723 meters 0.014859280111636303 Centerline is valid? [True, True] Translation: X:226.13, Y:-121.27, Z:-10.46 [[-4.01463615e-01 -9.15856435e-01 5.82720979e-03 2.26133136e+02] [-9.15753414e-01 4.01505864e-01 1.37377948e-02 -1.21266479e+02] [-1.49215067e-02 1.78937522e-04 -9.99888652e-01 -1.04604196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.370385723 meters 0.014957990081270266 Centerline is valid? [True, True] Translation: X:226.07, Y:-121.37, Z:-10.46 [[-3.30318320e-01 -9.43859381e-01 4.39058230e-03 2.26068155e+02] [-9.43769342e-01 3.30347458e-01 1.30378497e-02 -1.21365865e+02] [-1.37563144e-02 1.62943621e-04 -9.99905364e-01 -1.04606420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.430385723 meters 0.014806859442700727 Centerline is valid? [True, True] Translation: X:226.01, Y:-121.47, Z:-10.46 [[-2.56750466e-01 -9.66472885e-01 3.05946581e-03 2.26012103e+02] [-9.66397557e-01 2.56768654e-01 1.20673418e-02 -1.21469290e+02] [-1.24483336e-02 1.41635350e-04 -9.99922506e-01 -1.04616601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.490385723 meters 0.014660726107513395 Centerline is valid? [True, True] Translation: X:225.96, Y:-121.58, Z:-10.46 [[-1.80913904e-01 -9.83497654e-01 1.58866161e-03 2.25962875e+02] [-9.83454971e-01 1.80920854e-01 9.16318507e-03 -1.21580090e+02] [-9.29939304e-03 9.53704218e-05 -9.99956755e-01 -1.04624705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.550385723 meters 0.014529714115460893 Centerline is valid? [True, True] Translation: X:225.92, Y:-121.70, Z:-10.46 [[-1.04060665e-01 -9.94570640e-01 7.87391972e-04 2.25923390e+02] [-9.94536284e-01 1.04063615e-01 8.26698022e-03 -1.21697791e+02] [-8.30403466e-03 7.71775736e-05 -9.99965518e-01 -1.04620468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.610385723 meters 0.01449800201267548 Centerline is valid? [True, True] Translation: X:225.89, Y:-121.82, Z:-10.46 [[-2.49320218e-02 -9.99689135e-01 1.67392088e-04 2.25891071e+02] [-9.99646755e-01 2.49325062e-02 9.20520767e-03 -1.21824126e+02] [-9.20651960e-03 6.21714810e-05 -9.99957617e-01 -1.04597803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.670385723 meters 0.014274997998482544 Centerline is valid? [True, True] Translation: X:225.87, Y:-121.94, Z:-10.46 [[ 5.47081989e-02 -9.98502240e-01 -5.38074885e-04 2.25869125e+02] [-9.98460309e-01 -5.47108327e-02 9.15075298e-03 -1.21939630e+02] [-9.16648587e-03 3.66252015e-05 -9.99957986e-01 -1.04585601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.730385723 meters 0.01417812149099641 Centerline is valid? [True, True] Translation: X:225.86, Y:-122.07, Z:-10.46 [[ 1.32719247e-01 -9.91153053e-01 -1.10778459e-03 2.25857040e+02] [-9.91119829e-01 -1.32723868e-01 8.11533440e-03 -1.22066099e+02] [-8.19056792e-03 2.08862010e-05 -9.99966457e-01 -1.04590808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.790385723 meters 0.014176593848135821 Centerline is valid? [True, True] Translation: X:225.86, Y:-122.20, Z:-10.46 [[ 2.09861190e-01 -9.77729383e-01 -1.88006582e-03 2.25856406e+02] [-9.77690563e-01 -2.09869611e-01 8.71255306e-03 -1.22203237e+02] [-8.91308781e-03 9.69585350e-06 -9.99960278e-01 -1.04585056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.850385723 meters 0.01413562715170104 Centerline is valid? [True, True] Translation: X:225.87, Y:-122.34, Z:-10.46 [[ 2.87840083e-01 -9.57675044e-01 -2.56824351e-03 2.25867946e+02] [-9.57636223e-01 -2.87851540e-01 8.62292354e-03 -1.22343162e+02] [-8.99723153e-03 -2.25800191e-05 -9.99959524e-01 -1.04578179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.910385723 meters 0.0141867633849833 Centerline is valid? [True, True] Translation: X:225.87, Y:-122.44, Z:-10.46 [[ 3.63173758e-01 -9.31716454e-01 -3.04479987e-03 2.25873243e+02] [-9.31682697e-01 -3.63186518e-01 7.93128330e-03 -1.22438994e+02] [-8.49553742e-03 -4.36466089e-05 -9.99963911e-01 -1.04576682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.970385723 meters 0.01424184455281263 Centerline is valid? [True, True] Translation: X:225.90, Y:-122.56, Z:-10.46 [[ 4.34697402e-01 -9.00570470e-01 -3.31616365e-03 2.25898604e+02] [-9.00543414e-01 -4.34710048e-01 6.98096148e-03 -1.22555006e+02] [-7.72841742e-03 -4.82564851e-05 -9.99970134e-01 -1.04577877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.030385723 meters 0.01415977058561943 Centerline is valid? [True, True] Translation: X:225.94, Y:-122.67, Z:-10.46 [[ 5.01026873e-01 -8.65422693e-01 -3.95426163e-03 2.25935916e+02] [-8.65395186e-01 -5.01042475e-01 6.90001729e-03 -1.22671121e+02] [-7.95268458e-03 -3.50951045e-05 -9.99968376e-01 -1.04571573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0903857229999 meters 0.014170825831257035 Centerline is valid? [True, True] Translation: X:225.98, Y:-122.79, Z:-10.46 [[ 5.65946188e-01 -8.24431309e-01 -4.23435298e-03 2.25980862e+02] [-8.24407794e-01 -5.65962027e-01 6.22686980e-03 -1.22785814e+02] [-7.53010941e-03 -3.32396191e-05 -9.99971648e-01 -1.04572733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.150385723 meters 0.014285012160432702 Centerline is valid? [True, True] Translation: X:226.03, Y:-122.89, Z:-10.46 [[ 6.29023181e-01 -7.77369717e-01 -5.11480296e-03 2.26026696e+02] [-7.77343339e-01 -6.29043974e-01 6.40406469e-03 -1.22894446e+02] [-8.19576193e-03 -5.23471337e-05 -9.99966413e-01 -1.04569000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.210385723 meters 0.014849863701036378 Centerline is valid? [True, True] Translation: X:226.09, Y:-123.02, Z:-10.46 [[ 6.89640750e-01 -7.24118327e-01 -6.94870325e-03 2.26090001e+02] [-7.24079991e-01 -6.89675748e-01 7.45186039e-03 -1.23016531e+02] [-1.01883808e-02 -1.07689609e-04 -9.99948091e-01 -1.04554321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.270385723 meters 0.014703956193817909 Centerline is valid? [True, True] Translation: X:226.13, Y:-123.10, Z:-10.46 [[ 7.43392411e-01 -6.68811400e-01 -7.68337282e-03 2.26128076e+02] [-6.68774029e-01 -7.43432106e-01 7.07114024e-03 -1.23098783e+02] [-1.04413252e-02 -1.18191794e-04 -9.99945481e-01 -1.04551032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.330385723 meters 0.014202205323863924 Centerline is valid? [True, True] Translation: X:226.15, Y:-123.12, Z:-10.46 [[ 7.90119604e-01 -6.12901538e-01 -7.91935171e-03 2.26147415e+02] [-6.12869986e-01 -7.90159288e-01 6.21922131e-03 -1.23124523e+02] [-1.00693196e-02 -6.03957078e-05 -9.99949301e-01 -1.04572414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.390385723 meters 0.013996040809910557 Centerline is valid? [True, True] Translation: X:226.17, Y:-123.15, Z:-10.46 [[ 8.31491020e-01 -5.55491150e-01 -7.22955574e-03 2.26167915e+02] [-5.55470288e-01 -8.31522448e-01 4.81425712e-03 -1.23147728e+02] [-8.68581512e-03 1.27918419e-05 -9.99962278e-01 -1.04582122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.450385723 meters 0.014414569566205893 Centerline is valid? [True, True] Translation: X:226.19, Y:-123.17, Z:-10.46 [[ 8.68984380e-01 -4.94790672e-01 -6.95255289e-03 2.26189151e+02] [-4.94775448e-01 -8.69012190e-01 3.88194554e-03 -1.23169034e+02] [-7.96260365e-03 6.66024375e-05 -9.99968296e-01 -1.04575553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.510385723 meters 0.014838450330701618 Centerline is valid? [True, True] Translation: X:226.21, Y:-123.19, Z:-10.46 [[ 9.03461398e-01 -4.28594160e-01 -8.03423653e-03 2.26211631e+02] [-4.28578253e-01 -9.03497114e-01 3.69400278e-03 -1.23190079e+02] [-8.84213753e-03 1.05910146e-04 -9.99960902e-01 -1.04574425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.570385723 meters 0.015344694811946107 Centerline is valid? [True, True] Translation: X:226.24, Y:-123.21, Z:-10.46 [[ 9.33005075e-01 -3.59779082e-01 -7.78093980e-03 2.26236210e+02] [-3.59767706e-01 -9.33037510e-01 2.86383890e-03 -1.23208531e+02] [-8.29025803e-03 1.27354636e-04 -9.99965627e-01 -1.04584848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.630385723 meters 0.015572651104617584 Centerline is valid? [True, True] Translation: X:226.26, Y:-123.23, Z:-10.46 [[ 9.58112152e-01 -2.86272648e-01 -8.31109093e-03 2.26260964e+02] [-2.86263117e-01 -9.58148189e-01 2.34007369e-03 -1.23228426e+02] [-8.63315582e-03 1.37105758e-04 -9.99962724e-01 -1.04575937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.690385723 meters 0.01580707285584143 Centerline is valid? [True, True] Translation: X:226.29, Y:-123.24, Z:-10.46 [[ 9.77559668e-01 -2.10448786e-01 -9.40232310e-03 2.26287299e+02] [-2.10440544e-01 -9.77604872e-01 1.86866763e-03 -1.23243682e+02] [-9.58501570e-03 1.51895886e-04 -9.99954051e-01 -1.04572535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.750385723 meters 0.01555534885374367 Centerline is valid? [True, True] Translation: X:226.31, Y:-123.26, Z:-10.46 [[ 9.90959921e-01 -1.33862573e-01 -8.90209932e-03 2.26311345e+02] [-1.33858504e-01 -9.90999894e-01 1.05397744e-03 -1.23259440e+02] [-8.96306762e-03 1.47172306e-04 -9.99959820e-01 -1.04593802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.810385723 meters 0.015495849894378782 Centerline is valid? [True, True] Translation: X:226.34, Y:-123.27, Z:-10.46 [[ 9.98439405e-01 -5.54091679e-02 -6.96979127e-03 2.26336791e+02] [-5.54085964e-02 -9.98463726e-01 2.75217250e-04 -1.23274371e+02] [-6.97433332e-03 1.11398604e-04 -9.99975673e-01 -1.04603583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.870385723 meters 0.015619175112525842 Centerline is valid? [True, True] Translation: X:226.36, Y:-123.28, Z:-10.46 [[ 9.99702703e-01 2.34481870e-02 -6.68491898e-03 2.26363741e+02] [ 2.34469705e-02 -9.99725048e-01 -2.60305319e-04 -1.23284284e+02] [-6.68918463e-03 1.03486834e-04 -9.99977622e-01 -1.04605441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.930385723 meters 0.015687669619992687 Centerline is valid? [True, True] Translation: X:226.39, Y:-123.29, Z:-10.46 [[ 9.94780761e-01 1.01793569e-01 -7.02190655e-03 2.26391051e+02] [ 1.01790265e-01 -9.94805538e-01 -8.27172246e-04 -1.23292659e+02] [-7.06963234e-03 1.08093307e-04 -9.99975004e-01 -1.04599840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.990385723 meters 0.016177518106369224 Centerline is valid? [True, True] Translation: X:226.42, Y:-123.30, Z:-10.46 [[ 9.83903546e-01 1.78531176e-01 -7.77381012e-03 2.26417646e+02] [ 1.78524578e-01 -9.83934247e-01 -1.54015439e-03 -1.23295148e+02] [-7.92388358e-03 1.27547199e-04 -9.99968597e-01 -1.04586927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.050385723 meters 0.015415476629952256 Centerline is valid? [True, True] Translation: X:226.45, Y:-123.30, Z:-10.46 [[ 9.67447885e-01 2.52916751e-01 -8.81514459e-03 2.26447569e+02] [ 2.52904675e-01 -9.67488030e-01 -2.47710973e-03 -1.23303996e+02] [-9.15504942e-03 1.67083291e-04 -9.99958078e-01 -1.04597494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.110385723 meters 0.01562729919398884 Centerline is valid? [True, True] Translation: X:226.48, Y:-123.31, Z:-10.46 [[ 9.45507577e-01 3.25503873e-01 -7.91525841e-03 2.26478032e+02] [ 3.25490911e-01 -9.45540691e-01 -2.91017360e-03 -1.23309593e+02] [-8.43147168e-03 1.75246516e-04 -9.99964439e-01 -1.04609553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.170385723 meters 0.016234713080170243 Centerline is valid? [True, True] Translation: X:226.51, Y:-123.31, Z:-10.46 [[ 9.17383761e-01 3.97937607e-01 -7.25915858e-03 2.26507822e+02] [ 3.97923667e-01 -9.17412466e-01 -3.33519593e-03 -1.23311327e+02] [-7.98684246e-03 1.71063585e-04 -9.99968090e-01 -1.04604196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.230385723 meters 0.016005977224617246 Centerline is valid? [True, True] Translation: X:226.54, Y:-123.31, Z:-10.46 [[ 8.83151989e-01 4.69039202e-01 -6.69271794e-03 2.26538553e+02] [ 4.69024353e-01 -8.83177333e-01 -3.73556746e-03 -1.23311491e+02] [-7.66298436e-03 1.60026124e-04 -9.99970626e-01 -1.04603952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.290385723 meters 0.01599245255475101 Centerline is valid? [True, True] Translation: X:226.57, Y:-123.31, Z:-10.46 [[ 8.43070006e-01 5.37776469e-01 -5.42539892e-03 2.26568498e+02] [ 5.37764351e-01 -8.43087453e-01 -3.61248076e-03 -1.23308743e+02] [-6.51679290e-03 1.27988045e-04 -9.99978757e-01 -1.04604792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.350385723 meters 0.015344941097337176 Centerline is valid? [True, True] Translation: X:226.60, Y:-123.30, Z:-10.46 [[ 7.96789183e-01 6.04243565e-01 -4.08806773e-03 2.26599709e+02] [ 6.04235039e-01 -7.96799665e-01 -3.21100963e-03 -1.23303737e+02] [-5.19760290e-03 8.83439793e-05 -9.99986488e-01 -1.04615583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.410385723 meters 0.014643184010399674 Centerline is valid? [True, True] Translation: X:226.63, Y:-123.30, Z:-10.46 [[ 7.45114480e-01 6.66921389e-01 -4.50238820e-03 2.26632544e+02] [ 6.66908509e-01 -7.45128078e-01 -4.14585394e-03 -1.23297909e+02] [-6.11981454e-03 8.64547994e-05 -9.99981270e-01 -1.04604105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.470385723 meters 0.014421104977284856 Centerline is valid? [True, True] Translation: X:226.66, Y:-123.29, Z:-10.46 [[ 6.88768382e-01 7.24965675e-01 -4.78401151e-03 2.26662857e+02] [ 7.24947361e-01 -6.88784991e-01 -5.15355852e-03 -1.23288085e+02] [-7.03130835e-03 8.14516393e-05 -9.99975277e-01 -1.04586494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.530385723 meters 0.014275605172687778 Centerline is valid? [True, True] Translation: X:226.69, Y:-123.28, Z:-10.46 [[ 6.27429181e-01 7.78654080e-01 -5.51788464e-03 2.26691227e+02] [ 7.78622913e-01 -6.27453439e-01 -6.96712970e-03 -1.23275463e+02] [-8.88719966e-03 7.50290684e-05 -9.99960505e-01 -1.04561454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5903857229999 meters 0.014216298076535619 Centerline is valid? [True, True] Translation: X:226.72, Y:-123.26, Z:-10.46 [[ 5.64743104e-01 8.25251472e-01 -5.02353137e-03 2.26717367e+02] [ 8.25217585e-01 -5.64765440e-01 -7.47898906e-03 -1.23258531e+02] [-9.00916364e-03 7.82010718e-05 -9.99959414e-01 -1.04564214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.650385723 meters 0.014652537562067993 Centerline is valid? [True, True] Translation: X:226.74, Y:-123.24, Z:-10.46 [[ 4.99025260e-01 8.66577916e-01 -4.06265974e-03 2.26736650e+02] [ 8.66547916e-01 -4.99041791e-01 -7.21115977e-03 -1.23238466e+02] [-8.27646880e-03 7.80615479e-05 -9.99965746e-01 -1.04563728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.710385723 meters 0.014689230420532266 Centerline is valid? [True, True] Translation: X:226.76, Y:-123.22, Z:-10.46 [[ 4.33504113e-01 9.01147996e-01 -2.54417318e-03 2.26760438e+02] [ 9.01131337e-01 -4.33511571e-01 -5.48002739e-03 -1.23218819e+02] [-6.04124421e-03 8.29802359e-05 -9.99981748e-01 -1.04606168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.770385723 meters 0.015349054303228674 Centerline is valid? [True, True] Translation: X:226.78, Y:-123.20, Z:-10.46 [[ 3.65137519e-01 9.30951712e-01 -1.87156571e-03 2.26780783e+02] [ 9.30938130e-01 -3.65142303e-01 -5.02959842e-03 -1.23196929e+02] [-5.36570107e-03 9.41832036e-05 -9.99985600e-01 -1.04614036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.830385723 meters 0.015736198116866888 Centerline is valid? [True, True] Translation: X:226.80, Y:-123.17, Z:-10.46 [[ 2.92622182e-01 9.56227216e-01 -1.33016269e-03 2.26799921e+02] [ 9.56215846e-01 -2.92625191e-01 -4.66413241e-03 -1.23173049e+02] [-4.84920946e-03 9.29059617e-05 -9.99988238e-01 -1.04607766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.890385723 meters 0.016104883160478835 Centerline is valid? [True, True] Translation: X:226.82, Y:-123.15, Z:-10.46 [[ 2.17100418e-01 9.76148620e-01 -1.13188375e-03 2.26817381e+02] [ 9.76132563e-01 -2.17103340e-01 -5.60000934e-03 -1.23147807e+02] [-5.71217713e-03 1.10895778e-04 -9.99983679e-01 -1.04588919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.950385723 meters 0.015747918086177724 Centerline is valid? [True, True] Translation: X:226.83, Y:-123.12, Z:-10.46 [[ 1.37505590e-01 9.90500465e-01 -1.02031938e-03 2.26832661e+02] [ 9.90464960e-01 -1.37509301e-01 -8.38780761e-03 -1.23122118e+02] [-8.44843075e-03 1.42779845e-04 -9.99964301e-01 -1.04564379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.010385723 meters 0.015202471138276236 Centerline is valid? [True, True] Translation: X:226.85, Y:-123.09, Z:-10.46 [[ 5.71172772e-02 9.98367401e-01 -3.85756914e-04 2.26847090e+02] [ 9.98326491e-01 -5.71184292e-02 -9.03891105e-03 -1.23094847e+02] [-9.04618796e-03 1.31166641e-04 -9.99959074e-01 -1.04562529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.070385723 meters 0.01738939678175681 Centerline is valid? [True, True] Translation: X:226.86, Y:-123.07, Z:-10.46 [[-2.23345128e-02 9.99750520e-01 2.60888213e-04 2.26859801e+02] [ 9.99723917e-01 2.23358219e-02 -7.29391325e-03 -1.23066697e+02] [-7.29792071e-03 9.79101876e-05 -9.99973365e-01 -1.04551981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.130385723 meters 0.015386200592089469 Centerline is valid? [True, True] Translation: X:226.87, Y:-123.04, Z:-10.46 [[-9.97521924e-02 9.95011989e-01 8.00694857e-04 2.26865213e+02] [ 9.94987490e-01 9.97553557e-02 -6.98310119e-03 -1.23038371e+02] [-7.02814301e-03 1.00101712e-04 -9.99975297e-01 -1.04580798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.190385723 meters 0.015373326518878894 Centerline is valid? [True, True] Translation: X:226.87, Y:-123.01, Z:-10.46 [[-1.76513305e-01 9.84297570e-01 1.16080889e-03 2.26870495e+02] [ 9.84279571e-01 1.76517098e-01 -5.95320538e-03 -1.23008379e+02] [-6.06462820e-03 9.17405169e-05 -9.99981606e-01 -1.04589793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.250385723 meters 0.015799443045190167 Centerline is valid? [True, True] Translation: X:226.87, Y:-122.98, Z:-10.46 [[-2.51453017e-01 9.67868707e-01 1.24360876e-03 2.26872043e+02] [ 9.67858360e-01 2.51456080e-01 -4.47610063e-03 -1.22978708e+02] [-4.64499071e-03 7.81081298e-05 -9.99989209e-01 -1.04600461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.310385723 meters 0.015370429007356046 Centerline is valid? [True, True] Translation: X:226.88, Y:-122.95, Z:-10.46 [[-3.26410313e-01 9.45226819e-01 1.60281669e-03 2.26877219e+02] [ 9.45216584e-01 3.26414239e-01 -4.39923992e-03 -1.22947037e+02] [-4.68146174e-03 7.90516420e-05 -9.99989039e-01 -1.04612626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.370385723 meters 0.015645346693810493 Centerline is valid? [True, True] Translation: X:226.88, Y:-122.92, Z:-10.46 [[-4.00221345e-01 9.16415703e-01 2.26605106e-03 2.26878813e+02] [ 9.16402228e-01 4.00227750e-01 -4.97042448e-03 -1.22916082e+02] [-5.46191156e-03 8.73442678e-05 -9.99985080e-01 -1.04603591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.430385723 meters 0.01519730184160169 Centerline is valid? [True, True] Translation: X:226.88, Y:-122.88, Z:-10.46 [[-4.71637921e-01 8.81787388e-01 2.94510192e-03 2.26879042e+02] [ 8.81771387e-01 4.71647107e-01 -5.31298060e-03 -1.22882968e+02] [-6.07396808e-03 9.11034812e-05 -9.99981549e-01 -1.04596839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.490385723 meters 0.015191373148111913 Centerline is valid? [True, True] Translation: X:226.87, Y:-122.85, Z:-10.46 [[-5.39786723e-01 8.41794246e-01 3.56957099e-03 2.26874820e+02] [ 8.41776967e-01 5.39798518e-01 -5.39430461e-03 -1.22851171e+02] [-6.46774371e-03 9.30086346e-05 -9.99979080e-01 -1.04603542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.550385723 meters 0.016583115650331704 Centerline is valid? [True, True] Translation: X:226.87, Y:-122.82, Z:-10.46 [[-6.05043962e-01 7.96179237e-01 4.51959594e-03 2.26867882e+02] [ 7.96158207e-01 6.05060834e-01 -5.78753550e-03 -1.22821248e+02] [-7.34254609e-03 9.65999893e-05 -9.99973038e-01 -1.04581075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.610385723 meters 0.017946090461614387 Centerline is valid? [True, True] Translation: X:226.86, Y:-122.79, Z:-10.46 [[-6.66423563e-01 7.45554094e-01 5.35980865e-03 2.26856747e+02] [ 7.45531118e-01 6.66445109e-01 -5.85399343e-03 -1.22791890e+02] [-7.93648703e-03 9.46649750e-05 -9.99968501e-01 -1.04568001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.670385723 meters 0.015048643635456287 Centerline is valid? [True, True] Translation: X:226.84, Y:-122.77, Z:-10.46 [[-7.23146667e-01 6.90672181e-01 5.55314069e-03 2.26841253e+02] [ 6.90652729e-01 7.23167983e-01 -5.18424540e-03 -1.22766183e+02] [-7.59646762e-03 8.63219963e-05 -9.99971143e-01 -1.04610028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.730385723 meters 0.015088304579332563 Centerline is valid? [True, True] Translation: X:226.86, Y:-122.75, Z:-10.46 [[-7.70661597e-01 6.37218372e-01 5.78352312e-03 2.26859192e+02] [ 6.37201196e-01 7.70683294e-01 -4.67933573e-03 -1.22747466e+02] [-7.43902334e-03 7.90834981e-05 -9.99972327e-01 -1.04622416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.790385723 meters 0.014834326176071529 Centerline is valid? [True, True] Translation: X:226.88, Y:-122.72, Z:-10.46 [[-8.15148631e-01 5.79219741e-01 6.09928952e-03 2.26876040e+02] [ 5.79204097e-01 8.15171447e-01 -4.25752623e-03 -1.22724910e+02] [-7.43800990e-03 6.22168005e-05 -9.99972336e-01 -1.04625225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.850385723 meters 0.014512894143671753 Centerline is valid? [True, True] Translation: X:226.89, Y:-122.70, Z:-10.46 [[-8.56230022e-01 5.16531789e-01 8.06601698e-03 2.26888886e+02] [ 5.16509306e-01 8.56268013e-01 -4.81954062e-03 -1.22697327e+02] [-9.39611827e-03 3.95374606e-05 -9.99955855e-01 -1.04603942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.910385723 meters 0.014316179553271195 Centerline is valid? [True, True] Translation: X:226.90, Y:-122.67, Z:-10.46 [[-8.91850732e-01 4.52231925e-01 9.41053653e-03 2.26900670e+02] [ 4.52206942e-01 8.91900379e-01 -4.75344869e-03 -1.22670219e+02] [-1.05429223e-02 1.61432568e-05 -9.99944422e-01 -1.04610721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.970385723 meters 0.01430599693970263 Centerline is valid? [True, True] Translation: X:226.91, Y:-122.64, Z:-10.46 [[-9.22570886e-01 3.85712688e-01 9.41708789e-03 2.26909039e+02] [ 3.85692497e-01 9.22618947e-01 -3.94661777e-03 -1.22643834e+02] [-1.02106443e-02 -8.93450906e-06 -9.99947870e-01 -1.04619283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.030385723 meters 0.014436591302830506 Centerline is valid? [True, True] Translation: X:226.92, Y:-122.62, Z:-10.46 [[-9.47546614e-01 3.19486573e-01 9.15116258e-03 2.26917616e+02] [ 3.19471599e-01 9.47590803e-01 -3.09317330e-03 -1.22620047e+02] [-9.65978484e-03 -7.38934348e-06 -9.99953343e-01 -1.04635466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0903857229999 meters 0.014383251824328903 Centerline is valid? [True, True] Translation: X:227.14, Y:-121.98, Z:-11.45 [[-9.24433433e-01 -3.81270473e-01 7.46015906e-03 2.27140945e+02] [ 3.81257309e-01 -9.24463530e-01 -3.16942172e-03 -1.21977298e+02] [ 8.10505190e-03 -8.56792352e-05 9.99967150e-01 -1.14548113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.150385723 meters 0.017207718264622047 Centerline is valid? [True, True] Translation: X:226.87, Y:-122.61, Z:-10.46 [[-9.46979817e-01 3.21196760e-01 7.86553206e-03 2.26871798e+02] [ 3.21186029e-01 9.47012481e-01 -2.62588567e-03 -1.22611614e+02] [-8.29218301e-03 3.96382789e-05 -9.99965618e-01 -1.04609837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.210385723 meters 0.014920069028535201 Centerline is valid? [True, True] Translation: X:227.10, Y:-121.96, Z:-11.46 [[-9.28010510e-01 -3.72469935e-01 7.91463939e-03 2.27096945e+02] [ 3.72456147e-01 -9.28044259e-01 -3.20487527e-03 -1.21955340e+02] [ 8.53885533e-03 -2.63018417e-05 9.99963543e-01 -1.14558907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.270385723 meters 0.015775303149724033 Centerline is valid? [True, True] Translation: X:226.83, Y:-122.61, Z:-10.46 [[-9.45641653e-01 3.25096229e-01 8.62005272e-03 2.26828630e+02] [ 3.25083822e-01 9.45680934e-01 -2.84248139e-03 -1.22610420e+02] [-9.07589948e-03 1.14270888e-04 -9.99958807e-01 -1.04639255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.330385723 meters 0.016295704657325934 Centerline is valid? [True, True] Translation: X:227.06, Y:-121.93, Z:-11.46 [[-9.32207776e-01 -3.61805908e-01 9.22750308e-03 2.27058693e+02] [ 3.61787389e-01 -9.32253442e-01 -3.66138617e-03 -1.21934913e+02] [ 9.92708265e-03 -7.47784122e-05 9.99950723e-01 -1.14556516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.390385723 meters 0.01918242692606026 Centerline is valid? [True, True] Translation: X:226.78, Y:-122.60, Z:-10.46 [[-9.45109769e-01 3.26590603e-01 1.03005931e-02 2.26782638e+02] [ 3.26573428e-01 9.45165880e-01 -3.35488431e-03 -1.22601367e+02] [-1.08314429e-02 1.93166081e-04 -9.99941320e-01 -1.04611635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.450385723 meters 0.01709251548285077 Centerline is valid? [True, True] Translation: X:226.77, Y:-122.57, Z:-10.46 [[-9.65552110e-01 2.60008559e-01 1.02309247e-02 2.26771627e+02] [ 2.59996163e-01 9.65606291e-01 -2.54681581e-03 -1.22570208e+02] [-1.05412392e-02 2.00917801e-04 -9.99944419e-01 -1.04643756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.510385723 meters 0.017123159373304792 Centerline is valid? [True, True] Translation: X:226.80, Y:-122.55, Z:-10.47 [[-9.81494826e-01 1.91232914e-01 9.89340940e-03 2.26798216e+02] [ 1.91225203e-01 9.81544668e-01 -1.72835150e-03 -1.22547842e+02] [-1.00413409e-02 1.95501175e-04 -9.99949565e-01 -1.04658507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.570385723 meters 0.017039607843911155 Centerline is valid? [True, True] Translation: X:226.93, Y:-121.83, Z:-11.45 [[-9.75613539e-01 -2.19300206e-01 9.25433751e-03 2.26927523e+02] [ 2.19288216e-01 -9.75657405e-01 -2.30346002e-03 -1.21834576e+02] [ 9.53421218e-03 -2.17919611e-04 9.99954525e-01 -1.14530534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.630385723 meters 0.017068055104335053 Centerline is valid? [True, True] Translation: X:226.74, Y:-122.54, Z:-10.47 [[-9.82589797e-01 1.85521145e-01 9.95968802e-03 2.26744054e+02] [ 1.85513440e-01 9.82640256e-01 -1.70005286e-03 -1.22538517e+02] [-1.01021861e-02 1.77201393e-04 -9.99948956e-01 -1.04663791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.690385723 meters 0.017156574894059168 Centerline is valid? [True, True] Translation: X:226.74, Y:-122.51, Z:-10.47 [[-9.93374384e-01 1.14319458e-01 1.17640997e-02 2.26744099e+02] [ 1.14313768e-01 9.93444021e-01 -1.15721625e-03 -1.22509906e+02] [-1.18192669e-02 1.95249580e-04 -9.99930131e-01 -1.04651358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.750385723 meters 0.017428441348366297 Centerline is valid? [True, True] Translation: X:226.82, Y:-121.79, Z:-11.46 [[-9.88755771e-01 -1.48918933e-01 1.36079426e-02 2.26817360e+02] [ 1.48903428e-01 -9.88849403e-01 -2.15124446e-03 -1.21789968e+02] [ 1.37765670e-02 -1.00786075e-04 9.99905094e-01 -1.14552346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.810385723 meters 0.01733458871159481 Centerline is valid? [True, True] Translation: X:226.69, Y:-122.50, Z:-10.46 [[-9.93774256e-01 1.10467947e-01 1.44762476e-02 2.26686750e+02] [ 1.10459802e-01 9.93879657e-01 -1.36340911e-03 -1.22504506e+02] [-1.45382610e-02 2.44122577e-04 -9.99894284e-01 -1.04633018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.870385723 meters 0.017647077715999264 Centerline is valid? [True, True] Translation: X:226.75, Y:-121.78, Z:-11.45 [[-9.89862325e-01 -1.41510188e-01 1.21426550e-02 2.26753752e+02] [ 1.41495273e-01 -9.89936740e-01 -2.08305612e-03 -1.21780026e+02] [ 1.23152340e-02 -3.43810480e-04 9.99924106e-01 -1.14536923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.930385723 meters 0.01821854182101589 Centerline is valid? [True, True] Translation: X:226.63, Y:-122.51, Z:-10.47 [[-9.93906089e-01 1.09675602e-01 1.10430654e-02 2.26626511e+02] [ 1.09671340e-01 9.93967410e-01 -9.92622301e-04 -1.22506484e+02] [-1.10853135e-02 2.24534427e-04 -9.99938531e-01 -1.04673649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.990385723 meters 0.017794350001815663 Centerline is valid? [True, True] Translation: X:226.63, Y:-122.48, Z:-10.47 [[-9.99189791e-01 3.87671450e-02 1.08106344e-02 2.26625346e+02] [ 3.87672435e-02 9.99248248e-01 -2.00525904e-04 -1.22476938e+02] [-1.08102813e-02 2.18735061e-04 -9.99941543e-01 -1.04679487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.050385723 meters 0.018460814020723092 Centerline is valid? [True, True] Translation: X:226.64, Y:-121.74, Z:-11.45 [[-9.97747584e-01 -6.64887783e-02 8.88829156e-03 2.26641235e+02] [ 6.64834189e-02 -9.97787126e-01 -8.97413024e-04 -1.21739626e+02] [ 8.92829079e-03 -3.04467665e-04 9.99960096e-01 -1.14511839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.110385723 meters 0.01728710937785438 Centerline is valid? [True, True] Translation: X:226.56, Y:-122.48, Z:-10.47 [[-9.99450666e-01 3.16653847e-02 9.78107747e-03 2.26555851e+02] [ 3.16655721e-02 9.99498511e-01 -1.35748032e-04 -1.22475566e+02] [-9.78047088e-03 1.74049952e-04 -9.99952155e-01 -1.04692969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.170385723 meters 0.017344608513302478 Centerline is valid? [True, True] Translation: X:226.57, Y:-121.74, Z:-11.45 [[-9.97856094e-01 -6.46943206e-02 9.89246915e-03 2.26568850e+02] [ 6.46894809e-02 -9.97905114e-01 -8.08763857e-04 -1.21741940e+02] [ 9.92406798e-03 -1.67091249e-04 9.99950741e-01 -1.14517049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.230385723 meters 0.01739993533076131 Centerline is valid? [True, True] Translation: X:226.48, Y:-122.47, Z:-10.47 [[-9.99615832e-01 2.57224535e-02 1.03220511e-02 2.26481993e+02] [ 2.57228451e-02 9.99669108e-01 -9.48461060e-05 -1.22474819e+02] [-1.03210753e-02 1.70702852e-04 -9.99946722e-01 -1.04682387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.290385723 meters 0.01819577910349799 Centerline is valid? [True, True] Translation: X:226.48, Y:-122.45, Z:-10.47 [[-9.98947734e-01 -4.44831010e-02 1.11659345e-02 2.26482459e+02] [-4.44781425e-02 9.99010118e-01 6.92135688e-04 -1.22447888e+02] [-1.11856699e-02 1.94767351e-04 -9.99937419e-01 -1.04667863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.350385723 meters 0.01777127428587192 Centerline is valid? [True, True] Translation: X:226.43, Y:-121.71, Z:-11.45 [[-9.99878724e-01 1.05486542e-02 1.14569929e-02 2.26433649e+02] [-1.05500397e-02 -9.99944345e-01 -6.05000757e-05 -1.21712059e+02] [ 1.14557171e-02 -1.81364469e-04 9.99934365e-01 -1.14528453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.410385723 meters 0.01723263231618121 Centerline is valid? [True, True] Translation: X:226.39, Y:-122.45, Z:-10.47 [[-9.98578574e-01 -5.19774377e-02 1.17973553e-02 2.26390970e+02] [-5.19716598e-02 9.98648243e-01 7.96018107e-04 -1.22452227e+02] [-1.18227831e-02 1.81758490e-04 -9.99930092e-01 -1.04674935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.470385723 meters 0.01716388838308698 Centerline is valid? [True, True] Translation: X:226.38, Y:-122.43, Z:-10.47 [[-9.92384319e-01 -1.22705774e-01 1.08007757e-02 2.26382070e+02] [-1.22696636e-01 9.92443079e-01 1.50718195e-03 -1.22425444e+02] [-1.09040950e-02 1.70484900e-04 -9.99940534e-01 -1.04687265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.530385723 meters 0.01734280705150407 Centerline is valid? [True, True] Translation: X:226.37, Y:-122.40, Z:-10.47 [[-9.81270580e-01 -1.92405269e-01 9.39480739e-03 2.26370640e+02] [-1.92394906e-01 9.81315539e-01 2.00313091e-03 -1.22398048e+02] [-9.60468342e-03 1.58100347e-04 -9.99953861e-01 -1.04680113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5903857229999 meters 0.01748305511218633 Centerline is valid? [True, True] Translation: X:226.34, Y:-122.38, Z:-10.47 [[-9.65373791e-01 -2.60693998e-01 9.59602782e-03 2.26343624e+02] [-2.60679239e-01 9.65421466e-01 2.77992880e-03 -1.22376896e+02] [-9.98892199e-03 1.82185174e-04 -9.99950093e-01 -1.04688672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.650385723 meters 0.0178442623542656 Centerline is valid? [True, True] Translation: X:226.30, Y:-122.36, Z:-10.47 [[-9.44696589e-01 -3.27842226e-01 8.23588806e-03 2.26303391e+02] [-3.27828093e-01 9.44732471e-01 3.04944089e-03 -1.22361174e+02] [-8.78044637e-03 1.80840931e-04 -9.99961435e-01 -1.04695417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.710385723 meters 0.017875279250717604 Centerline is valid? [True, True] Translation: X:226.24, Y:-122.35, Z:-10.47 [[-9.18332220e-01 -3.95723460e-01 8.29923209e-03 2.26242534e+02] [-3.95705401e-01 9.18369700e-01 3.78545488e-03 -1.22354981e+02] [-9.11975659e-03 1.92254223e-04 -9.99958396e-01 -1.04699994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.770385723 meters 0.01820458119533834 Centerline is valid? [True, True] Translation: X:226.17, Y:-122.36, Z:-10.47 [[-8.86516567e-01 -4.62622073e-01 8.31830477e-03 2.26172818e+02] [-4.62599596e-01 8.86555569e-01 4.56466387e-03 -1.22358074e+02] [-9.48635369e-03 1.98605715e-04 -9.99954984e-01 -1.04694434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.830385723 meters 0.01867075654375865 Centerline is valid? [True, True] Translation: X:226.09, Y:-122.37, Z:-10.47 [[-8.50372560e-01 -5.26083243e-01 1.01455296e-02 2.26093558e+02] [-5.26041982e-01 8.50433036e-01 6.59425751e-03 -1.22373467e+02] [-1.20972219e-02 2.70601141e-04 -9.99926789e-01 -1.04678156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.890385723 meters 0.021743865341409804 Centerline is valid? [True, True] Translation: X:226.01, Y:-122.40, Z:-10.46 [[-8.09415049e-01 -5.87156337e-01 9.73214375e-03 2.26009853e+02] [-5.87109561e-01 8.09473503e-01 7.41695812e-03 -1.22399095e+02] [-1.22328265e-02 2.89562872e-04 -9.99925134e-01 -1.04631598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.950385723 meters 0.018468075995731043 Centerline is valid? [True, True] Translation: X:225.92, Y:-122.43, Z:-10.47 [[-7.62516649e-01 -6.46920440e-01 7.89327622e-03 2.25922411e+02] [-6.46882464e-01 7.62557464e-01 7.01369438e-03 -1.22431613e+02] [-1.05563790e-02 2.42036763e-04 -9.99944251e-01 -1.04701596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.010385723 meters 0.017912390534742195 Centerline is valid? [True, True] Translation: X:225.83, Y:-122.48, Z:-10.47 [[-7.09107374e-01 -7.05060757e-01 7.48744453e-03 2.25829834e+02] [-7.05018314e-01 7.09146872e-01 7.73891121e-03 -1.22476548e+02] [-1.07661005e-02 2.08933489e-04 -9.99942022e-01 -1.04698214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.070385723 meters 0.01687145926063559 Centerline is valid? [True, True] Translation: X:225.74, Y:-122.53, Z:-10.47 [[-6.50143494e-01 -7.59777014e-01 7.23366656e-03 2.25737611e+02] [-7.59727128e-01 6.50183713e-01 8.70808020e-03 -1.22530081e+02] [-1.13194114e-02 1.65888968e-04 -9.99935920e-01 -1.04696160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.130385723 meters 0.01636189907472755 Centerline is valid? [True, True] Translation: X:225.65, Y:-122.60, Z:-10.47 [[-5.87101211e-01 -8.09487181e-01 6.53245778e-03 2.25647052e+02] [-8.09434883e-01 5.87137540e-01 9.20215791e-03 -1.22596517e+02] [-1.12844801e-02 1.14998850e-04 -9.99936322e-01 -1.04698881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.190385723 meters 0.01596506794856227 Centerline is valid? [True, True] Translation: X:225.56, Y:-122.67, Z:-10.47 [[-5.22164371e-01 -8.52822256e-01 6.21041359e-03 2.25561993e+02] [-8.52759673e-01 5.22201292e-01 1.03320389e-02 -1.22670844e+02] [-1.20544787e-02 9.90323349e-05 -9.99927337e-01 -1.04709876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.250385723 meters 0.015841460878354016 Centerline is valid? [True, True] Translation: X:225.48, Y:-122.75, Z:-10.47 [[-4.53471713e-01 -8.91252040e-01 5.76255431e-03 2.25480883e+02] [-8.91178024e-01 4.53508320e-01 1.14862196e-02 -1.22754754e+02] [-1.28504829e-02 7.32139027e-05 -9.99917426e-01 -1.04702663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.310385723 meters 0.016097661941749487 Centerline is valid? [True, True] Translation: X:225.41, Y:-122.85, Z:-10.47 [[-3.84450057e-01 -9.23131360e-01 5.16201302e-03 2.25408107e+02] [-9.23045254e-01 3.84484702e-01 1.26084654e-02 -1.22849657e+02] [-1.36239848e-02 8.25536204e-05 -9.99907186e-01 -1.04693236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.370385723 meters 0.016093852827894373 Centerline is valid? [True, True] Translation: X:225.35, Y:-122.94, Z:-10.47 [[-3.14611340e-01 -9.49210806e-01 4.30716462e-03 2.25345193e+02] [-9.49116827e-01 3.14640801e-01 1.33572197e-02 -1.22943045e+02] [-1.40340270e-02 1.14330379e-04 -9.99901512e-01 -1.04712754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.430385723 meters 0.016114927523190898 Centerline is valid? [True, True] Translation: X:225.29, Y:-123.05, Z:-10.47 [[-2.41392488e-01 -9.70422340e-01 3.18572876e-03 2.25286587e+02] [-9.70331357e-01 2.41413480e-01 1.32886582e-02 -1.23048703e+02] [-1.36646887e-02 1.16569751e-04 -9.99906627e-01 -1.04716491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.490385723 meters 0.016273379275649744 Centerline is valid? [True, True] Translation: X:225.24, Y:-123.17, Z:-10.47 [[-1.68810488e-01 -9.85646142e-01 2.16856611e-03 2.25237457e+02] [-9.85552824e-01 1.68824348e-01 1.35635608e-02 -1.23166167e+02] [-1.37349782e-02 1.52434876e-04 -9.99905659e-01 -1.04726412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.550385723 meters 0.017083820121512272 Centerline is valid? [True, True] Translation: X:225.20, Y:-123.28, Z:-10.47 [[-9.72232142e-02 -9.95261965e-01 1.12609361e-03 2.25199604e+02] [-9.95166723e-01 9.72294908e-02 1.37702154e-02 -1.23277453e+02] [-1.38144611e-02 2.18133713e-04 -9.99904552e-01 -1.04723477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.610385723 meters 0.017534822831148808 Centerline is valid? [True, True] Translation: X:225.17, Y:-123.40, Z:-10.47 [[-2.29521868e-02 -9.99736562e-01 6.56510928e-05 2.25169424e+02] [-9.99634978e-01 2.29507906e-02 1.42538552e-02 -1.23401586e+02] [-1.42516069e-02 2.61530017e-04 -9.99898407e-01 -1.04726647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.670385723 meters 0.017384079600439018 Centerline is valid? [True, True] Translation: X:225.15, Y:-123.52, Z:-10.47 [[ 5.42213081e-02 -9.98528461e-01 -9.81414732e-04 2.25146145e+02] [-9.98436647e-01 -5.42296333e-02 1.35428430e-02 -1.23522855e+02] [-1.35761359e-02 2.45569774e-04 -9.99907810e-01 -1.04740235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.730385723 meters 0.01672425969248616 Centerline is valid? [True, True] Translation: X:225.13, Y:-123.65, Z:-10.47 [[ 1.33570434e-01 -9.91036846e-01 -2.21584845e-03 2.25128789e+02] [-9.90927425e-01 -1.33588617e-01 1.47282025e-02 -1.23649746e+02] [-1.48922034e-02 2.28492597e-04 -9.99889079e-01 -1.04740470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.790385723 meters 0.01633772022603483 Centerline is valid? [True, True] Translation: X:225.12, Y:-123.76, Z:-10.47 [[ 2.09389877e-01 -9.77826276e-01 -3.41364936e-03 2.25118835e+02] [-9.77710596e-01 -2.09417617e-01 1.50416774e-02 -1.23762585e+02] [-1.54230257e-02 1.87986162e-04 -9.99881040e-01 -1.04736848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.850385723 meters 0.016082582993674793 Centerline is valid? [True, True] Translation: X:225.12, Y:-123.89, Z:-10.47 [[ 2.85837618e-01 -9.58266548e-01 -4.69895580e-03 2.25123571e+02] [-9.58146233e-01 -2.85876193e-01 1.51854800e-02 -1.23890036e+02] [-1.58950571e-02 1.61705372e-04 -9.99873653e-01 -1.04742638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.910385723 meters 0.016210426176215934 Centerline is valid? [True, True] Translation: X:225.14, Y:-124.01, Z:-10.47 [[ 3.57467789e-01 -9.33908026e-01 -5.70775344e-03 2.25136236e+02] [-9.33795879e-01 -3.57513320e-01 1.44735239e-02 -1.24013369e+02] [-1.55575380e-02 1.56058061e-04 -9.99878962e-01 -1.04740484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.970385723 meters 0.01645317844403224 Centerline is valid? [True, True] Translation: X:225.16, Y:-124.13, Z:-10.47 [[ 4.27320836e-01 -9.04077840e-01 -6.33743617e-03 2.25156672e+02] [-9.03983848e-01 -4.27367798e-01 1.30371432e-02 -1.24125226e+02] [-1.44950084e-02 1.57897016e-04 -9.99894929e-01 -1.04749589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.030385723 meters 0.016500161503609605 Centerline is valid? [True, True] Translation: X:225.19, Y:-124.24, Z:-10.48 [[ 4.94680081e-01 -8.69045739e-01 -7.14986400e-03 2.25190413e+02] [-8.68959755e-01 -4.94731721e-01 1.22256962e-02 -1.24244544e+02] [-1.41619537e-02 1.65135687e-04 -9.99899701e-01 -1.04758285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0903857229999 meters 0.01679074197559499 Centerline is valid? [True, True] Translation: X:225.23, Y:-124.36, Z:-10.47 [[ 5.59223616e-01 -8.28967224e-01 -9.07130869e-03 2.25228383e+02] [-8.28863810e-01 -5.59297151e-01 1.30951038e-02 -1.24356072e+02] [-1.59289690e-02 1.95788173e-04 -9.99873107e-01 -1.04734104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.150385723 meters 0.016329836189528647 Centerline is valid? [True, True] Translation: X:225.27, Y:-124.46, Z:-10.48 [[ 6.21325435e-01 -7.83479465e-01 -1.07066615e-02 2.25270290e+02] [-7.83368683e-01 -6.21417644e-01 1.31764262e-02 -1.24457763e+02] [-1.69767677e-02 2.00414581e-04 -9.99855864e-01 -1.04751606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.210385723 meters 0.016555893846566968 Centerline is valid? [True, True] Translation: X:225.33, Y:-124.56, Z:-10.48 [[ 6.79209624e-01 -7.33853318e-01 -1.15582567e-02 2.25325668e+02] [-7.33752034e-01 -6.79307933e-01 1.21936638e-02 -1.24562206e+02] [-1.67999761e-02 1.98840586e-04 -9.99858851e-01 -1.04756553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.270385723 meters 0.016598360215603472 Centerline is valid? [True, True] Translation: X:225.38, Y:-124.65, Z:-10.48 [[ 7.33181047e-01 -6.79932197e-01 -1.17370821e-02 2.25380614e+02] [-6.79849112e-01 -7.33274964e-01 1.06307275e-02 -1.24654393e+02] [-1.58346823e-02 1.85196920e-04 -9.99874606e-01 -1.04761848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.330385723 meters 0.016533968884156716 Centerline is valid? [True, True] Translation: X:225.40, Y:-124.68, Z:-10.48 [[ 7.84271033e-01 -6.20304642e-01 -1.18785192e-02 2.25401138e+02] [-6.20236786e-01 -7.84360965e-01 9.17639469e-03 -1.24679060e+02] [-1.50092070e-02 1.70714011e-04 -9.99887341e-01 -1.04771631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.390385723 meters 0.017086268125111898 Centerline is valid? [True, True] Translation: X:225.42, Y:-124.70, Z:-10.48 [[ 8.29464714e-01 -5.58410609e-01 -1.28794178e-02 2.25423074e+02] [-5.58347015e-01 -8.29564676e-01 8.42964895e-03 -1.24698897e+02] [-1.53915155e-02 1.99088129e-04 -9.99881524e-01 -1.04760669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.450385723 meters 0.01747488116302739 Centerline is valid? [True, True] Translation: X:225.45, Y:-124.72, Z:-10.48 [[ 8.69476338e-01 -4.93797702e-01 -1.32183992e-02 2.25445577e+02] [-4.93744620e-01 -8.69576781e-01 7.24384578e-03 -1.24720569e+02] [-1.50714075e-02 2.28161002e-04 -9.99886394e-01 -1.04766154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.510385723 meters 0.017058315238645937 Centerline is valid? [True, True] Translation: X:225.47, Y:-124.74, Z:-10.48 [[ 9.04382181e-01 -4.26546016e-01 -1.23031369e-02 2.25468561e+02] [-4.26510115e-01 -9.04465831e-01 5.53911220e-03 -1.24741776e+02] [-1.34904532e-02 2.37937977e-04 -9.99908971e-01 -1.04806147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.570385723 meters 0.017483336525393977 Centerline is valid? [True, True] Translation: X:225.49, Y:-124.76, Z:-10.48 [[ 9.34192909e-01 -3.56540728e-01 -1.27404341e-02 2.25493148e+02] [-3.56511463e-01 -9.34279743e-01 4.57592032e-03 -1.24762749e+02] [-1.35346314e-02 2.67318471e-04 -9.99908367e-01 -1.04804295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.630385723 meters 0.01778587357639703 Centerline is valid? [True, True] Translation: X:225.52, Y:-124.78, Z:-10.48 [[ 9.59072068e-01 -2.82813142e-01 -1.40532690e-02 2.25519236e+02] [-2.82787262e-01 -9.59174979e-01 3.83717419e-03 -1.24780982e+02] [-1.45647473e-02 2.93958876e-04 -9.99893885e-01 -1.04795581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.690385723 meters 0.01791013025990508 Centerline is valid? [True, True] Translation: X:225.55, Y:-124.80, Z:-10.48 [[ 9.78428380e-01 -2.06006123e-01 -1.54720000e-02 2.25545124e+02] [-2.05985281e-01 -9.78550655e-01 2.94605826e-03 -1.24795932e+02] [-1.57470418e-02 3.04497269e-04 -9.99875961e-01 -1.04784561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.750385723 meters 0.018102051433596562 Centerline is valid? [True, True] Translation: X:225.57, Y:-124.81, Z:-10.48 [[ 9.91557414e-01 -1.28765289e-01 -1.52772564e-02 2.25570062e+02] [-1.28754609e-01 -9.91675054e-01 1.68476377e-03 -1.24806961e+02] [-1.53670132e-02 2.96477163e-04 -9.99881877e-01 -1.04786503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.810385723 meters 0.017472975185468028 Centerline is valid? [True, True] Translation: X:225.60, Y:-124.82, Z:-10.48 [[ 9.98516990e-01 -5.26368360e-02 -1.38990781e-02 2.25595534e+02] [-5.26358350e-02 -9.98613678e-01 4.38073688e-04 -1.24822463e+02] [-1.39028683e-02 2.94165558e-04 -9.99903307e-01 -1.04816232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.870385723 meters 0.017496977044651404 Centerline is valid? [True, True] Translation: X:225.62, Y:-124.83, Z:-10.48 [[ 9.99556291e-01 2.63770527e-02 -1.38373693e-02 2.25622111e+02] [ 2.63705931e-02 -9.99652025e-01 -6.49108397e-04 -1.24833694e+02] [-1.38496758e-02 2.83920747e-04 -9.99904048e-01 -1.04815652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.930385723 meters 0.017281718860663525 Centerline is valid? [True, True] Translation: X:225.65, Y:-124.84, Z:-10.48 [[ 9.94187221e-01 1.06644651e-01 -1.47881335e-02 2.25649878e+02] [ 1.06628753e-01 -9.94297161e-01 -1.86165416e-03 -1.24843493e+02] [-1.49023346e-02 2.73992543e-04 -9.99888917e-01 -1.04803372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.990385723 meters 0.016593867606864602 Centerline is valid? [True, True] Translation: X:225.68, Y:-124.85, Z:-10.48 [[ 9.82428211e-01 1.86082212e-01 -1.44298736e-02 2.25678414e+02] [ 1.86058526e-01 -9.82534148e-01 -2.97871346e-03 -1.24852208e+02] [-1.47321292e-02 2.41571114e-04 -9.99891447e-01 -1.04814919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.050385723 meters 0.016348003212335302 Centerline is valid? [True, True] Translation: X:225.71, Y:-124.86, Z:-10.48 [[ 9.64486171e-01 2.63820834e-01 -1.28450111e-02 2.25707331e+02] [ 2.63794677e-01 -9.64571681e-01 -3.72029690e-03 -1.24856681e+02] [-1.33714258e-02 1.99729344e-04 -9.99910579e-01 -1.04835223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.110385723 meters 0.016757144935940688 Centerline is valid? [True, True] Translation: X:225.74, Y:-124.86, Z:-10.48 [[ 9.41048813e-01 3.38032602e-01 -1.26922055e-02 2.25735964e+02] [ 3.37998849e-01 -9.41134377e-01 -4.78145405e-03 -1.24857468e+02] [-1.35613583e-02 2.09630816e-04 -9.99908019e-01 -1.04834724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.170385723 meters 0.01703069080672237 Centerline is valid? [True, True] Translation: X:225.76, Y:-124.85, Z:-10.48 [[ 9.11942492e-01 4.10110803e-01 -1.30392059e-02 2.25764266e+02] [ 4.10065251e-01 -9.12035677e-01 -6.11673290e-03 -1.24853010e+02] [-1.44007592e-02 2.31183398e-04 -9.99896277e-01 -1.04837005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.230385723 meters 0.01755296883814832 Centerline is valid? [True, True] Translation: X:225.79, Y:-124.85, Z:-10.49 [[ 8.78585721e-01 4.77434230e-01 -1.19869634e-02 2.25793173e+02] [ 4.77385657e-01 -8.78667449e-01 -6.81531873e-03 -1.24849161e+02] [-1.37864210e-02 2.65437336e-04 -9.99904928e-01 -1.04860046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.290385723 meters 0.02008284939168917 Centerline is valid? [True, True] Translation: X:225.82, Y:-124.84, Z:-10.49 [[ 8.41302331e-01 5.40436898e-01 -1.17621019e-02 2.25818634e+02] [ 5.40378283e-01 -8.41384478e-01 -7.96687691e-03 -1.24839277e+02] [-1.42020442e-02 3.46567684e-04 -9.99899086e-01 -1.04853435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.350385723 meters 0.01912580491388823 Centerline is valid? [True, True] Translation: X:225.85, Y:-124.84, Z:-10.49 [[ 8.00259036e-01 5.99519113e-01 -1.27400775e-02 2.25851412e+02] [ 5.99433045e-01 -8.00360282e-01 -1.01707013e-02 -1.24836543e+02] [-1.62941818e-02 5.02372126e-04 -9.99867115e-01 -1.04867091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.410385723 meters 0.019406942431544047 Centerline is valid? [True, True] Translation: X:225.88, Y:-124.83, Z:-10.49 [[ 7.52150094e-01 6.58873741e-01 -1.24751656e-02 2.25881285e+02] [ 6.58770605e-01 -7.52253335e-01 -1.16708679e-02 -1.24828988e+02] [-1.70741133e-02 5.59971985e-04 -9.99854070e-01 -1.04867648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.470385723 meters 0.021778404656257987 Centerline is valid? [True, True] Translation: X:225.91, Y:-124.82, Z:-10.49 [[ 7.02112359e-01 7.11969073e-01 -1.17589888e-02 2.25906974e+02] [ 7.11853052e-01 -7.02210507e-01 -1.28699746e-02 -1.24817526e+02] [-1.74203094e-02 6.65496145e-04 -9.99848033e-01 -1.04871087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.530385723 meters 0.022538011327136828 Centerline is valid? [True, True] Translation: X:225.93, Y:-124.81, Z:-10.49 [[ 6.45105568e-01 7.64019842e-01 -1.06059574e-02 2.25933891e+02] [ 7.63898882e-01 -6.45192389e-01 -1.36117231e-02 -1.24805112e+02] [-1.72425095e-02 6.79119353e-04 -9.99851106e-01 -1.04872728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5903857229999 meters 0.021533261381807264 Centerline is valid? [True, True] Translation: X:225.96, Y:-124.79, Z:-10.49 [[ 5.81819573e-01 8.13264811e-01 -9.29153431e-03 2.25962493e+02] [ 8.13143296e-01 -5.81893416e-01 -1.40723972e-02 -1.24791801e+02] [-1.68512681e-02 6.32247283e-04 -9.99857807e-01 -1.04879495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.650385723 meters 0.01954740490537667 Centerline is valid? [True, True] Translation: X:226.00, Y:-124.78, Z:-10.49 [[ 5.11539653e-01 8.59224843e-01 -7.73646897e-03 2.25996026e+02] [ 8.59111090e-01 -5.11597898e-01 -1.39902015e-02 -1.24779498e+02] [-1.59786899e-02 5.10056519e-04 -9.99872203e-01 -1.04891216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.710385723 meters 0.01819789424403651 Centerline is valid? [True, True] Translation: X:226.03, Y:-124.76, Z:-10.49 [[ 4.37144558e-01 8.99373405e-01 -5.66692743e-03 2.26027982e+02] [ 8.99287123e-01 -4.37181147e-01 -1.24625581e-02 -1.24763666e+02] [-1.36859672e-02 3.51744590e-04 -9.99906281e-01 -1.04897661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.770385723 meters 0.01798770669126615 Centerline is valid? [True, True] Translation: X:226.06, Y:-124.74, Z:-10.49 [[ 3.61909223e-01 9.32204728e-01 -4.00746292e-03 2.26055441e+02] [ 9.32139455e-01 -3.61931318e-01 -1.10344132e-02 -1.24744114e+02] [-1.17367585e-02 2.57941607e-04 -9.99931089e-01 -1.04895630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.830385723 meters 0.017014957344838894 Centerline is valid? [True, True] Translation: X:226.08, Y:-124.72, Z:-10.49 [[ 2.88053943e-01 9.57609491e-01 -2.99808765e-03 2.26084868e+02] [ 9.57548211e-01 -2.88069435e-01 -1.08362614e-02 -1.24722515e+02] [-1.12405642e-02 2.50614353e-04 -9.99936791e-01 -1.04901050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.890385723 meters 0.017732110232426476 Centerline is valid? [True, True] Translation: X:226.11, Y:-124.70, Z:-10.49 [[ 2.14076778e-01 9.76814317e-01 -2.21906797e-03 2.26105466e+02] [ 9.76747335e-01 -2.14088093e-01 -1.14425248e-02 -1.24697734e+02] [-1.16522981e-02 2.82110112e-04 -9.99932070e-01 -1.04882754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.950385723 meters 0.018593854840110877 Centerline is valid? [True, True] Translation: X:226.12, Y:-124.67, Z:-10.49 [[ 1.40103621e-01 9.90135935e-01 -1.34365460e-03 2.26124446e+02] [ 9.90065428e-01 -1.40109685e-01 -1.18205075e-02 -1.24669934e+02] [-1.18921682e-02 3.25789934e-04 -9.99929233e-01 -1.04863443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.010385723 meters 0.018426667874039487 Centerline is valid? [True, True] Translation: X:226.14, Y:-124.64, Z:-10.49 [[ 6.42528022e-02 9.97933569e-01 -4.12042844e-04 2.26144537e+02] [ 9.97863299e-01 -6.42531697e-02 -1.18476059e-02 -1.24640849e+02] [-1.18495987e-02 3.50079445e-04 -9.99929730e-01 -1.04855654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.070385723 meters 0.018356585065727467 Centerline is valid? [True, True] Translation: X:226.16, Y:-124.61, Z:-10.49 [[-1.28054287e-02 9.99917903e-01 4.56883046e-04 2.26161215e+02] [ 9.99863337e-01 1.28095052e-02 -1.04510537e-02 -1.24609278e+02] [-1.04560481e-02 3.22990384e-04 -9.99945282e-01 -1.04854960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.130385723 meters 0.018156356593981317 Centerline is valid? [True, True] Translation: X:226.17, Y:-124.58, Z:-10.48 [[-9.32536087e-02 9.95641562e-01 1.28231586e-03 2.26174871e+02] [ 9.95586762e-01 9.32619354e-02 -1.04503659e-02 -1.24576932e+02] [-1.05244099e-02 3.02122367e-04 -9.99944571e-01 -1.04840565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.190385723 meters 0.01741322204775104 Centerline is valid? [True, True] Translation: X:226.19, Y:-124.54, Z:-10.48 [[-1.75070830e-01 9.84554221e-01 1.78607365e-03 2.26185384e+02] [ 9.84515028e-01 1.75079802e-01 -8.78767534e-03 -1.24543250e+02] [-8.96464827e-03 2.19950732e-04 -9.99959793e-01 -1.04837933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.250385723 meters 0.015632263938391722 Centerline is valid? [True, True] Translation: X:226.19, Y:-124.51, Z:-10.48 [[-2.59575891e-01 9.65721650e-01 1.43250545e-03 2.26194442e+02] [ 9.65708705e-01 2.59579829e-01 -5.00087378e-03 -1.24508138e+02] [-5.20130159e-03 8.52767222e-05 -9.99986470e-01 -1.04848380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.310385723 meters 0.014446244761390665 Centerline is valid? [True, True] Translation: X:226.20, Y:-124.47, Z:-10.49 [[-3.38971495e-01 9.40795253e-01 1.61787093e-03 2.26203203e+02] [ 9.40785280e-01 3.38975351e-01 -4.33226771e-03 -1.24471010e+02] [-4.62419527e-03 5.35538960e-05 -9.99989307e-01 -1.04851180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.370385723 meters 0.014371530930345926 Centerline is valid? [True, True] Translation: X:226.21, Y:-124.43, Z:-10.48 [[-4.12285430e-01 9.11053499e-01 1.49909236e-03 2.26206114e+02] [ 9.11047814e-01 4.12288153e-01 -3.21869172e-03 -1.24434151e+02] [-3.55045837e-03 3.87251159e-05 -9.99993696e-01 -1.04841644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.430385723 meters 0.014629521632871087 Centerline is valid? [True, True] Translation: X:226.20, Y:-124.40, Z:-10.48 [[-4.80349775e-01 8.77075937e-01 1.37622705e-03 2.26201432e+02] [ 8.77072556e-01 4.80351745e-01 -2.43560411e-03 -1.24398851e+02] [-2.79728282e-03 3.71090918e-05 -9.99996087e-01 -1.04848214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.490385723 meters 0.015401181262574103 Centerline is valid? [True, True] Translation: X:226.19, Y:-124.37, Z:-10.48 [[-5.42922825e-01 8.39780706e-01 1.78113620e-03 2.26192390e+02] [ 8.39776543e-01 5.42925743e-01 -2.64481985e-03 -1.24365083e+02] [-3.18809338e-03 5.98233359e-05 -9.99994916e-01 -1.04846538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.550385723 meters 0.016610255676530215 Centerline is valid? [True, True] Translation: X:226.18, Y:-124.33, Z:-10.48 [[-6.03347092e-01 7.97475319e-01 2.32441659e-03 2.26181172e+02] [ 7.97469949e-01 6.03351563e-01 -2.92780592e-03 -1.24331214e+02] [-3.73729335e-03 8.71691929e-05 -9.99993013e-01 -1.04827560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.610385723 meters 0.01764398614947376 Centerline is valid? [True, True] Translation: X:226.17, Y:-124.30, Z:-10.48 [[-6.61388576e-01 7.50039601e-01 2.39768008e-03 2.26167301e+02] [ 7.50035181e-01 6.61392915e-01 -2.57667106e-03 -1.24299214e+02] [-3.51841395e-03 9.41636153e-05 -9.99993806e-01 -1.04815286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.670385723 meters 0.018558314802602744 Centerline is valid? [True, True] Translation: X:226.15, Y:-124.27, Z:-10.48 [[-7.16634009e-01 6.97443152e-01 2.95738343e-03 2.26148672e+02] [ 6.97437871e-01 7.16640102e-01 -2.71666274e-03 -1.24270086e+02] [-4.01409738e-03 1.15738292e-04 -9.99991937e-01 -1.04810715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.730385723 meters 0.01866569955383188 Centerline is valid? [True, True] Translation: X:226.53, Y:-123.86, Z:-11.44 [[-7.12502262e-01 -7.01666398e-01 2.18904040e-03 2.26533268e+02] [ 7.01662479e-01 -7.12505612e-01 -2.34917003e-03 -1.23858860e+02] [ 3.20803725e-03 -1.37821441e-04 9.99994845e-01 -1.14382575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.790385723 meters 0.02030313326982978 Centerline is valid? [True, True] Translation: X:226.49, Y:-123.82, Z:-11.44 [[-7.14666696e-01 -6.99461951e-01 2.11953957e-03 2.26493334e+02] [ 6.99458413e-01 -7.14669830e-01 -2.22739640e-03 -1.23817165e+02] [ 3.07275002e-03 -1.09316244e-04 9.99995273e-01 -1.14387066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.850385723 meters 0.021024980492772627 Centerline is valid? [True, True] Translation: X:226.45, Y:-123.78, Z:-11.44 [[-7.17257859e-01 -6.96805800e-01 1.68538684e-03 2.26452515e+02] [ 6.96803558e-01 -7.17259833e-01 -1.77017928e-03 -1.23775739e+02] [ 2.44233147e-03 -9.52914589e-05 9.99997013e-01 -1.14375395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.910385723 meters 0.020884560641290833 Centerline is valid? [True, True] Translation: X:226.41, Y:-123.74, Z:-11.44 [[-7.17251423e-01 -6.96813152e-01 1.35208814e-03 2.26409356e+02] [ 6.96811711e-01 -7.17252693e-01 -1.41925021e-03 -1.23737788e+02] [ 1.95874107e-03 -7.58083851e-05 9.99998079e-01 -1.14368776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.970385723 meters 0.01909617197124524 Centerline is valid? [True, True] Translation: X:226.36, Y:-123.70, Z:-11.44 [[-7.14353512e-01 -6.99783241e-01 1.57338024e-03 2.26362178e+02] [ 6.99781299e-01 -7.14355240e-01 -1.65057434e-03 -1.23702992e+02] [ 2.27899668e-03 -7.80715085e-05 9.99997400e-01 -1.14372168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.030385723 meters 0.019404308888757167 Centerline is valid? [True, True] Translation: X:226.32, Y:-123.66, Z:-11.44 [[-7.11840808e-01 -7.02339378e-01 1.43630274e-03 2.26320098e+02] [ 7.02337766e-01 -7.11842254e-01 -1.50589002e-03 -1.23664108e+02] [ 2.08006684e-03 -6.31843097e-05 9.99997835e-01 -1.14374632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0903857229999 meters 0.01767813554542854 Centerline is valid? [True, True] Translation: X:226.27, Y:-123.63, Z:-11.44 [[-7.09704040e-01 -7.04498907e-01 1.21051894e-03 2.26274098e+02] [ 7.04497767e-01 -7.09705071e-01 -1.26846775e-03 -1.23628095e+02] [ 1.75274557e-03 -4.74287972e-05 9.99998463e-01 -1.14363732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.150385723 meters 0.017330408994869973 Centerline is valid? [True, True] Translation: X:226.23, Y:-123.59, Z:-11.44 [[-7.11542874e-01 -7.02642343e-01 6.90494753e-04 2.26230018e+02] [ 7.02641972e-01 -7.11543208e-01 -7.23173320e-04 -1.23588876e+02] [ 9.99449048e-04 -2.93982276e-05 9.99999500e-01 -1.14354039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.210385723 meters 0.024312864093754622 Centerline is valid? [True, True] Translation: X:226.20, Y:-123.54, Z:-11.44 [[-7.14301791e-01 -6.99836977e-01 1.07603413e-03 2.26195138e+02] [ 6.99836072e-01 -7.14302599e-01 -1.12636686e-03 -1.23543840e+02] [ 1.55688715e-03 -5.15183600e-05 9.99998787e-01 -1.14379811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.270385723 meters 0.01963634583893298 Centerline is valid? [True, True] Translation: X:226.15, Y:-123.51, Z:-11.44 [[-7.15734127e-01 -6.98372769e-01 3.67564352e-04 2.26150195e+02] [ 6.98372663e-01 -7.15734221e-01 -3.84537894e-04 -1.23507084e+02] [ 5.31629179e-04 -1.85299981e-05 9.99999859e-01 -1.14353287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.330385723 meters 0.019871051908325804 Centerline is valid? [True, True] Translation: X:226.11, Y:-123.47, Z:-11.44 [[-7.16261369e-01 -6.97831870e-01 5.75809427e-04 2.26108011e+02] [ 6.97831611e-01 -7.16261600e-01 -6.02154591e-04 -1.23467797e+02] [ 8.32632846e-04 -2.94820522e-05 9.99999653e-01 -1.14358917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.390385723 meters 0.01843727752345403 Centerline is valid? [True, True] Translation: X:226.06, Y:-123.43, Z:-11.44 [[-7.16789956e-01 -6.97287914e-01 1.31284343e-03 2.26062082e+02] [ 6.97286568e-01 -7.16791155e-01 -1.37212993e-03 -1.23431054e+02] [ 1.89780417e-03 -6.81008661e-05 9.99998197e-01 -1.14373159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.450385723 meters 0.01888547891729092 Centerline is valid? [True, True] Translation: X:226.02, Y:-123.39, Z:-11.44 [[-7.18216842e-01 -6.95815310e-01 2.37095083e-03 2.26020956e+02] [ 6.95810915e-01 -7.18220744e-01 -2.47663598e-03 -1.23390048e+02] [ 3.42614730e-03 -1.29028212e-04 9.99994122e-01 -1.14383644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.510385723 meters 0.02103341113449591 Centerline is valid? [True, True] Translation: X:225.98, Y:-123.35, Z:-11.44 [[-7.20899818e-01 -6.93033598e-01 2.80788571e-03 2.25982111e+02] [ 6.93027417e-01 -7.20905267e-01 -2.93183037e-03 -1.23348210e+02] [ 4.05607655e-03 -1.67614201e-04 9.99991760e-01 -1.14379843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.570385723 meters 0.02132411018078971 Centerline is valid? [True, True] Translation: X:225.94, Y:-123.31, Z:-11.44 [[-7.21545091e-01 -6.92359492e-01 3.31908220e-03 2.25939622e+02] [ 6.92350857e-01 -7.21552696e-01 -3.46368739e-03 -1.23308138e+02] [ 4.79300955e-03 -2.01237223e-04 9.99988493e-01 -1.14379895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.630385723 meters 0.021217119202327547 Centerline is valid? [True, True] Translation: X:225.90, Y:-123.27, Z:-11.44 [[-7.20399509e-01 -6.93553310e-01 2.89037003e-03 2.25895813e+02] [ 6.93546778e-01 -7.20405288e-01 -3.01463123e-03 -1.23269635e+02] [ 4.17304532e-03 -1.67132035e-04 9.99991279e-01 -1.14366436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.690385723 meters 0.020433193147535337 Centerline is valid? [True, True] Translation: X:225.85, Y:-123.23, Z:-11.44 [[-7.17405316e-01 -6.96645759e-01 3.78134059e-03 2.25850572e+02] [ 6.96634635e-01 -7.17415256e-01 -3.94164714e-03 -1.23233524e+02] [ 5.45872319e-03 -1.93545788e-04 9.99985082e-01 -1.14374454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.750385723 meters 0.018408896116308946 Centerline is valid? [True, True] Translation: X:225.81, Y:-123.20, Z:-11.44 [[-7.15084454e-01 -6.99030836e-01 3.18043854e-03 2.25805097e+02] [ 6.99022998e-01 -7.15091511e-01 -3.31337152e-03 -1.23197349e+02] [ 4.59045346e-03 -1.46140780e-04 9.99989453e-01 -1.14361883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.810385723 meters 0.019716640300055294 Centerline is valid? [True, True] Translation: X:225.76, Y:-123.16, Z:-11.44 [[-7.14372936e-01 -6.99751516e-01 4.37311061e-03 2.25763944e+02] [ 6.99736728e-01 -7.14386295e-01 -4.55336828e-03 -1.23157745e+02] [ 6.31031665e-03 -1.92776960e-04 9.99980071e-01 -1.14377609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.870385723 meters 0.018814490536567762 Centerline is valid? [True, True] Translation: X:225.72, Y:-123.12, Z:-11.44 [[-7.14567373e-01 -6.99551497e-01 4.60133197e-03 2.25720920e+02] [ 6.99535140e-01 -7.14582159e-01 -4.78807077e-03 -1.23119522e+02] [ 6.63753181e-03 -2.02605750e-04 9.99977951e-01 -1.14376181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.930385723 meters 0.018812700968134578 Centerline is valid? [True, True] Translation: X:225.68, Y:-123.08, Z:-11.44 [[-7.15909955e-01 -6.98183800e-01 3.50964796e-03 2.25678873e+02] [ 6.98174278e-01 -7.15918539e-01 -3.65007878e-03 -1.23078902e+02] [ 5.06104792e-03 -1.62781802e-04 9.99987180e-01 -1.14363032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.990385723 meters 0.019209503590551673 Centerline is valid? [True, True] Translation: X:225.64, Y:-123.04, Z:-11.44 [[-7.16992315e-01 -6.97073343e-01 3.28261841e-03 2.25637307e+02] [ 6.97065010e-01 -7.16999812e-01 -3.41209357e-03 -1.23038272e+02] [ 4.73211625e-03 -1.58246438e-04 9.99988791e-01 -1.14365608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.050385723 meters 0.01981144244787522 Centerline is valid? [True, True] Translation: X:225.60, Y:-123.00, Z:-11.44 [[-7.17901440e-01 -6.96136419e-01 3.40724138e-03 2.25596011e+02] [ 6.96127440e-01 -7.17909505e-01 -3.53970607e-03 -1.22996998e+02] [ 4.91020928e-03 -1.69285863e-04 9.99987931e-01 -1.14375356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.110385723 meters 0.01855570620800407 Centerline is valid? [True, True] Translation: X:225.55, Y:-122.96, Z:-11.44 [[-7.16366446e-01 -6.97713957e-01 3.78799563e-03 2.25552255e+02] [ 6.97702893e-01 -7.16376440e-01 -3.93311271e-03 -1.22958665e+02] [ 5.45781845e-03 -1.74654462e-04 9.99985091e-01 -1.14376591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.170385723 meters 0.01852426550715288 Centerline is valid? [True, True] Translation: X:225.51, Y:-122.92, Z:-11.44 [[-7.14022859e-01 -7.00110848e-01 4.01975154e-03 2.25511156e+02] [ 7.00098438e-01 -7.14034155e-01 -4.17174696e-03 -1.22919354e+02] [ 5.79092519e-03 -1.64500914e-04 9.99983219e-01 -1.14382699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.230385723 meters 0.01732159922942917 Centerline is valid? [True, True] Translation: X:225.47, Y:-122.88, Z:-11.44 [[-7.09386160e-01 -7.04809994e-01 3.76142121e-03 2.25467467e+02] [ 7.04799206e-01 -7.09396123e-01 -3.90128081e-03 -1.22882511e+02] [ 5.41799933e-03 -1.16467935e-04 9.99985316e-01 -1.14380023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.290385723 meters 0.015162006002022362 Centerline is valid? [True, True] Translation: X:225.42, Y:-122.85, Z:-11.44 [[-7.03736836e-01 -7.10451090e-01 3.70337998e-03 2.25421870e+02] [ 7.10440722e-01 -7.03746577e-01 -3.83887950e-03 -1.22846529e+02] [ 5.33357711e-03 -7.05289715e-05 9.99985774e-01 -1.14384556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.350385723 meters 0.014659045608586881 Centerline is valid? [True, True] Translation: X:225.38, Y:-122.81, Z:-11.44 [[-7.00685709e-01 -7.13453828e-01 4.81388630e-03 2.25378528e+02] [ 7.13436399e-01 -7.00702242e-01 -4.98726209e-03 -1.22807279e+02] [ 6.93128215e-03 -6.01015645e-05 9.99975977e-01 -1.14404331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.410385723 meters 0.01452108277770386 Centerline is valid? [True, True] Translation: X:225.34, Y:-122.77, Z:-11.44 [[-6.99129970e-01 -7.14974300e-01 5.38844755e-03 2.25338663e+02] [ 7.14952534e-01 -6.99150733e-01 -5.57909157e-03 -1.22765692e+02] [ 7.75624415e-03 -4.80258926e-05 9.99969919e-01 -1.14407629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4703857229999 meters 0.014845092350983921 Centerline is valid? [True, True] Translation: X:225.30, Y:-122.72, Z:-11.44 [[-7.01197861e-01 -7.12956268e-01 3.86265550e-03 2.25302848e+02] [ 7.12945066e-01 -7.01208498e-01 -3.99689527e-03 -1.22721268e+02] [ 5.55813840e-03 -4.87532290e-05 9.99984552e-01 -1.14385474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.530385723 meters 0.014947117020446873 Centerline is valid? [True, True] Translation: X:225.27, Y:-122.68, Z:-11.44 [[-7.03492370e-01 -7.10696520e-01 2.99017004e-03 2.25266438e+02] [ 7.10689794e-01 -7.03498723e-01 -3.09243346e-03 -1.22675759e+02] [ 4.30136251e-03 -5.04200195e-05 9.99990748e-01 -1.14363598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5903857229999 meters 0.01531818783578487 Centerline is valid? [True, True] Translation: X:225.23, Y:-122.63, Z:-11.44 [[-7.05219819e-01 -7.08982862e-01 2.88243005e-03 2.25229186e+02] [ 7.08976604e-01 -7.05225707e-01 -2.97943589e-03 -1.22630608e+02] [ 4.14513276e-03 -5.75817683e-05 9.99991407e-01 -1.14361985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.650385723 meters 0.01540428400314145 Centerline is valid? [True, True] Translation: X:225.19, Y:-122.59, Z:-11.44 [[-7.05797300e-01 -7.08408943e-01 2.63452440e-03 2.25189892e+02] [ 7.08403717e-01 -7.05802215e-01 -2.72167791e-03 -1.22587598e+02] [ 3.78751413e-03 -5.46460398e-05 9.99992826e-01 -1.14364519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.710385723 meters 0.015770371536881423 Centerline is valid? [True, True] Translation: X:225.15, Y:-122.54, Z:-11.44 [[-7.06275892e-01 -7.07931038e-01 2.83013888e-03 2.25154324e+02] [ 7.07925011e-01 -7.06281560e-01 -2.92186968e-03 -1.22543784e+02] [ 4.06735714e-03 -6.01200167e-05 9.99991726e-01 -1.14364016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.770385723 meters 0.01576913388807405 Centerline is valid? [True, True] Translation: X:225.12, Y:-122.50, Z:-11.44 [[-7.05934174e-01 -7.08268175e-01 3.62416366e-03 2.25115428e+02] [ 7.08258308e-01 -7.05943473e-01 -3.73938540e-03 -1.22501337e+02] [ 5.20694235e-03 -7.29159191e-05 9.99986441e-01 -1.14374197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.830385723 meters 0.015637449759240658 Centerline is valid? [True, True] Translation: X:225.08, Y:-122.46, Z:-11.44 [[-7.05474031e-01 -7.08724662e-01 3.96801765e-03 2.25076544e+02] [ 7.08712854e-01 -7.05485187e-01 -4.09172994e-03 -1.22459677e+02] [ 5.69928759e-03 -7.44241062e-05 9.99983756e-01 -1.14382304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.890385723 meters 0.0154401274848615 Centerline is valid? [True, True] Translation: X:225.04, Y:-122.42, Z:-11.44 [[-7.04983888e-01 -7.09214918e-01 3.45222514e-03 2.25037399e+02] [ 7.09205998e-01 -7.04992338e-01 -3.55767110e-03 -1.22417692e+02] [ 4.95694569e-03 -5.97620276e-05 9.99987712e-01 -1.14377731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.950385723 meters 0.015364712689866958 Centerline is valid? [True, True] Translation: X:225.00, Y:-122.37, Z:-11.44 [[-7.04402437e-01 -7.09794485e-01 2.99927419e-03 2.25001069e+02] [ 7.09787765e-01 -7.04408820e-01 -3.08901442e-03 -1.22372747e+02] [ 4.30528059e-03 -4.70611589e-05 9.99990731e-01 -1.14359571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.010385723 meters 0.015177158215043797 Centerline is valid? [True, True] Translation: X:224.96, Y:-122.33, Z:-11.44 [[-7.02801969e-01 -7.11377841e-01 3.31046277e-03 2.24962605e+02] [ 7.11369682e-01 -7.02809765e-01 -3.40745051e-03 -1.22330216e+02] [ 4.75061034e-03 -3.98000824e-05 9.99988715e-01 -1.14360202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.070385723 meters 0.014836427669429624 Centerline is valid? [True, True] Translation: X:224.92, Y:-122.29, Z:-11.44 [[-7.01172332e-01 -7.12980977e-01 3.93538268e-03 2.24922619e+02] [ 7.12969484e-01 -7.01183375e-01 -4.04840960e-03 -1.22288337e+02] [ 5.64586394e-03 -3.28250356e-05 9.99984061e-01 -1.14359565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.130385723 meters 0.014636844492551494 Centerline is valid? [True, True] Translation: X:224.88, Y:-122.25, Z:-11.43 [[-6.98005292e-01 -7.16086823e-01 2.87651694e-03 2.24883439e+02] [ 7.16080716e-01 -6.98011219e-01 -2.95745061e-03 -1.22246013e+02] [ 4.12563251e-03 -4.49786830e-06 9.99991490e-01 -1.14339492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.190385723 meters 0.014652962834426256 Centerline is valid? [True, True] Translation: X:224.84, Y:-122.20, Z:-11.43 [[-6.97127223e-01 -7.16945036e-01 1.85751373e-03 2.24843723e+02] [ 7.16942496e-01 -6.97129697e-01 -1.90864072e-03 -1.22204635e+02] [ 2.66331848e-03 1.16512409e-06 9.99996453e-01 -1.14335928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.250385723 meters 0.014813989766382747 Centerline is valid? [True, True] Translation: X:224.80, Y:-122.16, Z:-11.43 [[-6.94097539e-01 -7.19877521e-01 2.22739464e-03 2.24804261e+02] [ 7.19873888e-01 -6.94101112e-01 -2.28729418e-03 -1.22163106e+02] [ 3.19260876e-03 1.58379778e-05 9.99994904e-01 -1.14337777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.310385723 meters 0.015134394532088029 Centerline is valid? [True, True] Translation: X:224.77, Y:-122.12, Z:-11.43 [[-6.91422689e-01 -7.22444140e-01 3.02145065e-03 2.24765452e+02] [ 7.22437486e-01 -6.91429290e-01 -3.10105688e-03 -1.22119335e+02] [ 4.32945985e-03 3.86681202e-05 9.99990627e-01 -1.14347510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.370385723 meters 0.015335041031507074 Centerline is valid? [True, True] Translation: X:224.73, Y:-122.08, Z:-11.44 [[-6.91474273e-01 -7.22390535e-01 3.90440766e-03 2.24728323e+02] [ 7.22379435e-01 -6.91485294e-01 -4.00491834e-03 -1.22075848e+02] [ 5.59295558e-03 5.11658016e-05 9.99984358e-01 -1.14357805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.430385723 meters 0.01501407116452705 Centerline is valid? [True, True] Translation: X:224.69, Y:-122.03, Z:-11.44 [[-6.93716895e-01 -7.20239667e-01 3.41939715e-03 2.24693276e+02] [ 7.20231138e-01 -6.93725321e-01 -3.50529549e-03 -1.22030595e+02] [ 4.89677524e-03 3.10735964e-05 9.99988010e-01 -1.14351668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.490385723 meters 0.014666004705538693 Centerline is valid? [True, True] Translation: X:224.66, Y:-121.98, Z:-11.43 [[-6.97859725e-01 -7.16230416e-01 2.40736630e-03 2.24660309e+02] [ 7.16226169e-01 -6.97863878e-01 -2.46635097e-03 -1.21982564e+02] [ 3.44648956e-03 3.05173610e-06 9.99994061e-01 -1.14328119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.550385723 meters 0.01478058898037349 Centerline is valid? [True, True] Translation: X:224.63, Y:-121.93, Z:-11.43 [[-7.03318083e-01 -7.10865021e-01 3.82047619e-03 2.24626112e+02] [ 7.10854258e-01 -7.03328458e-01 -3.91194263e-03 -1.21934391e+02] [ 5.46791281e-03 -3.55382207e-05 9.99985050e-01 -1.14337110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.610385723 meters 0.01567282011899685 Centerline is valid? [True, True] Translation: X:224.59, Y:-121.89, Z:-11.44 [[-7.09764728e-01 -7.04418109e-01 5.39988794e-03 2.24592494e+02] [ 7.04396443e-01 -7.09785259e-01 -5.52599910e-03 -1.21886562e+02] [ 7.72537470e-03 -1.18497389e-04 9.99970152e-01 -1.14351985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.670385723 meters 0.016927311705830922 Centerline is valid? [True, True] Translation: X:224.56, Y:-121.84, Z:-11.44 [[-7.13400720e-01 -7.00732546e-01 5.77162445e-03 2.24557651e+02] [ 7.00707696e-01 -7.13424047e-01 -5.90375305e-03 -1.21841547e+02] [ 8.25456758e-03 -1.67520004e-04 9.99965916e-01 -1.14351788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.730385723 meters 0.016975727376782702 Centerline is valid? [True, True] Translation: X:224.52, Y:-121.80, Z:-11.43 [[-7.14573792e-01 -6.99536006e-01 5.80272514e-03 2.24518840e+02] [ 6.99510875e-01 -7.14597330e-01 -5.93229036e-03 -1.21798570e+02] [ 8.29646260e-03 -1.79989882e-04 9.99965568e-01 -1.14342516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.790385723 meters 0.016215252107285864 Centerline is valid? [True, True] Translation: X:224.48, Y:-121.76, Z:-11.43 [[-7.12924542e-01 -7.01223057e-01 4.98205902e-03 2.24477685e+02] [ 7.01204593e-01 -7.12941937e-01 -5.09056753e-03 -1.21757111e+02] [ 7.12154214e-03 -1.35747864e-04 9.99974632e-01 -1.14322537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.850385723 meters 0.01571716505144024 Centerline is valid? [True, True] Translation: X:224.44, Y:-121.72, Z:-11.43 [[-7.11358470e-01 -7.02812388e-01 4.88626860e-03 2.24437005e+02] [ 7.02794683e-01 -7.11375242e-01 -4.98995933e-03 -1.21715803e+02] [ 6.98297573e-03 -1.15606242e-04 9.99975612e-01 -1.14318885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.910385723 meters 0.015995068437849674 Centerline is valid? [True, True] Translation: X:224.40, Y:-121.67, Z:-11.43 [[-7.11437158e-01 -7.02736522e-01 4.30709404e-03 2.24396041e+02] [ 7.02722779e-01 -7.11450188e-01 -4.39602456e-03 -1.21674076e+02] [ 6.15352987e-03 -1.00802126e-04 9.99981062e-01 -1.14322797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9703857229999 meters 0.015949331708269832 Centerline is valid? [True, True] Translation: X:224.36, Y:-121.63, Z:-11.43 [[-7.12616132e-01 -7.01543528e-01 3.86351875e-03 2.24355106e+02] [ 7.01532464e-01 -7.12626598e-01 -3.94114019e-03 -1.21631981e+02] [ 5.51812762e-03 -9.81362452e-05 9.99984770e-01 -1.14317360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.030385723 meters 0.016617933968612032 Centerline is valid? [True, True] Translation: X:224.32, Y:-121.59, Z:-11.43 [[-7.13912630e-01 -7.00228609e-01 2.94139333e-03 2.24315738e+02] [ 7.00222191e-01 -7.13918685e-01 -2.99897866e-03 -1.21590202e+02] [ 4.19988631e-03 -8.13798661e-05 9.99991177e-01 -1.14305146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0903857229999 meters 0.017587686151575844 Centerline is valid? [True, True] Translation: X:224.27, Y:-121.55, Z:-11.43 [[-7.15838942e-01 -6.98257586e-01 3.30953065e-03 2.24274747e+02] [ 6.98249449e-01 -7.15846585e-01 -3.37245455e-03 -1.21548570e+02] [ 4.72395819e-03 -1.03256342e-04 9.99988837e-01 -1.14313839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.150385723 meters 0.017611941038827423 Centerline is valid? [True, True] Translation: X:224.23, Y:-121.51, Z:-11.43 [[-7.17108681e-01 -6.96953472e-01 3.31639628e-03 2.24234212e+02] [ 6.96945296e-01 -7.17116341e-01 -3.37760126e-03 -1.21507186e+02] [ 4.73227288e-03 -1.10760396e-04 9.99988797e-01 -1.14320194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.210385723 meters 0.018170637183859514 Centerline is valid? [True, True] Translation: X:224.19, Y:-121.47, Z:-11.43 [[-7.18168040e-01 -6.95864264e-01 2.75543231e-03 2.24194558e+02] [ 6.95858619e-01 -7.18173319e-01 -2.80476214e-03 -1.21465193e+02] [ 3.93061171e-03 -9.68992115e-05 9.99992270e-01 -1.14313702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.270385723 meters 0.018090263102408802 Centerline is valid? [True, True] Translation: X:224.15, Y:-121.43, Z:-11.43 [[-7.18186187e-01 -6.95846004e-01 2.63428850e-03 2.24152915e+02] [ 6.95840850e-01 -7.18191012e-01 -2.67981307e-03 -1.21426355e+02] [ 3.75665954e-03 -9.15591801e-05 9.99992940e-01 -1.14322560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.330385723 meters 0.01758387000415876 Centerline is valid? [True, True] Translation: X:224.11, Y:-121.39, Z:-11.43 [[-7.16504625e-01 -6.97579696e-01 1.92114508e-03 2.24110504e+02] [ 6.97576964e-01 -7.16507198e-01 -1.95327087e-03 -1.21386936e+02] [ 2.73907638e-03 -5.93810556e-05 9.99996247e-01 -1.14318099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.390385723 meters 0.016623803554702724 Centerline is valid? [True, True] Translation: X:224.07, Y:-121.35, Z:-11.43 [[-7.14498296e-01 -6.99635872e-01 1.35326831e-03 2.24068479e+02] [ 6.99634521e-01 -7.14499577e-01 -1.37513874e-03 -1.21347235e+02] [ 1.92900603e-03 -3.57410620e-05 9.99998139e-01 -1.14301660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.450385723 meters 0.01587722239072378 Centerline is valid? [True, True] Translation: X:224.02, Y:-121.31, Z:-11.43 [[-7.11488115e-01 -7.02697380e-01 1.02676143e-03 2.24024138e+02] [ 7.02696606e-01 -7.11488856e-01 -1.04278870e-03 -1.21309213e+02] [ 1.46329420e-03 -2.04299953e-05 9.99998929e-01 -1.14303540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.510385723 meters 0.015576106288159194 Centerline is valid? [True, True] Translation: X:223.98, Y:-121.27, Z:-11.43 [[-7.09956342e-01 -7.04245664e-01 1.95774832e-04 2.23981361e+02] [ 7.04245636e-01 -7.09956369e-01 -1.98725713e-04 -1.21269214e+02] [ 2.78943310e-04 -3.21300943e-06 9.99999961e-01 -1.14293782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.570385723 meters 0.016164667262342648 Centerline is valid? [True, True] Translation: X:223.94, Y:-121.23, Z:-11.43 [[-7.09872117e-01 -7.04329898e-01 9.86381821e-04 2.23942614e+02] [ 7.04329187e-01 -7.09872802e-01 -1.00082264e-03 -1.21227716e+02] [ 1.40511494e-03 -1.57185805e-05 9.99999013e-01 -1.14310910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.630385723 meters 0.015589294087299818 Centerline is valid? [True, True] Translation: X:223.90, Y:-121.19, Z:-11.43 [[-7.09585568e-01 -7.04616780e-01 1.87510796e-03 2.23900030e+02] [ 7.04614215e-01 -7.09588045e-01 -1.90150173e-03 -1.21188116e+02] [ 2.67038421e-03 -2.80504645e-05 9.99996434e-01 -1.14323369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.690385723 meters 0.015525535414788072 Centerline is valid? [True, True] Translation: X:223.86, Y:-121.15, Z:-11.43 [[-7.08564570e-01 -7.05644044e-01 1.65334685e-03 2.23860088e+02] [ 7.05642055e-01 -7.08566498e-01 -1.67553139e-03 -1.21147947e+02] [ 2.35383493e-03 -2.05511135e-05 9.99997230e-01 -1.14320932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.750385723 meters 0.015335148339282848 Centerline is valid? [True, True] Translation: X:223.82, Y:-121.11, Z:-11.43 [[-7.07134412e-01 -7.07078601e-01 8.81024230e-04 2.23819481e+02] [ 7.07078038e-01 -7.07134960e-01 -8.92297124e-04 -1.21107117e+02] [ 1.25392724e-03 -8.02111730e-06 9.99999214e-01 -1.14313473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.810385723 meters 0.015125330592928074 Centerline is valid? [True, True] Translation: X:223.78, Y:-121.06, Z:-11.43 [[-7.05644615e-01 -7.08564851e-01 1.23692178e-03 2.23780056e+02] [ 7.08563745e-01 -7.05645699e-01 -1.25203934e-03 -1.21064587e+02] [ 1.75997960e-03 -7.05689128e-06 9.99998451e-01 -1.14322732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.870385723 meters 0.015111144457137236 Centerline is valid? [True, True] Translation: X:223.74, Y:-121.02, Z:-11.43 [[-7.04044128e-01 -7.10152030e-01 2.44115075e-03 2.23742695e+02] [ 7.10147737e-01 -7.04048360e-01 -2.46952141e-03 -1.21021700e+02] [ 3.47242383e-03 -5.07436733e-06 9.99993971e-01 -1.14331970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.930385723 meters 0.015023962251977106 Centerline is valid? [True, True] Translation: X:223.70, Y:-120.98, Z:-11.43 [[-7.03531354e-01 -7.10659961e-01 2.46045700e-03 2.23703701e+02] [ 7.10655607e-01 -7.03535656e-01 -2.48767602e-03 -1.20978682e+02] [ 3.49891098e-03 -1.62051245e-06 9.99993879e-01 -1.14328809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.990385723 meters 0.01499597366553476 Centerline is valid? [True, True] Translation: X:223.67, Y:-120.93, Z:-11.43 [[-7.02679909e-01 -7.11504060e-01 1.70788086e-03 2.23666127e+02] [ 7.11501967e-01 -7.02681985e-01 -1.72582209e-03 -1.20934786e+02] [ 2.42802653e-03 2.46008111e-06 9.99997052e-01 -1.14310822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.050385723 meters 0.014941926280319998 Centerline is valid? [True, True] Translation: X:223.63, Y:-120.89, Z:-11.43 [[-7.02589730e-01 -7.11593435e-01 1.56657976e-03 2.23626969e+02] [ 7.11591676e-01 -7.02591477e-01 -1.58228242e-03 -1.20894121e+02] [ 2.22660737e-03 3.06973786e-06 9.99997521e-01 -1.14308810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.110385723 meters 0.01504055241448152 Centerline is valid? [True, True] Translation: X:223.59, Y:-120.85, Z:-11.43 [[-7.02597184e-01 -7.11586939e-01 1.10697702e-03 2.23588908e+02] [ 7.11586062e-01 -7.02598056e-01 -1.11739682e-03 -1.20851854e+02] [ 1.57288489e-03 2.62955308e-06 9.99998763e-01 -1.14302145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.170385723 meters 0.01497061887769925 Centerline is valid? [True, True] Translation: X:223.55, Y:-120.81, Z:-11.43 [[-7.02566935e-01 -7.11613856e-01 2.32869753e-03 2.23551699e+02] [ 7.11609978e-01 -7.02570794e-01 -2.34918324e-03 -1.20808589e+02] [ 3.30778622e-03 6.66593421e-06 9.99994529e-01 -1.14315440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.230385723 meters 0.014960778010960511 Centerline is valid? [True, True] Translation: X:223.51, Y:-120.77, Z:-11.43 [[-7.03320518e-01 -7.10866417e-01 3.03086530e-03 2.23514839e+02] [ 7.10859850e-01 -7.03327048e-01 -3.05559121e-03 -1.20766374e+02] [ 4.30380672e-03 5.46046027e-06 9.99990739e-01 -1.14320656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.290385723 meters 0.014866637170156322 Centerline is valid? [True, True] Translation: X:223.48, Y:-120.72, Z:-11.43 [[-7.04339263e-01 -7.09857562e-01 2.90593753e-03 2.23477600e+02] [ 7.09851524e-01 -7.04345257e-01 -2.92790790e-03 -1.20722162e+02] [ 4.12518089e-03 5.43694364e-07 9.99991491e-01 -1.14325592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.350385723 meters 0.014870672336412179 Centerline is valid? [True, True] Translation: X:223.44, Y:-120.68, Z:-11.43 [[-7.04045529e-01 -7.10145368e-01 3.66738219e-03 2.23440019e+02] [ 7.10135766e-01 -7.04055080e-01 -3.69294339e-03 -1.20678521e+02] [ 5.20456570e-03 4.33897443e-06 9.99986456e-01 -1.14330121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.410385723 meters 0.014901868192330072 Centerline is valid? [True, True] Translation: X:223.40, Y:-120.63, Z:-11.43 [[-7.01838520e-01 -7.12328531e-01 3.27959036e-03 2.23403227e+02] [ 7.12320885e-01 -7.01846183e-01 -3.30041120e-03 -1.20634576e+02] [ 4.65274504e-03 1.97649908e-05 9.99989176e-01 -1.14315948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4703857229999 meters 0.015088276573519114 Centerline is valid? [True, True] Translation: X:223.37, Y:-120.59, Z:-11.43 [[-7.00098061e-01 -7.14042383e-01 2.48620767e-03 2.23365627e+02] [ 7.14038005e-01 -7.00102475e-01 -2.50038650e-03 -1.20592018e+02] [ 3.52598208e-03 2.47310238e-05 9.99993783e-01 -1.14308293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.530385723 meters 0.01502558743502487 Centerline is valid? [True, True] Translation: X:223.33, Y:-120.55, Z:-11.43 [[-7.00699398e-01 -7.13451090e-01 2.80990041e-03 2.23331211e+02] [ 7.13445501e-01 -7.00705032e-01 -2.82417489e-03 -1.20545558e+02] [ 3.98382201e-03 2.58131624e-05 9.99992064e-01 -1.14295621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5903857229999 meters 0.014872654241982551 Centerline is valid? [True, True] Translation: X:223.29, Y:-120.50, Z:-11.43 [[-7.02165397e-01 -7.12007991e-01 2.89413923e-03 2.23294662e+02] [ 7.12002056e-01 -7.02171362e-01 -2.90719721e-03 -1.20500480e+02] [ 4.10212933e-03 1.92997977e-05 9.99991586e-01 -1.14287276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.650385723 meters 0.014745498843055985 Centerline is valid? [True, True] Translation: X:223.26, Y:-120.46, Z:-11.43 [[-7.05778612e-01 -7.08426355e-01 2.94132456e-03 2.23258872e+02] [ 7.08420198e-01 -7.05784741e-01 -2.95338424e-03 -1.20455153e+02] [ 4.16819722e-03 -7.41702877e-07 9.99991313e-01 -1.14299764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.710385723 meters 0.015114353274519921 Centerline is valid? [True, True] Translation: X:223.22, Y:-120.41, Z:-11.43 [[-7.10142983e-01 -7.04051282e-01 2.95562455e-03 2.23223865e+02] [ 7.04045035e-01 -7.10149133e-01 -2.96611752e-03 -1.20408392e+02] [ 4.18723306e-03 -2.54747586e-05 9.99991233e-01 -1.14294271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.770385723 meters 0.01558014571578825 Centerline is valid? [True, True] Translation: X:223.19, Y:-120.36, Z:-11.43 [[-7.14713776e-01 -6.99411085e-01 2.89019923e-03 2.23189009e+02] [ 6.99405079e-01 -7.14719618e-01 -2.89892909e-03 -1.20360995e+02] [ 4.09322523e-03 -5.04845368e-05 9.99991621e-01 -1.14281370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.830385723 meters 0.016382610678861362 Centerline is valid? [True, True] Translation: X:223.15, Y:-120.32, Z:-11.43 [[-7.17957697e-01 -6.96080082e-01 3.04373655e-03 2.23151575e+02] [ 6.96073399e-01 -7.17964145e-01 -3.05113300e-03 -1.20317310e+02] [ 4.30912662e-03 -7.19203750e-05 9.99990713e-01 -1.14295963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.890385723 meters 0.01783164797945184 Centerline is valid? [True, True] Translation: X:223.12, Y:-120.27, Z:-11.43 [[-7.22811227e-01 -6.91034965e-01 3.82211606e-03 2.23117052e+02] [ 6.91024366e-01 -7.22821321e-01 -3.82927102e-03 -1.20269847e+02] [ 5.40886714e-03 -1.26664754e-04 9.99985364e-01 -1.14306441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.950385723 meters 0.018889695284492292 Centerline is valid? [True, True] Translation: X:223.08, Y:-120.22, Z:-11.43 [[-7.26979517e-01 -6.86649019e-01 3.72909787e-03 2.23082136e+02] [ 6.86638884e-01 -7.26989065e-01 -3.73385481e-03 -1.20223750e+02] [ 5.27486111e-03 -1.53892364e-04 9.99986076e-01 -1.14297562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.010385723 meters 0.018483460043152836 Centerline is valid? [True, True] Translation: X:223.04, Y:-120.18, Z:-11.43 [[-7.28072236e-01 -6.85494331e-01 2.88808878e-03 2.23040761e+02] [ 6.85488250e-01 -7.28077953e-01 -2.89023203e-03 -1.20182312e+02] [ 4.08399144e-03 -1.24546774e-04 9.99991653e-01 -1.14287701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.070385723 meters 0.01873709990222717 Centerline is valid? [True, True] Translation: X:223.00, Y:-120.14, Z:-11.43 [[-7.27889740e-01 -6.85689185e-01 2.62048557e-03 2.23000370e+02] [ 6.85684185e-01 -7.27894449e-01 -2.62097235e-03 -1.20141248e+02] [ 3.70460929e-03 -1.10953370e-04 9.99993132e-01 -1.14287577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.130385723 meters 0.01906989082377293 Centerline is valid? [True, True] Translation: X:222.96, Y:-120.10, Z:-11.43 [[-7.27362955e-01 -6.86247059e-01 2.84693246e-03 2.22959813e+02] [ 6.86241169e-01 -7.27368517e-01 -2.84561147e-03 -1.20102547e+02] [ 4.02356155e-03 -1.16110107e-04 9.99991899e-01 -1.14292065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.190385723 meters 0.01917903462394998 Centerline is valid? [True, True] Translation: X:222.46, Y:-120.60, Z:-10.49 [[-7.36597032e-01 6.76325092e-01 3.03033477e-03 2.22461032e+02] [ 6.76320002e-01 7.36603256e-01 -2.62650347e-03 -1.20598441e+02] [-4.00852466e-03 1.14801353e-04 -9.99991959e-01 -1.04903318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.250385723 meters 0.01825023874399208 Centerline is valid? [True, True] Translation: X:222.48, Y:-120.57, Z:-10.49 [[-7.84737348e-01 6.19818582e-01 3.49555539e-03 2.22480185e+02] [ 6.19813051e-01 7.84745126e-01 -2.62095563e-03 -1.20572857e+02] [-4.36763706e-03 1.09829078e-04 -9.99990456e-01 -1.04908805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.310385723 meters 0.017646953571789303 Centerline is valid? [True, True] Translation: X:222.50, Y:-120.55, Z:-10.49 [[-8.28564565e-01 5.59881833e-01 3.61861304e-03 2.22498095e+02] [ 5.59876972e-01 8.28572462e-01 -2.33489340e-03 -1.20546528e+02] [-4.30554751e-03 9.13681784e-05 -9.99990727e-01 -1.04905968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.370385723 meters 0.01651759832204695 Centerline is valid? [True, True] Translation: X:222.87, Y:-119.98, Z:-11.43 [[-8.11321003e-01 -5.84590552e-01 3.48102935e-03 2.22871277e+02] [ 5.84584696e-01 -8.11328465e-01 -2.61815153e-03 -1.19975278e+02] [ 4.35480485e-03 -8.92048383e-05 9.99990514e-01 -1.14293744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.430385723 meters 0.015242911181924494 Centerline is valid? [True, True] Translation: X:222.46, Y:-120.51, Z:-10.49 [[-8.37425916e-01 5.46532061e-01 4.53230422e-03 2.22457976e+02] [ 5.46524361e-01 8.37438179e-01 -2.90156401e-03 -1.20512501e+02] [-5.38132235e-03 4.71697630e-05 -9.99985519e-01 -1.04902489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.490385723 meters 0.01479836627470072 Centerline is valid? [True, True] Translation: X:222.47, Y:-120.49, Z:-10.49 [[-8.76067689e-01 4.82161790e-01 5.04100947e-03 2.22473055e+02] [ 4.82153977e-01 8.76082192e-01 -2.74510109e-03 -1.20486802e+02] [-5.73992149e-03 2.56483924e-05 -9.99983526e-01 -1.04902653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.550385723 meters 0.014843713817210403 Centerline is valid? [True, True] Translation: X:222.48, Y:-120.46, Z:-10.49 [[-9.08253697e-01 4.18383685e-01 5.50577629e-03 2.22475862e+02] [ 4.18376153e-01 9.08270385e-01 -2.51043035e-03 -1.20457413e+02] [-6.05105665e-03 2.33778587e-05 -9.99981692e-01 -1.04901919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.610385723 meters 0.014890677200357178 Centerline is valid? [True, True] Translation: X:222.49, Y:-120.44, Z:-10.49 [[-9.34838955e-01 3.55038072e-01 4.90877639e-03 2.22489616e+02] [ 3.55033356e-01 9.34851842e-01 -1.83028058e-03 -1.20438819e+02] [-5.23879794e-03 3.17617704e-05 -9.99986277e-01 -1.04923341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.670385723 meters 0.015328252098803672 Centerline is valid? [True, True] Translation: X:222.50, Y:-120.42, Z:-10.49 [[-9.56340663e-01 2.92217177e-01 4.65384031e-03 2.22499407e+02] [ 2.92213978e-01 9.56351985e-01 -1.36834474e-03 -1.20417795e+02] [-4.85056325e-03 5.13134680e-05 -9.99988235e-01 -1.04924854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.730385723 meters 0.015835163626315304 Centerline is valid? [True, True] Translation: X:222.51, Y:-120.40, Z:-10.49 [[-9.73957058e-01 2.26652145e-01 6.03772911e-03 2.22506610e+02] [ 2.26648324e-01 9.73975769e-01 -1.31876071e-03 -1.20395018e+02] [-6.17950179e-03 8.40248828e-05 -9.99980903e-01 -1.04913651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.790385723 meters 0.016000029900059044 Centerline is valid? [True, True] Translation: X:222.51, Y:-120.37, Z:-10.49 [[-9.87598148e-01 1.56825544e-01 7.45964739e-03 2.22507312e+02] [ 1.56821842e-01 9.87626315e-01 -1.08229043e-03 -1.20370340e+02] [-7.53707485e-03 1.00967620e-04 -9.99971591e-01 -1.04911956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.850385723 meters 0.016175876847197315 Centerline is valid? [True, True] Translation: X:222.51, Y:-120.34, Z:-10.49 [[-9.96223016e-01 8.64252219e-02 8.38949916e-03 2.22509304e+02] [ 8.64231156e-02 9.96258334e-01 -6.13949853e-04 -1.20343942e+02] [-8.41116921e-03 1.13415682e-04 -9.99964619e-01 -1.04911012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.910385723 meters 0.016359347208155767 Centerline is valid? [True, True] Translation: X:222.50, Y:-120.32, Z:-10.49 [[-9.99845595e-01 1.54263645e-02 8.41505491e-03 2.22504511e+02] [ 1.54267707e-02 9.99881000e-01 -1.66386211e-05 -1.20320286e+02] [-8.41431019e-03 1.13181070e-04 -9.99964593e-01 -1.04918259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9703857229999 meters 0.016300504048907812 Centerline is valid? [True, True] Translation: X:222.51, Y:-120.29, Z:-10.49 [[-9.98427325e-01 -5.55268279e-02 7.72320919e-03 2.22508533e+02] [-5.55243742e-02 9.98457190e-01 5.31919174e-04 -1.20293444e+02] [-7.74082953e-03 1.02256281e-04 -9.99970034e-01 -1.04923634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.030385723 meters 0.016068338147216758 Centerline is valid? [True, True] Translation: X:222.49, Y:-120.27, Z:-10.49 [[-9.91778329e-01 -1.27721828e-01 7.92969223e-03 2.22493581e+02] [-1.27716981e-01 9.91810025e-01 1.11677395e-03 -1.20269594e+02] [-8.00738466e-03 9.48358570e-05 -9.99967936e-01 -1.04927112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0903857229999 meters 0.01583440058855007 Centerline is valid? [True, True] Translation: X:222.48, Y:-120.24, Z:-10.49 [[-9.79734430e-01 -2.00132562e-01 8.21002852e-03 2.22484235e+02] [-2.00124834e-01 9.79768825e-01 1.76070677e-03 -1.20243568e+02] [-8.39630475e-03 8.19944464e-05 -9.99964747e-01 -1.04921798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.150385723 meters 0.015709800781008074 Centerline is valid? [True, True] Translation: X:222.46, Y:-120.22, Z:-10.49 [[-9.62398272e-01 -2.71499406e-01 8.81124592e-03 2.22461041e+02] [-2.71487326e-01 9.62438604e-01 2.56220955e-03 -1.20222929e+02] [-9.17592159e-03 7.37244492e-05 -9.99957898e-01 -1.04929625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.210385723 meters 0.01552165932216816 Centerline is valid? [True, True] Translation: X:222.42, Y:-120.21, Z:-10.49 [[-9.39801074e-01 -3.41612398e-01 8.65511551e-03 2.22424929e+02] [-3.41597294e-01 9.39840926e-01 3.21288913e-03 -1.20207460e+02] [-9.23199453e-03 6.29126188e-05 -9.99957382e-01 -1.04949769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.270385723 meters 0.01549184599517825 Centerline is valid? [True, True] Translation: X:222.36, Y:-120.20, Z:-10.49 [[-9.11377888e-01 -4.11450993e-01 9.92094093e-03 2.22362941e+02] [-4.11425993e-01 9.11431883e-01 4.53591266e-03 -1.20204833e+02] [-1.09085676e-02 5.21975213e-05 -9.99940498e-01 -1.04933169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.330385723 meters 0.015441741022750564 Centerline is valid? [True, True] Translation: X:222.30, Y:-120.21, Z:-10.49 [[-8.77944826e-01 -4.78660372e-01 9.85550606e-03 2.22296989e+02] [-4.78629692e-01 8.78000140e-01 5.41959963e-03 -1.20207651e+02] [-1.12472833e-02 4.09716271e-05 -9.99936746e-01 -1.04927787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.390385723 meters 0.015362992774881741 Centerline is valid? [True, True] Translation: X:222.22, Y:-120.22, Z:-10.49 [[-8.38816567e-01 -5.44329762e-01 9.58522655e-03 2.22221277e+02] [-5.44293996e-01 8.38871331e-01 6.23986725e-03 -1.20221337e+02] [-1.14373172e-02 1.69227653e-05 -9.99934592e-01 -1.04927338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.450385723 meters 0.015337558621630191 Centerline is valid? [True, True] Translation: X:222.14, Y:-120.25, Z:-10.49 [[-7.95319067e-01 -6.06126471e-01 8.84773466e-03 2.22139415e+02] [-6.06088858e-01 7.95368280e-01 6.75245343e-03 -1.20247633e+02] [-1.11300483e-02 7.84157159e-06 -9.99938059e-01 -1.04939003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.510385723 meters 0.015338704472038828 Centerline is valid? [True, True] Translation: X:222.05, Y:-120.29, Z:-10.50 [[-7.47908757e-01 -6.63754562e-01 7.89765685e-03 2.22052806e+02] [-6.63717382e-01 7.47950454e-01 7.02531447e-03 -1.20287965e+02] [-1.05701405e-02 1.24820802e-05 -9.99944134e-01 -1.04951068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.570385723 meters 0.01533563846868803 Centerline is valid? [True, True] Translation: X:221.97, Y:-120.34, Z:-10.49 [[-6.96145917e-01 -7.17858038e-01 7.79104616e-03 2.21966749e+02] [-7.17812731e-01 6.96189513e-01 8.06509925e-03 -1.20336132e+02] [-1.12136409e-02 2.19737931e-05 -9.99937125e-01 -1.04946967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.630385723 meters 0.016494360732553854 Centerline is valid? [True, True] Translation: X:221.88, Y:-120.39, Z:-10.49 [[-6.39637281e-01 -7.68633212e-01 8.19348288e-03 2.21883641e+02] [-7.68569642e-01 6.39689756e-01 9.88537512e-03 -1.20391804e+02] [-1.28395147e-02 2.57922618e-05 -9.99917570e-01 -1.04926183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.690385723 meters 0.015281209252821166 Centerline is valid? [True, True] Translation: X:221.80, Y:-120.46, Z:-10.49 [[-5.78828626e-01 -8.15414805e-01 7.49112653e-03 2.21796170e+02] [-8.15346110e-01 5.78877098e-01 1.05841948e-02 -1.20463707e+02] [-1.29669508e-02 1.85740770e-05 -9.99915925e-01 -1.04941382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.750385723 meters 0.015262347109455041 Centerline is valid? [True, True] Translation: X:221.72, Y:-120.54, Z:-10.49 [[-5.15879586e-01 -8.56636432e-01 6.50192125e-03 2.21716708e+02] [-8.56567593e-01 5.15920557e-01 1.08598983e-02 -1.20540526e+02] [-1.26574593e-02 3.30647836e-05 -9.99919891e-01 -1.04939992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.810385723 meters 0.01533233987971887 Centerline is valid? [True, True] Translation: X:221.63, Y:-120.64, Z:-10.50 [[-4.50145276e-01 -8.92937845e-01 5.58882077e-03 2.21634680e+02] [-8.92867644e-01 4.50179967e-01 1.11967604e-02 -1.20639105e+02] [-1.25139863e-02 5.00915887e-05 -9.99921696e-01 -1.04951079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.870385723 meters 0.015509973291382788 Centerline is valid? [True, True] Translation: X:221.57, Y:-120.72, Z:-10.50 [[-3.83395679e-01 -9.23573810e-01 4.37853367e-03 2.21573961e+02] [-9.23510956e-01 3.83420670e-01 1.07751719e-02 -1.20718360e+02] [-1.16304869e-02 8.75305283e-05 -9.99932360e-01 -1.04972990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.930385723 meters 0.015893911276068488 Centerline is valid? [True, True] Translation: X:221.51, Y:-120.82, Z:-10.50 [[-3.13369041e-01 -9.49625342e-01 3.39906074e-03 2.21509415e+02] [-9.49565674e-01 3.13387456e-01 1.06457699e-02 -1.20822364e+02] [-1.11747159e-02 1.08423304e-04 -9.99937555e-01 -1.04966612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.990385723 meters 0.015933003283826165 Centerline is valid? [True, True] Translation: X:221.45, Y:-120.93, Z:-10.50 [[-2.39471740e-01 -9.70899956e-01 2.56159313e-03 2.21451956e+02] [-9.70839377e-01 2.39485414e-01 1.08462402e-02 -1.20931730e+02] [-1.11440784e-02 1.10472537e-04 -9.99937897e-01 -1.04958056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.050385723 meters 0.015923356516392276 Centerline is valid? [True, True] Translation: X:221.40, Y:-121.05, Z:-10.49 [[-1.61765421e-01 -9.86827515e-01 1.84504497e-03 2.21401037e+02] [-9.86756693e-01 1.61775917e-01 1.18229024e-02 -1.21048656e+02] [-1.19656493e-02 9.19263165e-05 -9.99928405e-01 -1.04943972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.110385723 meters 0.01574951165676077 Centerline is valid? [True, True] Translation: X:221.36, Y:-121.17, Z:-10.49 [[-8.32476309e-02 -9.96528368e-01 1.02159073e-03 2.21358582e+02] [-9.96441706e-01 8.32538642e-02 1.31423363e-02 -1.21166132e+02] [-1.31817623e-02 7.61127506e-05 -9.99913114e-01 -1.04939739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.170385723 meters 0.01579791098461373 Centerline is valid? [True, True] Translation: X:221.33, Y:-121.29, Z:-10.49 [[-3.71190301e-03 -9.99993111e-01 4.71316471e-06 2.21325808e+02] [-9.99891839e-01 3.71159417e-03 1.42314370e-02 -1.21288534e+02] [-1.42313565e-02 4.81130589e-05 -9.99898728e-01 -1.04932214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.230385723 meters 0.015493786950608416 Centerline is valid? [True, True] Translation: X:221.30, Y:-121.42, Z:-10.50 [[ 7.45837916e-02 -9.97214238e-01 -1.01042173e-03 2.21302516e+02] [-9.97128189e-01 -7.45906294e-02 1.31001024e-02 -1.21419587e+02] [-1.31389767e-02 3.04646851e-05 -9.99913679e-01 -1.04958908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.290385723 meters 0.015872613860231283 Centerline is valid? [True, True] Translation: X:221.29, Y:-121.55, Z:-10.50 [[ 1.49568733e-01 -9.88749375e-01 -1.96670198e-03 2.21291630e+02] [-9.88668509e-01 -1.49581653e-01 1.26455140e-02 -1.21547282e+02] [-1.27974266e-02 5.30428084e-05 -9.99918108e-01 -1.04967607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.350385723 meters 0.016173505598616453 Centerline is valid? [True, True] Translation: X:220.49, Y:-121.78, Z:-11.42 [[ 9.29318319e-02 9.95671765e-01 -1.18748520e-03 2.20486716e+02] [-9.95585932e-01 9.29394127e-02 1.30735392e-02 -1.21780355e+02] [ 1.31273180e-02 -3.27043849e-05 9.99913833e-01 -1.14219187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.410385723 meters 0.016045630456284526 Centerline is valid? [True, True] Translation: X:221.34, Y:-121.84, Z:-10.50 [[ 1.55281207e-01 -9.87867700e-01 -2.27005845e-03 2.21338510e+02] [-9.87772713e-01 -1.55297757e-01 1.36994511e-02 -1.21840720e+02] [-1.38857802e-02 1.15034492e-04 -9.99903581e-01 -1.04981099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4703857229999 meters 0.01687244346284118 Centerline is valid? [True, True] Translation: X:221.34, Y:-121.97, Z:-10.50 [[ 2.28596087e-01 -9.73513591e-01 -3.88813608e-03 2.21340253e+02] [-9.73385642e-01 -2.28629082e-01 1.57839835e-02 -1.21972811e+02] [-1.62548634e-02 1.76498985e-04 -9.99867865e-01 -1.04968281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.530385723 meters 0.016931841700784076 Centerline is valid? [True, True] Translation: X:221.34, Y:-122.09, Z:-10.50 [[ 3.01134242e-01 -9.53565725e-01 -5.52965818e-03 2.21344579e+02] [-9.53418620e-01 -3.01184921e-01 1.67504759e-02 -1.22090824e+02] [-1.76381293e-02 2.27937210e-04 -9.99844410e-01 -1.04992904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5903857229999 meters 0.017487981940124523 Centerline is valid? [True, True] Translation: X:221.36, Y:-122.22, Z:-10.50 [[ 3.72022602e-01 -9.28194228e-01 -7.39320811e-03 2.21360685e+02] [-9.28025854e-01 -3.72095949e-01 1.76810439e-02 -1.22216235e+02] [-1.91624257e-02 2.83340317e-04 -9.99816344e-01 -1.04985863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.650385723 meters 0.01848728268672721 Centerline is valid? [True, True] Translation: X:221.39, Y:-122.34, Z:-10.50 [[ 4.40420458e-01 -8.97744725e-01 -9.17768716e-03 2.21387856e+02] [-8.97565834e-01 -4.40515938e-01 1.79243168e-02 -1.22340295e+02] [-2.01343783e-02 3.43342612e-04 -9.99797224e-01 -1.04971745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.710385723 meters 0.01841208046540803 Centerline is valid? [True, True] Translation: X:221.43, Y:-122.48, Z:-10.50 [[ 5.06313078e-01 -8.62292815e-01 -9.90799439e-03 2.21431739e+02] [-8.62141623e-01 -5.06409882e-01 1.61509456e-02 -1.22477872e+02] [-1.89443506e-02 3.64659373e-04 -9.99820473e-01 -1.04981092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.770385723 meters 0.018462362231677392 Centerline is valid? [True, True] Translation: X:221.46, Y:-122.57, Z:-10.50 [[ 5.69471585e-01 -8.21954674e-01 -9.62436478e-03 2.21456404e+02] [-8.21847493e-01 -5.69552801e-01 1.32779865e-02 -1.22569972e+02] [-1.63954870e-02 3.48324053e-04 -9.99865524e-01 -1.05000514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.830385723 meters 0.0176864104545358 Centerline is valid? [True, True] Translation: X:221.50, Y:-122.68, Z:-10.50 [[ 6.30330883e-01 -7.76266172e-01 -9.68541332e-03 2.21499369e+02] [-7.76182425e-01 -6.30405205e-01 1.14070768e-02 -1.22675710e+02] [-1.49606628e-02 3.27414813e-04 -9.99888029e-01 -1.05019934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.890385723 meters 0.018126904782558323 Centerline is valid? [True, True] Translation: X:221.55, Y:-122.78, Z:-10.50 [[ 6.87431164e-01 -7.26178879e-01 -1.01306693e-02 2.21553790e+02] [-7.26106882e-01 -6.87505732e-01 1.02305680e-02 -1.22778861e+02] [-1.43941156e-02 3.23137411e-04 -9.99896347e-01 -1.05012735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.950385723 meters 0.017553947299357928 Centerline is valid? [True, True] Translation: X:221.61, Y:-122.88, Z:-10.50 [[ 7.41481725e-01 -6.70883047e-01 -1.09904158e-02 2.21610711e+02] [-6.70815509e-01 -7.41563107e-01 9.52422638e-03 -1.22876772e+02] [-1.45397289e-02 3.10501600e-04 -9.99894244e-01 -1.05005949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.010385723 meters 0.016889588691346887 Centerline is valid? [True, True] Translation: X:221.62, Y:-122.91, Z:-10.50 [[ 7.92284647e-01 -6.10051946e-01 -1.10300498e-02 2.21623497e+02] [-6.09997684e-01 -7.92361373e-01 8.14123933e-03 -1.22909182e+02] [-1.37063643e-02 2.78125925e-04 -9.99906025e-01 -1.04999603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.070385723 meters 0.01658460057332832 Centerline is valid? [True, True] Translation: X:221.64, Y:-122.94, Z:-10.50 [[ 8.38643834e-01 -5.44553611e-01 -1.17424654e-02 2.21638858e+02] [-5.44504431e-01 -8.38725999e-01 7.32278035e-03 -1.22937654e+02] [-1.38363575e-02 2.52619835e-04 -9.99904241e-01 -1.04980988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.130385723 meters 0.017151084662372897 Centerline is valid? [True, True] Translation: X:221.66, Y:-122.96, Z:-10.50 [[ 8.79542420e-01 -4.75673843e-01 -1.18120831e-02 2.21658705e+02] [-4.75634261e-01 -8.79621707e-01 6.14021746e-03 -1.22959680e+02] [-1.33109056e-02 2.17649697e-04 -9.99911382e-01 -1.04971017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.190385723 meters 0.016626001333889986 Centerline is valid? [True, True] Translation: X:221.68, Y:-122.98, Z:-10.50 [[ 9.14726236e-01 -4.03964492e-01 -9.41282888e-03 2.21681799e+02] [-4.03944796e-01 -9.14774653e-01 3.99194889e-03 -1.22979401e+02] [-1.02232229e-02 1.50722862e-04 -9.99947730e-01 -1.04983672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.250385723 meters 0.01575537126117819 Centerline is valid? [True, True] Translation: X:221.70, Y:-123.00, Z:-10.50 [[ 9.43859374e-01 -3.30245078e-01 -8.22618412e-03 2.21703294e+02] [-3.30233635e-01 -9.43895214e-01 2.75174004e-03 -1.23003763e+02] [-8.67340442e-03 1.19307048e-04 -9.99962378e-01 -1.04994623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.310385723 meters 0.015884563372945304 Centerline is valid? [True, True] Translation: X:221.73, Y:-123.02, Z:-10.50 [[ 9.66900844e-01 -2.55058073e-01 -6.93816730e-03 2.21728049e+02] [-2.55052216e-01 -9.66925731e-01 1.73115120e-03 -1.23022363e+02] [-7.15023658e-03 9.57433909e-05 -9.99974432e-01 -1.04995485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.370385723 meters 0.015912959742696377 Centerline is valid? [True, True] Translation: X:221.75, Y:-123.04, Z:-10.50 [[ 9.84034381e-01 -1.77902504e-01 -5.19958843e-03 2.21750696e+02] [-1.77900380e-01 -9.84048116e-01 8.71943899e-04 -1.23040940e+02] [-5.27176620e-03 6.69859843e-05 -9.99986102e-01 -1.04992487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.430385723 meters 0.015758939710791467 Centerline is valid? [True, True] Translation: X:221.77, Y:-123.06, Z:-10.50 [[ 9.94943632e-01 -1.00286250e-01 -5.46229746e-03 2.21774909e+02] [-1.00285123e-01 -9.94958624e-01 4.80637272e-04 -1.23056388e+02] [-5.48296127e-03 6.95801781e-05 -9.99984966e-01 -1.04971852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.490385723 meters 0.01608356575249624 Centerline is valid? [True, True] Translation: X:221.80, Y:-123.07, Z:-10.50 [[ 9.99687776e-01 -2.40888936e-02 -6.63899167e-03 2.21799863e+02] [-2.40890095e-02 -9.99709816e-01 6.25262506e-05 -1.23065286e+02] [-6.63857132e-03 9.74200046e-05 -9.99977960e-01 -1.04963274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.550385723 meters 0.01680081143154988 Centerline is valid? [True, True] Translation: X:221.82, Y:-123.07, Z:-10.49 [[ 9.98629200e-01 5.17573470e-02 -7.80370272e-03 2.21824071e+02] [ 5.17547160e-02 -9.98659681e-01 -5.38850182e-04 -1.23071349e+02] [-7.82113273e-03 1.34233108e-04 -9.99969405e-01 -1.04938273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.610385723 meters 0.01692344539340611 Centerline is valid? [True, True] Translation: X:221.85, Y:-123.07, Z:-10.50 [[ 9.91764144e-01 1.27970817e-01 -5.23006590e-03 2.21849988e+02] [ 1.27968502e-01 -9.91777929e-01 -7.76408115e-04 -1.23073714e+02] [-5.28642151e-03 1.00730031e-04 -9.99986022e-01 -1.04958438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.670385723 meters 0.01697003761379398 Centerline is valid? [True, True] Translation: X:221.88, Y:-123.08, Z:-10.50 [[ 9.78697790e-01 2.05269719e-01 -3.87015845e-03 2.21876331e+02] [ 2.05267809e-01 -9.78705439e-01 -8.88791734e-04 -1.23077585e+02] [-3.97018716e-03 7.54395599e-05 -9.99992116e-01 -1.04965838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.730385723 meters 0.01619117288178478 Centerline is valid? [True, True] Translation: X:221.90, Y:-123.08, Z:-10.50 [[ 9.58552691e-01 2.84907830e-01 -2.06584879e-03 2.21903806e+02] [ 2.84907094e-01 -9.58554916e-01 -6.48648620e-04 -1.23081879e+02] [-2.16503458e-03 3.31889061e-05 -9.99997656e-01 -1.04977979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.790385723 meters 0.015131087713649427 Centerline is valid? [True, True] Translation: X:221.93, Y:-123.09, Z:-10.50 [[ 9.31363253e-01 3.64091302e-01 -1.25894021e-04 2.21934409e+02] [ 3.64091298e-01 -9.31363261e-01 -5.11754164e-05 -1.23089361e+02] [-1.35885590e-04 1.82598471e-06 -9.99999991e-01 -1.05001129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.850385723 meters 0.014852779940019583 Centerline is valid? [True, True] Translation: X:221.96, Y:-123.09, Z:-10.50 [[ 8.98623672e-01 4.38720212e-01 -2.66687442e-04 2.21964146e+02] [ 4.38720192e-01 -8.98623712e-01 -1.32933138e-04 -1.23091370e+02] [-2.97972113e-04 2.45569865e-06 -9.99999956e-01 -1.04994341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.910385723 meters 0.01456254616612557 Centerline is valid? [True, True] Translation: X:221.99, Y:-123.09, Z:-10.50 [[ 8.59617631e-01 5.10934981e-01 -1.72423124e-03 2.21994666e+02] [ 5.10933939e-01 -8.59619361e-01 -1.03205223e-03 -1.23092152e+02] [-2.00949415e-03 6.20203780e-06 -9.99997981e-01 -1.04965146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9703857229999 meters 0.01442293889280669 Centerline is valid? [True, True] Translation: X:222.02, Y:-123.09, Z:-10.50 [[ 8.16467275e-01 5.77389164e-01 -1.71528377e-03 2.22024661e+02] [ 5.77387878e-01 -8.16469077e-01 -1.21865534e-03 -1.23088457e+02] [-2.10411454e-03 4.60814849e-06 -9.99997786e-01 -1.04954397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.030385723 meters 0.014378675801192215 Centerline is valid? [True, True] Translation: X:222.05, Y:-123.08, Z:-10.50 [[ 7.68739780e-01 6.39559836e-01 -1.53848095e-03 2.22052655e+02] [ 6.39558544e-01 -7.68741319e-01 -1.28553902e-03 -1.23081104e+02] [-2.00487300e-03 4.29634783e-06 -9.99997990e-01 -1.04957070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0903857229999 meters 0.014305489812167014 Centerline is valid? [True, True] Translation: X:222.08, Y:-123.07, Z:-10.50 [[ 7.16102112e-01 6.97994873e-01 -9.60497999e-04 2.22080658e+02] [ 6.97994240e-01 -7.16102756e-01 -9.39939144e-04 -1.23072741e+02] [-1.34388797e-03 2.67033400e-06 -9.99999097e-01 -1.04955351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.150385723 meters 0.014193393183891782 Centerline is valid? [True, True] Translation: X:222.11, Y:-123.06, Z:-10.50 [[ 6.59474596e-01 7.51726545e-01 -6.76560786e-04 2.22107330e+02] [ 7.51726146e-01 -6.59474943e-01 -7.74947343e-04 -1.23061713e+02] [-1.02872337e-03 2.46965388e-06 -9.99999471e-01 -1.04951732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.210385723 meters 0.014213919890353815 Centerline is valid? [True, True] Translation: X:222.13, Y:-123.05, Z:-10.49 [[ 6.00541772e-01 7.99593344e-01 -2.54078230e-04 2.22131078e+02] [ 7.99593271e-01 -6.00541825e-01 -3.42204698e-04 -1.23048009e+02] [-4.26209203e-04 2.34897291e-06 -9.99999909e-01 -1.04943054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.270385723 meters 0.014333235623061803 Centerline is valid? [True, True] Translation: X:222.15, Y:-123.03, Z:-10.49 [[ 5.39050934e-01 8.42273168e-01 3.44560649e-05 2.22151350e+02] [ 8.42273166e-01 -5.39050935e-01 5.38579082e-05 -1.23029959e+02] [ 6.39366449e-05 -1.07368049e-08 -9.99999998e-01 -1.04949255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.330385723 meters 0.01476716820654137 Centerline is valid? [True, True] Translation: X:222.17, Y:-123.01, Z:-10.49 [[ 4.74192884e-01 8.80420961e-01 -2.01635573e-04 2.22170065e+02] [ 8.80420877e-01 -4.74192927e-01 -3.85505893e-04 -1.23011278e+02] [-4.35021631e-04 5.27998323e-06 -9.99999905e-01 -1.04945616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.390385723 meters 0.015194463515774005 Centerline is valid? [True, True] Translation: X:222.19, Y:-122.99, Z:-10.49 [[ 4.05256279e-01 9.14203036e-01 -3.95869039e-04 2.22186588e+02] [ 9.14202568e-01 -4.05256472e-01 -9.25542948e-04 -1.22992018e+02] [-1.00656266e-03 1.31776001e-05 -9.99999493e-01 -1.04932661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.450385723 meters 0.01586152132881223 Centerline is valid? [True, True] Translation: X:222.20, Y:-122.97, Z:-10.49 [[ 3.35026722e-01 9.42208069e-01 -1.02429949e-03 2.22198908e+02] [ 9.42203204e-01 -3.35028285e-01 -3.02844583e-03 -1.22969768e+02] [-3.19659540e-03 4.95120225e-05 -9.99994890e-01 -1.04910662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.510385723 meters 0.015899552498308656 Centerline is valid? [True, True] Translation: X:222.21, Y:-122.95, Z:-10.49 [[ 2.60698129e-01 9.65420078e-01 -7.47368042e-04 2.22210618e+02] [ 9.65415557e-01 -2.60699196e-01 -2.95483167e-03 -1.22947486e+02] [-3.04749207e-03 4.87983552e-05 -9.99995355e-01 -1.04913747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.570385723 meters 0.015166263029035438 Centerline is valid? [True, True] Translation: X:222.23, Y:-122.93, Z:-10.49 [[ 1.83722563e-01 9.82978039e-01 -4.41534828e-04 2.22229782e+02] [ 9.82974645e-01 -1.83723089e-01 -2.58357730e-03 -1.22926113e+02] [-2.62071989e-03 4.06439012e-05 -9.99996565e-01 -1.04925596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.630385723 meters 0.01508005487630257 Centerline is valid? [True, True] Translation: X:222.24, Y:-122.90, Z:-10.49 [[ 1.03929290e-01 9.94584640e-01 -3.11563668e-04 2.22243666e+02] [ 9.94578768e-01 -1.03929747e-01 -3.41788670e-03 -1.22904292e+02] [-3.43175835e-03 4.53439297e-05 -9.99994110e-01 -1.04924644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.690385723 meters 0.014898416208335813 Centerline is valid? [True, True] Translation: X:222.26, Y:-122.88, Z:-10.49 [[ 2.30179827e-02 9.99735049e-01 -6.12398016e-05 2.22256238e+02] [ 9.99723069e-01 -2.30180067e-02 -4.89464072e-03 -1.22880024e+02] [-4.89475350e-03 5.14419133e-05 -9.99988019e-01 -1.04912526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.750385723 meters 0.014825816117633072 Centerline is valid? [True, True] Translation: X:222.26, Y:-122.86, Z:-10.49 [[-5.70597237e-02 9.98370707e-01 3.45143166e-04 2.22264494e+02] [ 9.98356996e-01 5.70607490e-02 -5.23250204e-03 -1.22856276e+02] [-5.24367089e-03 4.60109738e-05 -9.99986251e-01 -1.04904190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.810385723 meters 0.014608217776627283 Centerline is valid? [True, True] Translation: X:222.27, Y:-122.83, Z:-10.49 [[-1.37446128e-01 9.90508967e-01 7.40440660e-04 2.22273355e+02] [ 9.90495865e-01 1.37448118e-01 -5.09463479e-03 -1.22830741e+02] [-5.14805362e-03 3.31655864e-05 -9.99986748e-01 -1.04907777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.870385723 meters 0.014618722913121312 Centerline is valid? [True, True] Translation: X:222.28, Y:-122.80, Z:-10.49 [[-2.16350950e-01 9.76315040e-01 1.09984409e-03 2.22276541e+02] [ 9.76302969e-01 2.16353744e-01 -4.85493717e-03 -1.22804736e+02] [-4.97790356e-03 2.34107797e-05 -9.99987610e-01 -1.04910402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.930385723 meters 0.014641583528411137 Centerline is valid? [True, True] Translation: X:222.28, Y:-122.78, Z:-10.49 [[-2.92513222e-01 9.56260664e-01 1.24787472e-03 2.22277942e+02] [ 9.56252229e-01 2.92515883e-01 -4.01655267e-03 -1.22778711e+02] [-4.20589450e-03 1.83882178e-05 -9.99991155e-01 -1.04922102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.990385723 meters 0.014892479999686114 Centerline is valid? [True, True] Translation: X:222.27, Y:-122.75, Z:-10.49 [[-3.66411099e-01 9.30452235e-01 1.24247030e-03 2.22274935e+02] [ 9.30447026e-01 3.66413206e-01 -3.11355658e-03 -1.22754277e+02] [-3.35227320e-03 1.52111025e-05 -9.99994381e-01 -1.04930897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.050385723 meters 0.01494613346862418 Centerline is valid? [True, True] Translation: X:222.27, Y:-122.73, Z:-10.49 [[-4.38646878e-01 8.98658044e-01 1.62369640e-03 2.22268393e+02] [ 8.98652011e-01 4.38649883e-01 -3.29289776e-03 -1.22731898e+02] [-3.67142330e-03 1.47187163e-05 -9.99993260e-01 -1.04933707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.110385723 meters 0.015113118091120148 Centerline is valid? [True, True] Translation: X:222.26, Y:-122.71, Z:-10.49 [[-5.08918306e-01 8.60810422e-01 2.75223845e-03 2.22261172e+02] [ 8.60797980e-01 5.08925748e-01 -4.62823626e-03 -1.22709068e+02] [-5.38471902e-03 1.37271441e-05 -9.99985502e-01 -1.04905089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.170385723 meters 0.015398249505563967 Centerline is valid? [True, True] Translation: X:222.25, Y:-122.69, Z:-10.49 [[-5.74428523e-01 8.18546083e-01 3.76598365e-03 2.22250010e+02] [ 8.18528712e-01 5.74440868e-01 -5.33266009e-03 -1.22688184e+02] [-6.52836294e-03 1.93336803e-05 -9.99978690e-01 -1.04892254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.230385723 meters 0.015436975179961234 Centerline is valid? [True, True] Translation: X:222.24, Y:-122.67, Z:-10.49 [[-6.35718662e-01 7.71908997e-01 4.27583430e-03 2.22235841e+02] [ 7.71891846e-01 6.35733041e-01 -5.14575893e-03 -1.22670359e+02] [-6.69034676e-03 2.92266459e-05 -9.99977619e-01 -1.04897371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.290385723 meters 0.015778505447029318 Centerline is valid? [True, True] Translation: X:222.22, Y:-122.65, Z:-10.49 [[-6.92025871e-01 7.21857961e-01 4.61281875e-03 2.22221887e+02] [ 7.21842397e-01 6.92041242e-01 -4.74061422e-03 -1.22652840e+02] [-6.61431093e-03 4.91004573e-05 -9.99978124e-01 -1.04896297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.350385723 meters 0.01626161018228011 Centerline is valid? [True, True] Translation: X:222.21, Y:-122.64, Z:-10.49 [[-7.44636108e-01 6.67454618e-01 4.62590495e-03 2.22205273e+02] [ 6.67442259e-01 7.44650474e-01 -4.06232238e-03 -1.22638406e+02] [-6.15609815e-03 6.25725143e-05 -9.99981049e-01 -1.04896453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.410385723 meters 0.016517026769772424 Centerline is valid? [True, True] Translation: X:222.23, Y:-122.62, Z:-10.49 [[-7.89563116e-01 6.13652323e-01 4.57297997e-03 2.22227328e+02] [ 6.13642485e-01 7.89576356e-01 -3.47530860e-03 -1.22621993e+02] [-5.74334806e-03 6.21993063e-05 -9.99983505e-01 -1.04898785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4703857229999 meters 0.016220580996344075 Centerline is valid? [True, True] Translation: X:222.24, Y:-122.60, Z:-10.49 [[-8.31122096e-01 5.56068574e-01 4.87884124e-03 2.22244709e+02] [ 5.56059427e-01 8.31136413e-01 -3.19003046e-03 -1.22598427e+02] [-5.82885829e-03 6.16208593e-05 -9.99983010e-01 -1.04894404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.530385723 meters 0.01619048980635195 Centerline is valid? [True, True] Translation: X:222.26, Y:-122.58, Z:-10.49 [[-8.68928623e-01 4.94903304e-01 5.81099182e-03 2.22264484e+02] [ 4.94892719e-01 8.68948051e-01 -3.23749919e-03 -1.22578272e+02] [-6.65169906e-03 6.26618252e-05 -9.99977875e-01 -1.04890364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5903857229999 meters 0.01595742959978104 Centerline is valid? [True, True] Translation: X:222.28, Y:-122.55, Z:-10.49 [[-9.01964770e-01 4.31765532e-01 6.17085130e-03 2.22276911e+02] [ 4.31755891e-01 9.01985876e-01 -2.88605242e-03 -1.22553154e+02] [-6.81211868e-03 6.11837971e-05 -9.99976795e-01 -1.04892448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.650385723 meters 0.01583830841086948 Centerline is valid? [True, True] Translation: X:222.64, Y:-121.80, Z:-11.43 [[-8.78305786e-01 -4.78048151e-01 6.99373524e-03 2.22644387e+02] [ 4.78033003e-01 -8.78333630e-01 -3.80564809e-03 -1.21797278e+02] [ 7.96211589e-03 7.13527171e-07 9.99968302e-01 -1.14306205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.710385723 meters 0.015844701826459733 Centerline is valid? [True, True] Translation: X:222.24, Y:-122.54, Z:-10.49 [[-9.05113652e-01 4.25110514e-01 7.09422893e-03 2.22244633e+02] [ 4.25097799e-01 9.05141453e-01 -3.28812914e-03 -1.22537293e+02] [-7.81909895e-03 3.96105300e-05 -9.99969430e-01 -1.04889184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.770385723 meters 0.015575917291616283 Centerline is valid? [True, True] Translation: X:222.26, Y:-122.51, Z:-10.49 [[-9.33002538e-01 3.59801119e-01 7.02978633e-03 2.22255255e+02] [ 3.59791202e-01 9.33029021e-01 -2.67164328e-03 -1.22509763e+02] [-7.52025489e-03 3.66053155e-05 -9.99971722e-01 -1.04892833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.830385723 meters 0.015581205896745042 Centerline is valid? [True, True] Translation: X:222.56, Y:-121.73, Z:-11.43 [[-9.11057452e-01 -4.12239622e-01 5.72833394e-03 2.22564132e+02] [ 4.12230765e-01 -9.11075455e-01 -2.70419336e-03 -1.21732512e+02] [ 6.33372009e-03 -1.02280031e-04 9.99979937e-01 -1.14288390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.890385723 meters 0.01549739298540872 Centerline is valid? [True, True] Translation: X:222.21, Y:-122.49, Z:-10.49 [[-9.34283677e-01 3.56482944e-01 5.82418904e-03 2.22212347e+02] [ 3.56476227e-01 9.34301830e-01 -2.18863003e-03 -1.22494563e+02] [-6.22175975e-03 3.13836220e-05 -9.99980644e-01 -1.04907756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.950385723 meters 0.015526154783574024 Centerline is valid? [True, True] Translation: X:222.23, Y:-122.47, Z:-10.49 [[-9.57540258e-01 2.88229803e-01 6.34305579e-03 2.22228482e+02] [ 2.88223654e-01 9.57561267e-01 -1.88283734e-03 -1.22469622e+02] [-6.61655437e-03 2.53261673e-05 -9.99978110e-01 -1.04907997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.010385723 meters 0.015366407210832262 Centerline is valid? [True, True] Translation: X:222.23, Y:-122.44, Z:-10.49 [[-9.75891042e-01 2.18137710e-01 7.25352333e-03 2.22234968e+02] [ 2.18131810e-01 9.75917998e-01 -1.60434772e-03 -1.22439455e+02] [-7.42881270e-03 1.65556076e-05 -9.99972406e-01 -1.04890402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.070385723 meters 0.015405896451249733 Centerline is valid? [True, True] Translation: X:222.24, Y:-122.41, Z:-10.49 [[-9.88713621e-01 1.49531354e-01 9.26012891e-03 2.22243394e+02] [ 1.49525092e-01 9.88756984e-01 -1.36874451e-03 -1.22413946e+02] [-9.36068735e-03 3.13252880e-05 -9.99956187e-01 -1.04879521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.130385723 meters 0.015611496828632615 Centerline is valid? [True, True] Translation: X:222.37, Y:-121.59, Z:-11.43 [[-9.78221848e-01 -2.07342960e-01 9.53478168e-03 2.22372498e+02] [ 2.07333023e-01 -9.78268315e-01 -2.02991291e-03 -1.21589255e+02] [ 9.74846297e-03 -8.83004895e-06 9.99952483e-01 -1.14312701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.190385723 meters 0.016098015492814116 Centerline is valid? [True, True] Translation: X:222.20, Y:-122.41, Z:-10.49 [[-9.88260800e-01 1.52449765e-01 9.98298728e-03 2.22195168e+02] [ 1.52443068e-01 9.88311215e-01 -1.43292983e-03 -1.22414247e+02] [-1.00847481e-02 1.05728822e-04 -9.99949142e-01 -1.04878917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.250385723 meters 0.0161702988171188 Centerline is valid? [True, True] Translation: X:222.17, Y:-122.38, Z:-10.49 [[-9.96522041e-01 8.27210856e-02 1.00520323e-02 2.22174570e+02] [ 8.27180213e-02 9.96572732e-01 -7.20933301e-04 -1.22384542e+02] [-1.00772177e-02 1.13058297e-04 -9.99949217e-01 -1.04876406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.310385723 meters 0.015945848327433853 Centerline is valid? [True, True] Translation: X:222.26, Y:-121.54, Z:-11.43 [[-9.91643728e-01 -1.28687729e-01 9.06563494e-03 2.22264899e+02] [ 1.28680845e-01 -9.91685153e-01 -1.34102022e-03 -1.21544099e+02] [ 9.16282842e-03 -1.63240725e-04 9.99958007e-01 -1.14298396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.370385723 meters 0.015870102234815095 Centerline is valid? [True, True] Translation: X:222.12, Y:-122.38, Z:-10.49 [[-9.96987661e-01 7.72014479e-02 7.45247030e-03 2.22118404e+02] [ 7.71998427e-02 9.97015512e-01 -5.03245776e-04 -1.22379040e+02] [-7.46907979e-03 7.35997051e-05 -9.99972103e-01 -1.04901973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.430385723 meters 0.015728624906477032 Centerline is valid? [True, True] Translation: X:222.21, Y:-121.54, Z:-11.43 [[-9.91951349e-01 -1.26447572e-01 6.59787492e-03 2.22206113e+02] [ 1.26443975e-01 -9.91973285e-01 -9.61164575e-04 -1.21542842e+02] [ 6.66645259e-03 -1.19166963e-04 9.99977772e-01 -1.14284273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.490385723 meters 0.015156615538941112 Centerline is valid? [True, True] Translation: X:222.07, Y:-122.37, Z:-10.49 [[-9.97651311e-01 6.79888853e-02 8.32904128e-03 2.22074226e+02] [ 6.79868622e-02 9.97686078e-01 -5.26116808e-04 -1.22370371e+02] [-8.34553863e-03 4.13842591e-05 -9.99965175e-01 -1.04905452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.550385723 meters 0.015118145723036812 Centerline is valid? [True, True] Translation: X:222.08, Y:-122.34, Z:-10.49 [[-9.99958927e-01 -4.37336132e-03 7.93844175e-03 2.22078779e+02] [-4.37299526e-03 9.99990436e-01 6.34692994e-05 -1.22339234e+02] [-7.93864340e-03 2.87519243e-05 -9.99968488e-01 -1.04898112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.610385723 meters 0.01503974572617556 Centerline is valid? [True, True] Translation: X:222.07, Y:-122.31, Z:-10.49 [[-9.97073740e-01 -7.60458167e-02 7.80959887e-03 2.22071233e+02] [-7.60432998e-02 9.97104324e-01 6.19152103e-04 -1.22310121e+02] [-7.83406873e-03 2.34726353e-05 -9.99969313e-01 -1.04897183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.670385723 meters 0.015221320531484813 Centerline is valid? [True, True] Translation: X:222.07, Y:-122.28, Z:-10.49 [[-9.89177301e-01 -1.46509425e-01 7.95337321e-03 2.22069733e+02] [-1.46504470e-01 9.89209274e-01 1.20524158e-03 -1.22282923e+02] [-8.04412979e-03 2.69928913e-05 -9.99967645e-01 -1.04888278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.730385723 meters 0.015492710932416071 Centerline is valid? [True, True] Translation: X:222.06, Y:-122.26, Z:-10.49 [[-9.76680168e-01 -2.14593326e-01 6.74939327e-03 2.22061021e+02] [-2.14587927e-01 9.76703488e-01 1.52267291e-03 -1.22257105e+02] [-6.91891139e-03 3.88261220e-05 -9.99976063e-01 -1.04896369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.790385723 meters 0.01528537206490532 Centerline is valid? [True, True] Translation: X:222.03, Y:-122.24, Z:-10.49 [[-9.59340130e-01 -2.82186201e-01 6.12075887e-03 2.22030167e+02] [-2.82180126e-01 9.59359654e-01 1.85218562e-03 -1.22235208e+02] [-6.39467033e-03 4.97194807e-05 -9.99979553e-01 -1.04921211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.850385723 meters 0.015428022691002772 Centerline is valid? [True, True] Translation: X:221.98, Y:-122.22, Z:-10.49 [[-9.36489435e-01 -3.50642205e-01 6.13041860e-03 2.21981612e+02] [-3.50634299e-01 9.36509499e-01 2.35518972e-03 -1.22221147e+02] [-6.56702417e-03 5.60752564e-05 -9.99978435e-01 -1.04921890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.910385723 meters 0.015174749152492643 Centerline is valid? [True, True] Translation: X:221.92, Y:-122.21, Z:-10.49 [[-9.07929970e-01 -4.19074377e-01 6.31151713e-03 2.21924124e+02] [-4.19063814e-01 9.07951906e-01 2.97599635e-03 -1.22211877e+02] [-6.97771783e-03 5.70678370e-05 -9.99975654e-01 -1.04914876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9703857229999 meters 0.017067824241053305 Centerline is valid? [True, True] Translation: X:221.84, Y:-122.22, Z:-10.49 [[-8.74323620e-01 -4.85298300e-01 6.61568668e-03 2.21844097e+02] [-4.85283890e-01 8.74348647e-01 3.74031748e-03 -1.22219228e+02] [-7.59958641e-03 5.97617551e-05 -9.99971121e-01 -1.04888821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.030385723 meters 0.014740855356934672 Centerline is valid? [True, True] Translation: X:221.77, Y:-122.23, Z:-10.49 [[-8.33502911e-01 -5.52488747e-01 5.39267252e-03 2.21769620e+02] [-5.52476978e-01 8.33520356e-01 3.60632326e-03 -1.22228092e+02] [-6.48735534e-03 2.65535205e-05 -9.99978957e-01 -1.04914618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0903857229999 meters 0.01464244895420789 Centerline is valid? [True, True] Translation: X:221.68, Y:-122.25, Z:-10.49 [[-7.88135563e-01 -6.15480612e-01 5.09420597e-03 2.21683957e+02] [-6.15467675e-01 7.88152026e-01 3.99069345e-03 -1.22252571e+02] [-6.47120321e-03 9.88832422e-06 -9.99979062e-01 -1.04921889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.150385723 meters 0.0144910932462163 Centerline is valid? [True, True] Translation: X:221.59, Y:-122.29, Z:-10.49 [[-7.37136309e-01 -6.75731701e-01 4.09025134e-03 2.21591191e+02] [-6.75721385e-01 7.37147657e-01 3.73376189e-03 -1.22288841e+02] [-5.53814046e-03 -1.15788454e-05 -9.99984664e-01 -1.04925786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.210385723 meters 0.014481695550884613 Centerline is valid? [True, True] Translation: X:221.48, Y:-122.35, Z:-10.49 [[-6.82328683e-01 -7.31034862e-01 3.94963269e-03 2.21483797e+02] [-7.31022840e-01 6.82340113e-01 4.19257034e-03 -1.22352594e+02] [-5.75990790e-03 -2.65607090e-05 -9.99983411e-01 -1.04928185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.270385723 meters 0.014456683475476165 Centerline is valid? [True, True] Translation: X:221.42, Y:-122.39, Z:-10.49 [[-6.24890725e-01 -7.80704578e-01 3.45606006e-03 2.21416021e+02] [-7.80692843e-01 6.24900281e-01 4.28066022e-03 -1.22388272e+02] [-5.50162393e-03 -2.31764858e-05 -9.99984866e-01 -1.04932987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.330385723 meters 0.01425599126812346 Centerline is valid? [True, True] Translation: X:221.33, Y:-122.46, Z:-10.49 [[-5.66053935e-01 -8.24364626e-01 2.43035781e-03 2.21330119e+02] [-8.24357068e-01 5.66059152e-01 3.52995825e-03 -1.22458826e+02] [-4.28569899e-03 -5.33587933e-06 -9.99990816e-01 -1.04941489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.390385723 meters 0.014251953767035674 Centerline is valid? [True, True] Translation: X:221.25, Y:-122.53, Z:-10.50 [[-5.05349833e-01 -8.62911928e-01 2.13338635e-03 2.21252983e+02] [-8.62904119e-01 5.05354336e-01 3.67110018e-03 -1.22533863e+02] [-4.24595218e-03 1.42819968e-05 -9.99990986e-01 -1.04953716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.450385723 meters 0.01454532452937317 Centerline is valid? [True, True] Translation: X:221.17, Y:-122.63, Z:-10.49 [[-4.41602154e-01 -8.97208042e-01 2.29524373e-03 2.21171759e+02] [-8.97195450e-01 4.41608117e-01 4.75360903e-03 -1.22630549e+02] [-5.27857451e-03 3.99217549e-05 -9.99986067e-01 -1.04947636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.510385723 meters 0.017327468670297063 Centerline is valid? [True, True] Translation: X:221.10, Y:-122.71, Z:-10.49 [[-3.75101704e-01 -9.26981002e-01 2.22121803e-03 2.21103633e+02] [-9.26963617e-01 3.75108274e-01 5.67760514e-03 -1.22712753e+02] [-6.09622936e-03 7.06910584e-05 -9.99981415e-01 -1.04915480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.570385723 meters 0.015370256030093402 Centerline is valid? [True, True] Translation: X:221.04, Y:-122.82, Z:-10.49 [[-3.03368755e-01 -9.52871620e-01 1.75343342e-03 2.21037336e+02] [-9.52854273e-01 3.03373813e-01 5.75007037e-03 -1.22822024e+02] [-6.01102465e-03 7.36251632e-05 -9.99981931e-01 -1.04935712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.630385723 meters 0.015126823507915275 Centerline is valid? [True, True] Translation: X:220.98, Y:-122.93, Z:-10.49 [[-2.30721317e-01 -9.73018811e-01 1.43807839e-03 2.20979182e+02] [-9.72997349e-01 2.30725781e-01 6.46321091e-03 -1.22926850e+02] [-6.62062755e-03 9.19540715e-05 -9.99978079e-01 -1.04943606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.690385723 meters 0.014972446627230053 Centerline is valid? [True, True] Translation: X:220.93, Y:-123.04, Z:-10.49 [[-1.54665806e-01 -9.87966306e-01 1.03306477e-03 2.20926787e+02] [-9.87939819e-01 1.54669224e-01 7.23503255e-03 -1.23040392e+02] [-7.30775171e-03 9.84063131e-05 -9.99973293e-01 -1.04944459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.750385723 meters 0.014857129989655027 Centerline is valid? [True, True] Translation: X:220.88, Y:-123.16, Z:-10.49 [[-7.71910865e-02 -9.97016235e-01 4.04988183e-04 2.20882475e+02] [-9.96996682e-01 7.71921092e-02 6.24462870e-03 -1.23162495e+02] [-6.25725808e-03 7.82577990e-05 -9.99980420e-01 -1.04949775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.810385723 meters 0.015124528709081689 Centerline is valid? [True, True] Translation: X:220.85, Y:-123.28, Z:-10.50 [[-2.12143899e-04 -9.99999975e-01 -6.48906731e-05 2.20849332e+02] [-9.99986320e-01 2.11801856e-04 5.22643010e-03 -1.23284189e+02] [-5.22641623e-03 6.59985406e-05 -9.99986340e-01 -1.04958177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.870385723 meters 0.014946619459553294 Centerline is valid? [True, True] Translation: X:220.82, Y:-123.41, Z:-10.49 [[ 7.78289648e-02 -9.96966588e-01 -5.24843777e-04 2.20824546e+02] [-9.96949450e-01 -7.78307045e-02 5.84594054e-03 -1.23413709e+02] [-5.86905635e-03 6.82592150e-05 -9.99982775e-01 -1.04947999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.930385723 meters 0.01449847134748125 Centerline is valid? [True, True] Translation: X:220.81, Y:-123.54, Z:-10.50 [[ 1.56484048e-01 -9.87679971e-01 -1.00851884e-03 2.20807487e+02] [-9.87661764e-01 -1.56487287e-01 5.99737845e-03 -1.23539728e+02] [-6.08131095e-03 5.75814425e-05 -9.99981507e-01 -1.04950107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.990385723 meters 0.014226078328709545 Centerline is valid? [True, True] Translation: X:220.80, Y:-123.67, Z:-10.49 [[ 2.35961251e-01 -9.71760861e-01 -1.76577020e-03 2.20801154e+02] [-9.71734887e-01 -2.35967854e-01 7.10496106e-03 -1.23672955e+02] [-7.32098808e-03 3.93650145e-05 -9.99973200e-01 -1.04936136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.050385723 meters 0.014084804204829342 Centerline is valid? [True, True] Translation: X:220.80, Y:-123.80, Z:-10.49 [[ 3.12353048e-01 -9.49961699e-01 -2.88864113e-03 2.20804629e+02] [-9.49921855e-01 -3.12366404e-01 8.70048309e-03 -1.23801375e+02] [-9.16744013e-03 2.63609273e-05 -9.99957978e-01 -1.04932295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.110385723 meters 0.01409819409741305 Centerline is valid? [True, True] Translation: X:220.81, Y:-123.91, Z:-10.49 [[ 3.84551673e-01 -9.23095283e-01 -3.88714087e-03 2.20814029e+02] [-9.23048858e-01 -3.84571318e-01 9.25786518e-03 -1.23911538e+02] [-1.00407746e-02 2.78933922e-05 -9.99949590e-01 -1.04932798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.170385723 meters 0.017228499251468427 Centerline is valid? [True, True] Translation: X:220.84, Y:-124.03, Z:-10.49 [[ 4.52070231e-01 -8.91969128e-01 -4.85602115e-03 2.20839657e+02] [-8.91918996e-01 -4.52096307e-01 9.45691970e-03 -1.24033830e+02] [-1.06306697e-02 5.59856418e-05 -9.99943491e-01 -1.04915125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.230385723 meters 0.01425760680716942 Centerline is valid? [True, True] Translation: X:220.87, Y:-124.15, Z:-10.50 [[ 5.17753250e-01 -8.55517703e-01 -4.58614318e-03 2.20871834e+02] [-8.55485160e-01 -5.17773558e-01 7.46216676e-03 -1.24148866e+02] [-8.75859943e-03 5.98163368e-05 -9.99961641e-01 -1.04950185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.290385723 meters 0.014210939616085733 Centerline is valid? [True, True] Translation: X:220.91, Y:-124.26, Z:-10.49 [[ 5.81273438e-01 -8.13693328e-01 -4.93552366e-03 2.20912324e+02] [-8.13664904e-01 -5.81294387e-01 6.80135375e-03 -1.24260965e+02] [-8.40320837e-03 6.24161190e-05 -9.99964690e-01 -1.04946915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.350385723 meters 0.014338539378258106 Centerline is valid? [True, True] Translation: X:220.96, Y:-124.36, Z:-10.49 [[ 6.40840966e-01 -7.67653943e-01 -5.50271923e-03 2.20957963e+02] [-7.67626619e-01 -6.40864586e-01 6.47740003e-03 -1.24364884e+02] [-8.49889956e-03 7.30504678e-05 -9.99963881e-01 -1.04938229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.410385723 meters 0.014519427957403125 Centerline is valid? [True, True] Translation: X:221.01, Y:-124.46, Z:-10.49 [[ 6.97165349e-01 -7.16883426e-01 -6.21529255e-03 2.21011098e+02] [-7.16855956e-01 -6.97193049e-01 6.27619873e-03 -1.24464240e+02] [-8.83256161e-03 7.99212093e-05 -9.99960989e-01 -1.04928333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4703857229999 meters 0.014469426390495 Centerline is valid? [True, True] Translation: X:221.08, Y:-124.56, Z:-10.49 [[ 7.49739109e-01 -6.61697422e-01 -6.91307550e-03 2.21078305e+02] [-6.61670288e-01 -7.49770975e-01 5.99289634e-03 -1.24563678e+02] [-9.14870742e-03 8.10678909e-05 -9.99958146e-01 -1.04919228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.530385723 meters 0.014136444376646304 Centerline is valid? [True, True] Translation: X:221.10, Y:-124.59, Z:-10.49 [[ 7.99892798e-01 -6.00092545e-01 -7.77483425e-03 2.21098367e+02] [-6.00065092e-01 -7.99930579e-01 5.74054793e-03 -1.24589027e+02] [-9.66418768e-03 7.35836811e-05 -9.99953298e-01 -1.04915518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5903857229999 meters 0.013773972222896752 Centerline is valid? [True, True] Translation: X:221.12, Y:-124.62, Z:-10.49 [[ 8.44843176e-01 -5.34951803e-01 -8.15939857e-03 2.21117532e+02] [-5.34927593e-01 -8.44882574e-01 5.08983534e-03 -1.24616463e+02] [-9.61655026e-03 6.45747831e-05 -9.99953758e-01 -1.04919937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.650385723 meters 0.013490421181238664 Centerline is valid? [True, True] Translation: X:221.14, Y:-124.64, Z:-10.49 [[ 8.85786781e-01 -4.64043688e-01 -6.72564429e-03 2.21138816e+02] [-4.64030513e-01 -8.85812314e-01 3.49684811e-03 -1.24640969e+02] [-7.58034882e-03 2.34423309e-05 -9.99971268e-01 -1.04931896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.710385723 meters 0.013141874193974725 Centerline is valid? [True, True] Translation: X:221.16, Y:-124.66, Z:-10.49 [[ 9.21196851e-01 -3.89051432e-01 -5.94514415e-03 2.21162636e+02] [-3.89043257e-01 -9.21216035e-01 2.52212931e-03 -1.24663492e+02] [-6.45800015e-03 -1.04593338e-05 -9.99979147e-01 -1.04935086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.770385723 meters 0.01311628616329586 Centerline is valid? [True, True] Translation: X:221.19, Y:-124.68, Z:-10.49 [[ 9.49689933e-01 -3.13134924e-01 -5.96238067e-03 2.21188721e+02] [-3.13128567e-01 -9.49708649e-01 1.99548478e-03 -1.24683580e+02] [-6.28738046e-03 -2.81000959e-05 -9.99980234e-01 -1.04928459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.830385723 meters 0.013101970506456064 Centerline is valid? [True, True] Translation: X:221.22, Y:-124.70, Z:-10.49 [[ 9.71770923e-01 -2.35873898e-01 -4.97764675e-03 2.21215844e+02] [-2.35870626e-01 -9.71783671e-01 1.24283861e-03 -1.24701217e+02] [-5.13034902e-03 -3.36737666e-05 -9.99986839e-01 -1.04932228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.890385723 meters 0.013181325756802953 Centerline is valid? [True, True] Translation: X:221.24, Y:-124.71, Z:-10.49 [[ 9.87328143e-01 -1.58626329e-01 -4.56358951e-03 2.21242609e+02] [-1.58624482e-01 -9.87338689e-01 7.66201464e-04 -1.24714891e+02] [-4.62734821e-03 -3.25952468e-05 -9.99989293e-01 -1.04922372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.950385723 meters 0.01296657138493322 Centerline is valid? [True, True] Translation: X:221.27, Y:-124.73, Z:-10.49 [[ 9.96654858e-01 -8.15787223e-02 -4.89966901e-03 2.21268346e+02] [-8.15775825e-02 -9.96666901e-01 4.32368213e-04 -1.24727291e+02] [-4.91860998e-03 -3.12187265e-05 -9.99987903e-01 -1.04908950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.010385723 meters 0.013108852719873538 Centerline is valid? [True, True] Translation: X:221.29, Y:-124.73, Z:-10.49 [[ 9.99975076e-01 -5.79623367e-03 -4.03120104e-03 2.21294158e+02] [-5.79612496e-03 -9.99983202e-01 3.86485742e-05 -1.24734537e+02] [-4.03135734e-03 -1.52822659e-05 -9.99991874e-01 -1.04906428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.070385723 meters 0.01321480390606862 Centerline is valid? [True, True] Translation: X:221.32, Y:-124.74, Z:-10.49 [[ 9.97565301e-01 6.96433253e-02 -3.64372499e-03 2.21320348e+02] [ 6.96428727e-02 -9.97571956e-01 -2.51114374e-04 -1.24738094e+02] [-3.65236631e-03 -3.25648945e-06 -9.99993330e-01 -1.04911801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.130385723 meters 0.013534659631749966 Centerline is valid? [True, True] Translation: X:221.35, Y:-124.74, Z:-10.49 [[ 9.89696007e-01 1.43156797e-01 -2.81866633e-03 2.21346583e+02] [ 1.43156187e-01 -9.89700021e-01 -4.18070647e-04 -1.24736429e+02] [-2.84948378e-03 1.02533260e-05 -9.99995940e-01 -1.04907209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.190385723 meters 0.013858076318997069 Centerline is valid? [True, True] Translation: X:221.37, Y:-124.74, Z:-10.49 [[ 9.76182655e-01 2.16931257e-01 -2.87306804e-03 2.21372720e+02] [ 2.16930256e-01 -9.76186882e-01 -6.59484367e-04 -1.24736342e+02] [-2.94771411e-03 2.05218148e-05 -9.99995655e-01 -1.04901703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.250385723 meters 0.0144647700574627 Centerline is valid? [True, True] Translation: X:221.40, Y:-124.73, Z:-10.49 [[ 9.56592489e-01 2.91402262e-01 -3.94098870e-03 2.21397027e+02] [ 2.91399642e-01 -9.56600607e-01 -1.23597331e-03 -1.24734792e+02] [-4.13011760e-03 3.39200897e-05 -9.99991470e-01 -1.04884552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.310385723 meters 0.014757186741234211 Centerline is valid? [True, True] Translation: X:221.42, Y:-124.73, Z:-10.49 [[ 9.30575173e-01 3.66070891e-01 -4.68507924e-03 2.21422461e+02] [ 3.66066048e-01 -9.30586966e-01 -1.88331115e-03 -1.24732239e+02] [-5.04929907e-03 3.75141575e-05 -9.99987252e-01 -1.04877676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.370385723 meters 0.014838274791838338 Centerline is valid? [True, True] Translation: X:221.45, Y:-124.73, Z:-10.49 [[ 8.98295284e-01 4.39359318e-01 -5.38266068e-03 2.21447833e+02] [ 4.39351202e-01 -8.98311410e-01 -2.67069383e-03 -1.24728028e+02] [-6.00869972e-03 3.41932277e-05 -9.99981947e-01 -1.04867350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.430385723 meters 0.014864671757341873 Centerline is valid? [True, True] Translation: X:221.47, Y:-124.72, Z:-10.49 [[ 8.60518940e-01 5.09396418e-01 -4.73741112e-03 2.21470049e+02] [ 5.09388540e-01 -8.60531980e-01 -2.83317431e-03 -1.24720730e+02] [-5.51990261e-03 2.48172198e-05 -9.99984765e-01 -1.04878890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.490385723 meters 0.01524125214273226 Centerline is valid? [True, True] Translation: X:221.50, Y:-124.72, Z:-10.49 [[ 8.17062934e-01 5.76535345e-01 -3.89344770e-03 2.21495077e+02] [ 5.76528719e-01 -8.17072210e-01 -2.76404684e-03 -1.24716062e+02] [-4.77479862e-03 1.37158027e-05 -9.99988601e-01 -1.04893687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.550385723 meters 0.015442047443694361 Centerline is valid? [True, True] Translation: X:221.52, Y:-124.71, Z:-10.49 [[ 7.68288549e-01 6.40096080e-01 -3.11675551e-03 2.21519473e+02] [ 6.40090788e-01 -7.68294871e-01 -2.60287179e-03 -1.24708936e+02] [-4.06067530e-03 4.75010420e-06 -9.99991755e-01 -1.04904381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.610385723 meters 0.015952821763226793 Centerline is valid? [True, True] Translation: X:221.54, Y:-124.70, Z:-10.49 [[ 7.12485912e-01 7.01678497e-01 -3.33345762e-03 2.21541921e+02] [ 7.01670927e-01 -7.12493709e-01 -3.25952110e-03 -1.24699863e+02] [-4.66220345e-03 -1.66274289e-05 -9.99989132e-01 -1.04912225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.670385723 meters 0.016192739379417367 Centerline is valid? [True, True] Translation: X:221.57, Y:-124.69, Z:-10.49 [[ 6.51358254e-01 7.58762151e-01 -3.52476472e-03 2.21566003e+02] [ 7.58751433e-01 -6.51367789e-01 -4.03308421e-03 -1.24691672e+02] [-5.35606985e-03 -4.74375897e-05 -9.99985655e-01 -1.04898429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.730385723 meters 0.016979752741812217 Centerline is valid? [True, True] Translation: X:221.59, Y:-124.68, Z:-10.49 [[ 5.87625320e-01 8.09120889e-01 -4.45759504e-03 2.21587200e+02] [ 8.09098732e-01 -5.87642220e-01 -5.98849943e-03 -1.24679067e+02] [-7.46489103e-03 -8.76406040e-05 -9.99972133e-01 -1.04882930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.790385723 meters 0.016991626575121196 Centerline is valid? [True, True] Translation: X:221.61, Y:-124.66, Z:-10.49 [[ 5.21543814e-01 8.53214963e-01 -4.03441915e-03 2.21605640e+02] [ 8.53190862e-01 -5.21559409e-01 -6.41379459e-03 -1.24664123e+02] [-7.57653478e-03 -9.70546574e-05 -9.99971293e-01 -1.04885856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.850385723 meters 0.017255775045543334 Centerline is valid? [True, True] Translation: X:221.62, Y:-124.65, Z:-10.49 [[ 4.52486357e-01 8.91764449e-01 -3.50201476e-03 2.21623574e+02] [ 8.91739465e-01 -4.52499897e-01 -6.67599331e-03 -1.24649246e+02] [-7.53807482e-03 -1.02088871e-04 -9.99971583e-01 -1.04873590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.910385723 meters 0.017175824187344774 Centerline is valid? [True, True] Translation: X:221.64, Y:-124.63, Z:-10.49 [[ 3.80647022e-01 9.24714924e-01 -3.18665375e-03 2.21640932e+02] [ 9.24685005e-01 -3.80660343e-01 -7.43945217e-03 -1.24632517e+02] [-8.09240516e-03 -1.14845622e-04 -9.99967249e-01 -1.04866151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9703857229999 meters 0.01737189104549631 Centerline is valid? [True, True] Translation: X:221.65, Y:-124.61, Z:-10.49 [[ 3.07066116e-01 9.51684696e-01 -2.57677558e-03 2.21654371e+02] [ 9.51654245e-01 -3.07076906e-01 -7.61394185e-03 -1.24614434e+02] [-8.03734021e-03 -1.14215868e-04 -9.99967694e-01 -1.04858980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.030385723 meters 0.016772488812221802 Centerline is valid? [True, True] Translation: X:221.67, Y:-124.59, Z:-10.49 [[ 2.33757531e-01 9.72293130e-01 -1.86712312e-03 2.21667758e+02] [ 9.72265164e-01 -2.33764970e-01 -7.37491657e-03 -1.24594395e+02] [-7.60704870e-03 -9.13964729e-05 -9.99971062e-01 -1.04851575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0903857229999 meters 0.016311305742885192 Centerline is valid? [True, True] Translation: X:221.68, Y:-124.57, Z:-10.48 [[ 1.60426412e-01 9.87047060e-01 -1.21142548e-03 2.21679021e+02] [ 9.87021691e-01 -1.60430974e-01 -7.07699400e-03 -1.24573572e+02] [-7.17967629e-03 -6.03664769e-05 -9.99974224e-01 -1.04843754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.150385723 meters 0.015945589471396848 Centerline is valid? [True, True] Translation: X:221.69, Y:-124.55, Z:-10.48 [[ 8.85236936e-02 9.96073875e-01 -6.25721071e-04 2.21687940e+02] [ 9.96050344e-01 -8.85259033e-02 -6.84666513e-03 -1.24551747e+02] [-6.87517679e-03 -1.71576024e-05 -9.99976366e-01 -1.04841448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.210385723 meters 0.01611102045897703 Centerline is valid? [True, True] Translation: X:221.69, Y:-124.53, Z:-10.49 [[ 1.53435988e-02 9.99882278e-01 -5.65027965e-05 2.21694335e+02] [ 9.99872330e-01 -1.53436982e-02 -4.46042160e-03 -1.24530652e+02] [-4.46076348e-03 1.19433369e-05 -9.99990051e-01 -1.04859910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.270385723 meters 0.016540378345072566 Centerline is valid? [True, True] Translation: X:221.70, Y:-124.51, Z:-10.49 [[-5.77646255e-02 9.98330205e-01 2.21451731e-04 2.21696064e+02] [ 9.98324550e-01 5.77650437e-02 -3.36032131e-03 -1.24510068e+02] [-3.36750244e-03 2.69729973e-05 -9.99994330e-01 -1.04868218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.330385723 meters 0.01673072237842685 Centerline is valid? [True, True] Translation: X:221.70, Y:-124.49, Z:-10.49 [[-1.33478160e-01 9.91051677e-01 3.93850373e-04 2.21699934e+02] [ 9.91047971e-01 1.33478738e-01 -2.71028520e-03 -1.24487725e+02] [-2.73860334e-03 2.85607325e-05 -9.99996250e-01 -1.04872756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.390385723 meters 0.016957066929954738 Centerline is valid? [True, True] Translation: X:221.70, Y:-124.47, Z:-10.49 [[-2.09543145e-01 9.77799312e-01 4.20393131e-04 2.21700951e+02] [ 9.77797552e-01 2.09543566e-01 -1.85516572e-03 -1.24467130e+02] [-1.90207044e-03 2.23221157e-05 -9.99998191e-01 -1.04874932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.450385723 meters 0.01641589048405371 Centerline is valid? [True, True] Translation: X:221.71, Y:-124.44, Z:-10.49 [[-2.86576065e-01 9.58057281e-01 6.37459363e-04 2.21707677e+02] [ 9.58055084e-01 2.86576773e-01 -2.05188386e-03 -1.24442557e+02] [-2.14850332e-03 2.27003806e-05 -9.99997692e-01 -1.04863734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.510385723 meters 0.016234232166209995 Centerline is valid? [True, True] Translation: X:221.71, Y:-124.42, Z:-10.49 [[-3.61717689e-01 9.32287119e-01 1.02072998e-03 2.21711750e+02] [ 9.32283606e-01 3.61719128e-01 -2.55921869e-03 -1.24417472e+02] [-2.75514417e-03 2.58951529e-05 -9.99996204e-01 -1.04859680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.570385723 meters 0.015847309430219777 Centerline is valid? [True, True] Translation: X:221.72, Y:-124.39, Z:-10.48 [[-4.37983792e-01 8.98981049e-01 1.80867480e-03 2.21715584e+02] [ 8.98973557e-01 4.37987526e-01 -3.67025310e-03 -1.24392881e+02] [-4.09166499e-03 1.84394515e-05 -9.99991629e-01 -1.04847382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.630385723 meters 0.015565236548581819 Centerline is valid? [True, True] Translation: X:221.71, Y:-124.37, Z:-10.48 [[-5.11029798e-01 8.59560144e-01 2.21451913e-03 2.21714371e+02] [ 8.59552070e-01 5.11034597e-01 -3.72565764e-03 -1.24367517e+02] [-4.33412271e-03 -4.27569940e-07 -9.99990608e-01 -1.04849458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.690385723 meters 0.015589252418466742 Centerline is valid? [True, True] Translation: X:221.71, Y:-124.35, Z:-10.49 [[-5.78979538e-01 8.15338413e-01 2.44269766e-03 2.21708574e+02] [ 8.15331070e-01 5.78984691e-01 -3.46036911e-03 -1.24345074e+02] [-4.23565641e-03 -1.18756104e-05 -9.99991030e-01 -1.04854148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.750385723 meters 0.015667371848313648 Centerline is valid? [True, True] Translation: X:221.70, Y:-124.32, Z:-10.49 [[-6.41665538e-01 7.66982848e-01 1.62711254e-03 2.21700848e+02] [ 7.66980348e-01 6.41667601e-01 -1.95853657e-03 -1.24322088e+02] [-2.54622936e-03 -8.76207709e-06 -9.99996758e-01 -1.04882985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.810385723 meters 0.01582089582026189 Centerline is valid? [True, True] Translation: X:221.69, Y:-124.30, Z:-10.49 [[-7.00478862e-01 7.13672417e-01 1.02257044e-03 2.21691822e+02] [ 7.13671643e-01 7.00479608e-01 -1.05060567e-03 -1.24298985e+02] [-1.46607803e-03 -6.14753446e-06 -9.99998925e-01 -1.04889411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.870385723 meters 0.015845389330206124 Centerline is valid? [True, True] Translation: X:221.68, Y:-124.28, Z:-10.49 [[-7.54217788e-01 6.56622030e-01 1.74287531e-03 2.21680441e+02] [ 6.56620245e-01 7.54219802e-01 -1.53097776e-03 -1.24277825e+02] [-2.31978479e-03 -1.02834469e-05 -9.99997309e-01 -1.04869895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.930385723 meters 0.01588379877236426 Centerline is valid? [True, True] Translation: X:221.69, Y:-124.25, Z:-10.49 [[-7.97776046e-01 6.02949803e-01 2.21700702e-03 2.21685593e+02] [ 6.02947447e-01 7.97779126e-01 -1.68578733e-03 -1.24247805e+02] [-2.78512706e-03 -8.14202792e-06 -9.99996122e-01 -1.04865064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.990385723 meters 0.015734767053328255 Centerline is valid? [True, True] Translation: X:221.72, Y:-124.24, Z:-10.49 [[-8.37024509e-01 5.47161288e-01 2.12049893e-03 2.21719269e+02] [ 5.47159530e-01 8.37027195e-01 -1.38710670e-03 -1.24239377e+02] [-2.53388636e-03 -7.91101455e-07 -9.99996790e-01 -1.04859115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.050385723 meters 0.015871131105580385 Centerline is valid? [True, True] Translation: X:221.73, Y:-124.22, Z:-10.48 [[-8.71389356e-01 4.90586109e-01 2.42076183e-03 2.21729129e+02] [ 4.90584253e-01 8.71392718e-01 -1.34948265e-03 -1.24215570e+02] [-2.77147167e-03 1.16628159e-05 -9.99996159e-01 -1.04839918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.110385723 meters 0.016032659785162825 Centerline is valid? [True, True] Translation: X:221.75, Y:-124.20, Z:-10.48 [[-9.02396296e-01 4.30895369e-01 3.17906000e-03 2.21748872e+02] [ 4.30892800e-01 9.02401895e-01 -1.48802353e-03 -1.24197435e+02] [-3.50997222e-03 2.70471496e-05 -9.99993840e-01 -1.04832871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.170385723 meters 0.015893734686163348 Centerline is valid? [True, True] Translation: X:221.78, Y:-124.18, Z:-10.48 [[-9.28541030e-01 3.71225827e-01 1.71479572e-03 2.21776760e+02] [ 3.71225417e-01 9.28542607e-01 -5.63073777e-04 -1.24177023e+02] [-1.80128842e-03 1.13738652e-04 -9.99998371e-01 -1.04847516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.230385723 meters 0.016018463125138133 Centerline is valid? [True, True] Translation: X:221.79, Y:-124.15, Z:-10.49 [[-9.52123006e-01 3.05714525e-01 6.40592685e-04 2.21790170e+02] [ 3.05714461e-01 9.52123222e-01 -1.97676551e-04 -1.24153178e+02] [-6.70355764e-04 7.62605496e-06 -9.99999775e-01 -1.04860006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.290385723 meters 0.015884592217030338 Centerline is valid? [True, True] Translation: X:221.81, Y:-124.13, Z:-10.49 [[-9.71461330e-01 2.37196267e-01 9.03219973e-04 2.21812204e+02] [ 2.37196175e-01 9.71461749e-01 -2.10041801e-04 -1.24128857e+02] [-9.27264786e-04 1.01928354e-05 -9.99999570e-01 -1.04861104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.350385723 meters 0.015139623046022533 Centerline is valid? [True, True] Translation: X:222.01, Y:-123.32, Z:-11.43 [[-9.59160776e-01 -2.82861069e-01 4.71621553e-04 2.22006122e+02] [ 2.82861018e-01 -9.59160891e-01 -1.73192025e-04 -1.23317170e+02] [ 5.01350231e-04 -3.27156442e-05 9.99999874e-01 -1.14334141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.410385723 meters 0.014994151493093778 Centerline is valid? [True, True] Translation: X:221.76, Y:-124.11, Z:-10.49 [[-9.73004557e-01 2.30784804e-01 7.10900614e-04 2.21759262e+02] [ 2.30784747e-01 9.73004817e-01 -1.62242229e-04 -1.24109825e+02] [-7.29152763e-04 6.20259058e-06 -9.99999734e-01 -1.04857574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4703857229999 meters 0.014900703129720074 Centerline is valid? [True, True] Translation: X:221.77, Y:-124.08, Z:-10.49 [[-9.87144878e-01 1.59824845e-01 1.00479710e-03 2.21766108e+02] [ 1.59824770e-01 9.87145389e-01 -1.55547178e-04 -1.24077921e+02] [-1.01674113e-03 7.04386511e-06 -9.99999483e-01 -1.04854836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.530385723 meters 0.014795415809567423 Centerline is valid? [True, True] Translation: X:221.88, Y:-123.27, Z:-11.43 [[-9.76951697e-01 -2.13457680e-01 1.09540896e-03 2.21882150e+02] [ 2.13457545e-01 -9.76952311e-01 -2.40492733e-04 -1.23272937e+02] [ 1.12149734e-03 -1.12647629e-06 9.99999371e-01 -1.14336156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5903857229999 meters 0.015010695492386936 Centerline is valid? [True, True] Translation: X:221.70, Y:-124.06, Z:-10.49 [[-9.87677049e-01 1.56504464e-01 6.31354517e-04 2.21699418e+02] [ 1.56504436e-01 9.87677251e-01 -9.50261450e-05 -1.24062580e+02] [-6.38446509e-04 4.95463975e-06 -9.99999796e-01 -1.04850469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.650385723 meters 0.015421900091438049 Centerline is valid? [True, True] Translation: X:221.73, Y:-124.04, Z:-10.49 [[-9.96079807e-01 8.84586130e-02 3.01746224e-04 2.21725494e+02] [ 8.84586099e-02 9.96079853e-01 -2.34909722e-05 -1.24036468e+02] [-3.02641313e-04 3.29316846e-06 -9.99999954e-01 -1.04853986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.710385723 meters 0.015417649382542508 Centerline is valid? [True, True] Translation: X:221.80, Y:-123.24, Z:-11.43 [[-9.90824090e-01 -1.35156518e-01 5.82530136e-04 2.21797150e+02] [ 1.35156501e-01 -9.90824261e-01 -6.74963275e-05 -1.23238904e+02] [ 5.86307560e-04 1.18557479e-05 9.99999828e-01 -1.14337997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.770385723 meters 0.015449854968257307 Centerline is valid? [True, True] Translation: X:221.67, Y:-124.03, Z:-10.49 [[-9.96312720e-01 8.57903535e-02 9.89592783e-04 2.21668377e+02] [ 8.57903226e-02 9.96313211e-01 -7.37345571e-05 -1.24026794e+02] [-9.92270077e-04 1.14348069e-05 -9.99999508e-01 -1.04855820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.830385723 meters 0.015658557181859784 Centerline is valid? [True, True] Translation: X:221.71, Y:-123.24, Z:-11.44 [[-9.91338657e-01 -1.31307452e-01 2.45366810e-03 2.21708139e+02] [ 1.31307216e-01 -9.91341691e-01 -2.57536062e-04 -1.23240421e+02] [ 2.46623988e-03 6.68788732e-05 9.99996957e-01 -1.14359711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.890385723 meters 0.015203159708053417 Centerline is valid? [True, True] Translation: X:221.59, Y:-124.01, Z:-10.48 [[-9.96892265e-01 7.87141600e-02 3.14525278e-03 2.21594787e+02] [ 7.87138545e-02 9.96897227e-01 -2.20988547e-04 -1.24009793e+02] [-3.15288870e-03 2.72731962e-05 -9.99995029e-01 -1.04830330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.950385723 meters 0.014910515946899685 Centerline is valid? [True, True] Translation: X:221.65, Y:-123.25, Z:-11.44 [[-9.91422620e-01 -1.30622482e-01 4.35382590e-03 2.21653068e+02] [ 1.30621417e-01 -9.91432179e-01 -5.29277526e-04 -1.23250206e+02] [ 4.38565864e-03 4.39651984e-05 9.99990382e-01 -1.14366247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.010385723 meters 0.014775353960337249 Centerline is valid? [True, True] Translation: X:221.54, Y:-124.00, Z:-10.48 [[-9.97474019e-01 7.08723631e-02 4.76326242e-03 2.21538697e+02] [ 7.08716691e-02 9.97485392e-01 -3.14549132e-04 -1.23996027e+02] [-4.77357752e-03 2.38257709e-05 -9.99988606e-01 -1.04816137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.070385723 meters 0.014827852584926766 Centerline is valid? [True, True] Translation: X:221.59, Y:-123.25, Z:-11.44 [[-9.91708003e-01 -1.28440455e-01 4.27623932e-03 2.21587977e+02] [ 1.28439039e-01 -9.91717221e-01 -6.05266943e-04 -1.23254403e+02] [ 4.31856094e-03 -5.10120008e-05 9.99990674e-01 -1.14376030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.130385723 meters 0.014735727189620835 Centerline is valid? [True, True] Translation: X:221.48, Y:-123.98, Z:-10.48 [[-9.97836341e-01 6.56678237e-02 3.22085491e-03 2.21480375e+02] [ 6.56675230e-02 9.97841539e-01 -1.99111652e-04 -1.23984696e+02] [-3.22697805e-03 1.28247222e-05 -9.99994793e-01 -1.04837454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.190385723 meters 0.01472674829694473 Centerline is valid? [True, True] Translation: X:221.48, Y:-123.95, Z:-10.48 [[-9.99974427e-01 -5.80320312e-03 4.17949254e-03 2.21477821e+02] [-5.80309045e-03 9.99983161e-01 3.90842230e-05 -1.23952264e+02] [-4.17964898e-03 1.48292502e-05 -9.99991265e-01 -1.04826300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.250385723 meters 0.014710425613117764 Centerline is valid? [True, True] Translation: X:221.47, Y:-123.23, Z:-11.44 [[-9.98539857e-01 -5.38228366e-02 4.61043417e-03 2.21474784e+02] [ 5.38223176e-02 -9.98550501e-01 -2.36646668e-04 -1.23230681e+02] [ 4.61648834e-03 1.18431227e-05 9.99989344e-01 -1.14366240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.310385723 meters 0.014867032813328162 Centerline is valid? [True, True] Translation: X:221.41, Y:-123.95, Z:-10.48 [[-9.99961396e-01 -7.86941948e-03 3.90868747e-03 2.21412106e+02] [-7.86926709e-03 9.99969035e-01 5.43673879e-05 -1.23951608e+02] [-3.90899428e-03 2.36067835e-05 -9.99992360e-01 -1.04833529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.370385723 meters 0.01521844834316496 Centerline is valid? [True, True] Translation: X:221.40, Y:-123.23, Z:-11.44 [[-9.98994272e-01 -4.46678930e-02 3.90182474e-03 2.21403667e+02] [ 4.46674595e-02 -9.99001891e-01 -1.98215717e-04 -1.23232125e+02] [ 3.90678418e-03 -2.37317669e-05 9.99992368e-01 -1.14363050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.430385723 meters 0.015205012645369779 Centerline is valid? [True, True] Translation: X:221.34, Y:-123.95, Z:-10.48 [[-9.99944357e-01 -9.62991266e-03 4.30681626e-03 2.21342377e+02] [-9.62965893e-03 9.99953631e-01 7.96473757e-05 -1.23952435e+02] [-4.30738355e-03 3.81697722e-05 -9.99990722e-01 -1.04829081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.490385723 meters 0.01497884586293671 Centerline is valid? [True, True] Translation: X:221.34, Y:-123.92, Z:-10.48 [[-9.96647711e-01 -8.16940242e-02 4.40759974e-03 2.21337155e+02] [-8.16930702e-02 9.96657456e-01 3.96342983e-04 -1.23922447e+02] [-4.42524600e-03 3.49439712e-05 -9.99990208e-01 -1.04828015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.550385723 meters 0.014567568527730841 Centerline is valid? [True, True] Translation: X:221.27, Y:-123.21, Z:-11.44 [[-9.99645433e-01 2.60066148e-02 5.71530944e-03 2.21271812e+02] [-2.60059290e-02 -9.99661770e-01 1.94290002e-04 -1.23214991e+02] [ 5.71842917e-03 4.55891820e-05 9.99983649e-01 -1.14376572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.610385723 meters 0.014379785593789326 Centerline is valid? [True, True] Translation: X:221.25, Y:-123.92, Z:-10.48 [[-9.95335909e-01 -9.61470308e-02 7.88526761e-03 2.21249659e+02] [-9.61441153e-02 9.95367142e-01 7.48866388e-04 -1.23922646e+02] [-7.92073757e-03 -1.27484712e-05 -9.99968630e-01 -1.04789254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.670385723 meters 0.014664684697678293 Centerline is valid? [True, True] Translation: X:221.23, Y:-123.90, Z:-10.48 [[-9.85511476e-01 -1.69350377e-01 9.35841094e-03 2.21233799e+02] [-1.69343129e-01 9.85555908e-01 1.56737432e-03 -1.23895387e+02] [-9.48867262e-03 -4.01172106e-05 -9.99954981e-01 -1.04773328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.730385723 meters 0.014662785862218822 Centerline is valid? [True, True] Translation: X:221.22, Y:-123.87, Z:-10.48 [[-9.70452689e-01 -2.41112026e-01 9.30424587e-03 2.21224625e+02] [-2.41101526e-01 9.70497289e-01 2.25088014e-03 -1.23870061e+02] [-9.57245966e-03 -5.88951989e-05 -9.99954181e-01 -1.04782791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.790385723 meters 0.01503449283903965 Centerline is valid? [True, True] Translation: X:221.05, Y:-123.19, Z:-11.44 [[-9.86956151e-01 1.60728768e-01 9.15527640e-03 2.21052823e+02] [-1.60721505e-01 -9.86998613e-01 1.52840389e-03 -1.23188053e+02] [ 9.28190358e-03 3.70178176e-05 9.99956922e-01 -1.14397871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.850385723 meters 0.015420034837227987 Centerline is valid? [True, True] Translation: X:221.11, Y:-123.90, Z:-10.48 [[-9.67862528e-01 -2.51355510e-01 7.90790676e-03 2.21110621e+02] [-2.51347827e-01 9.67894829e-01 1.96700086e-03 -1.23900767e+02] [-8.14843857e-03 -8.38487579e-05 -9.99966797e-01 -1.04799564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.910385723 meters 0.015148098820335737 Centerline is valid? [True, True] Translation: X:221.09, Y:-123.88, Z:-10.48 [[-9.47651900e-01 -3.19240098e-01 6.45263423e-03 2.21088635e+02] [-3.19233142e-01 9.47673866e-01 2.10827407e-03 -1.23884683e+02] [-6.78803845e-03 -6.19847745e-05 -9.99976959e-01 -1.04816931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9703857229999 meters 0.015223026114776569 Centerline is valid? [True, True] Translation: X:221.04, Y:-123.88, Z:-10.48 [[-9.22633720e-01 -3.85639573e-01 5.39801207e-03 2.21035020e+02] [-3.85633281e-01 9.22649510e-01 2.20349080e-03 -1.23879826e+02] [-5.83022644e-03 -4.86381880e-05 -9.99983003e-01 -1.04832585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.030385723 meters 0.014766223750196988 Centerline is valid? [True, True] Translation: X:221.00, Y:-123.87, Z:-10.48 [[-8.91437534e-01 -4.53112090e-01 5.34377661e-03 2.20995378e+02] [-4.53104296e-01 8.91453550e-01 2.65820891e-03 -1.23874120e+02] [-5.96819523e-03 -5.16609410e-05 -9.99982189e-01 -1.04843029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0903857229999 meters 0.014791448888306403 Centerline is valid? [True, True] Translation: X:220.93, Y:-123.89, Z:-10.48 [[-8.54968501e-01 -5.18651126e-01 5.46560769e-03 2.20926975e+02] [-5.18640988e-01 8.54985968e-01 3.24337720e-03 -1.23885108e+02] [-6.35519912e-03 -6.17028291e-05 -9.99979804e-01 -1.04839199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.150385723 meters 0.014749249635736495 Centerline is valid? [True, True] Translation: X:220.85, Y:-123.91, Z:-10.48 [[-8.14790523e-01 -5.79719377e-01 6.46898745e-03 2.20850998e+02] [-5.79701736e-01 8.14816200e-01 4.52291229e-03 -1.23907433e+02] [-7.89305567e-03 -6.48571863e-05 -9.99968847e-01 -1.04814623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.210385723 meters 0.014425627718942123 Centerline is valid? [True, True] Translation: X:220.77, Y:-123.94, Z:-10.48 [[-7.69904327e-01 -6.38129225e-01 6.19826611e-03 2.20773738e+02] [-6.38109113e-01 7.69929275e-01 5.06665646e-03 -1.23937161e+02] [-8.00540809e-03 -5.43293589e-05 -9.99967955e-01 -1.04824174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.270385723 meters 0.01433870450079582 Centerline is valid? [True, True] Translation: X:220.69, Y:-123.98, Z:-10.48 [[-7.21111281e-01 -6.92799701e-01 5.20524021e-03 2.20690632e+02] [-6.92781981e-01 7.21130066e-01 4.95521168e-03 -1.23981442e+02] [-7.18662439e-03 -3.28375856e-05 -9.99974175e-01 -1.04828116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.330385723 meters 0.014176639070022106 Centerline is valid? [True, True] Translation: X:220.60, Y:-124.04, Z:-10.48 [[-6.68108363e-01 -7.44055394e-01 3.57579475e-03 2.20603389e+02] [-7.44044847e-01 6.68117932e-01 3.96166643e-03 -1.24039576e+02] [-5.33675187e-03 -1.37291864e-05 -9.99985759e-01 -1.04846546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.390385723 meters 0.014148983053254667 Centerline is valid? [True, True] Translation: X:220.50, Y:-124.12, Z:-10.48 [[-6.10141109e-01 -7.92287590e-01 2.86382695e-03 2.20504049e+02] [-7.92278937e-01 6.10147830e-01 3.70285463e-03 -1.24122075e+02] [-4.68108357e-03 -9.68594270e-06 -9.99989044e-01 -1.04847848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.450385723 meters 0.01432136460478312 Centerline is valid? [True, True] Translation: X:220.43, Y:-124.19, Z:-10.48 [[-5.45759986e-01 -8.37937711e-01 2.53587828e-03 2.20426104e+02] [-8.37928841e-01 5.45765877e-01 3.85550431e-03 -1.24187679e+02] [-4.61466829e-03 -2.07055728e-05 -9.99989352e-01 -1.04848721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.510385723 meters 0.014604599032548932 Centerline is valid? [True, True] Translation: X:220.36, Y:-124.25, Z:-10.48 [[-4.75970008e-01 -8.79457046e-01 2.80264248e-03 2.20357664e+02] [-8.79442436e-01 4.75978257e-01 5.06963696e-03 -1.24248779e+02] [-5.79252482e-03 -5.17675813e-05 -9.99983222e-01 -1.04838009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.570385723 meters 0.015108034916886887 Centerline is valid? [True, True] Translation: X:220.27, Y:-124.35, Z:-10.48 [[-4.04304682e-01 -9.14619552e-01 2.96643376e-03 2.20274761e+02] [-9.14596480e-01 4.04315555e-01 6.49695133e-03 -1.24349660e+02] [-7.14161403e-03 -8.63420317e-05 -9.99974495e-01 -1.04824540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.630385723 meters 0.01564552680422546 Centerline is valid? [True, True] Translation: X:220.21, Y:-124.44, Z:-10.48 [[-3.30587327e-01 -9.43771482e-01 2.72212313e-03 2.20206007e+02] [-9.43742289e-01 3.30598514e-01 7.42392816e-03 -1.24442034e+02] [-7.90642154e-03 -1.14726151e-04 -9.99968737e-01 -1.04812245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.690385723 meters 0.015511699909970996 Centerline is valid? [True, True] Translation: X:220.13, Y:-124.57, Z:-10.48 [[-2.58941903e-01 -9.65890368e-01 2.21073129e-03 2.20133328e+02] [-9.65858507e-01 2.58951319e-01 7.84596293e-03 -1.24574862e+02] [-8.15081181e-03 -1.03605047e-04 -9.99966776e-01 -1.04802741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.750385723 meters 0.014979527760792694 Centerline is valid? [True, True] Translation: X:220.09, Y:-124.65, Z:-10.48 [[-1.85641449e-01 -9.82616552e-01 1.40145421e-03 2.20087161e+02] [-9.82591548e-01 1.85646723e-01 7.01024933e-03 -1.24652602e+02] [-7.14856241e-03 -7.56642231e-05 -9.99974446e-01 -1.04812103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.810385723 meters 0.014462681352854799 Centerline is valid? [True, True] Translation: X:220.04, Y:-124.76, Z:-10.48 [[-1.12238024e-01 -9.93681141e-01 6.45148101e-04 2.20043197e+02] [-9.93666783e-01 1.12239871e-01 5.34185843e-03 -1.24764871e+02] [-5.38051531e-03 -4.15026040e-05 -9.99985524e-01 -1.04829088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.870385723 meters 0.014570861106051372 Centerline is valid? [True, True] Translation: X:220.01, Y:-124.88, Z:-10.48 [[-3.58887913e-02 -9.99355764e-01 2.28786954e-04 2.20006265e+02] [-9.99341647e-01 3.58895005e-02 5.31187335e-03 -1.24875037e+02] [-5.31666230e-03 -3.79996168e-05 -9.99985866e-01 -1.04827926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.930385723 meters 0.014487436120866714 Centerline is valid? [True, True] Translation: X:219.98, Y:-125.02, Z:-10.48 [[ 4.02213549e-02 -9.99190771e-01 -2.11761378e-04 2.19977392e+02] [-9.99171605e-01 -4.02218950e-02 6.18901409e-03 -1.25020107e+02] [-6.19252321e-03 -3.73445767e-05 -9.99980825e-01 -1.04814062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.990385723 meters 0.014346293658151495 Centerline is valid? [True, True] Translation: X:219.96, Y:-125.12, Z:-10.48 [[ 1.14647100e-01 -9.93405935e-01 -8.31690321e-04 2.19958361e+02] [-9.93378185e-01 -1.14650114e-01 7.42509537e-03 -1.25124657e+02] [-7.47148720e-03 -2.50826289e-05 -9.99972088e-01 -1.04807408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.050385723 meters 0.014218483770575037 Centerline is valid? [True, True] Translation: X:219.95, Y:-125.25, Z:-10.48 [[ 1.88636259e-01 -9.82045765e-01 -1.57371728e-03 2.19950804e+02] [-9.82011253e-01 -1.88642823e-01 8.23315412e-03 -1.25253122e+02] [-8.38220461e-03 -7.66331877e-06 -9.99964869e-01 -1.04803556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.110385723 meters 0.014228463555428228 Centerline is valid? [True, True] Translation: X:219.95, Y:-125.37, Z:-10.48 [[ 2.60115119e-01 -9.65575382e-01 -2.07546483e-03 2.19952330e+02] [-9.65545385e-01 -2.60123398e-01 7.61100603e-03 -1.25370010e+02] [-7.88887702e-03 2.42177471e-05 -9.99968882e-01 -1.04815619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.170385723 meters 0.014282810579747 Centerline is valid? [True, True] Translation: X:219.96, Y:-125.49, Z:-10.48 [[ 3.31177612e-01 -9.43565956e-01 -2.16229890e-03 2.19961784e+02] [-9.43546593e-01 -3.31184669e-01 6.04508487e-03 -1.25491940e+02] [-6.42005653e-03 3.82329914e-05 -9.99979391e-01 -1.04820122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.230385723 meters 0.014591469024701915 Centerline is valid? [True, True] Translation: X:219.99, Y:-125.64, Z:-10.48 [[ 4.01392096e-01 -9.15902946e-01 -2.48556189e-03 2.19992070e+02] [-9.15886092e-01 -4.01399789e-01 5.55657900e-03 -1.25638922e+02] [-6.08699110e-03 4.61246779e-05 -9.99981473e-01 -1.04823581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.290385723 meters 0.014553733108399377 Centerline is valid? [True, True] Translation: X:220.04, Y:-125.80, Z:-10.48 [[ 4.70615014e-01 -8.82334551e-01 -2.69235412e-03 2.20042953e+02] [-8.82320638e-01 -4.70622713e-01 4.95514734e-03 -1.25802909e+02] [-5.63918071e-03 4.35528746e-05 -9.99984099e-01 -1.04832084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.350385723 meters 0.014408036498639556 Centerline is valid? [True, True] Translation: X:220.04, Y:-125.85, Z:-10.48 [[ 5.37747597e-01 -8.43103300e-01 -2.08509497e-03 2.20036039e+02] [-8.43097159e-01 -5.37751639e-01 3.21791195e-03 -1.25849708e+02] [-3.83429542e-03 2.75132235e-05 -9.99992649e-01 -1.04841992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.410385723 meters 0.014061268993821706 Centerline is valid? [True, True] Translation: X:220.08, Y:-125.97, Z:-10.48 [[ 6.03404975e-01 -7.97432099e-01 -2.11770993e-03 2.20077191e+02] [-7.97427269e-01 -6.03408691e-01 2.77529277e-03 -1.25965279e+02] [-3.49095211e-03 1.40941864e-05 -9.99993907e-01 -1.04838369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4703857229999 meters 0.014011464816428018 Centerline is valid? [True, True] Translation: X:220.13, Y:-126.08, Z:-10.48 [[ 6.64615304e-01 -7.47181779e-01 -2.42607119e-03 2.20129192e+02] [-7.47176832e-01 -6.64619732e-01 2.71895871e-03 -1.26076634e+02] [-3.64397119e-03 5.64261301e-06 -9.99993361e-01 -1.04836384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.530385723 meters 0.01402344940591594 Centerline is valid? [True, True] Translation: X:220.18, Y:-126.18, Z:-10.48 [[ 7.20798174e-01 -6.93137474e-01 -3.23018602e-03 2.20184086e+02] [-6.93130520e-01 -7.20805412e-01 3.10504509e-03 -1.26177472e+02] [-4.48055868e-03 8.29680012e-07 -9.99989962e-01 -1.04833304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5903857229999 meters 0.013994606852442432 Centerline is valid? [True, True] Translation: X:220.20, Y:-126.20, Z:-10.48 [[ 7.71413623e-01 -6.36322744e-01 -3.79304199e-03 2.20202146e+02] [-6.36315126e-01 -7.71422948e-01 3.11373890e-03 -1.26200229e+02] [-4.90738252e-03 1.15893839e-05 -9.99987959e-01 -1.04824937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.650385723 meters 0.014088246761896376 Centerline is valid? [True, True] Translation: X:220.22, Y:-126.22, Z:-10.48 [[ 8.17651811e-01 -5.75700395e-01 -3.81722915e-03 2.20222100e+02] [-5.75694236e-01 -8.17660721e-01 2.66316879e-03 -1.26222536e+02] [-4.65438566e-03 2.00120390e-05 -9.99989168e-01 -1.04829211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.710385723 meters 0.014244481934879866 Centerline is valid? [True, True] Translation: X:220.24, Y:-126.24, Z:-10.48 [[ 8.59077917e-01 -5.11826444e-01 -4.33870401e-03 2.20241939e+02] [-5.11820106e-01 -8.59088872e-01 2.54728722e-03 -1.26242269e+02] [-5.03110129e-03 3.23177515e-05 -9.99987343e-01 -1.04819759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.770385723 meters 0.014173369905505776 Centerline is valid? [True, True] Translation: X:220.26, Y:-126.26, Z:-10.48 [[ 8.95780143e-01 -4.44477903e-01 -4.16273047e-03 2.20263177e+02] [-4.44473294e-01 -8.95789815e-01 2.02438015e-03 -1.26262374e+02] [-4.62872380e-03 3.68229822e-05 -9.99989287e-01 -1.04824611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.830385723 meters 0.014884841114276251 Centerline is valid? [True, True] Translation: X:220.29, Y:-126.28, Z:-10.48 [[ 9.26933419e-01 -3.75189637e-01 -5.21267505e-03 2.20285503e+02] [-3.75184053e-01 -9.26948074e-01 2.04782231e-03 -1.26278742e+02] [-5.60020081e-03 5.75176219e-05 -9.99984317e-01 -1.04810625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.890385723 meters 0.014804679775948683 Centerline is valid? [True, True] Translation: X:220.31, Y:-126.30, Z:-10.48 [[ 9.53115606e-01 -3.02546650e-01 -6.01378654e-03 2.20309378e+02] [-3.02541096e-01 -9.53134576e-01 1.83444456e-03 -1.26295616e+02] [-6.28695294e-03 7.09798365e-05 -9.99980234e-01 -1.04814446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.950385723 meters 0.014689663577541373 Centerline is valid? [True, True] Translation: X:220.33, Y:-126.31, Z:-10.48 [[ 9.74060907e-01 -2.26191675e-01 -6.53268615e-03 2.20333488e+02] [-2.26187065e-01 -9.74082810e-01 1.44566853e-03 -1.26314192e+02] [-6.69037547e-03 6.94399117e-05 -9.99977617e-01 -1.04819462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.010385723 meters 0.014693651122670124 Centerline is valid? [True, True] Translation: X:220.36, Y:-126.33, Z:-10.48 [[ 9.88995964e-01 -1.47795393e-01 -6.59586728e-03 2.20355180e+02] [-1.47792507e-01 -9.89017956e-01 9.25566502e-04 -1.26326467e+02] [-6.66022564e-03 5.94382275e-05 -9.99977819e-01 -1.04815312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.070385723 meters 0.014303708840190664 Centerline is valid? [True, True] Translation: X:220.38, Y:-126.34, Z:-10.48 [[ 9.97794964e-01 -6.61498105e-02 -5.42326676e-03 2.20378989e+02] [-6.61489847e-02 -9.97809702e-01 3.31693617e-04 -1.26337461e+02] [-5.43332966e-03 2.77813689e-05 -9.99985239e-01 -1.04820561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.130385723 meters 0.014117443275825895 Centerline is valid? [True, True] Translation: X:220.40, Y:-126.35, Z:-10.48 [[ 9.99890806e-01 1.38413406e-02 -5.17616469e-03 2.20402948e+02] [ 1.38410628e-02 -9.99904204e-01 -8.94826114e-05 -1.26350301e+02] [-5.17690740e-03 1.78292199e-05 -9.99986600e-01 -1.04824514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.190385723 meters 0.014165355936606427 Centerline is valid? [True, True] Translation: X:220.43, Y:-126.36, Z:-10.48 [[ 9.95563694e-01 9.39113754e-02 -5.79524864e-03 2.20428698e+02] [ 9.39097296e-02 -9.95580561e-01 -5.56066296e-04 -1.26359774e+02] [-5.82185784e-03 9.36918250e-06 -9.99983053e-01 -1.04816580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.250385723 meters 0.014141086642427799 Centerline is valid? [True, True] Translation: X:220.45, Y:-126.37, Z:-10.48 [[ 9.85045637e-01 1.72193215e-01 -5.88125508e-03 2.20454757e+02] [ 1.72190111e-01 -9.85063194e-01 -1.03379389e-03 -1.26365106e+02] [-5.97142021e-03 5.64019213e-06 -9.99982171e-01 -1.04804554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.310385723 meters 0.0142923821431783 Centerline is valid? [True, True] Translation: X:220.48, Y:-126.37, Z:-10.48 [[ 9.68658151e-01 2.48313962e-01 -6.44695712e-03 2.20479574e+02] [ 2.48308396e-01 -9.68679605e-01 -1.66258589e-03 -1.26366787e+02] [-6.65787916e-03 9.64378796e-06 -9.99977836e-01 -1.04805317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.370385723 meters 0.01426846008118338 Centerline is valid? [True, True] Translation: X:220.51, Y:-126.37, Z:-10.48 [[ 9.46772871e-01 3.21833718e-01 -6.64741126e-03 2.20506174e+02] [ 3.21825625e-01 -9.46796207e-01 -2.28244669e-03 -1.26369310e+02] [-7.02831207e-03 2.16513175e-05 -9.99975301e-01 -1.04801659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.430385723 meters 0.014324919509411085 Centerline is valid? [True, True] Translation: X:220.53, Y:-126.37, Z:-10.48 [[ 9.19345186e-01 3.93397391e-01 -6.55151563e-03 2.20532342e+02] [ 3.93387138e-01 -9.19368529e-01 -2.84053287e-03 -1.26369402e+02] [-7.14071551e-03 3.41482407e-05 -9.99974504e-01 -1.04805905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.490385723 meters 0.014437507227893756 Centerline is valid? [True, True] Translation: X:220.56, Y:-126.37, Z:-10.48 [[ 8.86276853e-01 4.63113959e-01 -6.22907816e-03 2.20558772e+02] [ 4.63102189e-01 -8.86298742e-01 -3.30204088e-03 -1.26368109e+02] [-7.05004536e-03 4.18226639e-05 -9.99975147e-01 -1.04806998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.550385723 meters 0.014541843343854504 Centerline is valid? [True, True] Translation: X:220.59, Y:-126.37, Z:-10.48 [[ 8.47723140e-01 5.30398994e-01 -6.51041401e-03 2.20585810e+02] [ 5.30382883e-01 -8.47748137e-01 -4.13441077e-03 -1.26365234e+02] [-7.71207866e-03 5.18235246e-05 -9.99970260e-01 -1.04800270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.610385723 meters 0.014526704662445883 Centerline is valid? [True, True] Translation: X:220.61, Y:-126.36, Z:-10.48 [[ 8.03405486e-01 5.95408897e-01 -5.27936890e-03 2.20612233e+02] [ 5.95395696e-01 -8.03422830e-01 -3.96491512e-03 -1.26360906e+02] [-6.60231124e-03 4.21210352e-05 -9.99978204e-01 -1.04804274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.670385723 meters 0.01443253722728506 Centerline is valid? [True, True] Translation: X:220.64, Y:-126.35, Z:-10.48 [[ 7.53765292e-01 6.57129422e-01 -4.33675371e-03 2.20637148e+02] [ 6.57118303e-01 -7.53777767e-01 -3.82276561e-03 -1.26353497e+02] [-5.78100028e-03 3.17078005e-05 -9.99983289e-01 -1.04808198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.730385723 meters 0.01447992942728039 Centerline is valid? [True, True] Translation: X:220.66, Y:-126.34, Z:-10.48 [[ 6.99469280e-01 7.14652057e-01 -3.89406792e-03 2.20659918e+02] [ 7.14640771e-01 -6.99480119e-01 -4.01639781e-03 -1.26343661e+02] [-5.59415004e-03 2.64871833e-05 -9.99984352e-01 -1.04797354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.790385723 meters 0.014432416697993701 Centerline is valid? [True, True] Translation: X:220.68, Y:-126.33, Z:-10.48 [[ 6.40433613e-01 7.68007500e-01 -3.04431680e-03 2.20678816e+02] [ 7.67998698e-01 -6.40440849e-01 -3.67678234e-03 -1.26329875e+02] [-4.77350124e-03 1.67036623e-05 -9.99988607e-01 -1.04800868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.850385723 meters 0.014525734115840896 Centerline is valid? [True, True] Translation: X:220.69, Y:-126.31, Z:-10.48 [[ 5.78091459e-01 8.15969197e-01 -2.12940486e-03 2.20694944e+02] [ 8.15963587e-01 -5.78095381e-01 -3.02573549e-03 -1.26312916e+02] [-3.69990607e-03 1.16350129e-05 -9.99993155e-01 -1.04809222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.910385723 meters 0.014481168676715422 Centerline is valid? [True, True] Translation: X:220.72, Y:-126.30, Z:-10.48 [[ 5.11988109e-01 8.58991564e-01 -1.29188340e-03 2.20715997e+02] [ 8.58988798e-01 -5.11989739e-01 -2.18006587e-03 -1.26298088e+02] [-2.53408924e-03 6.45443327e-06 -9.99996789e-01 -1.04821011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9703857229999 meters 0.014538197061630617 Centerline is valid? [True, True] Translation: X:220.74, Y:-126.28, Z:-10.48 [[ 4.42924454e-01 8.96558786e-01 -5.22071097e-04 2.20735180e+02] [ 8.96558156e-01 -4.42924761e-01 -1.06212484e-03 -1.26281549e+02] [-1.18349557e-03 2.37396537e-06 -9.99999300e-01 -1.04826958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.030385723 meters 0.014639061489787036 Centerline is valid? [True, True] Translation: X:220.75, Y:-126.26, Z:-10.48 [[ 3.70520226e-01 9.28824139e-01 -6.92894245e-04 2.20754147e+02] [ 9.28822503e-01 -3.70520874e-01 -1.74371217e-03 -1.26264111e+02] [-1.87633374e-03 2.50486179e-06 -9.99998240e-01 -1.04816265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0903857229999 meters 0.01476911344554893 Centerline is valid? [True, True] Translation: X:220.77, Y:-126.25, Z:-10.48 [[ 2.96572488e-01 9.55009710e-01 -1.10166075e-03 2.20768899e+02] [ 9.55003054e-01 -2.96574534e-01 -3.56554138e-03 -1.26245225e+02] [-3.73185116e-03 5.35209434e-06 -9.99993037e-01 -1.04796222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.150385723 meters 0.01489087165143116 Centerline is valid? [True, True] Translation: X:220.78, Y:-126.22, Z:-10.48 [[ 2.21121028e-01 9.75245980e-01 -8.77179338e-04 2.20775445e+02] [ 9.75238185e-01 -2.21122768e-01 -3.89931670e-03 -1.26223954e+02] [-3.99675726e-03 6.76213366e-06 -9.99992013e-01 -1.04791208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.210385723 meters 0.014958033018080092 Centerline is valid? [True, True] Translation: X:220.79, Y:-126.20, Z:-10.48 [[ 1.44688078e-01 9.89477174e-01 -5.30636511e-04 2.20785418e+02] [ 9.89470302e-01 -1.44689051e-01 -3.68778899e-03 -1.26202379e+02] [-3.72576032e-03 8.53003273e-06 -9.99993059e-01 -1.04800975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.270385723 meters 0.015088304463626611 Centerline is valid? [True, True] Translation: X:220.79, Y:-126.18, Z:-10.48 [[ 6.69331268e-02 9.97757432e-01 -2.53897784e-04 2.20791690e+02] [ 9.97749690e-01 -6.69336077e-02 -3.93038151e-03 -1.26181443e+02] [-3.93856166e-03 9.74628865e-06 -9.99992244e-01 -1.04791159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.330385723 meters 0.015129311898662325 Centerline is valid? [True, True] Translation: X:220.80, Y:-126.16, Z:-10.48 [[-1.21192683e-02 9.99926558e-01 5.18988794e-05 2.20801059e+02] [ 9.99919558e-01 1.21193777e-02 -3.74133529e-03 -1.26159308e+02] [-3.74168950e-03 6.55245832e-06 -9.99993000e-01 -1.04805871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.390385723 meters 0.015194841930881652 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.14, Z:-10.48 [[-9.21901756e-02 9.95741367e-01 3.20122444e-04 2.20806994e+02] [ 9.95735363e-01 9.21907314e-02 -3.45766753e-03 -1.26137307e+02] [-3.47245491e-03 -5.73877741e-09 -9.99993971e-01 -1.04806114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.450385723 meters 0.015288601771107357 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.11, Z:-10.48 [[-1.71302515e-01 9.85218204e-01 7.34622141e-04 2.20810733e+02] [ 9.85208991e-01 1.71304090e-01 -4.26070604e-03 -1.26114312e+02] [-4.32356893e-03 -6.11332430e-06 -9.99990653e-01 -1.04790925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.510385723 meters 0.015246542453108766 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.09, Z:-10.48 [[-2.48777527e-01 9.68560153e-01 9.85508485e-04 2.20810369e+02] [ 9.68552409e-01 2.48779479e-01 -3.87329044e-03 -1.26091591e+02] [-3.99668907e-03 -9.07100032e-06 -9.99992013e-01 -1.04795438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.570385723 meters 0.015369835847167885 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.07, Z:-10.48 [[-3.25343114e-01 9.45595401e-01 1.09370835e-03 2.20811623e+02] [ 9.45589923e-01 3.25344952e-01 -3.21861222e-03 -1.26067391e+02] [-3.39933740e-03 -1.29537223e-05 -9.99994222e-01 -1.04805666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.630385723 meters 0.015447599446688597 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.04, Z:-10.48 [[-3.99286161e-01 9.16825327e-01 1.37184037e-03 2.20810113e+02] [ 9.16819774e-01 3.99288517e-01 -3.19094314e-03 -1.26044330e+02] [-3.47329760e-03 -1.63690539e-05 -9.99993968e-01 -1.04796664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.690385723 meters 0.01554202106781618 Centerline is valid? [True, True] Translation: X:220.81, Y:-126.02, Z:-10.48 [[-4.69600104e-01 8.82877919e-01 1.52413084e-03 2.20806201e+02] [ 8.82873169e-01 4.69602577e-01 -2.89611848e-03 -1.26021844e+02] [-3.27265483e-03 -1.44033140e-05 -9.99994645e-01 -1.04801997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.750385723 meters 0.015551763165119487 Centerline is valid? [True, True] Translation: X:220.80, Y:-126.00, Z:-10.48 [[-5.36132001e-01 8.44132808e-01 1.50970521e-03 2.20804074e+02] [ 8.44129416e-01 5.36134127e-01 -2.39297323e-03 -1.25996786e+02] [-2.82939169e-03 -8.56294862e-06 -9.99995997e-01 -1.04805656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.810385723 meters 0.015497539143468953 Centerline is valid? [True, True] Translation: X:220.80, Y:-125.97, Z:-10.48 [[-5.97541362e-01 8.01836259e-01 1.71328855e-03 2.20797899e+02] [ 8.01832974e-01 5.97543818e-01 -2.29533730e-03 -1.25974614e+02] [-2.86424966e-03 2.21227916e-06 -9.99995898e-01 -1.04801028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.870385723 meters 0.01570195786685274 Centerline is valid? [True, True] Translation: X:220.79, Y:-125.95, Z:-10.48 [[-6.55232258e-01 7.55425009e-01 1.93505778e-03 2.20789502e+02] [ 7.55421782e-01 6.55235115e-01 -2.20787938e-03 -1.25952701e+02] [-2.93580510e-03 1.51110081e-05 -9.99995690e-01 -1.04805946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.930385723 meters 0.01594498604815699 Centerline is valid? [True, True] Translation: X:220.78, Y:-125.93, Z:-10.48 [[-7.10146109e-01 7.04048020e-01 2.98146292e-03 2.20779109e+02] [ 7.04042020e-01 7.10152367e-01 -2.90689104e-03 -1.25930944e+02] [-4.16388383e-03 3.47578172e-05 -9.99991330e-01 -1.04805773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.990385723 meters 0.01609630172263901 Centerline is valid? [True, True] Translation: X:220.81, Y:-125.92, Z:-10.48 [[-7.56897183e-01 6.53523519e-01 3.69668493e-03 2.20806954e+02] [ 6.53516045e-01 7.56906208e-01 -3.12591106e-03 -1.25915936e+02] [-4.84090017e-03 4.98496410e-05 -9.99988282e-01 -1.04795121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.050385723 meters 0.01636558069036037 Centerline is valid? [True, True] Translation: X:220.83, Y:-125.90, Z:-10.48 [[-8.00600970e-01 5.99183329e-01 4.17444961e-03 2.20826519e+02] [ 5.99175563e-01 8.00611850e-01 -3.05108589e-03 -1.25895019e+02] [-5.17027363e-03 5.85258787e-05 -9.99986632e-01 -1.04790641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.110385723 meters 0.01634126374173304 Centerline is valid? [True, True] Translation: X:220.85, Y:-125.87, Z:-10.48 [[-8.40467876e-01 5.41840090e-01 4.80273106e-03 2.20846682e+02] [ 5.41831715e-01 8.40481595e-01 -3.01350308e-03 -1.25873118e+02] [-5.66944384e-03 6.95194731e-05 -9.99983926e-01 -1.04812367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.170385723 meters 0.016495805148837292 Centerline is valid? [True, True] Translation: X:220.87, Y:-125.85, Z:-10.48 [[-8.76588751e-01 4.81230047e-01 3.13117369e-03 2.20873733e+02] [ 4.81227156e-01 8.76594342e-01 -1.66860645e-03 -1.25853316e+02] [-3.54775270e-03 4.41241677e-05 -9.99993706e-01 -1.04830429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.230385723 meters 0.01633878331139437 Centerline is valid? [True, True] Translation: X:220.87, Y:-125.82, Z:-10.48 [[-9.08912320e-01 4.16973151e-01 3.43310003e-03 2.20873815e+02] [ 4.16970352e-01 9.08918803e-01 -1.52822158e-03 -1.25818428e+02] [-3.75763654e-03 4.24815051e-05 -9.99992939e-01 -1.04830856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.290385723 meters 0.01634323625150794 Centerline is valid? [True, True] Translation: X:220.90, Y:-125.80, Z:-10.48 [[-9.36587861e-01 3.50409512e-01 4.04369316e-03 2.20904336e+02] [ 3.50406446e-01 9.36596590e-01 -1.46660462e-03 -1.25798650e+02] [-4.30122143e-03 4.33320664e-05 -9.99990749e-01 -1.04830835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.350385723 meters 0.01591959150393554 Centerline is valid? [True, True] Translation: X:221.19, Y:-125.04, Z:-11.44 [[-9.18425407e-01 -3.95575899e-01 3.80514866e-03 2.21192353e+02] [ 3.95572276e-01 -9.18433288e-01 -1.69392387e-03 -1.25035233e+02] [ 4.16485066e-03 -5.05314014e-05 9.99991326e-01 -1.14357776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.410385723 meters 0.01608698600716891 Centerline is valid? [True, True] Translation: X:220.86, Y:-125.78, Z:-10.48 [[-9.38513378e-01 3.45230962e-01 2.86745290e-03 2.20864885e+02] [ 3.45229432e-01 9.38517758e-01 -1.02817195e-03 -1.25776804e+02] [-3.04611226e-03 2.49760047e-05 -9.99995360e-01 -1.04840914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4703857229999 meters 0.016802141218616947 Centerline is valid? [True, True] Translation: X:220.88, Y:-125.75, Z:-10.48 [[-9.59700052e-01 2.81009802e-01 3.04976122e-03 2.20875522e+02] [ 2.81008503e-01 9.59704897e-01 -8.55293427e-04 -1.25751645e+02] [-3.16721662e-03 3.61836886e-05 -9.99994984e-01 -1.04843261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.530385723 meters 0.01692744960060746 Centerline is valid? [True, True] Translation: X:220.89, Y:-125.72, Z:-10.49 [[-9.76679257e-01 2.14681578e-01 3.07398460e-03 2.20888492e+02] [ 2.14680655e-01 9.76684093e-01 -6.31090988e-04 -1.25724436e+02] [-3.13779547e-03 4.35515486e-05 -9.99995076e-01 -1.04853028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5903857229999 meters 0.017286244335913598 Centerline is valid? [True, True] Translation: X:220.89, Y:-125.70, Z:-10.49 [[-9.89042948e-01 1.47580483e-01 3.74799034e-03 2.20894431e+02] [ 1.47579665e-01 9.89050048e-01 -4.95536704e-04 -1.25695737e+02] [-3.78008157e-03 6.30200756e-05 -9.99992853e-01 -1.04865003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.650385723 meters 0.018051464007117754 Centerline is valid? [True, True] Translation: X:221.01, Y:-124.90, Z:-11.43 [[-9.83823379e-01 -1.79078885e-01 4.72360259e-03 2.21006579e+02] [ 1.79076739e-01 -9.83834718e-01 -8.76967359e-04 -1.24901473e+02] [ 4.80429056e-03 -1.68936429e-05 9.99988459e-01 -1.14328216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.710385723 meters 0.018201326899583134 Centerline is valid? [True, True] Translation: X:220.84, Y:-125.69, Z:-10.49 [[-9.89371475e-01 1.45297357e-01 5.72384139e-03 2.20841390e+02] [ 1.45295545e-01 9.89388026e-01 -7.33399874e-04 -1.25685610e+02] [-5.76966120e-03 1.06043738e-04 -9.99983350e-01 -1.04860726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.770385723 meters 0.018129972984935374 Centerline is valid? [True, True] Translation: X:220.95, Y:-124.90, Z:-11.43 [[-9.84264773e-01 -1.76550923e-01 7.25457441e-03 2.20948969e+02] [ 1.76545893e-01 -9.84291507e-01 -1.33294206e-03 -1.24901896e+02] [ 7.37594813e-03 -3.12025951e-05 9.99972797e-01 -1.14326782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.830385723 meters 0.01831784264161018 Centerline is valid? [True, True] Translation: X:220.79, Y:-125.67, Z:-10.49 [[-9.90175426e-01 1.39565813e-01 8.60291142e-03 2.20787765e+02] [ 1.39561809e-01 9.90212787e-01 -1.06693781e-03 -1.25669573e+02] [-8.66762093e-03 1.44182284e-04 -9.99962425e-01 -1.04865517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.890385723 meters 0.018404308441051308 Centerline is valid? [True, True] Translation: X:220.89, Y:-124.90, Z:-11.43 [[-9.85247093e-01 -1.70893341e-01 9.14500298e-03 2.20887659e+02] [ 1.70884889e-01 -9.85289527e-01 -1.70352240e-03 -1.24904760e+02] [ 9.30159630e-03 -1.15647673e-04 9.99956733e-01 -1.14315981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.950385723 meters 0.01838976462984365 Centerline is valid? [True, True] Translation: X:220.73, Y:-125.66, Z:-10.49 [[-9.90105856e-01 1.39989423e-01 9.66201172e-03 2.20733481e+02] [ 1.39984787e-01 9.90152977e-01 -1.15780856e-03 -1.25655072e+02] [-9.72895062e-03 2.06181622e-04 -9.99952651e-01 -1.04881382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.010385723 meters 0.01910308855524412 Centerline is valid? [True, True] Translation: X:220.83, Y:-124.91, Z:-11.43 [[-9.86893643e-01 -1.61141145e-01 8.62948565e-03 2.20832350e+02] [ 1.61132822e-01 -9.86931341e-01 -1.65572377e-03 -1.24907029e+02] [ 8.78351507e-03 -2.43529884e-04 9.99961395e-01 -1.14309717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.070385723 meters 0.01915593049282007 Centerline is valid? [True, True] Translation: X:220.68, Y:-125.64, Z:-10.49 [[-9.90029866e-01 1.40569848e-01 8.99905948e-03 2.20681281e+02] [ 1.40566181e-01 9.90070737e-01 -1.04176326e-03 -1.25638639e+02] [-9.05614595e-03 2.33586684e-04 -9.99958965e-01 -1.04872724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.130385723 meters 0.019274402916204286 Centerline is valid? [True, True] Translation: X:220.77, Y:-124.91, Z:-11.43 [[-9.87674221e-01 -1.56270002e-01 8.90621288e-03 2.20771785e+02] [ 1.56261511e-01 -9.87714347e-01 -1.64565317e-03 -1.24908600e+02] [ 9.05396047e-03 -2.33670931e-04 9.99958985e-01 -1.14320202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.190385723 meters 0.01780773299421396 Centerline is valid? [True, True] Translation: X:220.63, Y:-125.62, Z:-10.49 [[-9.90940879e-01 1.34014942e-01 8.72748522e-03 2.20629168e+02] [ 1.34011550e-01 9.90979290e-01 -9.74996699e-04 -1.25622928e+02] [-8.77942124e-03 2.03419733e-04 -9.99961439e-01 -1.04878381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.250385723 meters 0.017464593294071507 Centerline is valid? [True, True] Translation: X:220.71, Y:-124.92, Z:-11.43 [[-9.87370946e-01 -1.58263702e-01 7.15654312e-03 2.20705511e+02] [ 1.58257562e-01 -9.87396844e-01 -1.41986725e-03 -1.24917055e+02] [ 7.29106154e-03 -2.69358606e-04 9.99973384e-01 -1.14330267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.310385723 meters 0.016638354729868993 Centerline is valid? [True, True] Translation: X:220.57, Y:-125.60, Z:-10.48 [[-9.92477315e-01 1.22238178e-01 6.82694838e-03 2.20566891e+02] [ 1.22236011e-01 9.92500789e-01 -7.35233340e-04 -1.25602964e+02] [-6.86562524e-03 1.04796528e-04 -9.99976426e-01 -1.04847981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.370385723 meters 0.01650670590877202 Centerline is valid? [True, True] Translation: X:220.64, Y:-124.92, Z:-11.44 [[-9.87033230e-01 -1.60387852e-01 6.41394730e-03 2.20644586e+02] [ 1.60383659e-01 -9.87054062e-01 -1.16620334e-03 -1.24920112e+02] [ 6.51795759e-03 -1.22389115e-04 9.99978750e-01 -1.14353191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.430385723 meters 0.017120338437106784 Centerline is valid? [True, True] Translation: X:220.52, Y:-125.59, Z:-10.48 [[-9.93379536e-01 1.14773426e-01 4.91509441e-03 2.20515359e+02] [ 1.14772308e-01 9.93391694e-01 -5.09831019e-04 -1.25594703e+02] [-4.94112902e-03 5.76610266e-05 -9.99987791e-01 -1.04813847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.490385723 meters 0.01612504502054546 Centerline is valid? [True, True] Translation: X:220.59, Y:-124.92, Z:-11.44 [[-9.87376871e-01 -1.58368765e-01 2.49982981e-03 2.20588557e+02] [ 1.58367787e-01 -9.87380019e-01 -5.85839639e-04 -1.24919906e+02] [ 2.56106070e-03 -1.82551996e-04 9.99996704e-01 -1.14368407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.550385723 meters 0.016192057325600112 Centerline is valid? [True, True] Translation: X:220.46, Y:-125.59, Z:-10.48 [[-9.93727774e-01 1.11819130e-01 1.26236050e-03 2.20464736e+02] [ 1.11819061e-01 9.93728576e-01 -1.25578162e-04 -1.25586400e+02] [-1.26848574e-03 1.63654574e-05 -9.99999195e-01 -1.04814719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.610385723 meters 0.016363183147148828 Centerline is valid? [True, True] Translation: X:220.46, Y:-125.56, Z:-10.48 [[-9.99135490e-01 4.15379075e-02 1.69531700e-03 2.20461787e+02] [ 4.15378863e-02 9.99136928e-01 -4.77216537e-05 -1.25557976e+02] [-1.69583608e-03 2.27394871e-05 -9.99998562e-01 -1.04798635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.670385723 meters 0.016578328928776035 Centerline is valid? [True, True] Translation: X:220.48, Y:-124.88, Z:-11.44 [[-9.96728348e-01 -8.08101087e-02 1.52563108e-03 2.20482604e+02] [ 8.08099666e-02 -9.96729515e-01 -1.54683376e-04 -1.24881022e+02] [ 1.53314151e-03 -3.08911092e-05 9.99998824e-01 -1.14410133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.730385723 meters 0.01695019634071461 Centerline is valid? [True, True] Translation: X:220.40, Y:-125.56, Z:-10.48 [[-9.99197798e-01 4.00435503e-02 5.23866744e-04 2.20400200e+02] [ 4.00435493e-02 9.99197935e-01 -1.23912026e-05 -1.25561395e+02] [-5.23942756e-04 8.59622144e-06 -9.99999863e-01 -1.04781545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.790385723 meters 0.01683627905619018 Centerline is valid? [True, True] Translation: X:220.40, Y:-125.53, Z:-10.48 [[-9.99540795e-01 -3.02819053e-02 1.09797936e-03 2.20395153e+02] [-3.02818664e-02 9.99541398e-01 5.19792978e-05 -1.25534219e+02] [-1.09904986e-03 1.87065642e-05 -9.99999396e-01 -1.04776327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.850385723 meters 0.016710128767624583 Centerline is valid? [True, True] Translation: X:220.36, Y:-124.85, Z:-11.44 [[-9.99996264e-01 -2.69690806e-03 4.46526826e-04 2.20360132e+02] [ 2.69688548e-03 -9.99996362e-01 -5.11734145e-05 -1.24845762e+02] [ 4.46663212e-04 -4.99689916e-05 9.99999899e-01 -1.14423600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.910385723 meters 0.01710925165316326 Centerline is valid? [True, True] Translation: X:220.32, Y:-125.54, Z:-10.48 [[-9.99478603e-01 -3.22853512e-02 -4.22829594e-04 2.20316967e+02] [-3.22853450e-02 9.99478692e-01 -2.15474291e-05 -1.25543316e+02] [ 4.23304836e-04 -7.88499500e-06 -9.99999910e-01 -1.04762873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9703857229999 meters 0.016696286599378267 Centerline is valid? [True, True] Translation: X:220.29, Y:-124.85, Z:-11.44 [[-9.99988730e-01 4.57536397e-03 -1.26706777e-03 2.20290412e+02] [-4.57532148e-03 -9.99989533e-01 -3.64299443e-05 -1.24845259e+02] [-1.26722119e-03 -3.06322914e-05 9.99999197e-01 -1.14427356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.030385723 meters 0.01760826901925232 Centerline is valid? [True, True] Translation: X:220.25, Y:-125.55, Z:-10.48 [[-9.99371305e-01 -3.52879522e-02 -3.42862600e-03 2.20250956e+02] [-3.52874948e-02 9.99377184e-01 -1.93844782e-04 -1.25552417e+02] [ 3.43333098e-03 -7.27352904e-05 -9.99994103e-01 -1.04777512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0903857229999 meters 0.017187482344101723 Centerline is valid? [True, True] Translation: X:220.24, Y:-125.53, Z:-10.48 [[-9.94530084e-01 -1.04351659e-01 -4.54349489e-03 2.20243566e+02] [-1.04350081e-01 9.94540457e-01 -5.83686722e-04 -1.25525885e+02] [ 4.57959817e-03 -1.06379945e-04 -9.99989508e-01 -1.04773046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.150385723 meters 0.017259839027777717 Centerline is valid? [True, True] Translation: X:220.23, Y:-125.50, Z:-10.48 [[-9.84650868e-01 -1.74503484e-01 -3.34698828e-03 2.20231945e+02] [-1.74502197e-01 9.84656553e-01 -6.75155726e-04 -1.25501088e+02] [ 3.41345097e-03 -8.07358643e-05 -9.99994171e-01 -1.04758236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.210385723 meters 0.017057864882251396 Centerline is valid? [True, True] Translation: X:220.21, Y:-125.48, Z:-10.47 [[-9.69402678e-01 -2.45454343e-01 -3.25782793e-03 2.20212271e+02] [-2.45452691e-01 9.69408149e-01 -9.03940171e-04 -1.25476904e+02] [ 3.38004098e-03 -7.66393907e-05 -9.99994285e-01 -1.04749379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.270385723 meters 0.016323759519824746 Centerline is valid? [True, True] Translation: X:220.18, Y:-125.46, Z:-10.47 [[-9.48463281e-01 -3.16866645e-01 -3.59650353e-03 2.20179750e+02] [-3.16864056e-01 9.48470096e-01 -1.28318381e-03 -1.25457516e+02] [ 3.81777419e-03 -7.74500317e-05 -9.99992709e-01 -1.04748243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.330385723 meters 0.016181393811943206 Centerline is valid? [True, True] Translation: X:220.12, Y:-125.45, Z:-10.47 [[-9.22847371e-01 -3.85147775e-01 -3.73112607e-03 2.20124218e+02] [-3.85144272e-01 9.22854910e-01 -1.64466229e-03 -1.25449831e+02] [ 4.07672603e-03 -8.07504367e-05 -9.99991687e-01 -1.04741565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.390385723 meters 0.0159359027076731 Centerline is valid? [True, True] Translation: X:220.06, Y:-125.45, Z:-10.47 [[-8.91752932e-01 -4.52513847e-01 -2.81538652e-03 2.20064173e+02] [-4.52511373e-01 8.91757374e-01 -1.49767114e-03 -1.25448618e+02] [ 3.18835862e-03 -6.15582139e-05 -9.99994915e-01 -1.04733554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.450385723 meters 0.01562429037431673 Centerline is valid? [True, True] Translation: X:219.99, Y:-125.46, Z:-10.47 [[-8.55407558e-01 -5.17948930e-01 -2.61056614e-03 2.19994946e+02] [-5.17946312e-01 8.55411540e-01 -1.64800752e-03 -1.25457945e+02] [ 3.08669213e-03 -5.75849900e-05 -9.99995235e-01 -1.04731147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.510385723 meters 0.01554700814951969 Centerline is valid? [True, True] Translation: X:219.92, Y:-125.48, Z:-10.47 [[-8.14055866e-01 -5.80780436e-01 -2.67076228e-03 2.19918497e+02] [-5.80777072e-01 8.14060245e-01 -1.97772046e-03 -1.25476180e+02] [ 3.32278275e-03 -5.88574396e-05 -9.99994478e-01 -1.04728121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.570385723 meters 0.015513160049874119 Centerline is valid? [True, True] Translation: X:219.83, Y:-125.51, Z:-10.47 [[-7.68192669e-01 -6.40211391e-01 -3.06554541e-03 2.19834826e+02] [-6.40205919e-01 7.68198783e-01 -2.64786480e-03 -1.25510725e+02] [ 4.05014146e-03 -7.14900044e-05 -9.99991796e-01 -1.04735704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.630385723 meters 0.015855937240191124 Centerline is valid? [True, True] Translation: X:219.75, Y:-125.56, Z:-10.47 [[-7.19232162e-01 -6.94765369e-01 -2.48587356e-03 2.19749084e+02] [-6.94760884e-01 7.19236455e-01 -2.49720674e-03 -1.25558739e+02] [ 3.52290365e-03 -6.89836925e-05 -9.99993792e-01 -1.04741539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.690385723 meters 0.01607558703291972 Centerline is valid? [True, True] Translation: X:219.67, Y:-125.61, Z:-10.47 [[-6.65639300e-01 -7.46270372e-01 -2.20325258e-03 2.19667006e+02] [-7.46265926e-01 6.65642943e-01 -2.57683755e-03 -1.25609615e+02] [ 3.38959705e-03 -7.10320162e-05 -9.99994253e-01 -1.04741153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.750385723 meters 0.01619129759860461 Centerline is valid? [True, True] Translation: X:219.58, Y:-125.68, Z:-10.47 [[-6.07380838e-01 -7.94409094e-01 -1.64590810e-03 2.19581468e+02] [-7.94405909e-01 6.07383065e-01 -2.25050692e-03 -1.25677605e+02] [ 2.78751987e-03 -5.93956614e-05 -9.99996113e-01 -1.04734873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.810385723 meters 0.01613974763317016 Centerline is valid? [True, True] Translation: X:219.50, Y:-125.76, Z:-10.47 [[-5.44019155e-01 -8.39071485e-01 -1.48388813e-03 2.19496679e+02] [-8.39068078e-01 5.44021176e-01 -2.39195079e-03 -1.25756470e+02] [ 2.81428427e-03 -5.61838862e-05 -9.99996038e-01 -1.04735034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.870385723 meters 0.015929510991662035 Centerline is valid? [True, True] Translation: X:219.42, Y:-125.84, Z:-10.47 [[-4.77199145e-01 -8.78794083e-01 -1.39115775e-03 2.19418417e+02] [-8.78789998e-01 4.77201169e-01 -2.68018012e-03 -1.25839715e+02] [ 3.01918853e-03 -5.64441413e-05 -9.99995441e-01 -1.04735221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.930385723 meters 0.015838453595796914 Centerline is valid? [True, True] Translation: X:219.35, Y:-125.93, Z:-10.47 [[-4.07740739e-01 -9.13097525e-01 -6.31827338e-04 2.19346515e+02] [-9.13096319e-01 4.07741227e-01 -1.48471410e-03 -1.25933800e+02] [ 1.61331083e-03 -2.84592084e-05 -9.99998698e-01 -1.04732571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.990385723 meters 0.016392876701317862 Centerline is valid? [True, True] Translation: X:219.28, Y:-126.04, Z:-10.47 [[-3.37304153e-01 -9.41395717e-01 -1.10888878e-04 2.19281300e+02] [-9.41395660e-01 3.37304171e-01 -3.26865271e-04 -1.26040793e+02] [ 3.45112847e-04 -5.86270465e-06 -9.99999940e-01 -1.04722094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.050385723 meters 0.016611459025892505 Centerline is valid? [True, True] Translation: X:219.22, Y:-126.14, Z:-10.47 [[-2.64797395e-01 -9.64304064e-01 -1.11526295e-04 2.19222993e+02] [-9.64303965e-01 2.64797418e-01 -4.37400855e-04 -1.26144318e+02] [ 4.51319297e-04 -8.27735875e-06 -9.99999898e-01 -1.04723589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.110385723 meters 0.01730021905674645 Centerline is valid? [True, True] Translation: X:219.18, Y:-126.26, Z:-10.47 [[-1.91131461e-01 -9.81564445e-01 7.28426099e-05 2.19175064e+02] [-9.81564353e-01 1.91131475e-01 4.25172906e-04 -1.26256908e+02] [-4.31257123e-04 9.76420938e-06 -9.99999907e-01 -1.04717655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.170385723 meters 0.01816859266136203 Centerline is valid? [True, True] Translation: X:219.14, Y:-126.38, Z:-10.47 [[-1.16116868e-01 -9.93235555e-01 7.25397980e-05 2.19136161e+02] [-9.93235252e-01 1.16116889e-01 7.76400534e-04 -1.26377249e+02] [-7.79571711e-04 1.81041138e-05 -9.99999696e-01 -1.04711438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.230385723 meters 0.016460939552731483 Centerline is valid? [True, True] Translation: X:219.10, Y:-126.51, Z:-10.47 [[-3.96478464e-02 -9.99213715e-01 1.75302497e-05 2.19099504e+02] [-9.99213134e-01 3.96478423e-02 1.07729919e-03 -1.26505106e+02] [-1.07714716e-03 2.51961371e-05 -9.99999420e-01 -1.04712713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.290385723 meters 0.016179120883630285 Centerline is valid? [True, True] Translation: X:219.08, Y:-126.62, Z:-10.47 [[ 3.84200290e-02 -9.99261675e-01 -7.97938034e-05 2.19076437e+02] [-9.99260808e-01 -3.84201009e-02 1.31690722e-03 -1.26618908e+02] [-1.31900060e-03 2.91392070e-05 -9.99999130e-01 -1.04712227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.350385723 meters 0.017350482855626445 Centerline is valid? [True, True] Translation: X:219.06, Y:-126.75, Z:-10.47 [[ 1.19081844e-01 -9.92884416e-01 -2.26400052e-04 2.19064903e+02] [-9.92883072e-01 -1.19082055e-01 1.63400905e-03 -1.26749787e+02] [-1.64934231e-03 3.02079681e-05 -9.99998639e-01 -1.04707688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.410385723 meters 0.014944546780538892 Centerline is valid? [True, True] Translation: X:219.05, Y:-126.88, Z:-10.47 [[ 1.99207303e-01 -9.79957314e-01 -3.37597187e-04 2.19053257e+02] [-9.79956093e-01 -1.99207588e-01 1.54654661e-03 -1.26877824e+02] [-1.58280159e-03 2.27470399e-05 -9.99998747e-01 -1.04712576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4703857229999 meters 0.01446652471847267 Centerline is valid? [True, True] Translation: X:219.06, Y:-127.02, Z:-10.47 [[ 2.75894514e-01 -9.61187717e-01 -6.24371474e-04 2.19055768e+02] [-9.61185473e-01 -2.75895220e-01 2.07732526e-03 -1.27015257e+02] [-2.16896063e-03 2.70141455e-05 -9.99997647e-01 -1.04701633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.530385723 meters 0.014566192146288941 Centerline is valid? [True, True] Translation: X:219.07, Y:-127.15, Z:-10.47 [[ 3.49094770e-01 -9.37086927e-01 -9.66080766e-04 2.19069340e+02] [-9.37083598e-01 -3.49096105e-01 2.49801485e-03 -1.27146034e+02] [-2.67811209e-03 3.32545219e-05 -9.99996413e-01 -1.04691348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5903857229999 meters 0.015269566921662646 Centerline is valid? [True, True] Translation: X:219.09, Y:-127.26, Z:-10.47 [[ 4.17596884e-01 -9.08631617e-01 -1.19463854e-03 2.19087189e+02] [-9.08628184e-01 -4.17598591e-01 2.49791506e-03 -1.27257444e+02] [-2.76856397e-03 4.23607076e-05 -9.99996167e-01 -1.04688855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.650385723 meters 0.01570380953291098 Centerline is valid? [True, True] Translation: X:219.12, Y:-127.39, Z:-10.47 [[ 4.83343295e-01 -8.75430140e-01 -1.15253614e-03 2.19124302e+02] [-8.75427860e-01 -4.83344668e-01 1.99867567e-03 -1.27390861e+02] [-2.30677312e-03 4.29157607e-05 -9.99997338e-01 -1.04699626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.710385723 meters 0.015969748635805994 Centerline is valid? [True, True] Translation: X:219.15, Y:-127.48, Z:-10.47 [[ 5.47571138e-01 -8.36757219e-01 -1.79037499e-03 2.19145313e+02] [-8.36753126e-01 -5.47574061e-01 2.61792126e-03 -1.27484537e+02] [-3.17092742e-03 6.46037499e-05 -9.99994971e-01 -1.04681219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.770385723 meters 0.016699674303263076 Centerline is valid? [True, True] Translation: X:219.19, Y:-127.60, Z:-10.47 [[ 6.08334317e-01 -7.93677358e-01 -2.36864863e-03 2.19191100e+02] [-7.93671878e-01 -6.08338922e-01 2.95063701e-03 -1.27596402e+02] [-3.78279494e-03 8.49560535e-05 -9.99992842e-01 -1.04677701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.830385723 meters 0.016957281980100592 Centerline is valid? [True, True] Translation: X:219.24, Y:-127.70, Z:-10.47 [[ 6.65907176e-01 -7.46029405e-01 -2.78571710e-03 2.19239850e+02] [-7.46023488e-01 -6.65912995e-01 2.97285162e-03 -1.27697977e+02] [-4.07287994e-03 9.85671648e-05 -9.99991701e-01 -1.04671234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.890385723 meters 0.017362185291370586 Centerline is valid? [True, True] Translation: X:219.30, Y:-127.80, Z:-10.47 [[ 7.20616796e-01 -6.93324949e-01 -3.45648309e-03 2.19297173e+02] [-6.93317727e-01 -7.20625077e-01 3.16676011e-03 -1.27795636e+02] [-4.68642219e-03 1.14420469e-04 -9.99989012e-01 -1.04674520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.950385723 meters 0.016251024259716935 Centerline is valid? [True, True] Translation: X:219.31, Y:-127.83, Z:-10.47 [[ 7.73717571e-01 -6.33522479e-01 -3.22323373e-03 2.19311420e+02] [-6.33517475e-01 -7.73724279e-01 2.51948844e-03 -1.27827571e+02] [-4.09004676e-03 9.26024213e-05 -9.99991631e-01 -1.04680777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.010385723 meters 0.01579154177727775 Centerline is valid? [True, True] Translation: X:219.33, Y:-127.86, Z:-10.47 [[ 8.22930133e-01 -5.68133658e-01 -3.18484613e-03 2.19328259e+02] [-5.68129743e-01 -8.22936293e-01 2.11033800e-03 -1.27855053e+02] [-3.81987952e-03 7.27450809e-05 -9.99992702e-01 -1.04689629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.070385723 meters 0.015518074804315378 Centerline is valid? [True, True] Translation: X:219.35, Y:-127.88, Z:-10.47 [[ 8.66339166e-01 -4.99436566e-01 -4.42341079e-03 2.19348975e+02] [-4.99430529e-01 -8.66350455e-01 2.45701762e-03 -1.27878929e+02] [-5.05934839e-03 8.05757972e-05 -9.99987198e-01 -1.04679252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.130385723 meters 0.014795934176994674 Centerline is valid? [True, True] Translation: X:219.37, Y:-127.90, Z:-10.47 [[ 9.03830383e-01 -4.27861879e-01 -4.98508737e-03 2.19371103e+02] [-4.27855817e-01 -9.03844128e-01 2.27879130e-03 -1.27903105e+02] [-5.48074987e-03 7.32578168e-05 -9.99984978e-01 -1.04692163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.190385723 meters 0.01476232834233414 Centerline is valid? [True, True] Translation: X:219.40, Y:-127.92, Z:-10.47 [[ 9.34901430e-01 -3.54870489e-01 -5.12375460e-03 2.19395820e+02] [-3.54865551e-01 -9.34915468e-01 1.87337573e-03 -1.27923871e+02] [-5.45508319e-03 6.68223533e-05 -9.99985119e-01 -1.04695349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.250385723 meters 0.014653227183302251 Centerline is valid? [True, True] Translation: X:219.42, Y:-127.94, Z:-10.47 [[ 9.60093057e-01 -2.79611305e-01 -6.23223106e-03 2.19421212e+02] [-2.79605899e-01 -9.60113281e-01 1.74018272e-03 -1.27943696e+02] [-6.47022258e-03 7.18312173e-05 -9.99979065e-01 -1.04697535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.310385723 meters 0.015145579857289525 Centerline is valid? [True, True] Translation: X:219.45, Y:-127.96, Z:-10.47 [[ 9.78577950e-01 -2.05744317e-01 -7.38052343e-03 2.19447019e+02] [-2.05739231e-01 -9.78605777e-01 1.45005016e-03 -1.27958057e+02] [-7.52096244e-03 9.94761036e-05 -9.99971712e-01 -1.04697694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.370385723 meters 0.015879202704954347 Centerline is valid? [True, True] Translation: X:219.47, Y:-127.97, Z:-10.47 [[ 9.91320082e-01 -1.31241570e-01 -7.75531083e-03 2.19471562e+02] [-1.31238537e-01 -9.91350410e-01 9.00883986e-04 -1.27969665e+02] [-7.80646399e-03 1.24731260e-04 -9.99969521e-01 -1.04702394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.430385723 meters 0.016294064845643975 Centerline is valid? [True, True] Translation: X:219.50, Y:-127.98, Z:-10.47 [[ 9.98460016e-01 -5.50098918e-02 -7.17688884e-03 2.19496333e+02] [-5.50093893e-02 -9.98485801e-01 2.67540065e-04 -1.27982031e+02] [-7.18073896e-03 1.27668215e-04 -9.99974210e-01 -1.04717210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.490385723 meters 0.0163085729667493 Centerline is valid? [True, True] Translation: X:219.52, Y:-127.99, Z:-10.47 [[ 9.99724865e-01 2.21157398e-02 -7.81588346e-03 2.19522909e+02] [ 2.21139046e-02 -9.99755406e-01 -3.21159971e-04 -1.27992527e+02] [-7.82107443e-03 1.48231907e-04 -9.99969404e-01 -1.04722462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.550385723 meters 0.017192087521998394 Centerline is valid? [True, True] Translation: X:219.55, Y:-128.00, Z:-10.47 [[ 9.95104758e-01 9.84014701e-02 -9.14718847e-03 2.19548200e+02] [ 9.83955348e-02 -9.95146780e-01 -1.09774094e-03 -1.27998212e+02] [-9.21081447e-03 1.92324727e-04 -9.99957561e-01 -1.04723286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.610385723 meters 0.01816393537871699 Centerline is valid? [True, True] Translation: X:219.57, Y:-128.00, Z:-10.47 [[ 9.84695600e-01 1.74036000e-01 -9.27613296e-03 2.19573831e+02] [ 1.74026205e-01 -9.84739267e-01 -1.85904889e-03 -1.28002655e+02] [-9.45811381e-03 2.16307039e-04 -9.99955248e-01 -1.04726039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.670385723 meters 0.01859563603497524 Centerline is valid? [True, True] Translation: X:219.60, Y:-128.01, Z:-10.47 [[ 9.68280815e-01 2.49705145e-01 -8.92209460e-03 2.19600839e+02] [ 2.49692441e-01 -9.68321895e-01 -2.52841354e-03 -1.28006589e+02] [-9.27081742e-03 2.20434748e-04 -9.99957001e-01 -1.04728265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.730385723 meters 0.017840715648678982 Centerline is valid? [True, True] Translation: X:219.63, Y:-128.01, Z:-10.47 [[ 9.45527368e-01 3.25421335e-01 -8.88546877e-03 2.19630567e+02] [ 3.25404785e-01 -9.45569092e-01 -3.28916909e-03 -1.28013064e+02] [-9.47219042e-03 2.18625332e-04 -9.99955114e-01 -1.04732562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.790385723 meters 0.017845455390731374 Centerline is valid? [True, True] Translation: X:219.66, Y:-128.01, Z:-10.47 [[ 9.16793700e-01 3.99281559e-01 -7.97177356e-03 2.19659999e+02] [ 3.99264609e-01 -9.16828337e-01 -3.68416219e-03 -1.28014451e+02] [-8.77976592e-03 1.94769627e-04 -9.99961438e-01 -1.04725736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.850385723 meters 0.018052652777754866 Centerline is valid? [True, True] Translation: X:219.69, Y:-128.01, Z:-10.47 [[ 8.82553645e-01 4.70153266e-01 -7.41415155e-03 2.19688575e+02] [ 4.70134901e-01 -8.82584768e-01 -4.15958165e-03 -1.28013310e+02] [-8.49925813e-03 1.85402540e-04 -9.99963863e-01 -1.04707817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.910385723 meters 0.017867428099264743 Centerline is valid? [True, True] Translation: X:219.72, Y:-128.01, Z:-10.47 [[ 8.43089857e-01 5.37723866e-01 -7.24826340e-03 2.19717528e+02] [ 5.37702031e-01 -8.43120992e-01 -4.84956420e-03 -1.28008185e+02] [-8.71888944e-03 1.91212438e-04 -9.99961971e-01 -1.04704014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9703857229999 meters 0.017452269528145808 Centerline is valid? [True, True] Translation: X:219.75, Y:-128.00, Z:-10.47 [[ 7.98377816e-01 6.02122381e-01 -6.44206653e-03 2.19747996e+02] [ 6.02100954e-01 -7.98403786e-01 -5.08283942e-03 -1.28004021e+02] [-8.20386169e-03 1.79251827e-04 -9.99966332e-01 -1.04694067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.030385723 meters 0.01764635561648745 Centerline is valid? [True, True] Translation: X:219.78, Y:-128.00, Z:-10.47 [[ 7.49227672e-01 6.62291024e-01 -5.33802935e-03 2.19776891e+02] [ 6.62272642e-01 -7.49246670e-01 -4.93714482e-03 -1.27996312e+02] [-7.26932742e-03 1.63814722e-04 -9.99973565e-01 -1.04687099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0903857229999 meters 0.018721331203931994 Centerline is valid? [True, True] Translation: X:219.80, Y:-127.98, Z:-10.47 [[ 6.95984991e-01 7.18038319e-01 -5.08569366e-03 2.19801333e+02] [ 7.18017257e-01 -6.96003549e-01 -5.50252629e-03 -1.27983474e+02] [-7.49068556e-03 1.78059895e-04 -9.99971929e-01 -1.04669847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.150385723 meters 0.019139230887209334 Centerline is valid? [True, True] Translation: X:219.83, Y:-127.97, Z:-10.47 [[ 6.37837899e-01 7.70161838e-01 -3.68197372e-03 2.19825372e+02] [ 7.70147693e-01 -6.37848511e-01 -4.66994479e-03 -1.27969343e+02] [-5.94515472e-03 1.43004205e-04 -9.99982317e-01 -1.04666080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.210385723 meters 0.018531710108408966 Centerline is valid? [True, True] Translation: X:219.85, Y:-127.96, Z:-10.47 [[ 5.75149164e-01 8.18044164e-01 -2.68049935e-03 2.19851835e+02] [ 8.18034345e-01 -5.75155399e-01 -4.00976016e-03 -1.27955911e+02] [-4.82186457e-03 1.13469670e-04 -9.99988368e-01 -1.04673056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.270385723 meters 0.018973193159909068 Centerline is valid? [True, True] Translation: X:219.87, Y:-127.94, Z:-10.47 [[ 5.08201411e-01 8.61235657e-01 -2.11419189e-03 2.19873098e+02] [ 8.61227402e-01 -5.08205800e-01 -3.77197179e-03 -1.27939371e+02] [-4.32300118e-03 9.61213968e-05 -9.99990651e-01 -1.04656978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.330385723 meters 0.018457081182048064 Centerline is valid? [True, True] Translation: X:219.89, Y:-127.92, Z:-10.46 [[ 4.38402693e-01 8.98776203e-01 -2.10146314e-03 2.19894434e+02] [ 8.98764682e-01 -4.38407717e-01 -4.55206660e-03 -1.27920999e+02] [-5.01258679e-03 1.06917411e-04 -9.99987431e-01 -1.04639185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.390385723 meters 0.018106921038830884 Centerline is valid? [True, True] Translation: X:219.92, Y:-127.90, Z:-10.46 [[ 3.66010743e-01 9.30609020e-01 -1.72880706e-03 2.19916003e+02] [ 9.30597274e-01 -3.66014811e-01 -4.67676477e-03 -1.27901654e+02] [-4.98500847e-03 1.02923013e-04 -9.99987569e-01 -1.04638879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.450385723 meters 0.01872428710941634 Centerline is valid? [True, True] Translation: X:219.93, Y:-127.88, Z:-10.46 [[ 2.91600211e-01 9.56539115e-01 -1.49603471e-03 2.19931602e+02] [ 9.56524499e-01 -2.91604027e-01 -5.28901617e-03 -1.27880223e+02] [-5.49540060e-03 1.11284379e-04 -9.99984894e-01 -1.04630736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.510385723 meters 0.019104166823489296 Centerline is valid? [True, True] Translation: X:219.95, Y:-127.86, Z:-10.46 [[ 2.18851562e-01 9.75757688e-01 -9.63422702e-04 2.19946098e+02] [ 9.75745786e-01 -2.18853652e-01 -4.82076053e-03 -1.27856882e+02] [-4.91474272e-03 1.14975327e-04 -9.99987916e-01 -1.04622984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.570385723 meters 0.019535505664090156 Centerline is valid? [True, True] Translation: X:219.96, Y:-127.83, Z:-10.46 [[ 1.43107186e-01 9.89707036e-01 -5.62812380e-04 2.19957222e+02] [ 9.89695817e-01 -1.43108244e-01 -4.71387901e-03 -1.27832696e+02] [-4.74590231e-03 1.17576901e-04 -9.99988731e-01 -1.04618714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.630385723 meters 0.02040245591215542 Centerline is valid? [True, True] Translation: X:219.96, Y:-127.81, Z:-10.46 [[ 6.60910040e-02 9.97813586e-01 -1.62971441e-04 2.19963660e+02] [ 9.97805455e-01 -6.60911236e-02 -4.02960999e-03 -1.27809038e+02] [-4.03157056e-03 1.03707177e-04 -9.99991868e-01 -1.04621038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.690385723 meters 0.01919227695574699 Centerline is valid? [True, True] Translation: X:219.98, Y:-127.78, Z:-10.46 [[-1.38459426e-02 9.99904131e-01 1.33660519e-04 2.19977035e+02] [ 9.99897948e-01 1.38463272e-02 -3.51750589e-03 -1.27782941e+02] [-3.51901938e-03 8.49436942e-05 -9.99993805e-01 -1.04617966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.750385723 meters 0.018524548158765388 Centerline is valid? [True, True] Translation: X:219.99, Y:-127.76, Z:-10.46 [[-9.46604685e-02 9.95509580e-01 2.67574433e-04 2.19986851e+02] [ 9.95506954e-01 9.46608335e-02 -2.28719123e-03 -1.27756263e+02] [-2.30224960e-03 4.98656153e-05 -9.99997349e-01 -1.04621382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.810385723 meters 0.017061169092844074 Centerline is valid? [True, True] Translation: X:220.00, Y:-127.73, Z:-10.46 [[-1.78042549e-01 9.84022781e-01 1.27643125e-04 2.20001373e+02] [ 9.84022570e-01 1.78042595e-01 -6.44547064e-04 -1.27726766e+02] [-6.56974908e-04 1.08469137e-05 -9.99999784e-01 -1.04619560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.870385723 meters 0.016818289687332982 Centerline is valid? [True, True] Translation: X:220.01, Y:-127.70, Z:-10.46 [[-2.56902727e-01 9.66437153e-01 4.67500118e-04 2.20007494e+02] [ 9.66435715e-01 2.56903152e-01 -1.66727525e-03 -1.27698391e+02] [-1.73141900e-03 2.34812506e-05 -9.99998501e-01 -1.04608740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.930385723 meters 0.016502496538701124 Centerline is valid? [True, True] Translation: X:220.01, Y:-127.67, Z:-10.46 [[-3.33067353e-01 9.42903002e-01 2.58462510e-04 2.20009415e+02] [ 9.42902740e-01 3.33067454e-01 -7.03247120e-04 -1.27669764e+02] [-7.49179270e-04 9.47635148e-06 -9.99999719e-01 -1.04616759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.990385723 meters 0.016279309983468847 Centerline is valid? [True, True] Translation: X:220.01, Y:-127.64, Z:-10.46 [[-4.05191755e-01 9.14231720e-01 -6.16482116e-05 2.20008849e+02] [ 9.14231710e-01 4.05191760e-01 1.35835918e-04 -1.27641799e+02] [ 1.49164853e-04 -1.32115572e-06 -9.99999989e-01 -1.04634634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.050385723 meters 0.01635211814955935 Centerline is valid? [True, True] Translation: X:220.01, Y:-127.61, Z:-10.46 [[-4.74972644e-01 8.80000560e-01 -3.28699012e-05 2.20006948e+02] [ 8.80000558e-01 4.74972645e-01 6.01604233e-05 -1.27613575e+02] [ 6.85535101e-05 -3.50976106e-07 -9.99999998e-01 -1.04636651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.110385723 meters 0.01616839383797154 Centerline is valid? [True, True] Translation: X:220.01, Y:-127.58, Z:-10.46 [[-5.43352889e-01 8.39504346e-01 -3.00436606e-04 2.20005051e+02] [ 8.39504224e-01 5.43352972e-01 4.53005797e-04 -1.27582851e+02] [ 5.43543459e-04 -6.07579136e-06 -9.99999852e-01 -1.04633177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.170385723 meters 0.01621009763870945 Centerline is valid? [True, True] Translation: X:220.00, Y:-127.56, Z:-10.46 [[-6.07916747e-01 7.94000664e-01 -4.17484962e-04 2.19999652e+02] [ 7.94000485e-01 6.07916890e-01 5.33300633e-04 -1.27555026e+02] [ 6.77237217e-04 -7.28087674e-06 -9.99999771e-01 -1.04633991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.230385723 meters 0.01578196270867789 Centerline is valid? [True, True] Translation: X:219.99, Y:-127.53, Z:-10.46 [[-6.68825686e-01 7.43419247e-01 -1.56075312e-04 2.19991638e+02] [ 7.43419228e-01 6.68825705e-01 1.70583023e-04 -1.27525539e+02] [ 2.31201883e-04 -1.93908067e-06 -9.99999973e-01 -1.04618366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.290385723 meters 0.01578621718700696 Centerline is valid? [True, True] Translation: X:219.98, Y:-127.50, Z:-10.46 [[-7.24854420e-01 6.88900658e-01 -1.39750035e-03 2.19979919e+02] [ 6.88899432e-01 7.24855767e-01 1.29998092e-03 -1.27499728e+02] [ 1.90854389e-03 -2.04402828e-05 -9.99998179e-01 -1.04623937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.350385723 meters 0.015481236522550245 Centerline is valid? [True, True] Translation: X:220.00, Y:-127.48, Z:-10.46 [[-7.70741992e-01 6.37142792e-01 -2.41742074e-03 2.20002939e+02] [ 6.37139815e-01 7.70745782e-01 1.94813010e-03 -1.27478449e+02] [ 3.10445389e-03 -3.87293316e-05 -9.99995180e-01 -1.04626757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.410385723 meters 0.01577200738817726 Centerline is valid? [True, True] Translation: X:220.02, Y:-127.45, Z:-10.46 [[-8.13512363e-01 5.81544329e-01 -1.95685840e-03 2.20016839e+02] [ 5.81542738e-01 8.13514716e-01 1.36058611e-03 -1.27450830e+02] [ 2.38317424e-03 -3.11431662e-05 -9.99997160e-01 -1.04611767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4703857229999 meters 0.015661644764972015 Centerline is valid? [True, True] Translation: X:220.03, Y:-127.42, Z:-10.46 [[-8.52724049e-01 5.22358795e-01 -1.72765619e-03 2.20034739e+02] [ 5.22357784e-01 8.52725799e-01 1.02803918e-03 -1.27422853e+02] [ 2.01022231e-03 -2.58209261e-05 -9.99997979e-01 -1.04591474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.530385723 meters 0.015419487468480673 Centerline is valid? [True, True] Translation: X:220.05, Y:-127.39, Z:-10.46 [[-8.88038475e-01 4.59758186e-01 -3.17461311e-03 2.20051030e+02] [ 4.59755417e-01 8.88044148e-01 1.59603806e-03 -1.27394679e+02] [ 3.55298816e-03 -4.22023683e-05 -9.99993687e-01 -1.04591109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5903857229999 meters 0.015277812056332036 Centerline is valid? [True, True] Translation: X:220.07, Y:-127.37, Z:-10.46 [[-9.18649727e-01 3.95059331e-01 -3.28692925e-03 2.20066317e+02] [ 3.95056956e-01 9.18655607e-01 1.37029320e-03 -1.27366117e+02] [ 3.56090310e-03 -3.97047869e-05 -9.99993659e-01 -1.04580211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.650385723 meters 0.01621427977821769 Centerline is valid? [True, True] Translation: X:220.32, Y:-126.75, Z:-11.46 [[-8.99982469e-01 -4.35925925e-01 -3.78155207e-04 2.20324406e+02] [ 4.35925786e-01 -8.99982528e-01 3.97741421e-04 -1.26752595e+02] [-5.13718876e-04 1.93112700e-04 9.99999849e-01 -1.14640617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.710385723 meters 0.015075843000741357 Centerline is valid? [True, True] Translation: X:220.03, Y:-127.34, Z:-10.46 [[-9.19697438e-01 3.92627403e-01 -5.86649582e-04 2.20025410e+02] [ 3.92627329e-01 9.19697625e-01 2.41573219e-04 -1.27341033e+02] [ 6.34388493e-04 -8.16038833e-06 -9.99999799e-01 -1.04551809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.770385723 meters 0.015305874510742131 Centerline is valid? [True, True] Translation: X:220.04, Y:-127.31, Z:-10.45 [[-9.44431641e-01 3.28706833e-01 -8.32698464e-04 2.20037582e+02] [ 3.28706718e-01 9.44432008e-01 2.75846204e-04 -1.27311150e+02] [ 8.77099614e-04 -1.31956962e-05 -9.99999615e-01 -1.04542026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.830385723 meters 0.015698569054331212 Centerline is valid? [True, True] Translation: X:220.04, Y:-127.28, Z:-10.45 [[-9.64946754e-01 2.62445400e-01 -4.17774216e-04 2.20042293e+02] [ 2.62445378e-01 9.64946844e-01 1.05983529e-04 -1.27280311e+02] [ 4.30944801e-04 -7.37445031e-06 -9.99999907e-01 -1.04534859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.890385723 meters 0.01604132730695098 Centerline is valid? [True, True] Translation: X:220.05, Y:-127.25, Z:-10.45 [[-9.80649065e-01 1.95773723e-01 -2.46371134e-04 2.20046576e+02] [ 1.95773718e-01 9.80649096e-01 4.40231387e-05 -1.27250404e+02] [ 2.50222204e-04 -5.06174319e-06 -9.99999969e-01 -1.04525857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.950385723 meters 0.0175082786900273 Centerline is valid? [True, True] Translation: X:220.16, Y:-126.62, Z:-11.47 [[-9.75281113e-01 -2.20967442e-01 3.74553715e-04 2.20162125e+02] [ 2.20967438e-01 -9.75281184e-01 -5.35796810e-05 -1.26621367e+02] [ 3.77134556e-04 3.05089239e-05 9.99999928e-01 -1.14672789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.010385723 meters 0.016898861098166757 Centerline is valid? [True, True] Translation: X:220.00, Y:-127.24, Z:-10.45 [[-9.80552576e-01 1.96256578e-01 -2.82080136e-05 2.20000764e+02] [ 1.96256578e-01 9.80552577e-01 4.37854509e-06 -1.27239683e+02] [ 2.85187587e-05 -1.24261457e-06 -1.00000000e+00 -1.04513960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.070385723 meters 0.017445369688604325 Centerline is valid? [True, True] Translation: X:220.11, Y:-126.62, Z:-11.47 [[-9.75457826e-01 -2.20186091e-01 -3.38191263e-04 2.20107001e+02] [ 2.20186082e-01 -9.75457885e-01 6.35764790e-05 -1.26618232e+02] [-3.43889991e-04 -1.24488351e-05 9.99999941e-01 -1.14690566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.130385723 meters 0.016008827056018395 Centerline is valid? [True, True] Translation: X:219.94, Y:-127.22, Z:-10.45 [[-9.82703084e-01 1.85186953e-01 -6.63609647e-04 2.19941157e+02] [ 1.85186918e-01 9.82703308e-01 1.13966791e-04 -1.27222476e+02] [ 6.73236558e-04 -1.08963083e-05 -9.99999773e-01 -1.04498603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.190385723 meters 0.01652644755351864 Centerline is valid? [True, True] Translation: X:219.94, Y:-127.19, Z:-10.45 [[-9.93620734e-01 1.12757726e-01 -1.87966647e-03 2.19937919e+02] [ 1.12757573e-01 9.93622511e-01 1.87793906e-04 -1.27193117e+02] [ 1.88885413e-03 -2.53507102e-05 -9.99998216e-01 -1.04497184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.250385723 meters 0.01718467686966104 Centerline is valid? [True, True] Translation: X:220.01, Y:-126.57, Z:-11.47 [[-9.88253493e-01 -1.52813358e-01 -1.76417620e-03 2.20007206e+02] [ 1.52813059e-01 -9.88255067e-01 3.03501404e-04 -1.26574037e+02] [-1.78983514e-03 3.03471602e-05 9.99998398e-01 -1.14692187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.310385723 meters 0.01862365982602279 Centerline is valid? [True, True] Translation: X:219.89, Y:-127.20, Z:-10.45 [[-9.93844324e-01 1.10752720e-01 -2.70089066e-03 2.19891160e+02] [ 1.10752424e-01 9.93847993e-01 2.59261381e-04 -1.27196760e+02] [ 2.71298867e-03 -4.14647373e-05 -9.99996319e-01 -1.04484134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.370385723 meters 0.01822101436403354 Centerline is valid? [True, True] Translation: X:219.89, Y:-127.17, Z:-10.45 [[-9.99220655e-01 3.91756437e-02 -4.83241180e-03 2.19886587e+02] [ 3.91755237e-02 9.99232337e-01 1.19517459e-04 -1.27171869e+02] [ 4.83338431e-03 -6.98879496e-05 -9.99988317e-01 -1.04496717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.430385723 meters 0.016983495183687036 Centerline is valid? [True, True] Translation: X:219.90, Y:-126.53, Z:-11.47 [[-9.96786234e-01 -7.99336597e-02 -5.27397081e-03 2.19900524e+02] [ 7.99322981e-02 -9.96800185e-01 4.68784572e-04 -1.26528034e+02] [-5.29456674e-03 4.57174008e-05 9.99985983e-01 -1.14685467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.490385723 meters 0.01773899768489658 Centerline is valid? [True, True] Translation: X:219.82, Y:-127.18, Z:-10.45 [[-9.99493084e-01 3.15478639e-02 -4.27881216e-03 2.19823046e+02] [ 3.15477754e-02 9.99502241e-01 8.82039655e-05 -1.27177363e+02] [ 4.27946499e-03 -4.68277513e-05 -9.99990842e-01 -1.04480141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.550385723 meters 0.016601176784311514 Centerline is valid? [True, True] Translation: X:219.82, Y:-127.15, Z:-10.45 [[-9.99157417e-01 -4.08371325e-02 -4.09701947e-03 2.19817749e+02] [-4.08366266e-02 9.99165816e-01 -2.07104429e-04 -1.27153321e+02] [ 4.10205935e-03 -3.96214724e-05 -9.99991586e-01 -1.04488741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.610385723 meters 0.01661158241190298 Centerline is valid? [True, True] Translation: X:219.81, Y:-127.13, Z:-10.45 [[-9.93755408e-01 -1.11546728e-01 -2.74157836e-03 2.19807681e+02] [-1.11546227e-01 9.93759190e-01 -3.35327557e-04 -1.27130939e+02] [ 2.76187338e-03 -2.74208515e-05 -9.99996186e-01 -1.04474059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.670385723 meters 0.01690334058545194 Centerline is valid? [True, True] Translation: X:219.73, Y:-126.46, Z:-11.47 [[-9.97801221e-01 6.62372272e-02 -2.31361938e-03 2.19729468e+02] [-6.62371691e-02 -9.97803902e-01 -1.01821393e-04 -1.26456044e+02] [-2.31528282e-03 5.16500880e-05 9.99997318e-01 -1.14719270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.730385723 meters 0.01700025987886826 Centerline is valid? [True, True] Translation: X:219.72, Y:-127.15, Z:-10.45 [[-9.93492588e-01 -1.13879828e-01 -1.96534976e-03 2.19719916e+02] [-1.13879553e-01 9.93494532e-01 -2.51276669e-04 -1.27153988e+02] [ 1.98117958e-03 -2.58283555e-05 -9.99998037e-01 -1.04470270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.790385723 meters 0.017039416129797418 Centerline is valid? [True, True] Translation: X:219.71, Y:-127.13, Z:-10.45 [[-9.82813176e-01 -1.84601140e-01 -8.25005628e-04 2.19710029e+02] [-1.84601065e-01 9.82813522e-01 -1.66220420e-04 -1.27132459e+02] [ 8.41511165e-04 -1.10667014e-05 -9.99999646e-01 -1.04464936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.850385723 meters 0.017312689399872513 Centerline is valid? [True, True] Translation: X:219.69, Y:-127.11, Z:-10.45 [[-9.67246359e-01 -2.53839333e-01 -2.70333392e-04 2.19693467e+02] [-2.53839322e-01 9.67246397e-01 -7.53186844e-05 -1.27112187e+02] [ 2.80597844e-04 -4.23047836e-06 -9.99999961e-01 -1.04463114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.910385723 meters 0.017521155938490244 Centerline is valid? [True, True] Translation: X:219.66, Y:-127.10, Z:-10.45 [[-9.46672521e-01 -3.22192439e-01 1.78066944e-03 2.19663776e+02] [-3.22191818e-01 9.46674195e-01 6.33374362e-04 -1.27099496e+02] [-1.88978224e-03 2.58809800e-05 -9.99998214e-01 -1.04456047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9703857229999 meters 0.017447131915316095 Centerline is valid? [True, True] Translation: X:219.61, Y:-127.10, Z:-10.45 [[-9.19895585e-01 -3.92157818e-01 2.08756435e-03 2.19608151e+02] [-3.92156743e-01 9.19897953e-01 9.18776750e-04 -1.27095794e+02] [-2.28065166e-03 2.65262408e-05 -9.99997399e-01 -1.04459926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.030385723 meters 0.017288468665702623 Centerline is valid? [True, True] Translation: X:219.54, Y:-127.10, Z:-10.44 [[-8.87362931e-01 -4.61059055e-01 3.40230251e-03 2.19544623e+02] [-4.61055511e-01 8.87369453e-01 1.80814180e-03 -1.27100970e+02] [-3.85275947e-03 3.58276836e-05 -9.99992577e-01 -1.04449686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0903857229999 meters 0.017403255383758594 Centerline is valid? [True, True] Translation: X:219.47, Y:-127.11, Z:-10.44 [[-8.50570681e-01 -5.25843203e-01 4.29444663e-03 2.19472317e+02] [-5.25836227e-01 8.50581521e-01 2.70899933e-03 -1.27114550e+02] [-5.07728583e-03 4.60197873e-05 -9.99987109e-01 -1.04449651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.150385723 meters 0.01749930348249571 Centerline is valid? [True, True] Translation: X:219.39, Y:-127.14, Z:-10.45 [[-8.09276939e-01 -5.87412313e-01 4.19658988e-03 2.19392081e+02] [-5.87404088e-01 8.09287818e-01 3.10884968e-03 -1.27143806e+02] [-5.22242564e-03 5.08263006e-05 -9.99986362e-01 -1.04454126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.210385723 meters 0.017334783446246987 Centerline is valid? [True, True] Translation: X:219.31, Y:-127.17, Z:-10.45 [[-7.61773841e-01 -6.47835535e-01 3.12007482e-03 2.19308412e+02] [-6.47829920e-01 7.61780230e-01 2.69737553e-03 -1.27174576e+02] [-4.12426703e-03 3.35122921e-05 -9.99991495e-01 -1.04475024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.270385723 meters 0.018708773682974602 Centerline is valid? [True, True] Translation: X:219.22, Y:-127.22, Z:-10.44 [[-7.10536220e-01 -7.03652778e-01 3.32385044e-03 2.19216627e+02] [-7.03644834e-01 7.10543994e-01 3.34381303e-03 -1.27217870e+02] [-4.71462529e-03 3.70900814e-05 -9.99988885e-01 -1.04443575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.330385723 meters 0.01741413957081848 Centerline is valid? [True, True] Translation: X:219.12, Y:-127.27, Z:-10.45 [[-6.56535454e-01 -7.54288421e-01 3.19001172e-03 2.19123110e+02] [-7.54279165e-01 6.56543202e-01 3.73685848e-03 -1.27271405e+02] [-4.91304959e-03 4.72206990e-05 -9.99987930e-01 -1.04470674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.390385723 meters 0.01833778773483286 Centerline is valid? [True, True] Translation: X:219.04, Y:-127.33, Z:-10.45 [[-6.00144015e-01 -7.99887100e-01 2.79071030e-03 2.19043510e+02] [-7.99877961e-01 6.00150500e-01 3.82426444e-03 -1.27333673e+02] [-4.73382597e-03 6.28817492e-05 -9.99988793e-01 -1.04467083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.450385723 meters 0.017912799052485138 Centerline is valid? [True, True] Translation: X:218.96, Y:-127.41, Z:-10.45 [[-5.41678633e-01 -8.40580039e-01 3.07514865e-03 2.18957879e+02] [-8.40565353e-01 5.41687351e-01 4.96997334e-03 -1.27405207e+02] [-5.84342951e-03 1.07264951e-04 -9.99982921e-01 -1.04473392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.510385723 meters 0.018361775659751996 Centerline is valid? [True, True] Translation: X:218.88, Y:-127.49, Z:-10.45 [[-4.77001572e-01 -8.78897913e-01 2.82113523e-03 2.18877325e+02] [-8.78881022e-01 4.77009900e-01 5.45015518e-03 -1.27488236e+02] [-6.13583944e-03 1.20290373e-04 -9.99981168e-01 -1.04459245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.570385723 meters 0.01769831154379259 Centerline is valid? [True, True] Translation: X:218.80, Y:-127.58, Z:-10.45 [[-4.06234436e-01 -9.13765095e-01 2.63329390e-03 2.18798497e+02] [-9.13744001e-01 4.06242954e-01 6.20987065e-03 -1.27580581e+02] [-6.74412014e-03 1.16506798e-04 -9.99977251e-01 -1.04451350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.630385723 meters 0.01723343452208648 Centerline is valid? [True, True] Translation: X:218.73, Y:-127.68, Z:-10.44 [[-3.32131157e-01 -9.43229603e-01 2.60992053e-03 2.18727498e+02] [-9.43197674e-01 3.32141391e-01 7.76167581e-03 -1.27682749e+02] [-8.18790502e-03 1.16223395e-04 -9.99966472e-01 -1.04438757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.690385723 meters 0.01676441413740689 Centerline is valid? [True, True] Translation: X:218.67, Y:-127.79, Z:-10.45 [[-2.56546080e-01 -9.66530483e-01 1.71313284e-03 2.18665473e+02] [-9.66506727e-01 2.56551787e-01 6.77703376e-03 -1.27786605e+02] [-6.98971701e-03 8.28670392e-05 -9.99975568e-01 -1.04450021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.750385723 meters 0.017445576831277343 Centerline is valid? [True, True] Translation: X:218.61, Y:-127.90, Z:-10.44 [[-1.81151432e-01 -9.83454531e-01 1.15966467e-03 2.18612214e+02] [-9.83431541e-01 1.81155127e-01 6.72494227e-03 -1.27898473e+02] [-6.82375414e-03 7.77821130e-05 -9.99976715e-01 -1.04439817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.810385723 meters 0.016797473661202784 Centerline is valid? [True, True] Translation: X:218.57, Y:-128.02, Z:-10.45 [[-1.06343369e-01 -9.94329224e-01 6.94833267e-04 2.18569706e+02] [-9.94301817e-01 1.06345597e-01 7.38318534e-03 -1.28015336e+02] [-7.41520941e-03 9.42788253e-05 -9.99972503e-01 -1.04453428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.870385723 meters 0.01695942829078384 Centerline is valid? [True, True] Translation: X:218.54, Y:-128.14, Z:-10.44 [[-3.14275224e-02 -9.99506022e-01 1.48522110e-04 2.18535396e+02] [-9.99466917e-01 3.14276067e-02 8.84231834e-03 -1.28135718e+02] [-8.84261813e-03 1.29449223e-04 -9.99960895e-01 -1.04448969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.930385723 meters 0.017670473917259146 Centerline is valid? [True, True] Translation: X:218.51, Y:-128.26, Z:-10.44 [[ 4.28754544e-02 -9.99080217e-01 -6.44854996e-04 2.18511191e+02] [-9.99023082e-01 -4.28798999e-02 1.06862920e-02 -1.28260089e+02] [-1.07041143e-02 1.86045399e-04 -9.99942692e-01 -1.04431890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.990385723 meters 0.01774536378796245 Centerline is valid? [True, True] Translation: X:218.50, Y:-128.39, Z:-10.44 [[ 1.17019597e-01 -9.93128319e-01 -1.59884829e-03 2.18495337e+02] [-9.93060898e-01 -1.17030286e-01 1.15742989e-02 -1.28387546e+02] [-1.16818776e-02 2.33333935e-04 -9.99931737e-01 -1.04424768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.050385723 meters 0.017789360729699173 Centerline is valid? [True, True] Translation: X:218.49, Y:-128.51, Z:-10.44 [[ 1.92636937e-01 -9.81266311e-01 -2.72720594e-03 2.18489409e+02] [-9.81186374e-01 -1.92656062e-01 1.25275916e-02 -1.28514143e+02] [-1.28183163e-02 2.62620439e-04 -9.99917808e-01 -1.04416202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.110385723 meters 0.017407621818039374 Centerline is valid? [True, True] Translation: X:218.49, Y:-128.64, Z:-10.44 [[ 2.68935432e-01 -9.63151670e-01 -3.54884127e-03 2.18492128e+02] [-9.63078991e-01 -2.68958743e-01 1.18343330e-02 -1.28638281e+02] [-1.23527495e-02 2.35143020e-04 -9.99923674e-01 -1.04436505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.170385723 meters 0.01616909323960677 Centerline is valid? [True, True] Translation: X:218.50, Y:-128.76, Z:-10.44 [[ 3.45318838e-01 -9.38472866e-01 -4.85595948e-03 2.18498030e+02] [-9.38388488e-01 -3.45352915e-01 1.25860552e-02 -1.28761398e+02] [-1.34886910e-02 2.10574526e-04 -9.99909001e-01 -1.04445308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.230385723 meters 0.015530069355002202 Centerline is valid? [True, True] Translation: X:218.52, Y:-128.89, Z:-10.45 [[ 4.19942676e-01 -9.07533504e-01 -5.57561312e-03 2.18517441e+02] [-9.07458203e-01 -4.19979662e-01 1.16916054e-02 -1.28886054e+02] [-1.29521677e-02 1.49831816e-04 -9.99916106e-01 -1.04456230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.290385723 meters 0.015717896570568563 Centerline is valid? [True, True] Translation: X:217.90, Y:-129.30, Z:-11.47 [[ 3.77968367e-01 9.25809042e-01 -4.18693533e-03 2.17896023e+02] [-9.25745468e-01 3.77991489e-01 1.08518768e-02 -1.29304495e+02] [ 1.16293916e-02 -2.25629762e-04 9.99932351e-01 -1.14731504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.350385723 meters 0.01541638640921929 Centerline is valid? [True, True] Translation: X:218.64, Y:-129.15, Z:-10.45 [[ 4.30537658e-01 -9.02559577e-01 -4.85130558e-03 2.18637273e+02] [-9.02504897e-01 -4.30564978e-01 9.93530644e-03 -1.29148508e+02] [-1.10560083e-02 1.00803473e-04 -9.99938875e-01 -1.04475028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.410385723 meters 0.014944547340716595 Centerline is valid? [True, True] Translation: X:218.67, Y:-129.27, Z:-10.45 [[ 4.99234785e-01 -8.66448754e-01 -5.58450198e-03 2.18665585e+02] [-8.66396552e-01 -4.99266011e-01 9.51136986e-03 -1.29266231e+02] [-1.10292666e-02 8.99865699e-05 -9.99939172e-01 -1.04492002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4703857229999 meters 0.0147928864326616 Centerline is valid? [True, True] Translation: X:218.70, Y:-129.38, Z:-10.45 [[ 5.65096565e-01 -8.25003490e-01 -5.92572498e-03 2.18700398e+02] [-8.24959434e-01 -5.65127629e-01 8.52611262e-03 -1.29379032e+02] [-1.03828636e-02 7.04057720e-05 -9.99946094e-01 -1.04499025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.530385723 meters 0.014651524946582863 Centerline is valid? [True, True] Translation: X:218.74, Y:-129.49, Z:-10.45 [[ 6.26076650e-01 -7.79732870e-01 -6.68436562e-03 2.18744952e+02] [-7.79689733e-01 -6.26112327e-01 8.20207514e-03 -1.29489884e+02] [-1.05805913e-02 7.66035187e-05 -9.99944021e-01 -1.04499431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5903857229999 meters 0.014545068469424632 Centerline is valid? [True, True] Translation: X:218.79, Y:-129.59, Z:-10.45 [[ 6.84348548e-01 -7.29121268e-01 -7.01714456e-03 2.18791723e+02] [-7.29083893e-01 -6.84384520e-01 7.38273343e-03 -1.29589412e+02] [-1.01853331e-02 6.37241732e-05 -9.99948126e-01 -1.04501699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.650385723 meters 0.014307769001408493 Centerline is valid? [True, True] Translation: X:218.85, Y:-129.69, Z:-10.45 [[ 7.38381451e-01 -6.74341200e-01 -7.53514614e-03 2.18849229e+02] [-6.74306833e-01 -7.38419896e-01 6.80824840e-03 -1.29688497e+02] [-1.01551842e-02 5.39161979e-05 -9.99948433e-01 -1.04505008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.710385723 meters 0.013972329956066126 Centerline is valid? [True, True] Translation: X:218.87, Y:-129.72, Z:-10.45 [[ 7.89408975e-01 -6.13826015e-01 -7.14800979e-03 2.18866315e+02] [-6.13801306e-01 -7.89441335e-01 5.50773858e-03 -1.29719551e+02] [-9.02372762e-03 3.95994821e-05 -9.99959285e-01 -1.04516332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.770385723 meters 0.013905712300481717 Centerline is valid? [True, True] Translation: X:218.89, Y:-129.75, Z:-10.45 [[ 8.34747582e-01 -5.50591108e-01 -6.77545718e-03 2.18887147e+02] [-5.50573350e-01 -8.34775078e-01 4.42210565e-03 -1.29748116e+02] [-8.09075484e-03 3.90441598e-05 -9.99967269e-01 -1.04521037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.830385723 meters 0.01656812947704237 Centerline is valid? [True, True] Translation: X:218.91, Y:-129.78, Z:-10.45 [[ 8.73587991e-01 -4.86604888e-01 -7.72686029e-03 2.18910124e+02] [-4.86586587e-01 -8.73622160e-01 4.22082423e-03 -1.29775391e+02] [-8.80423008e-03 7.25252151e-05 -9.99961239e-01 -1.04520398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.890385723 meters 0.01447191076344174 Centerline is valid? [True, True] Translation: X:218.93, Y:-129.80, Z:-10.45 [[ 9.07725656e-01 -4.19501807e-01 -7.23656242e-03 2.18934996e+02] [-4.19489253e-01 -9.07754497e-01 3.24655426e-03 -1.29802317e+02] [-7.93095746e-03 8.86795742e-05 -9.99968546e-01 -1.04532122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.950385723 meters 0.014713301670101677 Centerline is valid? [True, True] Translation: X:218.96, Y:-129.83, Z:-10.45 [[ 9.37130995e-01 -3.48868396e-01 -8.73735587e-03 2.18960475e+02] [-3.48854422e-01 -9.37171718e-01 3.12471373e-03 -1.29830142e+02] [-9.27851667e-03 1.19799148e-04 -9.99956946e-01 -1.04520944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.010385723 meters 0.01472243523032292 Centerline is valid? [True, True] Translation: X:218.99, Y:-129.86, Z:-10.45 [[ 9.61512838e-01 -2.74615311e-01 -8.91596121e-03 2.18988420e+02] [-2.74604662e-01 -9.61554167e-01 2.42136528e-03 -1.29856806e+02] [-9.23812364e-03 1.20190711e-04 -9.99957320e-01 -1.04514858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.070385723 meters 0.014786063247465685 Centerline is valid? [True, True] Translation: X:219.02, Y:-129.88, Z:-10.45 [[ 9.80000057e-01 -1.98806536e-01 -8.70920195e-03 2.19018744e+02] [-1.98799746e-01 -9.80038748e-01 1.64724398e-03 -1.29878936e+02] [-8.86283825e-03 1.17087944e-04 -9.99960717e-01 -1.04517803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.130385723 meters 0.01490759063661817 Centerline is valid? [True, True] Translation: X:219.05, Y:-129.90, Z:-10.45 [[ 9.92393246e-01 -1.22844597e-01 -8.05302943e-03 2.19047593e+02] [-1.22841519e-01 -9.92425912e-01 8.77626079e-04 -1.29899713e+02] [-8.09984670e-03 1.18296171e-04 -9.99967189e-01 -1.04530828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.190385723 meters 0.015355094223369632 Centerline is valid? [True, True] Translation: X:219.08, Y:-129.92, Z:-10.45 [[ 9.98811573e-01 -4.79536112e-02 -8.71160564e-03 2.19078397e+02] [-4.79531379e-02 -9.98849552e-01 2.63317191e-04 -1.29918729e+02] [-8.71421040e-03 1.54744569e-04 -9.99962019e-01 -1.04524434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.250385723 meters 0.01716142272601727 Centerline is valid? [True, True] Translation: X:219.11, Y:-129.93, Z:-10.45 [[ 9.99649958e-01 2.48222345e-02 -9.15517883e-03 2.19109804e+02] [ 2.48192331e-02 -9.99691858e-01 -4.41319119e-04 -1.29931292e+02] [-9.16331226e-03 2.13940121e-04 -9.99957993e-01 -1.04513999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.310385723 meters 0.01833771375633083 Centerline is valid? [True, True] Translation: X:219.14, Y:-129.94, Z:-10.45 [[ 9.94886120e-01 1.00628530e-01 -8.68953173e-03 2.19142953e+02] [ 1.00622714e-01 -9.94924041e-01 -1.10511761e-03 -1.29941260e+02] [-8.75663039e-03 2.25101911e-04 -9.99961635e-01 -1.04517107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.370385723 meters 0.01829441938205556 Centerline is valid? [True, True] Translation: X:219.18, Y:-129.96, Z:-10.45 [[ 9.84254852e-01 1.76535714e-01 -8.80495616e-03 2.19179726e+02] [ 1.76526405e-01 -9.84294205e-01 -1.82959115e-03 -1.29955804e+02] [-8.98965549e-03 2.46476712e-04 -9.99959562e-01 -1.04520768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.430385723 meters 0.017910816456135382 Centerline is valid? [True, True] Translation: X:219.22, Y:-129.96, Z:-10.45 [[ 9.67632391e-01 2.52249299e-01 -7.60575838e-03 2.19217150e+02] [ 2.52239684e-01 -9.67662256e-01 -2.21376747e-03 -1.29964189e+02] [-7.91822660e-03 2.23639017e-04 -9.99968625e-01 -1.04544755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.490385723 meters 0.02104317956392605 Centerline is valid? [True, True] Translation: X:219.25, Y:-129.97, Z:-10.45 [[ 9.45125536e-01 3.26613175e-01 -7.84565038e-03 2.19253885e+02] [ 3.26599784e-01 -9.45158069e-01 -2.96747472e-03 -1.29966003e+02] [-8.38459610e-03 2.42248415e-04 -9.99964819e-01 -1.04519926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.550385723 meters 0.01886619081000457 Centerline is valid? [True, True] Translation: X:219.29, Y:-129.96, Z:-10.45 [[ 9.15694252e-01 4.01807409e-01 -7.40552553e-03 2.19291311e+02] [ 4.01792343e-01 -9.15724172e-01 -3.48630056e-03 -1.29964602e+02] [-8.18224013e-03 2.16901928e-04 -9.99966501e-01 -1.04540421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.610385723 meters 0.01630536409048933 Centerline is valid? [True, True] Translation: X:219.33, Y:-129.97, Z:-10.45 [[ 8.79604794e-01 4.75645682e-01 -7.52268946e-03 2.19334175e+02] [ 4.75626367e-01 -8.79636940e-01 -4.29093461e-03 -1.29968262e+02] [-8.65820006e-03 1.96337198e-04 -9.99962498e-01 -1.04541687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.670385723 meters 0.015522175137290553 Centerline is valid? [True, True] Translation: X:219.37, Y:-129.96, Z:-10.45 [[ 8.38876277e-01 5.44273784e-01 -7.25537781e-03 2.19374070e+02] [ 5.44251495e-01 -8.38907631e-01 -4.92914712e-03 -1.29963330e+02] [-8.76939736e-03 1.86194357e-04 -9.99961531e-01 -1.04546820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.730385723 meters 0.015637854085967184 Centerline is valid? [True, True] Translation: X:219.41, Y:-129.95, Z:-10.45 [[ 7.90362403e-01 6.12602888e-01 -6.70618651e-03 2.19412129e+02] [ 6.12579377e-01 -7.90390842e-01 -5.36882442e-03 -1.29954472e+02] [-8.58946575e-03 1.35245418e-04 -9.99963101e-01 -1.04544637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.790385723 meters 0.0165438238091393 Centerline is valid? [True, True] Translation: X:219.46, Y:-129.95, Z:-10.45 [[ 7.37954987e-01 6.74824963e-01 -5.80576054e-03 2.19455029e+02] [ 6.74802992e-01 -7.37977817e-01 -5.44639471e-03 -1.29946157e+02] [-7.95988561e-03 1.01449551e-04 -9.99968314e-01 -1.04548820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.850385723 meters 0.014529621337399228 Centerline is valid? [True, True] Translation: X:219.49, Y:-129.93, Z:-10.46 [[ 6.82744253e-01 7.30646045e-01 -4.07957316e-03 2.19488722e+02] [ 7.30632330e-01 -6.82756437e-01 -4.47732999e-03 -1.29928409e+02] [-6.05669828e-03 7.62032717e-05 -9.99981655e-01 -1.04575541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.910385723 meters 0.01471536098587776 Centerline is valid? [True, True] Translation: X:219.52, Y:-129.91, Z:-10.46 [[ 6.26946480e-01 7.79052704e-01 -3.87232427e-03 2.19523892e+02] [ 7.79036772e-01 -6.26958430e-01 -4.98357271e-03 -1.29908490e+02] [-6.31025214e-03 1.07750380e-04 -9.99980084e-01 -1.04582263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9703857229999 meters 0.01712937313830488 Centerline is valid? [True, True] Translation: X:219.56, Y:-129.89, Z:-10.46 [[ 5.68229544e-01 8.22863344e-01 -3.33217021e-03 2.19555582e+02] [ 8.22847787e-01 -5.68239298e-01 -5.06165317e-03 -1.29885200e+02] [-6.05851891e-03 1.34311989e-04 -9.99981638e-01 -1.04563523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.030385723 meters 0.016269107088150422 Centerline is valid? [True, True] Translation: X:219.59, Y:-129.86, Z:-10.46 [[ 5.02983134e-01 8.64291531e-01 -2.84908234e-03 2.19585531e+02] [ 8.64276093e-01 -5.02991184e-01 -5.16760078e-03 -1.29859640e+02] [-5.89937689e-03 1.36822279e-04 -9.99982589e-01 -1.04572337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0903857229999 meters 0.015935173258740876 Centerline is valid? [True, True] Translation: X:219.61, Y:-129.83, Z:-10.46 [[ 4.30318748e-01 9.02671986e-01 -3.01006895e-03 2.19613545e+02] [ 9.02647564e-01 -4.30329252e-01 -6.64158642e-03 -1.29833235e+02] [-7.29049472e-03 1.40967748e-04 -9.99973414e-01 -1.04551802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.150385723 meters 0.015051883420738458 Centerline is valid? [True, True] Translation: X:219.64, Y:-129.80, Z:-10.45 [[ 3.54553545e-01 9.35031015e-01 -2.96398857e-03 2.19641777e+02] [ 9.34995138e-01 -3.54565909e-01 -8.19196249e-03 -1.29804107e+02] [-8.71066830e-03 1.33174438e-04 -9.99962053e-01 -1.04538806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.210385723 meters 0.0158261632333413 Centerline is valid? [True, True] Translation: X:219.66, Y:-129.77, Z:-10.45 [[ 2.80103239e-01 9.59967419e-01 -2.17497788e-03 2.19659460e+02] [ 9.59934963e-01 -2.80111656e-01 -7.89481729e-03 -1.29771652e+02] [-8.18800403e-03 1.23526582e-04 -9.99966470e-01 -1.04535798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.270385723 meters 0.015092061459141366 Centerline is valid? [True, True] Translation: X:219.68, Y:-129.74, Z:-10.46 [[ 2.05702719e-01 9.78613733e-01 -1.24630890e-03 2.19679110e+02] [ 9.78592390e-01 -2.05706465e-01 -6.46404112e-03 -1.29737998e+02] [-6.58217321e-03 1.10042423e-04 -9.99978331e-01 -1.04552916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.330385723 meters 0.01661428534092524 Centerline is valid? [True, True] Translation: X:219.69, Y:-129.70, Z:-10.46 [[ 1.29665286e-01 9.91557655e-01 -5.74142073e-04 2.19690986e+02] [ 9.91544529e-01 -1.29666524e-01 -5.10288231e-03 -1.29703414e+02] [-5.13424903e-03 9.23792625e-05 -9.99986815e-01 -1.04554431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.390385723 meters 0.015268375540879864 Centerline is valid? [True, True] Translation: X:219.71, Y:-129.67, Z:-10.46 [[ 5.07272745e-02 9.98712534e-01 -1.32795771e-04 2.19707454e+02] [ 9.98704729e-01 -5.07274032e-02 -3.94895915e-03 -1.29668340e+02] [-3.95061139e-03 6.76961703e-05 -9.99992194e-01 -1.04571157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.450385723 meters 0.01610836635209983 Centerline is valid? [True, True] Translation: X:219.72, Y:-129.63, Z:-10.46 [[-3.07386977e-02 9.99527437e-01 1.89427867e-04 2.19722922e+02] [ 9.99518501e-01 3.07392239e-02 -4.22674911e-03 -1.29631260e+02] [-4.23057457e-03 5.94118945e-05 -9.99991049e-01 -1.04559530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.510385723 meters 0.014424553443779605 Centerline is valid? [True, True] Translation: X:219.73, Y:-129.59, Z:-10.46 [[-1.11234195e-01 9.93794026e-01 6.22953427e-04 2.19732952e+02] [ 9.93781300e-01 1.11235924e-01 -5.02960602e-03 -1.29593429e+02] [-5.06768721e-03 5.96152897e-05 -9.99987157e-01 -1.04565512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.570385723 meters 0.017474020502078438 Centerline is valid? [True, True] Translation: X:219.73, Y:-129.56, Z:-10.45 [[-1.87460540e-01 9.82271565e-01 1.05805778e-03 2.19734230e+02] [ 9.82257928e-01 1.87463513e-01 -5.17626743e-03 -1.29555674e+02] [-5.28284753e-03 6.89397597e-05 -9.99986043e-01 -1.04536215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.630385723 meters 0.014769738082373038 Centerline is valid? [True, True] Translation: X:219.74, Y:-129.52, Z:-10.45 [[-2.62712557e-01 9.64872145e-01 1.96375843e-03 2.19736858e+02] [ 9.64847995e-01 2.62719877e-01 -6.82736079e-03 -1.29517486e+02] [-7.10344862e-03 1.01094970e-04 -9.99974765e-01 -1.04546499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.690385723 meters 0.016967298061359614 Centerline is valid? [True, True] Translation: X:219.73, Y:-129.48, Z:-10.45 [[-3.36726294e-01 9.41599026e-01 2.58412481e-03 2.19731958e+02] [ 9.41573772e-01 3.36736191e-01 -6.89704683e-03 -1.29482092e+02] [-7.36442093e-03 1.10727128e-04 -9.99972876e-01 -1.04520624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.750385723 meters 0.014830351100990893 Centerline is valid? [True, True] Translation: X:219.73, Y:-129.44, Z:-10.46 [[-4.09400335e-01 9.12349455e-01 3.13653794e-03 2.19727005e+02] [ 9.12324738e-01 4.09412335e-01 -6.71663985e-03 -1.29444359e+02] [-7.41206003e-03 1.11746540e-04 -9.99972524e-01 -1.04553602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.810385723 meters 0.0144896575885812 Centerline is valid? [True, True] Translation: X:219.72, Y:-129.41, Z:-10.46 [[-4.79945280e-01 8.77291268e-01 3.54403838e-03 2.19723850e+02] [ 8.77268955e-01 4.79958353e-01 -6.25779231e-03 -1.29405068e+02] [-7.19089737e-03 1.05676967e-04 -9.99974140e-01 -1.04566864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.870385723 meters 0.01494414113479457 Centerline is valid? [True, True] Translation: X:219.71, Y:-129.37, Z:-10.46 [[-5.47276733e-01 8.36948478e-01 2.32863618e-03 2.19712330e+02] [ 8.36941369e-01 5.47281683e-01 -3.45009216e-03 -1.29370779e+02] [-4.16196931e-03 6.07767872e-05 -9.99991337e-01 -1.04580476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.930385723 meters 0.01839647857978766 Centerline is valid? [True, True] Translation: X:219.70, Y:-129.34, Z:-10.45 [[-6.10893002e-01 7.91706704e-01 3.19926535e-03 2.19698684e+02] [ 7.91696498e-01 6.10901375e-01 -4.02061092e-03 -1.29336349e+02] [-5.13758022e-03 7.66840974e-05 -9.99986800e-01 -1.04539648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.990385723 meters 0.015413098877424912 Centerline is valid? [True, True] Translation: X:219.68, Y:-129.31, Z:-10.45 [[-6.72979436e-01 7.39646365e-01 4.68330109e-03 2.19680072e+02] [ 7.39629319e-01 6.72995727e-01 -5.02226905e-03 -1.29307031e+02] [-6.86654467e-03 8.40229947e-05 -9.99976421e-01 -1.04548389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.050385723 meters 0.01775689932263828 Centerline is valid? [True, True] Translation: X:219.66, Y:-129.28, Z:-10.45 [[-7.29586680e-01 6.83869421e-01 5.08829978e-03 2.19660941e+02] [ 6.83853522e-01 7.29604420e-01 -4.66387982e-03 -1.29276220e+02] [-6.90193080e-03 7.69471265e-05 -9.99976178e-01 -1.04541968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.110385723 meters 0.014334225388576635 Centerline is valid? [True, True] Translation: X:219.68, Y:-129.26, Z:-10.46 [[-7.77063704e-01 6.29401330e-01 5.09563466e-03 2.19675397e+02] [ 6.29388331e-01 7.77080409e-01 -4.04552499e-03 -1.29255014e+02] [-6.50597667e-03 6.35023628e-05 -9.99978834e-01 -1.04589136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.170385723 meters 0.014638950567039927 Centerline is valid? [True, True] Translation: X:220.01, Y:-128.83, Z:-11.46 [[-7.46209568e-01 -6.65685723e-01 5.81374678e-03 2.20012052e+02] [ 6.65665533e-01 -7.46232215e-01 -5.18456717e-03 -1.28827563e+02] [ 7.78969748e-03 1.23721818e-06 9.99969660e-01 -1.14618864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.230385723 meters 0.014783345158829266 Centerline is valid? [True, True] Translation: X:219.63, Y:-129.24, Z:-10.46 [[-7.78285277e-01 6.27883148e-01 5.89737460e-03 2.19633408e+02] [ 6.27865944e-01 7.78307616e-01 -4.64882595e-03 -1.29236968e+02] [-7.50889104e-03 8.46478804e-05 -9.99971804e-01 -1.04581731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.290385723 meters 0.015101938599110491 Centerline is valid? [True, True] Translation: X:219.64, Y:-129.22, Z:-10.46 [[-8.19360435e-01 5.73241952e-01 6.49171590e-03 2.19643891e+02] [ 5.73224999e-01 8.19386144e-01 -4.40997483e-03 -1.29216301e+02] [-7.84720464e-03 1.07854940e-04 -9.99969204e-01 -1.04585387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.350385723 meters 0.015411953454662746 Centerline is valid? [True, True] Translation: X:219.65, Y:-129.20, Z:-10.46 [[-8.57083537e-01 5.15120821e-01 7.63875464e-03 2.19649428e+02] [ 5.15101762e-01 8.57117566e-01 -4.43318051e-03 -1.29195101e+02] [-8.83093436e-03 1.35129948e-04 -9.99960997e-01 -1.04590237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.410385723 meters 0.014930032972389064 Centerline is valid? [True, True] Translation: X:219.66, Y:-129.17, Z:-10.46 [[-8.92438323e-01 4.51095853e-01 8.14680233e-03 2.19660720e+02] [ 4.51078260e-01 8.92475500e-01 -3.98568785e-03 -1.29170128e+02] [-9.06874874e-03 1.17864836e-04 -9.99958871e-01 -1.04594213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4703857229999 meters 0.014823359597970466 Centerline is valid? [True, True] Translation: X:219.66, Y:-129.14, Z:-10.46 [[-9.24087659e-01 3.82063859e-01 9.44494242e-03 2.19658149e+02] [ 3.82044794e-01 9.24135921e-01 -3.81764124e-03 -1.29142006e+02] [-1.01869933e-02 8.05559223e-05 -9.99948108e-01 -1.04578503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.530385723 meters 0.014460341791930878 Centerline is valid? [True, True] Translation: X:219.67, Y:-129.12, Z:-10.46 [[-9.48974027e-01 3.15209843e-01 9.54210207e-03 2.19666352e+02] [ 3.15194705e-01 9.49021996e-01 -3.09004473e-03 -1.29115124e+02] [-1.00296773e-02 7.52478530e-05 -9.99949699e-01 -1.04590212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5903857229999 meters 0.014414173451104165 Centerline is valid? [True, True] Translation: X:219.67, Y:-129.09, Z:-10.46 [[-9.69046612e-01 2.46645716e-01 1.07030074e-02 2.19669459e+02] [ 2.46631551e-01 9.69105714e-01 -2.64446762e-03 -1.29091750e+02] [-1.10245922e-02 7.70869140e-05 -9.99939224e-01 -1.04594110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.650385723 meters 0.014582811660945718 Centerline is valid? [True, True] Translation: X:219.82, Y:-128.50, Z:-11.46 [[-9.54812622e-01 -2.96998973e-01 1.11564958e-02 2.19817264e+02] [ 2.96978209e-01 -9.54877798e-01 -3.51208955e-03 -1.28496541e+02] [ 1.16961772e-02 -4.01512823e-05 9.99931597e-01 -1.14605849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.710385723 meters 0.015447458249127648 Centerline is valid? [True, True] Translation: X:219.62, Y:-129.09, Z:-10.46 [[-9.70356941e-01 2.41400840e-01 1.15343741e-02 2.19615043e+02] [ 2.41384568e-01 9.70425489e-01 -2.80353617e-03 -1.29091810e+02] [-1.18700267e-02 6.37891417e-05 -9.99929547e-01 -1.04586157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.770385723 meters 0.013837361380684669 Centerline is valid? [True, True] Translation: X:219.76, Y:-128.47, Z:-11.46 [[-9.54145649e-01 -2.99157183e-01 1.05385295e-02 2.19763417e+02] [ 2.99137641e-01 -9.54203839e-01 -3.42123824e-03 -1.28473161e+02] [ 1.10793933e-02 -1.11888723e-04 9.99938615e-01 -1.14583383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.830385723 meters 0.013779722612469418 Centerline is valid? [True, True] Translation: X:219.56, Y:-129.09, Z:-10.46 [[-9.72540889e-01 2.32521118e-01 9.90702513e-03 2.19559430e+02] [ 2.32509057e-01 9.72591348e-01 -2.36821571e-03 -1.29091134e+02] [-1.01861471e-02 2.86463038e-07 -9.99948120e-01 -1.04610445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.890385723 meters 0.013945751486337716 Centerline is valid? [True, True] Translation: X:219.71, Y:-128.45, Z:-11.46 [[-9.54816114e-01 -2.97054721e-01 9.20228827e-03 2.19712343e+02] [ 2.97040584e-01 -9.54860457e-01 -2.89824766e-03 -1.28447750e+02] [ 9.64783933e-03 -3.38404812e-05 9.99953458e-01 -1.14574586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.950385723 meters 0.013738920262545664 Centerline is valid? [True, True] Translation: X:219.51, Y:-129.09, Z:-10.46 [[-9.73241245e-01 2.29638745e-01 8.21745064e-03 2.19510549e+02] [ 2.29630626e-01 9.73275935e-01 -1.93103540e-03 -1.29093504e+02] [-8.44128751e-03 7.61503665e-06 -9.99964372e-01 -1.04632822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.010385723 meters 0.013683702900161859 Centerline is valid? [True, True] Translation: X:219.51, Y:-129.07, Z:-10.46 [[-9.86852989e-01 1.61437586e-01 7.68661991e-03 2.19509701e+02] [ 1.61432830e-01 9.86882924e-01 -1.23930435e-03 -1.29072724e+02] [-7.78586423e-03 1.78616042e-05 -9.99969690e-01 -1.04644083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.070385723 meters 0.013658331305291933 Centerline is valid? [True, True] Translation: X:219.52, Y:-129.05, Z:-10.47 [[-9.95532303e-01 9.41367433e-02 7.32855071e-03 2.19517527e+02] [ 9.41344880e-02 9.95559276e-01 -6.52850186e-04 -1.29054577e+02] [-7.35746383e-03 3.99359198e-05 -9.99972933e-01 -1.04653148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.130385723 meters 0.014803167466017038 Centerline is valid? [True, True] Translation: X:219.59, Y:-128.33, Z:-11.46 [[-9.89028711e-01 -1.47500477e-01 8.11280232e-03 2.19587127e+02] [ 1.47495576e-01 -9.89061985e-01 -1.20243738e-03 -1.28333716e+02] [ 8.20142445e-03 7.35736404e-06 9.99966368e-01 -1.14565440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.190385723 meters 0.014593805840101025 Centerline is valid? [True, True] Translation: X:219.45, Y:-129.07, Z:-10.46 [[-9.95469522e-01 9.45015337e-02 1.04828774e-02 2.19451102e+02] [ 9.44973880e-02 9.95524711e-01 -8.91197430e-04 -1.29065483e+02] [-1.05201830e-02 1.03444655e-04 -9.99944656e-01 -1.04623021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.250385723 meters 0.014308445475278653 Centerline is valid? [True, True] Translation: X:219.53, Y:-128.32, Z:-11.46 [[-9.89741893e-01 -1.42383831e-01 1.17401028e-02 2.19527073e+02] [ 1.42373465e-01 -9.89811519e-01 -1.71834379e-03 -1.28316824e+02] [ 1.18651534e-02 -2.92377132e-05 9.99929606e-01 -1.14561463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.310385723 meters 0.014091150584147099 Centerline is valid? [True, True] Translation: X:219.40, Y:-129.07, Z:-10.46 [[-9.96074433e-01 8.76228701e-02 1.25680514e-02 2.19398720e+02] [ 8.76170317e-02 9.96153715e-01 -1.01546509e-03 -1.29073737e+02] [-1.26086891e-02 8.96965450e-05 -9.99920503e-01 -1.04623121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.370385723 meters 0.013914553578189572 Centerline is valid? [True, True] Translation: X:219.40, Y:-129.05, Z:-10.46 [[-9.99803792e-01 1.55492984e-02 1.22717688e-02 2.19397639e+02] [ 1.55490369e-02 9.99879100e-01 -1.16719042e-04 -1.29049857e+02] [-1.22721000e-02 7.41180444e-05 -9.99924692e-01 -1.04628965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.430385723 meters 0.013758100704005528 Centerline is valid? [True, True] Translation: X:219.39, Y:-129.03, Z:-10.46 [[-9.98236294e-01 -5.83708057e-02 1.08235958e-02 2.19392037e+02] [-5.83669967e-02 9.98294970e-01 6.67737642e-04 -1.29027188e+02] [-1.08441177e-02 3.48191666e-05 -9.99941200e-01 -1.04644907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.490385723 meters 0.013649634760566796 Centerline is valid? [True, True] Translation: X:219.39, Y:-129.00, Z:-10.46 [[-9.90902786e-01 -1.34240081e-01 9.55352685e-03 2.19385550e+02] [-1.34234014e-01 9.90948838e-01 1.27646057e-03 -1.28996859e+02] [-9.63840850e-03 -1.75599141e-05 -9.99953549e-01 -1.04649506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.550385723 meters 0.013468722241270993 Centerline is valid? [True, True] Translation: X:219.29, Y:-128.22, Z:-11.45 [[-9.97970391e-01 6.29704418e-02 9.47749193e-03 2.19287569e+02] [-6.29675285e-02 -9.98015392e-01 6.05764003e-04 -1.28218902e+02] [ 9.49682805e-03 7.76029597e-06 9.99954904e-01 -1.14540816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.610385723 meters 0.013501723857180379 Centerline is valid? [True, True] Translation: X:219.28, Y:-129.01, Z:-10.47 [[-9.90316658e-01 -1.38534644e-01 9.00383237e-03 2.19278748e+02] [-1.38528915e-01 9.90357588e-01 1.25993126e-03 -1.29011455e+02] [-9.09155784e-03 4.39786316e-07 -9.99958671e-01 -1.04661469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.670385723 meters 0.013688961980324536 Centerline is valid? [True, True] Translation: X:219.27, Y:-128.99, Z:-10.46 [[-9.78844314e-01 -2.04317311e-01 1.08741086e-02 2.19270783e+02] [-2.04304109e-01 9.78904711e-01 2.32322901e-03 -1.28985223e+02] [-1.11193921e-02 5.24544342e-05 -9.99938176e-01 -1.04643294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.730385723 meters 0.014050144406441529 Centerline is valid? [True, True] Translation: X:219.25, Y:-128.96, Z:-10.46 [[-9.62981188e-01 -2.69314779e-01 1.16953681e-02 2.19246289e+02] [-2.69293411e-01 9.63052198e-01 3.39456430e-03 -1.28963184e+02] [-1.21774563e-02 1.19415985e-04 -9.99925845e-01 -1.04635498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.790385723 meters 0.014436246552943122 Centerline is valid? [True, True] Translation: X:219.20, Y:-128.95, Z:-10.46 [[-9.41371938e-01 -3.37155549e-01 1.20420189e-02 2.19200708e+02] [-3.37125999e-01 9.41448944e-01 4.46608084e-03 -1.28947459e+02] [-1.28427099e-02 1.44565532e-04 -9.99917519e-01 -1.04636150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.850385723 meters 0.014534668657240497 Centerline is valid? [True, True] Translation: X:219.14, Y:-128.94, Z:-10.46 [[-9.14203549e-01 -4.05099726e-01 1.12286307e-02 2.19142987e+02] [-4.05067225e-01 9.14272493e-01 5.13347720e-03 -1.28937458e+02] [-1.23455984e-02 1.44692822e-04 -9.99923780e-01 -1.04625787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.910385723 meters 0.014484492129834688 Centerline is valid? [True, True] Translation: X:219.07, Y:-128.94, Z:-10.46 [[-8.81641792e-01 -4.71796505e-01 1.07614466e-02 2.19069358e+02] [-4.71759411e-01 8.81707456e-01 5.91776501e-03 -1.28942156e+02] [-1.22804285e-02 1.40535238e-04 -9.99924583e-01 -1.04615952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9703857229999 meters 0.013850162394836763 Centerline is valid? [True, True] Translation: X:218.99, Y:-128.95, Z:-10.47 [[-8.42863203e-01 -5.38072149e-01 7.74487629e-03 2.18992077e+02] [-5.38048516e-01 8.42898781e-01 5.04375673e-03 -1.28954306e+02] [-9.24205181e-03 8.40777567e-05 -9.99957288e-01 -1.04654051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.030385723 meters 0.01349660991761332 Centerline is valid? [True, True] Translation: X:218.91, Y:-128.98, Z:-10.47 [[-7.98927985e-01 -6.01395241e-01 6.15137633e-03 2.18905685e+02] [-6.01376904e-01 7.98951664e-01 4.69663149e-03 -1.28977348e+02] [-7.73918419e-03 5.29746804e-05 -9.99970051e-01 -1.04658075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0903857229999 meters 0.0131855716060846 Centerline is valid? [True, True] Translation: X:218.82, Y:-129.01, Z:-10.46 [[-7.47741560e-01 -6.63964022e-01 5.85973541e-03 2.18817853e+02] [-6.63943533e-01 7.47764520e-01 5.21608798e-03 -1.29011361e+02] [-7.84499699e-03 9.75233586e-06 -9.99969228e-01 -1.04647280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.150385723 meters 0.013340647794433648 Centerline is valid? [True, True] Translation: X:218.73, Y:-129.05, Z:-10.46 [[-6.92026286e-01 -7.21843848e-01 6.40926762e-03 2.18729294e+02] [-7.21813329e-01 6.92055964e-01 6.63785229e-03 -1.29054817e+02] [-9.22706472e-03 -3.27265272e-05 -9.99957429e-01 -1.04623125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.210385723 meters 0.013649589673862084 Centerline is valid? [True, True] Translation: X:218.64, Y:-129.11, Z:-10.46 [[-6.34042772e-01 -7.73274578e-01 6.01578655e-03 2.18640277e+02] [-7.73240514e-01 6.34071308e-01 7.25831420e-03 -1.29111724e+02] [-9.42710750e-03 -4.95682261e-05 -9.99955563e-01 -1.04604822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.270385723 meters 0.013628845871081385 Centerline is valid? [True, True] Translation: X:218.54, Y:-129.20, Z:-10.46 [[-5.74252301e-01 -8.18665031e-01 4.67563570e-03 2.18542176e+02] [-8.18638414e-01 5.74271335e-01 6.60163845e-03 -1.29202357e+02] [-8.08961410e-03 -3.66489180e-05 -9.99967278e-01 -1.04632128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.330385723 meters 0.013681214798855286 Centerline is valid? [True, True] Translation: X:218.47, Y:-129.26, Z:-10.46 [[-5.11048509e-01 -8.59546079e-01 3.15583968e-03 2.18472095e+02] [-8.59529932e-01 5.11058253e-01 5.26866959e-03 -1.29263569e+02] [-6.14148220e-03 -1.99929260e-05 -9.99981141e-01 -1.04638426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.390385723 meters 0.013656738851175316 Centerline is valid? [True, True] Translation: X:218.40, Y:-129.34, Z:-10.46 [[-4.44562145e-01 -8.95746006e-01 1.89550172e-03 2.18402041e+02] [-8.95737960e-01 4.44566185e-01 3.79648783e-03 -1.29337484e+02] [-4.24336478e-03 -1.00980723e-05 -9.99990997e-01 -1.04643197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.450385723 meters 0.013654928208762802 Centerline is valid? [True, True] Translation: X:218.32, Y:-129.44, Z:-10.47 [[-3.74871612e-01 -9.27075848e-01 1.28302945e-03 2.18324817e+02] [-9.27070487e-01 3.74873807e-01 3.15296666e-03 -1.29442135e+02] [-3.40401338e-03 -7.50104277e-06 -9.99994206e-01 -1.04651841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.510385723 meters 0.01360482998355254 Centerline is valid? [True, True] Translation: X:218.26, Y:-129.55, Z:-10.47 [[-3.03415615e-01 -9.52858064e-01 6.88844184e-04 2.18255650e+02] [-9.52855633e-01 3.03416397e-01 2.15244578e-03 -1.29554433e+02] [-2.25998194e-03 -3.28339844e-06 -9.99997446e-01 -1.04668284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.570385723 meters 0.013807291503910642 Centerline is valid? [True, True] Translation: X:218.20, Y:-129.64, Z:-10.47 [[-2.30177801e-01 -9.73148555e-01 2.64049516e-04 2.18202529e+02] [-9.73147919e-01 2.30177953e-01 1.11299932e-03 -1.29636860e+02] [-1.14389206e-03 -7.71500414e-07 -9.99999346e-01 -1.04673767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.630385723 meters 0.014028413171282225 Centerline is valid? [True, True] Translation: X:218.15, Y:-129.75, Z:-10.47 [[-1.56065128e-01 -9.87746758e-01 1.34146213e-04 2.18151425e+02] [-9.87746390e-01 1.56065186e-01 8.52334570e-04 -1.29749700e+02] [-8.62826262e-04 5.17266334e-07 -9.99999628e-01 -1.04686393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.690385723 meters 0.014340842380312427 Centerline is valid? [True, True] Translation: X:218.11, Y:-129.87, Z:-10.47 [[-8.27263507e-02 -9.96572295e-01 1.10241297e-04 2.18109894e+02] [-9.96571314e-01 8.27264239e-02 1.39854108e-03 -1.29867461e+02] [-1.40286716e-03 5.83288532e-06 -9.99999016e-01 -1.04692945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.750385723 meters 0.0148759185601133 Centerline is valid? [True, True] Translation: X:218.08, Y:-129.98, Z:-10.47 [[-1.02817071e-02 -9.99947142e-01 2.21455648e-06 2.18078353e+02] [-9.99945854e-01 1.02816974e-02 1.60499431e-03 -1.29983960e+02] [-1.60493225e-03 1.42876449e-05 -9.99998712e-01 -1.04706095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.810385723 meters 0.015836049039574654 Centerline is valid? [True, True] Translation: X:218.05, Y:-130.11, Z:-10.47 [[ 6.10691591e-02 -9.98133532e-01 -1.02949731e-04 2.18054638e+02] [-9.98132611e-01 -6.10692426e-02 1.35624205e-03 -1.30109375e+02] [-1.35999773e-03 1.99329222e-05 -9.99999075e-01 -1.04718384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.870385723 meters 0.01717845664619249 Centerline is valid? [True, True] Translation: X:218.04, Y:-130.23, Z:-10.47 [[ 1.31842260e-01 -9.91270658e-01 -3.19348922e-04 2.18040680e+02] [-9.91268501e-01 -1.31842639e-01 2.06836591e-03 -1.30230486e+02] [-2.09241424e-03 4.38624910e-05 -9.99997810e-01 -1.04720650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.930385723 meters 0.017915376912047302 Centerline is valid? [True, True] Translation: X:218.03, Y:-130.36, Z:-10.47 [[ 2.03058163e-01 -9.79166493e-01 -6.00601430e-04 2.18033566e+02] [-9.79163147e-01 -2.03059040e-01 2.56075583e-03 -1.30355007e+02] [-2.62936386e-03 6.81044119e-05 -9.99996541e-01 -1.04731862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.990385723 meters 0.01767144285749885 Centerline is valid? [True, True] Translation: X:218.03, Y:-130.48, Z:-10.47 [[ 2.76161961e-01 -9.61110621e-01 -9.72755739e-04 2.18032137e+02] [-9.61105741e-01 -2.76163660e-01 3.06389933e-03 -1.30480760e+02] [-3.21338597e-03 8.87886763e-05 -9.99994833e-01 -1.04730392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.050385723 meters 0.01823337383937989 Centerline is valid? [True, True] Translation: X:218.04, Y:-130.61, Z:-10.47 [[ 3.49692809e-01 -9.36863218e-01 -1.50025424e-03 2.18042987e+02] [-9.36855885e-01 -3.49696010e-01 3.70820070e-03 -1.30606976e+02] [-3.99870976e-03 1.08790899e-04 -9.99991999e-01 -1.04728215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.110385723 meters 0.01732016936369371 Centerline is valid? [True, True] Translation: X:218.06, Y:-130.73, Z:-10.47 [[ 4.22491507e-01 -9.06363929e-01 -2.31394692e-03 2.18061518e+02] [-9.06351985e-01 -4.22497823e-01 4.65499034e-03 -1.30734756e+02] [-5.19675287e-03 1.30556500e-04 -9.99986488e-01 -1.04734372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.170385723 meters 0.017192274646950386 Centerline is valid? [True, True] Translation: X:218.09, Y:-130.86, Z:-10.47 [[ 4.94443193e-01 -8.69204840e-01 -2.97906586e-03 2.18090808e+02] [-8.69190513e-01 -4.94452153e-01 4.99203634e-03 -1.30862402e+02] [-5.81210767e-03 1.21097394e-04 -9.99983102e-01 -1.04725947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.230385723 meters 0.01662597621123694 Centerline is valid? [True, True] Translation: X:218.12, Y:-130.98, Z:-10.47 [[ 5.62318949e-01 -8.26909692e-01 -4.21436035e-03 2.18120494e+02] [-8.26888140e-01 -5.62334727e-01 5.97146181e-03 -1.30975163e+02] [-7.30774083e-03 1.26938460e-04 -9.99973290e-01 -1.04709686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.290385723 meters 0.019893906992753937 Centerline is valid? [True, True] Translation: X:218.16, Y:-131.08, Z:-10.47 [[ 6.23502577e-01 -7.81807628e-01 -4.62283260e-03 2.18162158e+02] [-7.81787647e-01 -6.23519701e-01 5.59083979e-03 -1.31080394e+02] [-7.25338839e-03 1.28170403e-04 -9.99973686e-01 -1.04668939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.350385723 meters 0.01741177508678785 Centerline is valid? [True, True] Translation: X:218.21, Y:-131.18, Z:-10.47 [[ 6.80856811e-01 -7.32397235e-01 -5.31918250e-03 2.18205827e+02] [-7.32376460e-01 -6.80877575e-01 5.51814155e-03 -1.31184806e+02] [-7.66318369e-03 1.38579788e-04 -9.99970628e-01 -1.04693031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.410385723 meters 0.016721885758352092 Centerline is valid? [True, True] Translation: X:218.26, Y:-131.28, Z:-10.47 [[ 7.34413037e-01 -6.78669006e-01 -6.77287031e-03 2.18258971e+02] [-6.78642185e-01 -7.34444248e-01 6.03577500e-03 -1.31278912e+02] [-9.07058906e-03 1.63603658e-04 -9.99958848e-01 -1.04685488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4703857229999 meters 0.016456744302516382 Centerline is valid? [True, True] Translation: X:218.27, Y:-131.31, Z:-10.47 [[ 7.86314039e-01 -6.17774444e-01 -8.06034123e-03 2.18273485e+02] [-6.17744117e-01 -7.86355333e-01 6.12345614e-03 -1.31313636e+02] [-1.01212070e-02 1.64268844e-04 -9.99948766e-01 -1.04670697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.530385723 meters 0.016101223984101087 Centerline is valid? [True, True] Translation: X:218.29, Y:-131.34, Z:-10.47 [[ 8.33039396e-01 -5.53152788e-01 -8.20718637e-03 2.18293398e+02] [-5.53127636e-01 -8.33079812e-01 5.27696083e-03 -1.31344360e+02] [-9.75620687e-03 1.43705334e-04 -9.99952397e-01 -1.04673795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5903857229999 meters 0.015741675172508122 Centerline is valid? [True, True] Translation: X:218.32, Y:-131.38, Z:-10.47 [[ 8.74978682e-01 -4.84093211e-01 -8.12827173e-03 2.18315243e+02] [-4.84073510e-01 -8.75016429e-01 4.36876884e-03 -1.31375261e+02] [-9.22726263e-03 1.12101426e-04 -9.99957422e-01 -1.04675580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.650385723 meters 0.017602118700830116 Centerline is valid? [True, True] Translation: X:218.34, Y:-131.41, Z:-10.47 [[ 9.10707362e-01 -4.12956420e-01 -8.89354493e-03 2.18338800e+02] [-4.12937851e-01 -9.10750780e-01 3.91759756e-03 -1.31405591e+02] [-9.71760005e-03 1.04696385e-04 -9.99952778e-01 -1.04658446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.710385723 meters 0.015354951568192112 Centerline is valid? [True, True] Translation: X:218.37, Y:-131.43, Z:-10.47 [[ 9.40481329e-01 -3.39753945e-01 -7.88204830e-03 2.18365698e+02] [-3.39742753e-01 -9.40514354e-01 2.75899348e-03 -1.31431488e+02] [-8.35055848e-03 8.30869344e-05 -9.99965130e-01 -1.04686553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.770385723 meters 0.01552279668349402 Centerline is valid? [True, True] Translation: X:218.40, Y:-131.45, Z:-10.47 [[ 9.64191877e-01 -2.65124192e-01 -6.57169873e-03 2.18395373e+02] [-2.65118507e-01 -9.64214270e-01 1.73757836e-03 -1.31452811e+02] [-6.79719975e-03 6.69200181e-05 -9.99976897e-01 -1.04711766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.830385723 meters 0.015467928931150912 Centerline is valid? [True, True] Translation: X:218.43, Y:-131.47, Z:-10.47 [[ 9.82129568e-01 -1.88168151e-01 -3.77614898e-03 2.18427274e+02] [-1.88166895e-01 -9.82136826e-01 6.88518698e-04 -1.31471286e+02] [-3.83825226e-03 3.43316568e-05 -9.99992633e-01 -1.04725622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.890385723 meters 0.015350064456677462 Centerline is valid? [True, True] Translation: X:218.46, Y:-131.48, Z:-10.47 [[ 9.93955627e-01 -1.09725090e-01 -3.55190504e-03 2.18456664e+02] [-1.09724492e-01 -9.93961973e-01 3.63533349e-04 -1.31483932e+02] [-3.57034727e-03 2.83949570e-05 -9.99993626e-01 -1.04735772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.950385723 meters 0.015281813958800369 Centerline is valid? [True, True] Translation: X:218.49, Y:-131.50, Z:-10.48 [[ 9.99552457e-01 -2.97807690e-02 -2.82678125e-03 2.18486672e+02] [-2.97806989e-02 -9.99556454e-01 6.68854117e-05 -1.31495857e+02] [-2.82751935e-03 1.73280438e-05 -9.99996002e-01 -1.04750957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.010385723 meters 0.015337372576431158 Centerline is valid? [True, True] Translation: X:218.52, Y:-131.50, Z:-10.48 [[ 9.98708108e-01 5.08129627e-02 -3.97385699e-04 2.18516105e+02] [ 5.08129583e-02 -9.98708187e-01 -2.11689403e-05 -1.31501523e+02] [-3.97948008e-04 9.49249323e-07 -9.99999921e-01 -1.04767018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.070385723 meters 0.015290450446848793 Centerline is valid? [True, True] Translation: X:218.55, Y:-131.50, Z:-10.48 [[ 9.91528560e-01 1.29888150e-01 4.28455926e-04 2.18545127e+02] [ 1.29888137e-01 -9.91528652e-01 5.81540070e-05 -1.31501969e+02] [ 4.32379843e-04 -2.01001681e-06 -9.99999907e-01 -1.04776763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.130385723 meters 0.015371029743288842 Centerline is valid? [True, True] Translation: X:218.58, Y:-131.50, Z:-10.48 [[ 9.78493098e-01 2.06276377e-01 1.14598422e-03 2.18575258e+02] [ 2.06276229e-01 -9.78493769e-01 2.46997262e-04 -1.31501990e+02] [ 1.17228812e-03 -5.29581385e-06 -9.99999313e-01 -1.04777871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.190385723 meters 0.015541552364796193 Centerline is valid? [True, True] Translation: X:218.60, Y:-131.49, Z:-10.48 [[ 9.60063038e-01 2.79782967e-01 6.73663962e-04 2.18603571e+02] [ 2.79782894e-01 -9.60063275e-01 2.01774367e-04 -1.31494980e+02] [ 7.03213060e-04 -5.23645923e-06 -9.99999753e-01 -1.04769053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.250385723 meters 0.01611205689407848 Centerline is valid? [True, True] Translation: X:218.63, Y:-131.48, Z:-10.48 [[ 9.37071057e-01 3.49138175e-01 6.08070189e-04 2.18628652e+02] [ 3.49138096e-01 -9.37071254e-01 2.35470955e-04 -1.31480868e+02] [ 6.52016994e-04 -8.35254907e-06 -9.99999787e-01 -1.04756745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.310385723 meters 0.01692512998749304 Centerline is valid? [True, True] Translation: X:218.65, Y:-131.47, Z:-10.47 [[ 9.08446238e-01 4.18001068e-01 -7.35002606e-04 2.18651543e+02] [ 4.18000921e-01 -9.08446535e-01 -3.51363733e-04 -1.31468048e+02] [-8.14580986e-04 1.19632956e-05 -9.99999668e-01 -1.04734358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.370385723 meters 0.017261611959992398 Centerline is valid? [True, True] Translation: X:218.68, Y:-131.46, Z:-10.47 [[ 8.73465560e-01 4.86884403e-01 -1.22259275e-03 2.18676532e+02] [ 4.86883889e-01 -8.73466415e-01 -7.07601715e-04 -1.31458692e+02] [-1.41241395e-03 2.28050133e-05 -9.99999002e-01 -1.04724248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.430385723 meters 0.017333644406552863 Centerline is valid? [True, True] Translation: X:218.70, Y:-131.45, Z:-10.47 [[ 8.33871594e-01 5.51956230e-01 -1.57621113e-03 2.18699379e+02] [ 5.51955163e-01 -8.33873083e-01 -1.08565302e-03 -1.31445257e+02] [-1.91359299e-03 3.52973428e-05 -9.99998168e-01 -1.04713859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.490385723 meters 0.017873378240815963 Centerline is valid? [True, True] Translation: X:218.72, Y:-131.43, Z:-10.47 [[ 7.87269454e-01 6.16599686e-01 -3.41087952e-03 2.18720319e+02] [ 6.16593477e-01 -7.87276839e-01 -2.76804697e-03 -1.31431699e+02] [-4.39208334e-03 7.60727678e-05 -9.99990352e-01 -1.04676285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.550385723 meters 0.016270047518784397 Centerline is valid? [True, True] Translation: X:218.75, Y:-131.42, Z:-10.46 [[ 7.32714950e-01 6.80521224e-01 -4.43452882e-03 2.18747143e+02] [ 6.80508167e-01 -7.32728366e-01 -4.21619584e-03 -1.31424460e+02] [-6.11851581e-03 7.15366494e-05 -9.99981279e-01 -1.04645227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.610385723 meters 0.015863015500606495 Centerline is valid? [True, True] Translation: X:218.77, Y:-131.41, Z:-10.46 [[ 6.74414107e-01 7.38329826e-01 -5.88895559e-03 2.18771278e+02] [ 7.38300763e-01 -6.74439814e-01 -6.55132179e-03 -1.31412204e+02] [-8.80878239e-03 7.04834265e-05 -9.99961199e-01 -1.04612517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.670385723 meters 0.015611669855384912 Centerline is valid? [True, True] Translation: X:218.80, Y:-131.40, Z:-10.46 [[ 6.14563751e-01 7.88843536e-01 -6.10498063e-03 2.18796195e+02] [ 7.88803304e-01 -6.14594068e-01 -7.96738887e-03 -1.31399455e+02] [-1.00371081e-02 8.08394985e-05 -9.99949624e-01 -1.04609875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.730385723 meters 0.015550248039454028 Centerline is valid? [True, True] Translation: X:218.82, Y:-131.39, Z:-10.46 [[ 5.51212412e-01 8.34343338e-01 -6.00593968e-03 2.18823795e+02] [ 8.34291967e-01 -5.51245123e-01 -9.25896865e-03 -1.31387475e+02] [-1.10359038e-02 9.29512134e-05 -9.99939098e-01 -1.04592076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.790385723 meters 0.015809499086485868 Centerline is valid? [True, True] Translation: X:218.85, Y:-131.37, Z:-10.46 [[ 4.85974951e-01 8.73952022e-01 -6.01752603e-03 2.18847296e+02] [ 8.73881638e-01 -4.86012187e-01 -1.10922161e-02 -1.31370209e+02] [-1.26186557e-02 1.31933695e-04 -9.99920373e-01 -1.04576145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.850385723 meters 0.016239692647037243 Centerline is valid? [True, True] Translation: X:218.87, Y:-131.35, Z:-10.46 [[ 4.17855131e-01 9.08492039e-01 -6.26935603e-03 2.18868920e+02] [ 9.08382812e-01 -4.17902116e-01 -1.40885998e-02 -1.31350981e+02] [-1.54193579e-02 1.92018465e-04 -9.99881096e-01 -1.04558250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.910385723 meters 0.016703796389481614 Centerline is valid? [True, True] Translation: X:218.89, Y:-131.33, Z:-10.45 [[ 3.46791366e-01 9.37925751e-01 -5.57078150e-03 2.18888541e+02] [ 9.37793796e-01 -3.46836029e-01 -1.57341950e-02 -1.31331445e+02] [-1.66896544e-02 2.32238638e-04 -9.99860691e-01 -1.04529638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9703857229999 meters 0.01657912132987765 Centerline is valid? [True, True] Translation: X:218.91, Y:-131.31, Z:-10.45 [[ 2.73635532e-01 9.61823670e-01 -4.33851875e-03 2.18907928e+02] [ 9.61687515e-01 -2.73669804e-01 -1.61852279e-02 -1.31309357e+02] [-1.67546569e-02 2.56554124e-04 -9.99859598e-01 -1.04537978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.030385723 meters 0.016467480158591893 Centerline is valid? [True, True] Translation: X:218.93, Y:-131.29, Z:-10.45 [[ 1.97356183e-01 9.80326796e-01 -3.14804848e-03 2.18925594e+02] [ 9.80180079e-01 -1.97381115e-01 -1.69619531e-02 -1.31286374e+02] [-1.72496224e-02 2.61891911e-04 -9.99851180e-01 -1.04537420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0903857229999 meters 0.016165942595258328 Centerline is valid? [True, True] Translation: X:218.94, Y:-131.26, Z:-10.45 [[ 1.17301747e-01 9.93094531e-01 -1.88482622e-03 2.18941046e+02] [ 9.92933836e-01 -1.17316675e-01 -1.78660148e-02 -1.31262094e+02] [-1.79637632e-02 2.24207032e-04 -9.99838613e-01 -1.04539071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.150385723 meters 0.01564626970408445 Centerline is valid? [True, True] Translation: X:218.95, Y:-131.24, Z:-10.45 [[ 3.51599004e-02 9.99381578e-01 -4.92278332e-04 2.18954470e+02] [ 9.99211907e-01 -3.51630022e-02 -1.84154322e-02 -1.31237152e+02] [-1.84213537e-02 1.55594393e-04 -9.99830300e-01 -1.04532596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.210385723 meters 0.015462012250799136 Centerline is valid? [True, True] Translation: X:218.96, Y:-131.21, Z:-10.45 [[-4.57950521e-02 9.98950296e-01 1.05846077e-03 2.18964937e+02] [ 9.98740623e-01 4.58071257e-02 -2.04664239e-02 -1.31210124e+02] [-2.04934252e-02 1.19866822e-04 -9.99789981e-01 -1.04522955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.270385723 meters 0.015198661312787111 Centerline is valid? [True, True] Translation: X:218.97, Y:-131.18, Z:-10.45 [[-1.25360959e-01 9.92107266e-01 2.79331811e-03 2.18971065e+02] [ 9.91877314e-01 1.25392041e-01 -2.13595334e-02 -1.31181940e+02] [-2.15412081e-02 9.29772775e-05 -9.99767957e-01 -1.04536153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.330385723 meters 0.014777196969636986 Centerline is valid? [True, True] Translation: X:218.98, Y:-131.15, Z:-10.46 [[-2.03887843e-01 9.78985706e-01 4.09077946e-03 2.18975672e+02] [ 9.78794626e-01 2.03928869e-01 -1.93415533e-02 -1.31154136e+02] [-1.97693322e-02 6.05253650e-05 -9.99804566e-01 -1.04561921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.390385723 meters 0.014634987062139624 Centerline is valid? [True, True] Translation: X:218.98, Y:-131.13, Z:-10.46 [[-2.80663874e-01 9.59791633e-01 5.27360562e-03 2.18976636e+02] [ 9.59625063e-01 2.80713411e-01 -1.78806846e-02 -1.31125563e+02] [-1.86421033e-02 4.22219299e-05 -9.99826220e-01 -1.04592765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.450385723 meters 0.014514779697962178 Centerline is valid? [True, True] Translation: X:218.98, Y:-131.10, Z:-10.46 [[-3.57134282e-01 9.34032816e-01 6.14847064e-03 2.18975637e+02] [ 9.33894389e-01 3.57187205e-01 -1.60801178e-02 -1.31097254e+02] [-1.72155128e-02 -7.39107625e-07 -9.99851802e-01 -1.04612829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.510385723 meters 0.014559027500822596 Centerline is valid? [True, True] Translation: X:218.97, Y:-131.07, Z:-10.46 [[-4.30587302e-01 9.02520284e-01 7.19117754e-03 2.18971411e+02] [ 9.02393396e-01 4.30647346e-01 -1.51334462e-02 -1.31070081e+02] [-1.67551037e-02 -2.69986655e-05 -9.99859623e-01 -1.04615074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.570385723 meters 0.014435877080797795 Centerline is valid? [True, True] Translation: X:218.96, Y:-131.04, Z:-10.46 [[-4.99290582e-01 8.66394565e-01 8.32900911e-03 2.18962136e+02] [ 8.66273563e-01 4.99360048e-01 -1.44795474e-02 -1.31044863e+02] [-1.67041756e-02 -1.43012470e-05 -9.99860475e-01 -1.04615182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.630385723 meters 0.014360579395581297 Centerline is valid? [True, True] Translation: X:218.95, Y:-131.02, Z:-10.46 [[-5.64139841e-01 8.25638685e-01 8.18542419e-03 2.18950525e+02] [ 8.25552148e-01 5.64199221e-01 -1.19536595e-02 -1.31020706e+02] [-1.44876137e-02 1.39589624e-05 -9.99895049e-01 -1.04641253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.690385723 meters 0.014449918182051283 Centerline is valid? [True, True] Translation: X:218.94, Y:-131.00, Z:-10.47 [[-6.25827110e-01 7.79921872e-01 7.89318518e-03 2.18937313e+02] [ 7.79860506e-01 6.25876883e-01 -9.78364467e-03 -1.30997613e+02] [-1.25706406e-02 3.27133181e-05 -9.99920986e-01 -1.04654394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.750385723 meters 0.014728432290122296 Centerline is valid? [True, True] Translation: X:218.92, Y:-130.98, Z:-10.47 [[-6.83140396e-01 7.30238586e-01 8.41467834e-03 2.18920740e+02] [ 7.30184323e-01 6.83192216e-01 -8.90232993e-03 -1.30977682e+02] [-1.22496676e-02 6.27250143e-05 -9.99924968e-01 -1.04658081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.810385723 meters 0.014550399093660661 Centerline is valid? [True, True] Translation: X:218.91, Y:-130.95, Z:-10.47 [[-7.37877580e-01 6.74887217e-01 7.99506780e-03 2.18908540e+02] [ 6.74848490e-01 7.37920891e-01 -7.23013389e-03 -1.30952330e+02] [-1.07792525e-02 6.05057246e-05 -9.99941900e-01 -1.04676832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.870385723 meters 0.014411263678731379 Centerline is valid? [True, True] Translation: X:218.90, Y:-130.91, Z:-10.47 [[-7.84922514e-01 6.19539236e-01 8.23305353e-03 2.18899902e+02] [ 6.19505683e-01 7.84965690e-01 -6.44783932e-03 -1.30910624e+02] [-1.04573540e-02 3.93692064e-05 -9.99945320e-01 -1.04672811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.930385723 meters 0.01427119368253424 Centerline is valid? [True, True] Translation: X:219.40, Y:-130.34, Z:-11.45 [[-7.46036597e-01 -6.65868186e-01 6.99675699e-03 2.19402264e+02] [ 6.65837698e-01 -7.46069400e-01 -6.37264961e-03 -1.30338458e+02] [ 9.46341092e-03 -9.55252568e-05 9.99955216e-01 -1.14524626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.990385723 meters 0.01407858759907925 Centerline is valid? [True, True] Translation: X:218.89, Y:-130.91, Z:-10.47 [[-7.87340542e-01 6.16475744e-01 7.24761289e-03 2.18892555e+02] [ 6.16449991e-01 7.87373899e-01 -5.63492867e-03 -1.30908553e+02] [-9.18037806e-03 3.11831058e-05 -9.99957859e-01 -1.04679445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.050385723 meters 0.014198409556507533 Centerline is valid? [True, True] Translation: X:218.91, Y:-130.88, Z:-10.47 [[-8.28807861e-01 5.59492121e-01 6.78938917e-03 2.18906592e+02] [ 5.59473648e-01 8.28835668e-01 -4.54669276e-03 -1.30884563e+02] [-8.17112669e-03 3.01496224e-05 -9.99966615e-01 -1.04677048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.110385723 meters 0.01411451061142528 Centerline is valid? [True, True] Translation: X:218.93, Y:-130.86, Z:-10.47 [[-8.67021392e-01 4.98231597e-01 6.25955118e-03 2.18930056e+02] [ 4.98218747e-01 8.67043987e-01 -3.57827302e-03 -1.30864871e+02] [-7.21011489e-03 1.61864967e-05 -9.99974007e-01 -1.04678059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.170385723 meters 0.016475232034739447 Centerline is valid? [True, True] Translation: X:218.94, Y:-130.83, Z:-10.46 [[-9.00710314e-01 4.34343155e-01 8.18257084e-03 2.18940069e+02] [ 4.34325308e-01 9.00747480e-01 -3.93739821e-03 -1.30834905e+02] [-9.08061203e-03 7.44243120e-06 -9.99958770e-01 -1.04646430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.230385723 meters 0.01399908999028129 Centerline is valid? [True, True] Translation: X:219.28, Y:-130.16, Z:-11.45 [[-8.69547943e-01 -4.93803091e-01 6.69943123e-03 2.19275198e+02] [ 4.93787648e-01 -8.69573746e-01 -3.90623771e-03 -1.30157797e+02] [ 7.75456176e-03 -8.85645799e-05 9.99969929e-01 -1.14528234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.290385723 meters 0.013989485600772534 Centerline is valid? [True, True] Translation: X:219.27, Y:-130.19, Z:-11.45 [[-8.34765449e-01 -5.50576933e-01 5.62901485e-03 2.19267862e+02] [ 5.50564413e-01 -8.34784428e-01 -3.71297181e-03 -1.30190289e+02] [ 6.74329057e-03 -3.25324922e-07 9.99977264e-01 -1.14518122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.350385723 meters 0.015118356977307922 Centerline is valid? [True, True] Translation: X:219.26, Y:-130.22, Z:-11.45 [[-7.97454784e-01 -6.03356104e-01 5.22306500e-03 2.19255813e+02] [ 6.03343015e-01 -7.97471888e-01 -3.97422824e-03 -1.30221433e+02] [ 6.56312237e-03 -1.79675359e-05 9.99978462e-01 -1.14535983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.410385723 meters 0.01376759588033164 Centerline is valid? [True, True] Translation: X:218.80, Y:-130.82, Z:-10.47 [[-8.34646044e-01 5.50761009e-01 5.31897374e-03 2.18800175e+02] [ 5.50750009e-01 8.34662992e-01 -3.48108232e-03 -1.30820569e+02] [-6.35679495e-03 2.39532471e-05 -9.99979795e-01 -1.04659242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4703857229999 meters 0.013817477353858385 Centerline is valid? [True, True] Translation: X:218.82, Y:-130.80, Z:-10.47 [[-8.71170234e-01 4.90958716e-01 4.68631549e-03 2.18818000e+02] [ 4.90951763e-01 8.71182839e-01 -2.61306932e-03 -1.30797814e+02] [-5.36554680e-03 2.43266409e-05 -9.99985605e-01 -1.04667872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.530385723 meters 0.013622033303403825 Centerline is valid? [True, True] Translation: X:218.83, Y:-130.77, Z:-10.47 [[-9.03575785e-01 4.28420468e-01 2.58928518e-03 2.18827403e+02] [ 4.28418752e-01 9.03579494e-01 -1.21239790e-03 -1.30767466e+02] [-2.85904107e-03 1.38049395e-05 -9.99995913e-01 -1.04688164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5903857229999 meters 0.013524411011268384 Centerline is valid? [True, True] Translation: X:219.15, Y:-130.10, Z:-11.45 [[-8.77119103e-01 -4.80269674e-01 1.76594763e-03 2.19153872e+02] [ 4.80268563e-01 -8.77120879e-01 -1.03503374e-03 -1.30103392e+02] [ 2.04604486e-03 -5.97187355e-05 9.99997905e-01 -1.14497478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.650385723 meters 0.013241726843925382 Centerline is valid? [True, True] Translation: X:218.77, Y:-130.73, Z:-10.47 [[-9.05826086e-01 4.23647786e-01 1.28661318e-03 2.18769240e+02] [ 4.23647366e-01 9.05827000e-01 -5.96441335e-04 -1.30734367e+02] [-1.41813001e-03 4.79816555e-06 -9.99998994e-01 -1.04693679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.710385723 meters 0.013053435056782586 Centerline is valid? [True, True] Translation: X:219.10, Y:-130.09, Z:-11.45 [[-8.78054062e-01 -4.78558702e-01 1.62285832e-03 2.19099413e+02] [ 4.78557926e-01 -8.78055561e-01 -8.62018415e-04 -1.30086878e+02] [ 1.83748619e-03 1.97329428e-05 9.99998312e-01 -1.14510511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.770385723 meters 0.01285111959667828 Centerline is valid? [True, True] Translation: X:218.76, Y:-130.72, Z:-10.47 [[-9.07281233e-01 4.20523110e-01 1.03802746e-03 2.18756478e+02] [ 4.20522840e-01 9.07281827e-01 -4.76704749e-04 -1.30720336e+02] [-1.14224881e-03 4.00898086e-06 -9.99999348e-01 -1.04680272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.830385723 meters 0.012687671746285456 Centerline is valid? [True, True] Translation: X:218.77, Y:-130.69, Z:-10.47 [[-9.35174136e-01 3.54188194e-01 2.43413305e-04 2.18771503e+02] [ 3.54188182e-01 9.35174167e-01 -9.12544762e-05 -1.30689665e+02] [-2.59955093e-04 8.75290118e-07 -9.99999966e-01 -1.04686526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.890385723 meters 0.012619342465275858 Centerline is valid? [True, True] Translation: X:218.78, Y:-130.66, Z:-10.47 [[-9.58139079e-01 2.86303156e-01 -8.98494795e-05 2.18781147e+02] [ 2.86303155e-01 9.58139083e-01 2.70562231e-05 -1.30655147e+02] [ 9.38345799e-05 1.99435266e-07 -9.99999996e-01 -1.04681840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.950385723 meters 0.012534932401304585 Centerline is valid? [True, True] Translation: X:218.79, Y:-130.62, Z:-10.47 [[-9.75759143e-01 2.18846694e-01 4.68489679e-04 2.18789273e+02] [ 2.18846669e-01 9.75759255e-01 -1.03523095e-04 -1.30620830e+02] [-4.79788828e-04 1.51379959e-06 -9.99999885e-01 -1.04671883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.010385723 meters 0.01268074717341421 Centerline is valid? [True, True] Translation: X:218.79, Y:-130.59, Z:-10.47 [[-9.88365099e-01 1.52098475e-01 6.96949935e-04 2.18793551e+02] [ 1.52098440e-01 9.88365344e-01 -1.02964272e-04 -1.30590749e+02] [-7.04501871e-04 4.23870487e-06 -9.99999752e-01 -1.04672884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.070385723 meters 0.013540595922095293 Centerline is valid? [True, True] Translation: X:218.90, Y:-129.94, Z:-11.45 [[-9.80325150e-01 -1.97377763e-01 -2.14930465e-03 2.18902662e+02] [ 1.97377604e-01 -9.80327496e-01 2.87574930e-04 -1.29936675e+02] [-2.16378334e-03 -1.42307666e-04 9.99997649e-01 -1.14499039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.130385723 meters 0.01579690991387639 Centerline is valid? [True, True] Translation: X:218.76, Y:-130.58, Z:-10.47 [[-9.86679770e-01 1.62661641e-01 -2.05487098e-03 2.18756119e+02] [ 1.62661374e-01 9.86681909e-01 2.97565336e-04 -1.30580669e+02] [ 2.07590649e-03 -4.06464405e-05 -9.99997844e-01 -1.04696948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.190385723 meters 0.014963910766981208 Centerline is valid? [True, True] Translation: X:218.85, Y:-129.94, Z:-11.45 [[-9.82361091e-01 -1.86991396e-01 -9.51412504e-04 2.18849768e+02] [ 1.86991223e-01 -9.82361548e-01 2.68363090e-04 -1.29941907e+02] [-9.84812649e-04 8.57236705e-05 9.99999511e-01 -1.14501421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.250385723 meters 0.014697778983208213 Centerline is valid? [True, True] Translation: X:218.71, Y:-130.55, Z:-10.47 [[-9.86929315e-01 1.61152088e-01 7.29825402e-04 2.18708534e+02] [ 1.61152057e-01 9.86929584e-01 -1.01538754e-04 -1.30550503e+02] [-7.36649462e-04 1.74012916e-05 -9.99999729e-01 -1.04674866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.310385723 meters 0.015296867464746525 Centerline is valid? [True, True] Translation: X:218.71, Y:-130.51, Z:-10.47 [[-9.95581582e-01 9.38731114e-02 2.26982916e-03 2.18709686e+02] [ 9.38730025e-02 9.95584168e-01 -1.54672825e-04 -1.30510117e+02] [-2.27432560e-03 5.90862631e-05 -9.99997412e-01 -1.04654020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.370385723 meters 0.016785458696548083 Centerline is valid? [True, True] Translation: X:218.75, Y:-129.94, Z:-11.46 [[-9.94390588e-01 -1.05693998e-01 4.01701845e-03 2.18746758e+02] [ 1.05693145e-01 -9.94398702e-01 -4.24679123e-04 -1.29935509e+02] [ 4.03940397e-03 2.27439078e-06 9.99991842e-01 -1.14551319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.430385723 meters 0.015875494915818623 Centerline is valid? [True, True] Translation: X:218.66, Y:-130.48, Z:-10.46 [[-9.95454523e-01 9.51065229e-02 5.00409844e-03 2.18660480e+02] [ 9.51061012e-02 9.95467089e-01 -3.22705548e-04 -1.30483873e+02] [-5.01210671e-03 1.54681595e-04 -9.99987427e-01 -1.04641952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.490385723 meters 0.015843274898527986 Centerline is valid? [True, True] Translation: X:218.65, Y:-130.44, Z:-10.46 [[-9.99741469e-01 2.18181595e-02 6.40028387e-03 2.18647191e+02] [ 2.18188803e-02 9.99761939e-01 4.28159811e-05 -1.30440664e+02] [-6.39782605e-03 1.82451940e-04 -9.99979517e-01 -1.04625280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.550385723 meters 0.015111353063256425 Centerline is valid? [True, True] Translation: X:218.63, Y:-130.40, Z:-10.46 [[-9.98483378e-01 -5.44818662e-02 7.91649179e-03 2.18629931e+02] [-5.44786860e-02 9.98514743e-01 6.16969745e-04 -1.30399371e+02] [-7.93834743e-03 1.84753964e-04 -9.99968474e-01 -1.04607876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.610385723 meters 0.014073771438467183 Centerline is valid? [True, True] Translation: X:218.58, Y:-129.93, Z:-11.46 [[-9.99553244e-01 2.85847022e-02 8.73076852e-03 2.18584689e+02] [-2.85848980e-02 -9.99591363e-01 1.02390951e-04 -1.29928772e+02] [ 8.73012763e-03 -1.47222920e-04 9.99961881e-01 -1.14601663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.670385723 meters 0.012799566578138867 Centerline is valid? [True, True] Translation: X:218.56, Y:-130.38, Z:-10.46 [[-9.97497632e-01 -7.00842960e-02 9.30948733e-03 2.18562374e+02] [-7.00802359e-02 9.97541067e-01 7.62024706e-04 -1.30382516e+02] [-9.34000188e-03 1.07706771e-04 -9.99956375e-01 -1.04584110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.730385723 meters 0.012291804296432054 Centerline is valid? [True, True] Translation: X:218.54, Y:-130.35, Z:-10.46 [[-9.89413268e-01 -1.44852855e-01 8.89023322e-03 2.18542906e+02] [-1.44846397e-01 9.89453206e-01 1.36939865e-03 -1.30348792e+02] [-8.99483106e-03 6.71829428e-05 -9.99959543e-01 -1.04585035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.790385723 meters 0.012173149517569495 Centerline is valid? [True, True] Translation: X:218.52, Y:-130.32, Z:-10.46 [[-9.75864813e-01 -2.18246183e-01 7.51466477e-03 2.18515697e+02] [-2.18239466e-01 9.75893746e-01 1.71249641e-03 -1.30319033e+02] [-7.70726015e-03 3.11685623e-05 -9.99970298e-01 -1.04591183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.850385723 meters 0.01201395417705016 Centerline is valid? [True, True] Translation: X:218.42, Y:-129.92, Z:-11.46 [[-9.87643374e-01 1.56615874e-01 5.65982007e-03 2.18417499e+02] [-1.56614245e-01 -9.87659578e-01 7.32562801e-04 -1.29923761e+02] [ 5.70470647e-03 -1.62897651e-04 9.99983715e-01 -1.14596483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.910385723 meters 0.011980437125180413 Centerline is valid? [True, True] Translation: X:218.46, Y:-130.33, Z:-10.46 [[-9.73806447e-01 -2.27334698e-01 4.46540390e-03 2.18455419e+02] [-2.27332328e-01 9.73816685e-01 1.03800957e-03 -1.30327207e+02] [-4.58446042e-03 -4.31025299e-06 -9.99989491e-01 -1.04608173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9703857229999 meters 0.012034864740891446 Centerline is valid? [True, True] Translation: X:218.35, Y:-129.94, Z:-11.46 [[-9.87728202e-01 1.56093959e-01 5.26077196e-03 2.18352338e+02] [-1.56091436e-01 -9.87742210e-01 8.89216851e-04 -1.29941218e+02] [ 5.33508789e-03 5.71431097e-05 9.99985767e-01 -1.14586064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.030385723 meters 0.012317330020261055 Centerline is valid? [True, True] Translation: X:218.39, Y:-130.34, Z:-10.46 [[-9.71538038e-01 -2.36838328e-01 4.63121875e-03 2.18391801e+02] [-2.36835790e-01 9.71549075e-01 1.09669203e-03 -1.30341844e+02] [-4.75919500e-03 -3.13603307e-05 -9.99988674e-01 -1.04613192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0903857229999 meters 0.012595614940092712 Centerline is valid? [True, True] Translation: X:218.37, Y:-130.32, Z:-10.46 [[-9.51446333e-01 -3.07790920e-01 3.82426387e-03 2.18367980e+02] [-3.07788587e-01 9.51454018e-01 1.19904493e-03 -1.30322904e+02] [-4.00766637e-03 -3.62378676e-05 -9.99991969e-01 -1.04630769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.150385723 meters 0.012753559770346605 Centerline is valid? [True, True] Translation: X:218.34, Y:-130.30, Z:-10.46 [[-9.26820200e-01 -3.75486020e-01 3.81650033e-03 2.18339683e+02] [-3.75483013e-01 9.26828057e-01 1.50320230e-03 -1.30304820e+02] [-4.10167104e-03 -3.98327903e-05 -9.99991587e-01 -1.04638313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.210385723 meters 0.01312114278687409 Centerline is valid? [True, True] Translation: X:218.18, Y:-129.93, Z:-11.46 [[-9.56482080e-01 2.91735431e-01 5.69820767e-03 2.18177343e+02] [-2.91729067e-01 -9.56499034e-01 1.93613815e-03 -1.29926207e+02] [ 6.01517023e-03 1.89548630e-04 9.99981891e-01 -1.14569397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.270385723 meters 0.013028757076739372 Centerline is valid? [True, True] Translation: X:218.27, Y:-130.34, Z:-10.46 [[-9.24928411e-01 -3.80059100e-01 7.90668896e-03 2.18265163e+02] [-3.80045998e-01 9.24962201e-01 3.15691516e-03 -1.30344017e+02] [-8.51320275e-03 -8.49849767e-05 -9.99963758e-01 -1.04622647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.330385723 meters 0.012629608254651321 Centerline is valid? [True, True] Translation: X:218.23, Y:-130.34, Z:-10.46 [[-8.97552999e-01 -4.40851982e-01 6.93857416e-03 2.18233916e+02] [-4.40839119e-01 8.97579817e-01 3.36785656e-03 -1.30337656e+02] [-7.71265037e-03 -3.59651642e-05 -9.99970256e-01 -1.04632939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.390385723 meters 0.012537538906678735 Centerline is valid? [True, True] Translation: X:218.19, Y:-130.34, Z:-10.46 [[-8.65712679e-01 -5.00514689e-01 5.15783169e-03 2.18191014e+02] [-5.00505800e-01 8.65728044e-01 2.98284415e-03 -1.30337046e+02] [-5.95823685e-03 7.61319301e-07 -9.99982250e-01 -1.04637652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.450385723 meters 0.0128327409025159 Centerline is valid? [True, True] Translation: X:218.13, Y:-130.35, Z:-10.46 [[-8.28816673e-01 -5.59501112e-01 4.62900669e-03 2.18131243e+02] [-5.59492245e-01 8.28829600e-01 3.14995623e-03 -1.30350917e+02] [-5.59906177e-03 2.08428997e-05 -9.99984325e-01 -1.04642728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.510385723 meters 0.013255324581286893 Centerline is valid? [True, True] Translation: X:218.07, Y:-130.37, Z:-10.46 [[-7.87072950e-01 -6.16853828e-01 2.74356245e-03 2.18067701e+02] [-6.16849980e-01 7.87077731e-01 2.17893027e-03 -1.30369796e+02] [-3.50347839e-03 2.26106316e-05 -9.99993863e-01 -1.04643403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.570385723 meters 0.013458810031944294 Centerline is valid? [True, True] Translation: X:218.00, Y:-130.40, Z:-10.46 [[-7.39113286e-01 -6.73579265e-01 1.58896851e-03 2.17996700e+02] [-6.73577670e-01 7.39114994e-01 1.46571355e-03 -1.30399108e+02] [-2.16170470e-03 1.30346482e-05 -9.99997663e-01 -1.04643040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.630385723 meters 0.013627810265419977 Centerline is valid? [True, True] Translation: X:217.92, Y:-130.44, Z:-10.46 [[-6.86555494e-01 -7.27075853e-01 1.50266079e-03 2.17924294e+02] [-7.27074074e-01 6.86557139e-01 1.60828871e-03 -1.30437686e+02] [-2.20101037e-03 1.16337444e-05 -9.99997578e-01 -1.04636696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.690385723 meters 0.013868763468806949 Centerline is valid? [True, True] Translation: X:217.85, Y:-130.49, Z:-10.46 [[-6.31453767e-01 -7.75411632e-01 1.71502100e-03 2.17848900e+02] [-7.75408694e-01 6.31456096e-01 2.13450147e-03 -1.30487930e+02] [-2.73807773e-03 1.79968010e-05 -9.99996251e-01 -1.04625686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.750385723 meters 0.01404889122874262 Centerline is valid? [True, True] Translation: X:217.78, Y:-130.55, Z:-10.46 [[-5.73933256e-01 -8.18901206e-01 1.19677352e-03 2.17777679e+02] [-8.18899353e-01 5.73934503e-01 1.74236440e-03 -1.30549775e+02] [-2.11369393e-03 1.99638152e-05 -9.99997766e-01 -1.04626989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.810385723 meters 0.014032285511876937 Centerline is valid? [True, True] Translation: X:217.70, Y:-130.62, Z:-10.46 [[-5.10160947e-01 -8.60078553e-01 8.31099545e-04 2.17703626e+02] [-8.60077366e-01 5.10161623e-01 1.42936480e-03 -1.30616349e+02] [-1.65336110e-03 1.43961916e-05 -9.99998633e-01 -1.04615904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.870385723 meters 0.013992476774094728 Centerline is valid? [True, True] Translation: X:217.63, Y:-130.69, Z:-10.46 [[-4.43753898e-01 -8.96148246e-01 8.94136251e-04 2.17633783e+02] [-8.96146347e-01 4.43754798e-01 1.84490872e-03 -1.30692623e+02] [-2.05008897e-03 1.74085022e-05 -9.99997898e-01 -1.04611164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.930385723 meters 0.013786048630745375 Centerline is valid? [True, True] Translation: X:217.57, Y:-130.78, Z:-10.46 [[-3.74586587e-01 -9.27191883e-01 3.17123075e-04 2.17565950e+02] [-9.27191534e-01 3.74586722e-01 8.04226627e-04 -1.30778928e+02] [-8.64462493e-04 7.21867696e-06 -9.99999626e-01 -1.04619317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.990385723 meters 0.013979824926792958 Centerline is valid? [True, True] Translation: X:217.51, Y:-130.87, Z:-10.46 [[-3.04737620e-01 -9.52436303e-01 2.66826218e-04 2.17505534e+02] [-9.52435912e-01 3.04737737e-01 8.63109533e-04 -1.30869666e+02] [-9.03368871e-04 8.88707273e-06 -9.99999592e-01 -1.04614417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.050385723 meters 0.01454318715302773 Centerline is valid? [True, True] Translation: X:217.45, Y:-130.97, Z:-10.46 [[-2.35636579e-01 -9.71841243e-01 2.16819063e-05 2.17453788e+02] [-9.71841239e-01 2.35636580e-01 9.60582566e-05 -1.30965541e+02] [-9.84624258e-05 1.56346825e-06 -9.99999995e-01 -1.04615143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.110385723 meters 0.014990793750760163 Centerline is valid? [True, True] Translation: X:217.41, Y:-131.07, Z:-10.46 [[-1.63089695e-01 -9.86611246e-01 3.77939037e-05 2.17407759e+02] [-9.86611213e-01 1.63089700e-01 2.54559327e-04 -1.31071737e+02] [-2.57314891e-04 4.22811394e-06 -9.99999967e-01 -1.04614313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.170385723 meters 0.014736103632999117 Centerline is valid? [True, True] Translation: X:217.37, Y:-131.18, Z:-10.46 [[-8.69637575e-02 -9.96211469e-01 1.20243360e-04 2.17366302e+02] [-9.96210076e-01 8.69638370e-02 1.66615228e-03 -1.31179683e+02] [-1.67029683e-03 2.51072158e-05 -9.99998605e-01 -1.04601906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.230385723 meters 0.015108209708254626 Centerline is valid? [True, True] Translation: X:217.34, Y:-131.29, Z:-10.46 [[-1.16175053e-02 -9.99932514e-01 -9.55915120e-06 2.17335855e+02] [-9.99929770e-01 1.16174510e-02 2.34292562e-03 -1.31290057e+02] [-2.34265645e-03 3.67774306e-05 -9.99997255e-01 -1.04604491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.290385723 meters 0.015562753893947193 Centerline is valid? [True, True] Translation: X:217.31, Y:-131.41, Z:-10.46 [[ 6.26588629e-02 -9.98034984e-01 -1.92482235e-04 2.17314088e+02] [-9.98032118e-01 -6.26591443e-02 2.39232415e-03 -1.31405826e+02] [-2.39968396e-03 4.22031425e-05 -9.99997120e-01 -1.04619477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.350385723 meters 0.01583447227464428 Centerline is valid? [True, True] Translation: X:217.30, Y:-131.53, Z:-10.46 [[ 1.37865725e-01 -9.90450918e-01 -1.44132880e-04 2.17299486e+02] [-9.90450497e-01 -1.37865799e-01 9.13095462e-04 -1.31525387e+02] [-9.24247234e-04 1.68719151e-05 -9.99999573e-01 -1.04632827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.410385723 meters 0.01528561126553602 Centerline is valid? [True, True] Translation: X:217.29, Y:-131.64, Z:-10.46 [[ 2.13820143e-01 -9.76872986e-01 -3.38707303e-04 2.17291212e+02] [-9.76871941e-01 -2.13820410e-01 1.42973019e-03 -1.31644886e+02] [-1.46908733e-03 2.51685475e-05 -9.99998921e-01 -1.04625943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4703857229999 meters 0.014891146630533984 Centerline is valid? [True, True] Translation: X:217.29, Y:-131.76, Z:-10.46 [[ 2.88597603e-01 -9.57449988e-01 -9.71507137e-04 2.17291456e+02] [-9.57445140e-01 -2.88599233e-01 3.04750787e-03 -1.31761360e+02] [-3.19821259e-03 5.06613198e-05 -9.99994884e-01 -1.04612976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.530385723 meters 0.01491342194820185 Centerline is valid? [True, True] Translation: X:217.30, Y:-131.88, Z:-10.46 [[ 3.62156213e-01 -9.32116863e-01 -1.01594151e-03 2.17304958e+02] [-9.32113484e-01 -3.62157636e-01 2.50989635e-03 -1.31880989e+02] [-2.70744769e-03 3.79982251e-05 -9.99996334e-01 -1.04616301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5903857229999 meters 0.014128814258840607 Centerline is valid? [True, True] Translation: X:217.32, Y:-132.00, Z:-10.46 [[ 4.34976836e-01 -9.00441271e-01 -8.17918178e-04 2.17322293e+02] [-9.00439763e-01 -4.34977604e-01 1.64826212e-03 -1.31995182e+02] [-1.83993933e-03 1.95302072e-05 -9.99998307e-01 -1.04627259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.650385723 meters 0.013884444921472235 Centerline is valid? [True, True] Translation: X:217.35, Y:-132.11, Z:-10.46 [[ 5.05538759e-01 -8.62803480e-01 -8.48059216e-04 2.17349049e+02] [-8.62802301e-01 -5.05539470e-01 1.42613682e-03 -1.32107291e+02] [-1.65920322e-03 1.07400049e-05 -9.99998623e-01 -1.04626555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.710385723 meters 0.013802028412461285 Centerline is valid? [True, True] Translation: X:217.39, Y:-132.21, Z:-10.46 [[ 5.69250111e-01 -8.22162569e-01 -1.73837852e-03 2.17386458e+02] [-8.22158841e-01 -5.69252765e-01 2.47586934e-03 -1.32213623e+02] [-3.02514388e-03 1.98343682e-05 -9.99995424e-01 -1.04617419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.770385723 meters 0.014005340897115418 Centerline is valid? [True, True] Translation: X:217.43, Y:-132.31, Z:-10.46 [[ 6.27979726e-01 -7.78224985e-01 -2.70860926e-03 2.17431355e+02] [-7.78218007e-01 -6.27985566e-01 3.29599432e-03 -1.32313935e+02] [-4.26599265e-03 3.80708865e-05 -9.99990900e-01 -1.04609010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.830385723 meters 0.014223186645616434 Centerline is valid? [True, True] Translation: X:217.48, Y:-132.41, Z:-10.46 [[ 6.84627057e-01 -7.28886625e-01 -3.17488505e-03 2.17477746e+02] [-7.28879077e-01 -6.84634418e-01 3.31746931e-03 -1.32405290e+02] [-4.59169458e-03 4.28780351e-05 -9.99989457e-01 -1.04608000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.890385723 meters 0.014168327111831774 Centerline is valid? [True, True] Translation: X:217.53, Y:-132.49, Z:-10.46 [[ 7.37907578e-01 -6.74893918e-01 -3.25656787e-03 2.17531450e+02] [-6.74887577e-01 -7.37914763e-01 2.92592417e-03 -1.32494661e+02] [-4.37775793e-03 3.87555809e-05 -9.99990417e-01 -1.04605545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.950385723 meters 0.014012184369396647 Centerline is valid? [True, True] Translation: X:217.56, Y:-132.52, Z:-10.46 [[ 7.88861590e-01 -6.14563114e-01 -3.09366755e-03 2.17556489e+02] [-6.14558544e-01 -7.88867656e-01 2.37014510e-03 -1.32524312e+02] [-3.89709802e-03 3.15233910e-05 -9.99992406e-01 -1.04610848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.010385723 meters 0.013973942473274915 Centerline is valid? [True, True] Translation: X:217.58, Y:-132.55, Z:-10.46 [[ 8.34411220e-01 -5.51128526e-01 -3.90683784e-03 2.17581907e+02] [-5.51122698e-01 -8.34420366e-01 2.53479203e-03 -1.32553697e+02] [-4.65694125e-03 3.80880956e-05 -9.99989156e-01 -1.04602192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.070385723 meters 0.01403982246279346 Centerline is valid? [True, True] Translation: X:217.61, Y:-132.58, Z:-10.46 [[ 8.74978325e-01 -4.84145800e-01 -3.97180731e-03 2.17610452e+02] [-4.84141001e-01 -8.74987339e-01 2.15581032e-03 -1.32579651e+02] [-4.51900762e-03 3.66274659e-05 -9.99989789e-01 -1.04599789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.130385723 meters 0.013806394625440473 Centerline is valid? [True, True] Translation: X:217.64, Y:-132.60, Z:-10.46 [[ 9.10698772e-01 -4.13041237e-01 -4.96825598e-03 2.17640094e+02] [-4.13035311e-01 -9.10712323e-01 2.21285258e-03 -1.32604710e+02] [-5.43865132e-03 3.68230214e-05 -9.99985210e-01 -1.04591690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.190385723 meters 0.013755149362370689 Centerline is valid? [True, True] Translation: X:217.67, Y:-132.62, Z:-10.46 [[ 9.40893779e-01 -3.38656462e-01 -5.54052024e-03 2.17671173e+02] [-3.38650764e-01 -9.40910091e-01 1.96467552e-03 -1.32624407e+02] [-5.87848147e-03 2.77504363e-05 -9.99982721e-01 -1.04586623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.250385723 meters 0.01383015320468155 Centerline is valid? [True, True] Translation: X:217.71, Y:-132.64, Z:-10.46 [[ 9.64684258e-01 -2.63328301e-01 -6.51824320e-03 2.17705807e+02] [-2.63322477e-01 -9.64706279e-01 1.75154774e-03 -1.32638853e+02] [-6.74942224e-03 2.67094107e-05 -9.99977222e-01 -1.04579018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.310385723 meters 0.013967551370918482 Centerline is valid? [True, True] Translation: X:217.74, Y:-132.65, Z:-10.46 [[ 9.82041380e-01 -1.88512948e-01 -7.58917645e-03 2.17739891e+02] [-1.88507648e-01 -9.82070703e-01 1.41429714e-03 -1.32647775e+02] [-7.71972118e-03 4.17194881e-05 -9.99970202e-01 -1.04575315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.370385723 meters 0.013967430850949146 Centerline is valid? [True, True] Translation: X:217.77, Y:-132.66, Z:-10.46 [[ 9.93595236e-01 -1.12750805e-01 -7.46750856e-03 2.17771112e+02] [-1.12748024e-01 -9.93623295e-01 7.93793247e-04 -1.32659344e+02] [-7.50939129e-03 5.32376427e-05 -9.99971803e-01 -1.04581335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.430385723 meters 0.014113097471230397 Centerline is valid? [True, True] Translation: X:217.80, Y:-132.67, Z:-10.46 [[ 9.99358437e-01 -3.52592026e-02 -6.28508783e-03 2.17803112e+02] [-3.52588103e-02 -9.99378200e-01 1.73241174e-04 -1.32667548e+02] [-6.28728811e-03 4.84746915e-05 -9.99980234e-01 -1.04599302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.490385723 meters 0.014202150234065453 Centerline is valid? [True, True] Translation: X:217.83, Y:-132.68, Z:-10.46 [[ 9.99032847e-01 4.34480733e-02 -6.75538617e-03 2.17834774e+02] [ 4.34467434e-02 -9.99055685e-01 -3.43553643e-04 -1.32677380e+02] [-6.76393370e-03 4.97218442e-05 -9.99977123e-01 -1.04588343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.550385723 meters 0.014268829304163145 Centerline is valid? [True, True] Translation: X:217.87, Y:-132.68, Z:-10.46 [[ 9.92454708e-01 1.22331520e-01 -8.28569284e-03 2.17866579e+02] [ 1.22326795e-01 -9.92489293e-01 -1.07658337e-03 -1.32681950e+02] [-8.35516151e-03 5.48979769e-05 -9.99965094e-01 -1.04571872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.610385723 meters 0.014379775860735912 Centerline is valid? [True, True] Translation: X:217.90, Y:-132.68, Z:-10.46 [[ 9.79957491e-01 1.99033774e-01 -8.29893216e-03 2.17898072e+02] [ 1.99026111e-01 -9.79992629e-01 -1.74758150e-03 -1.32680025e+02] [-8.48072009e-03 6.08513927e-05 -9.99964036e-01 -1.04573449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.670385723 meters 0.014717667816017221 Centerline is valid? [True, True] Translation: X:217.93, Y:-132.68, Z:-10.45 [[ 9.60914004e-01 2.76710314e-01 -8.69940380e-03 2.17928075e+02] [ 2.76698500e-01 -9.60953381e-01 -2.55743177e-03 -1.32676243e+02] [-9.06738924e-03 5.03600140e-05 -9.99958889e-01 -1.04539350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.730385723 meters 0.01495295040237573 Centerline is valid? [True, True] Translation: X:217.96, Y:-132.68, Z:-10.46 [[ 9.35474204e-01 3.53323472e-01 -7.10892452e-03 2.17959890e+02] [ 3.53313076e-01 -9.35501215e-01 -2.71059794e-03 -1.32676095e+02] [-7.60812540e-03 2.40184657e-05 -9.99971058e-01 -1.04567747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.790385723 meters 0.014141483622314478 Centerline is valid? [True, True] Translation: X:217.99, Y:-132.67, Z:-10.46 [[ 9.03930554e-01 4.27609949e-01 -7.69965004e-03 2.17989618e+02] [ 4.27594369e-01 -9.03963346e-01 -3.65020472e-03 -1.32671756e+02] [-8.52106527e-03 7.20457583e-06 -9.99963695e-01 -1.04561885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.850385723 meters 0.014065409903046514 Centerline is valid? [True, True] Translation: X:218.02, Y:-132.66, Z:-10.46 [[ 8.67040976e-01 4.98182927e-01 -7.32928443e-03 2.18019316e+02] [ 4.98165167e-01 -8.67071953e-01 -4.20647998e-03 -1.32663558e+02] [-8.45061347e-03 -4.00369992e-06 -9.99964293e-01 -1.04566728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.910385723 meters 0.014022999208920556 Centerline is valid? [True, True] Translation: X:218.05, Y:-132.65, Z:-10.46 [[ 8.25220938e-01 5.64774493e-01 -6.33842940e-03 2.18046776e+02] [ 5.64757888e-01 -8.25245280e-01 -4.33088634e-03 -1.32652180e+02] [-7.67673308e-03 -5.73991153e-06 -9.99970533e-01 -1.04592923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9703857229999 meters 0.01406970292381274 Centerline is valid? [True, True] Translation: X:218.07, Y:-132.64, Z:-10.46 [[ 7.79111770e-01 6.26859736e-01 -5.63212849e-03 2.18072678e+02] [ 6.26843342e-01 -7.79132127e-01 -4.53354100e-03 -1.32638078e+02] [-7.23006656e-03 1.67291180e-06 -9.99973863e-01 -1.04587506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.030385723 meters 0.014054256211560394 Centerline is valid? [True, True] Translation: X:218.10, Y:-132.62, Z:-10.46 [[ 7.28190277e-01 6.85341178e-01 -6.81101284e-03 2.18097519e+02] [ 6.85311073e-01 -7.28222130e-01 -6.42369542e-03 -1.32622806e+02] [-9.36235326e-03 1.00100337e-05 -9.99956172e-01 -1.04566900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0903857229999 meters 0.014176740117274838 Centerline is valid? [True, True] Translation: X:218.12, Y:-132.61, Z:-10.46 [[ 6.73090938e-01 7.39533170e-01 -6.26736308e-03 2.18117869e+02] [ 7.39500838e-01 -6.73120116e-01 -6.91520851e-03 -1.32606141e+02] [-9.33271423e-03 1.98439265e-05 -9.99956449e-01 -1.04566100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.150385723 meters 0.014239385532805673 Centerline is valid? [True, True] Translation: X:218.14, Y:-132.59, Z:-10.46 [[ 6.14345537e-01 7.89012786e-01 -6.19549353e-03 2.18137827e+02] [ 7.88972058e-01 -6.14376775e-01 -8.01687333e-03 -1.32588221e+02] [-1.01317829e-02 3.70590717e-05 -9.99948672e-01 -1.04568622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.210385723 meters 0.014267978891704121 Centerline is valid? [True, True] Translation: X:218.16, Y:-132.57, Z:-10.46 [[ 5.51088348e-01 8.34425026e-01 -6.04222328e-03 2.18155957e+02] [ 8.34373969e-01 -5.51121469e-01 -9.23072420e-03 -1.32568573e+02] [-1.10323462e-02 4.54707292e-05 -9.99939141e-01 -1.04571682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.270385723 meters 0.014335328056950385 Centerline is valid? [True, True] Translation: X:218.17, Y:-132.55, Z:-10.46 [[ 4.83282334e-01 8.75449252e-01 -5.17622289e-03 2.18172140e+02] [ 8.75398272e-01 -4.83310053e-01 -9.44764760e-03 -1.32550079e+02] [-1.07726566e-02 3.46246110e-05 -9.99941973e-01 -1.04564265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.330385723 meters 0.014325934669074822 Centerline is valid? [True, True] Translation: X:218.18, Y:-132.53, Z:-10.46 [[ 4.13100752e-01 9.10676445e-01 -4.02249277e-03 2.18184979e+02] [ 9.10632561e-01 -4.13120335e-01 -8.94025553e-03 -1.32529043e+02] [-9.80345369e-03 3.02133962e-05 -9.99951945e-01 -1.04583815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.390385723 meters 0.01433702307027913 Centerline is valid? [True, True] Translation: X:218.20, Y:-132.51, Z:-10.46 [[ 3.40884869e-01 9.40100846e-01 -2.81162548e-03 2.18197822e+02] [ 9.40068166e-01 -3.40896462e-01 -7.83865831e-03 -1.32507702e+02] [-8.32760249e-03 2.89603961e-05 -9.99965325e-01 -1.04604284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.450385723 meters 0.014385089213161659 Centerline is valid? [True, True] Translation: X:218.21, Y:-132.49, Z:-10.46 [[ 2.65316752e-01 9.64158710e-01 -2.23663862e-03 2.18208673e+02] [ 9.64123771e-01 -2.65326179e-01 -8.20813099e-03 -1.32486321e+02] [-8.50737977e-03 2.13581976e-05 -9.99963811e-01 -1.04613353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.510385723 meters 0.014367002915564558 Centerline is valid? [True, True] Translation: X:218.22, Y:-132.46, Z:-10.46 [[ 1.86997677e-01 9.82358868e-01 -1.70979441e-03 2.18222308e+02] [ 9.82317578e-01 -1.87005493e-01 -9.00677643e-03 -1.32464318e+02] [-9.16762764e-03 4.68516992e-06 -9.99957976e-01 -1.04612852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.570385723 meters 0.01436860095225698 Centerline is valid? [True, True] Translation: X:218.23, Y:-132.44, Z:-10.46 [[ 1.10040752e-01 9.93926469e-01 -1.09907608e-03 2.18234764e+02] [ 9.93875913e-01 -1.10046240e-01 -1.00246716e-02 -1.32441319e+02] [-1.00847356e-02 1.07771591e-05 -9.99949148e-01 -1.04600928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.630385723 meters 0.014460225620818553 Centerline is valid? [True, True] Translation: X:218.24, Y:-132.42, Z:-10.46 [[ 3.52083332e-02 9.99379940e-01 -3.29250124e-04 2.18244542e+02] [ 9.99322837e-01 -3.52098411e-02 -1.06833412e-02 -1.32417981e+02] [-1.06883098e-02 4.71154690e-05 -9.99942877e-01 -1.04615659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.690385723 meters 0.01472493116610744 Centerline is valid? [True, True] Translation: X:218.25, Y:-132.39, Z:-10.46 [[-3.92653811e-02 9.99228666e-01 5.50115214e-04 2.18254720e+02] [ 9.99161967e-01 3.92691164e-02 -1.15455608e-02 -1.32393599e+02] [-1.15582579e-02 9.63133541e-05 -9.99933196e-01 -1.04620203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.750385723 meters 0.015507340104393976 Centerline is valid? [True, True] Translation: X:218.26, Y:-132.37, Z:-10.46 [[-1.12008263e-01 9.93706006e-01 1.58852844e-03 2.18261469e+02] [ 9.93626881e-01 1.12019392e-01 -1.25409913e-02 -1.32368492e+02] [-1.26400044e-02 1.73709912e-04 -9.99920097e-01 -1.04612204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.810385723 meters 0.01617872061050386 Centerline is valid? [True, True] Translation: X:218.27, Y:-132.34, Z:-10.46 [[-1.85716519e-01 9.82599981e-01 2.57900530e-03 2.18266555e+02] [ 9.82521241e-01 1.85734290e-01 -1.24411994e-02 -1.32343154e+02] [-1.27037320e-02 2.23391260e-04 -9.99919279e-01 -1.04624814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.870385723 meters 0.016154553180829305 Centerline is valid? [True, True] Translation: X:218.27, Y:-132.32, Z:-10.46 [[-2.61737284e-01 9.65133487e-01 3.30845350e-03 2.18272173e+02] [ 9.65066368e-01 2.61758106e-01 -1.13841405e-02 -1.32317272e+02] [-1.18532298e-02 2.13223184e-04 -9.99929725e-01 -1.04635440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.930385723 meters 0.016185294947805774 Centerline is valid? [True, True] Translation: X:218.27, Y:-132.29, Z:-10.46 [[-3.37582104e-01 9.41287309e-01 4.06518447e-03 2.18274888e+02] [ 9.41225845e-01 3.37606523e-01 -1.07584182e-02 -1.32291593e+02] [-1.14991953e-02 1.94407232e-04 -9.99933863e-01 -1.04643771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.990385723 meters 0.016316997782984403 Centerline is valid? [True, True] Translation: X:218.28, Y:-132.27, Z:-10.46 [[-4.10031052e-01 9.12058379e-01 4.90405312e-03 2.18275364e+02] [ 9.11998818e-01 4.10060330e-01 -1.04250310e-02 -1.32265257e+02] [-1.15191945e-02 1.97904235e-04 -9.99933632e-01 -1.04645429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.050385723 meters 0.015861460028223633 Centerline is valid? [True, True] Translation: X:218.28, Y:-132.24, Z:-10.47 [[-4.79521039e-01 8.77514579e-01 5.26652923e-03 2.18275082e+02] [ 8.77465971e-01 4.79549921e-01 -9.23811324e-03 -1.32237774e+02] [-1.06321427e-02 1.91330519e-04 -9.99943459e-01 -1.04673177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.110385723 meters 0.015729067481332067 Centerline is valid? [True, True] Translation: X:218.27, Y:-132.21, Z:-10.47 [[-5.47712259e-01 8.36643114e-01 6.29141742e-03 2.18273135e+02] [ 8.36591832e-01 5.47748359e-01 -9.26505857e-03 -1.32209563e+02] [-1.11976610e-02 1.88762266e-04 -9.99937286e-01 -1.04667201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.170385723 meters 0.015321414570514424 Centerline is valid? [True, True] Translation: X:218.27, Y:-132.18, Z:-10.46 [[-6.14191729e-01 7.89121588e-01 7.45912587e-03 2.18271202e+02] [ 7.89066569e-01 6.14237000e-01 -9.31971040e-03 -1.32179835e+02] [-1.19360558e-02 1.61657814e-04 -9.99928750e-01 -1.04647256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.230385723 meters 0.014898094158434304 Centerline is valid? [True, True] Translation: X:218.26, Y:-132.15, Z:-10.47 [[-6.76368304e-01 7.36522110e-01 7.81658783e-03 2.18264703e+02] [ 7.36474964e-01 6.76413459e-01 -8.33431515e-03 -1.32151903e+02] [-1.14256526e-02 1.19654636e-04 -9.99934718e-01 -1.04659403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.290385723 meters 0.014548111494418928 Centerline is valid? [True, True] Translation: X:218.25, Y:-132.12, Z:-10.47 [[-7.32643004e-01 6.80570208e-01 7.64335284e-03 2.18254727e+02] [ 6.80534567e-01 7.32682866e-01 -6.96564173e-03 -1.32124379e+02] [-1.03407619e-02 9.82371348e-05 -9.99946528e-01 -1.04691429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.350385723 meters 0.014845739322268523 Centerline is valid? [True, True] Translation: X:218.77, Y:-131.57, Z:-11.45 [[-6.98652468e-01 -7.15431943e-01 6.47022617e-03 2.18768862e+02] [ 7.15399338e-01 -6.98682413e-01 -6.83168025e-03 -1.31571164e+02] [ 9.40823551e-03 -1.44174750e-04 9.99955731e-01 -1.14515356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.410385723 meters 0.014594788654151512 Centerline is valid? [True, True] Translation: X:218.73, Y:-131.53, Z:-11.45 [[-6.99220960e-01 -7.14884599e-01 5.48260068e-03 2.18728178e+02] [ 7.14861764e-01 -6.99242450e-01 -5.71437959e-03 -1.31530550e+02] [ 7.91878909e-03 -7.63123853e-05 9.99968643e-01 -1.14490652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4703857229999 meters 0.01479530366150991 Centerline is valid? [True, True] Translation: X:218.69, Y:-131.49, Z:-11.45 [[-6.99546987e-01 -7.14561596e-01 5.97816837e-03 2.18688497e+02] [ 7.14534469e-01 -6.99572525e-01 -6.22688214e-03 -1.31491094e+02] [ 8.63165318e-03 -8.43892777e-05 9.99962743e-01 -1.14491773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.530385723 meters 0.014828205928891914 Centerline is valid? [True, True] Translation: X:218.65, Y:-131.45, Z:-11.45 [[-7.00732171e-01 -7.13410157e-01 4.51355695e-03 2.18645397e+02] [ 7.13394689e-01 -7.00746704e-01 -4.69841433e-03 -1.31452650e+02] [ 6.51475666e-03 -7.23825166e-05 9.99978776e-01 -1.14486518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5903857229999 meters 0.015082614428661443 Centerline is valid? [True, True] Translation: X:218.60, Y:-131.41, Z:-11.45 [[-7.02328566e-01 -7.11839414e-01 4.38558098e-03 2.18604858e+02] [ 7.11824796e-01 -7.02342254e-01 -4.56268434e-03 -1.31410528e+02] [ 6.32807738e-03 -8.27382646e-05 9.99979974e-01 -1.14487385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.650385723 meters 0.01594098540131493 Centerline is valid? [True, True] Translation: X:218.56, Y:-131.37, Z:-11.45 [[-7.04843348e-01 -7.09333064e-01 6.51599564e-03 2.18564310e+02] [ 7.09300721e-01 -7.04873450e-01 -6.77544987e-03 -1.31368689e+02] [ 9.39900295e-03 -1.53830366e-04 9.99955817e-01 -1.14505455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.710385723 meters 0.016335836986468365 Centerline is valid? [True, True] Translation: X:218.52, Y:-131.33, Z:-11.45 [[-7.05293729e-01 -7.08880545e-01 7.00925215e-03 2.18521866e+02] [ 7.08843144e-01 -7.05328537e-01 -7.28372387e-03 -1.31332024e+02] [ 1.01071157e-02 -1.68704439e-04 9.99948908e-01 -1.14530673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.770385723 meters 0.01658526491330888 Centerline is valid? [True, True] Translation: X:218.48, Y:-131.29, Z:-11.45 [[-7.05759248e-01 -7.08420321e-01 6.67335711e-03 2.18480845e+02] [ 7.08386438e-01 -7.05790778e-01 -6.93056500e-03 -1.31292582e+02] [ 9.61974699e-03 -1.63994672e-04 9.99953716e-01 -1.14527178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.830385723 meters 0.01577190833517892 Centerline is valid? [True, True] Translation: X:218.44, Y:-131.26, Z:-11.45 [[-7.06180538e-01 -7.08002486e-01 6.44422458e-03 2.18435670e+02] [ 7.07970907e-01 -7.06209922e-01 -6.68886833e-03 -1.31255784e+02] [ 9.28671074e-03 -1.61225121e-04 9.99956865e-01 -1.14515461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.890385723 meters 0.015626638217989697 Centerline is valid? [True, True] Translation: X:218.39, Y:-131.22, Z:-11.45 [[-7.05251343e-01 -7.08933515e-01 5.81501678e-03 2.18392519e+02] [ 7.08907861e-01 -7.05275304e-01 -6.03243749e-03 -1.31218699e+02] [ 8.37778484e-03 -1.32073536e-04 9.99964897e-01 -1.14509669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.950385723 meters 0.01513346546083678 Centerline is valid? [True, True] Translation: X:218.35, Y:-131.18, Z:-11.45 [[-7.04645374e-01 -7.09536566e-01 5.72352905e-03 2.18347821e+02] [ 7.09511761e-01 -7.04668608e-01 -5.93419110e-03 -1.31180654e+02] [ 8.24371683e-03 -1.20589134e-04 9.99966013e-01 -1.14495204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.010385723 meters 0.015147559836871972 Centerline is valid? [True, True] Translation: X:218.30, Y:-131.14, Z:-11.45 [[-7.05143222e-01 -7.09045219e-01 5.28341825e-03 2.18302991e+02] [ 7.09024092e-01 -7.05163006e-01 -5.47476786e-03 -1.31142519e+02] [ 7.60752907e-03 -1.14424622e-04 9.99971056e-01 -1.14487086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.070385723 meters 0.016171853782422935 Centerline is valid? [True, True] Translation: X:218.26, Y:-131.10, Z:-11.45 [[-7.06845633e-01 -7.07347441e-01 5.37105973e-03 2.18261474e+02] [ 7.07325583e-01 -7.06866027e-01 -5.56227685e-03 -1.31102870e+02] [ 7.73108195e-03 -1.32583145e-04 9.99970106e-01 -1.14492971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.130385723 meters 0.01614224469362813 Centerline is valid? [True, True] Translation: X:218.22, Y:-131.06, Z:-11.45 [[-7.08059923e-01 -7.06142248e-01 3.77784082e-03 2.18219253e+02] [ 7.06131430e-01 -7.08069994e-01 -3.90992962e-03 -1.31064246e+02] [ 5.43594221e-03 -1.00812328e-04 9.99985220e-01 -1.14472188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.190385723 meters 0.015709493279003887 Centerline is valid? [True, True] Translation: X:218.17, Y:-131.03, Z:-11.45 [[-7.07100956e-01 -7.07105816e-01 3.09892325e-03 2.18173811e+02] [ 7.07098554e-01 -7.07107743e-01 -3.20549883e-03 -1.31027955e+02] [ 4.45789949e-03 -7.53671424e-05 9.99990061e-01 -1.14470479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.250385723 meters 0.015421071024456045 Centerline is valid? [True, True] Translation: X:218.13, Y:-130.99, Z:-11.45 [[-7.05548336e-01 -7.08653985e-01 3.32792866e-03 2.18128373e+02] [ 7.08645637e-01 -7.05556181e-01 -3.44049077e-03 -1.30991069e+02] [ 4.78615812e-03 -6.91104129e-05 9.99988544e-01 -1.14489289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.310385723 meters 0.015506226677501076 Centerline is valid? [True, True] Translation: X:218.09, Y:-130.95, Z:-11.45 [[-7.06273783e-01 -7.07932422e-01 3.00470042e-03 2.18086290e+02] [ 7.07925618e-01 -7.06280172e-01 -3.10461466e-03 -1.30951636e+02] [ 4.32001771e-03 -6.56035401e-05 9.99990667e-01 -1.14477800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.370385723 meters 0.015491449616690186 Centerline is valid? [True, True] Translation: X:218.04, Y:-130.91, Z:-11.45 [[-7.06929865e-01 -7.07279813e-01 2.33051316e-03 2.18041550e+02] [ 7.07275721e-01 -7.06933705e-01 -2.40666278e-03 -1.30913820e+02] [ 3.34970230e-03 -5.30264182e-05 9.99994388e-01 -1.14473759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.430385723 meters 0.015609417127925206 Centerline is valid? [True, True] Translation: X:218.00, Y:-130.88, Z:-11.45 [[-7.07050449e-01 -7.07161849e-01 1.33481756e-03 2.17996665e+02] [ 7.07160508e-01 -7.07051709e-01 -1.37766845e-03 -1.30876477e+02] [ 1.91801960e-03 -3.01508325e-05 9.99998160e-01 -1.14471555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.490385723 meters 0.015676923427786062 Centerline is valid? [True, True] Translation: X:217.95, Y:-130.84, Z:-11.45 [[-7.07607818e-01 -7.06605142e-01 5.90766085e-04 2.17954734e+02] [ 7.06604879e-01 -7.07608065e-01 -6.09394418e-04 -1.30836611e+02] [ 8.48632075e-04 -1.37740562e-05 9.99999640e-01 -1.14472071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.550385723 meters 0.015630632712397473 Centerline is valid? [True, True] Translation: X:217.91, Y:-130.80, Z:-11.45 [[-7.07419669e-01 -7.06792062e-01 1.54680895e-03 2.17909036e+02] [ 7.06790264e-01 -7.07421360e-01 -1.59469277e-03 -1.30799575e+02] [ 2.22136188e-03 -3.48475280e-05 9.99997532e-01 -1.14502018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.610385723 meters 0.015883188684755065 Centerline is valid? [True, True] Translation: X:217.87, Y:-130.76, Z:-11.45 [[-7.07187508e-01 -7.07020864e-01 2.70687808e-03 2.17869137e+02] [ 7.07015364e-01 -7.07192686e-01 -2.78933293e-03 -1.30760022e+02] [ 3.88640096e-03 -5.87770138e-05 9.99992446e-01 -1.14517452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.670385723 meters 0.015782862844559577 Centerline is valid? [True, True] Translation: X:217.83, Y:-130.72, Z:-11.45 [[-7.07623837e-01 -7.06586351e-01 2.05749029e-03 2.17827602e+02] [ 7.06583175e-01 -7.07626827e-01 -2.11899998e-03 -1.30719478e+02] [ 2.95319179e-03 -4.56668759e-05 9.99995638e-01 -1.14516020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.730385723 meters 0.015752730560322812 Centerline is valid? [True, True] Translation: X:217.79, Y:-130.68, Z:-11.45 [[-7.07853438e-01 -7.06358159e-01 1.28884958e-03 2.17786321e+02] [ 7.06356914e-01 -7.07854611e-01 -1.32664567e-03 -1.30678647e+02] [ 1.84940511e-03 -2.86828869e-05 9.99998289e-01 -1.14511343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.790385723 meters 0.015623656078289378 Centerline is valid? [True, True] Translation: X:217.75, Y:-130.64, Z:-11.45 [[-7.07603102e-01 -7.06608498e-01 1.51006828e-03 2.17745410e+02] [ 7.06606791e-01 -7.07604713e-01 -1.55348858e-03 -1.30636857e+02] [ 2.16623966e-03 -3.22288355e-05 9.99997653e-01 -1.14511337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.850385723 meters 0.015555848137132974 Centerline is valid? [True, True] Translation: X:217.71, Y:-130.60, Z:-11.45 [[-7.07964387e-01 -7.06247693e-01 7.88805294e-04 2.17705026e+02] [ 7.06247228e-01 -7.07964827e-01 -8.11036461e-04 -1.30595209e+02] [ 1.13123903e-03 -1.70933792e-05 9.99999360e-01 -1.14510412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.910385723 meters 0.015666803425337474 Centerline is valid? [True, True] Translation: X:217.67, Y:-130.55, Z:-11.45 [[-7.08821633e-01 -7.05387032e-01 1.01367461e-03 2.17665892e+02] [ 7.05386264e-01 -7.08822357e-01 -1.04166368e-03 -1.30552373e+02] [ 1.45329128e-03 -2.33216001e-05 9.99998944e-01 -1.14508482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9703857229999 meters 0.015454760299271897 Centerline is valid? [True, True] Translation: X:217.63, Y:-130.51, Z:-11.45 [[-7.08885076e-01 -7.05323862e-01 4.46784265e-04 2.17626601e+02] [ 7.05323712e-01 -7.08885217e-01 -4.58862807e-04 -1.30509787e+02] [ 6.40365647e-04 -1.01534589e-05 9.99999795e-01 -1.14507040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.030385723 meters 0.015528177731274257 Centerline is valid? [True, True] Translation: X:217.59, Y:-130.47, Z:-11.45 [[-7.07705850e-01 -7.06504229e-01 2.05057325e-03 2.17587747e+02] [ 7.06501095e-01 -7.07708820e-01 -2.10480007e-03 -1.30467391e+02] [ 2.93825893e-03 -4.08470803e-05 9.99995682e-01 -1.14523832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0903857229999 meters 0.015430056744730372 Centerline is valid? [True, True] Translation: X:217.55, Y:-130.42, Z:-11.45 [[-7.07775511e-01 -7.06430242e-01 3.18416155e-03 2.17549381e+02] [ 7.06422693e-01 -7.07782671e-01 -3.26635780e-03 -1.30424896e+02] [ 4.56114830e-03 -6.24840890e-05 9.99989596e-01 -1.14541099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.150385723 meters 0.01516719179265182 Centerline is valid? [True, True] Translation: X:217.51, Y:-130.38, Z:-11.45 [[-7.08225355e-01 -7.05982482e-01 2.36255495e-03 2.17510711e+02] [ 7.05978329e-01 -7.08229294e-01 -2.42219860e-03 -1.30381084e+02] [ 3.38326041e-03 -4.75498665e-05 9.99994276e-01 -1.14536943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.210385723 meters 0.015385881861459338 Centerline is valid? [True, True] Translation: X:217.47, Y:-130.34, Z:-11.45 [[-7.08763909e-01 -7.05439399e-01 2.99600562e-03 2.17474966e+02] [ 7.05432723e-01 -7.08770238e-01 -3.06975367e-03 -1.30336029e+02] [ 4.28900480e-03 -6.22502076e-05 9.99990800e-01 -1.14538702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.270385723 meters 0.015121540792108807 Centerline is valid? [True, True] Translation: X:217.44, Y:-130.29, Z:-11.45 [[-7.09109861e-01 -7.05093359e-01 2.56123930e-03 2.17435936e+02] [ 7.05088483e-01 -7.09114485e-01 -2.62280837e-03 -1.30293393e+02] [ 3.66553665e-03 -5.39589483e-05 9.99993280e-01 -1.14543264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.330385723 meters 0.01503832031862254 Centerline is valid? [True, True] Translation: X:217.40, Y:-130.25, Z:-11.45 [[-7.09825715e-01 -7.04373855e-01 2.21979288e-03 2.17399572e+02] [ 7.04370192e-01 -7.09829184e-01 -2.27186888e-03 -1.30247330e+02] [ 3.17591881e-03 -4.90750128e-05 9.99994956e-01 -1.14528979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.390385723 meters 0.015238299874154555 Centerline is valid? [True, True] Translation: X:217.36, Y:-130.20, Z:-11.45 [[-7.10063187e-01 -7.04135010e-01 2.03949238e-03 2.17363020e+02] [ 7.04131921e-01 -7.10066114e-01 -2.08616756e-03 -1.30201607e+02] [ 2.91711804e-03 -4.52391010e-05 9.99995744e-01 -1.14521203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.450385723 meters 0.01543869420799488 Centerline is valid? [True, True] Translation: X:217.33, Y:-130.16, Z:-11.45 [[-7.10816225e-01 -7.03373347e-01 2.49586582e-03 2.17325735e+02] [ 7.03368721e-01 -7.10820604e-01 -2.55156381e-03 -1.30157283e+02] [ 3.56881483e-03 -5.81790050e-05 9.99993630e-01 -1.14537303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.510385723 meters 0.015492974746114782 Centerline is valid? [True, True] Translation: X:217.29, Y:-130.11, Z:-11.45 [[-7.12198607e-01 -7.01970737e-01 3.19814378e-03 2.17290867e+02] [ 7.01963136e-01 -7.12205783e-01 -3.26783886e-03 -1.30110388e+02] [ 4.57166375e-03 -8.23712466e-05 9.99989547e-01 -1.14537547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.570385723 meters 0.01576290163884038 Centerline is valid? [True, True] Translation: X:217.25, Y:-130.07, Z:-11.45 [[-7.12963472e-01 -7.01197134e-01 2.38068779e-03 2.17252757e+02] [ 7.01192922e-01 -7.12967444e-01 -2.43120456e-03 -1.30066173e+02] [ 3.40210656e-03 -6.40386180e-05 9.99994211e-01 -1.14533307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.630385723 meters 0.01564078494872622 Centerline is valid? [True, True] Translation: X:217.21, Y:-130.02, Z:-11.45 [[-7.11967884e-01 -7.02209191e-01 1.99616101e-03 2.17212845e+02] [ 7.02206237e-01 -7.11970680e-01 -2.03738415e-03 -1.30024029e+02] [ 2.85187799e-03 -4.88353662e-05 9.99995932e-01 -1.14537036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.690385723 meters 0.015558682177025034 Centerline is valid? [True, True] Translation: X:217.17, Y:-129.98, Z:-11.45 [[-7.10600004e-01 -7.03591470e-01 2.58399539e-03 2.17174413e+02] [ 7.03586535e-01 -7.10604700e-01 -2.63590789e-03 -1.29979785e+02] [ 3.69080157e-03 -5.50117957e-05 9.99993187e-01 -1.14544165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.750385723 meters 0.015757207554324013 Centerline is valid? [True, True] Translation: X:217.14, Y:-129.94, Z:-11.45 [[-7.11144428e-01 -7.03041014e-01 2.63345904e-03 2.17136274e+02] [ 7.03035890e-01 -7.11149302e-01 -2.68472529e-03 -1.29936506e+02] [ 3.76025455e-03 -5.78112139e-05 9.99992929e-01 -1.14547178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.810385723 meters 0.01567567468670774 Centerline is valid? [True, True] Translation: X:217.10, Y:-129.90, Z:-11.46 [[-7.10590651e-01 -7.03600165e-01 2.78127886e-03 2.17095942e+02] [ 7.03594461e-01 -7.10596091e-01 -2.83370561e-03 -1.29895476e+02] [ 3.97016162e-03 -5.67123156e-05 9.99992117e-01 -1.14553898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.870385723 meters 0.015104907215677643 Centerline is valid? [True, True] Translation: X:217.06, Y:-129.85, Z:-11.45 [[-7.09685351e-01 -7.04513054e-01 2.83903886e-03 2.17058258e+02] [ 7.04507124e-01 -7.09691028e-01 -2.89095617e-03 -1.29850546e+02] [ 4.05155676e-03 -5.15461408e-05 9.99991791e-01 -1.14540478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.930385723 meters 0.015362326215636875 Centerline is valid? [True, True] Translation: X:217.02, Y:-129.81, Z:-11.45 [[-7.10372287e-01 -7.03822950e-01 2.11399412e-03 2.17018649e+02] [ 7.03819664e-01 -7.10375431e-01 -2.15132652e-03 -1.29808939e+02] [ 3.01588246e-03 -4.03721090e-05 9.99995451e-01 -1.14540428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.990385723 meters 0.015313498330235403 Centerline is valid? [True, True] Translation: X:216.98, Y:-129.76, Z:-11.45 [[-7.12032936e-01 -7.02140599e-01 2.77084032e-03 2.16981056e+02] [ 7.02134946e-01 -7.12038325e-01 -2.81826768e-03 -1.29764007e+02] [ 3.95176466e-03 -6.11955926e-05 9.99992190e-01 -1.14539135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.050385723 meters 0.016174816921120213 Centerline is valid? [True, True] Translation: X:216.95, Y:-129.72, Z:-11.45 [[-7.13614556e-01 -7.00533994e-01 2.52761112e-03 2.16946006e+02] [ 7.00529283e-01 -7.13619030e-01 -2.56984136e-03 -1.29719057e+02] [ 3.60401262e-03 -6.32105967e-05 9.99993504e-01 -1.14532103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.110385723 meters 0.015897865184012414 Centerline is valid? [True, True] Translation: X:216.91, Y:-129.68, Z:-11.45 [[-7.14014653e-01 -7.00123576e-01 3.17084131e-03 2.16906543e+02] [ 7.00116167e-01 -7.14021689e-01 -3.22202484e-03 -1.29676842e+02] [ 4.51986501e-03 -8.06156846e-05 9.99989782e-01 -1.14535734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.170385723 meters 0.015874183198937405 Centerline is valid? [True, True] Translation: X:216.87, Y:-129.63, Z:-11.45 [[-7.13985391e-01 -7.00153633e-01 3.12266198e-03 2.16868044e+02] [ 7.00146456e-01 -7.13992215e-01 -3.17110753e-03 -1.29634517e+02] [ 4.44981881e-03 -7.78037286e-05 9.99990097e-01 -1.14544323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.230385723 meters 0.01607104755096826 Centerline is valid? [True, True] Translation: X:216.83, Y:-129.59, Z:-11.45 [[-7.14400616e-01 -6.99727812e-01 3.57052377e-03 2.16830073e+02] [ 6.99718435e-01 -7.14409533e-01 -3.62369478e-03 -1.29591929e+02] [ 5.08641624e-03 -9.04084743e-05 9.99987060e-01 -1.14547481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.290385723 meters 0.016272707209394322 Centerline is valid? [True, True] Translation: X:216.79, Y:-129.55, Z:-11.46 [[-7.14766303e-01 -6.99350052e-01 4.31710302e-03 2.16791623e+02] [ 6.99336353e-01 -7.14779332e-01 -4.37860036e-03 -1.29550245e+02] [ 6.14795040e-03 -1.10568911e-04 9.99981095e-01 -1.14556857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.350385723 meters 0.01566487749781265 Centerline is valid? [True, True] Translation: X:216.75, Y:-129.51, Z:-11.45 [[-7.14717960e-01 -6.99400191e-01 4.19656353e-03 2.16751521e+02] [ 6.99387261e-01 -7.14730272e-01 -4.25397933e-03 -1.29508673e+02] [ 5.97464495e-03 -1.05372347e-04 9.99982146e-01 -1.14547086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.410385723 meters 0.016091369226352965 Centerline is valid? [True, True] Translation: X:216.71, Y:-129.47, Z:-11.45 [[-7.15485446e-01 -6.98617233e-01 3.81298354e-03 2.16713451e+02] [ 6.98606561e-01 -7.15495599e-01 -3.86277306e-03 -1.29466171e+02] [ 5.42677277e-03 -9.99825855e-05 9.99985270e-01 -1.14542130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4703857229999 meters 0.017466983406838856 Centerline is valid? [True, True] Translation: X:216.67, Y:-129.42, Z:-11.46 [[-7.17341719e-01 -6.96708387e-01 4.27565217e-03 2.16674393e+02] [ 6.96694949e-01 -7.17354450e-01 -4.32913626e-03 -1.29423010e+02] [ 6.08330365e-03 -1.26644781e-04 9.99981489e-01 -1.14561928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.530385723 meters 0.017695990899796805 Centerline is valid? [True, True] Translation: X:216.64, Y:-129.38, Z:-11.45 [[-7.19140214e-01 -6.94851341e-01 4.35493884e-03 2.16637838e+02] [ 6.94837376e-01 -7.19153386e-01 -4.40769030e-03 -1.29378643e+02] [ 6.19455853e-03 -1.43773074e-04 9.99980803e-01 -1.14547371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5903857229999 meters 0.0178302543816174 Centerline is valid? [True, True] Translation: X:216.60, Y:-129.34, Z:-11.45 [[-7.19272097e-01 -6.94708731e-01 5.23737940e-03 2.16598862e+02] [ 6.94688552e-01 -7.19291144e-01 -5.29766765e-03 -1.29336496e+02] [ 7.44753658e-03 -1.72117009e-04 9.99972252e-01 -1.14547311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.650385723 meters 0.018571117473947685 Centerline is valid? [True, True] Translation: X:216.56, Y:-129.29, Z:-11.46 [[-7.20077677e-01 -6.93876236e-01 4.88954819e-03 2.16560484e+02] [ 6.93858642e-01 -7.20094259e-01 -4.94404916e-03 -1.29294843e+02] [ 6.95149380e-03 -1.67444168e-04 9.99975824e-01 -1.14556516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.710385723 meters 0.017673682668062546 Centerline is valid? [True, True] Translation: X:216.52, Y:-129.25, Z:-11.45 [[-7.21332741e-01 -6.92574978e-01 4.35619409e-03 2.16520559e+02] [ 6.92561004e-01 -7.21345878e-01 -4.40235510e-03 -1.29252646e+02] [ 6.19128363e-03 -1.58632725e-04 9.99980821e-01 -1.14546021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.770385723 meters 0.01747506228972699 Centerline is valid? [True, True] Translation: X:216.48, Y:-129.21, Z:-11.45 [[-7.21496227e-01 -6.92404107e-01 4.44380652e-03 2.16480210e+02] [ 6.92389580e-01 -7.21509893e-01 -4.48811570e-03 -1.29212175e+02] [ 6.31384011e-03 -1.61313216e-04 9.99980055e-01 -1.14548519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.830385723 meters 0.016981718670894777 Centerline is valid? [True, True] Translation: X:216.44, Y:-129.17, Z:-11.46 [[-7.20368060e-01 -6.93575354e-01 4.80484240e-03 2.16438994e+02] [ 6.93558415e-01 -7.20384066e-01 -4.85006566e-03 -1.29170813e+02] [ 6.82521791e-03 -1.61393517e-04 9.99976695e-01 -1.14555713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.890385723 meters 0.016702996733535497 Centerline is valid? [True, True] Translation: X:216.40, Y:-129.13, Z:-11.46 [[-7.18642575e-01 -6.95368440e-01 3.94736202e-03 2.16397416e+02] [ 6.95357046e-01 -7.18653406e-01 -3.98246844e-03 -1.29129485e+02] [ 5.60606802e-03 -1.17145382e-04 9.99984279e-01 -1.14552049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.950385723 meters 0.016045804738896084 Centerline is valid? [True, True] Translation: X:216.35, Y:-129.09, Z:-11.46 [[-7.15280172e-01 -6.98826144e-01 4.03697087e-03 2.16354855e+02] [ 6.98814294e-01 -7.15291558e-01 -4.07063496e-03 -1.29090946e+02] [ 5.73227731e-03 -9.05515214e-05 9.99983566e-01 -1.14572350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.010385723 meters 0.015086714046179341 Centerline is valid? [True, True] Translation: X:216.31, Y:-129.05, Z:-11.46 [[-7.11843833e-01 -7.02324359e-01 4.34197469e-03 2.16311435e+02] [ 7.02310730e-01 -7.11857072e-01 -4.37577699e-03 -1.29052056e+02] [ 6.16408016e-03 -6.54544431e-05 9.99981000e-01 -1.14579855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.070385723 meters 0.014717322398259949 Centerline is valid? [True, True] Translation: X:216.27, Y:-129.01, Z:-11.46 [[-7.09284610e-01 -7.04906964e-01 4.63842572e-03 2.16269778e+02] [ 7.04891477e-01 -7.09299775e-01 -4.67290268e-03 -1.29010849e+02] [ 6.58399595e-03 -4.48311978e-05 9.99978324e-01 -1.14578429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.130385723 meters 0.014636027869566883 Centerline is valid? [True, True] Translation: X:216.23, Y:-128.97, Z:-11.46 [[-7.09101707e-01 -7.05095650e-01 3.85916904e-03 2.16229622e+02] [ 7.05084944e-01 -7.09112207e-01 -3.88565952e-03 -1.28969392e+02] [ 5.47634550e-03 -3.42858103e-05 9.99985004e-01 -1.14574978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.190385723 meters 0.014937689507538238 Centerline is valid? [True, True] Translation: X:216.19, Y:-128.93, Z:-11.46 [[-7.11054123e-01 -7.03128161e-01 3.58094752e-03 2.16190636e+02] [ 7.03118928e-01 -7.11063139e-01 -3.60351074e-03 -1.28926180e+02] [ 5.08000967e-03 -4.44591859e-05 9.99987096e-01 -1.14571054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.250385723 meters 0.015729070723784853 Centerline is valid? [True, True] Translation: X:216.15, Y:-128.88, Z:-11.46 [[-7.14618162e-01 -6.99502741e-01 4.09845138e-03 2.16154145e+02] [ 6.99490602e-01 -7.14629910e-01 -4.12187171e-03 -1.28882223e+02] [ 5.81213651e-03 -7.87361620e-05 9.99983106e-01 -1.14582395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.310385723 meters 0.016575452008926742 Centerline is valid? [True, True] Translation: X:216.12, Y:-128.84, Z:-11.46 [[-7.18881946e-01 -6.95119914e-01 4.12952654e-03 2.16116229e+02] [ 6.95107530e-01 -7.18893798e-01 -4.15083910e-03 -1.28837981e+02] [ 5.85402194e-03 -1.13498299e-04 9.99982859e-01 -1.14584280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.370385723 meters 0.01670310641696759 Centerline is valid? [True, True] Translation: X:216.08, Y:-128.80, Z:-11.46 [[-7.20283318e-01 -6.93661307e-01 5.09256723e-03 2.16075621e+02] [ 6.93642457e-01 -7.20301304e-01 -5.11600237e-03 -1.28796641e+02] [ 7.21695571e-03 -1.52550313e-04 9.99973946e-01 -1.14599883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.430385723 meters 0.017082279832788625 Centerline is valid? [True, True] Translation: X:216.03, Y:-128.76, Z:-11.46 [[-7.18756348e-01 -6.95243658e-01 5.05644853e-03 2.16034875e+02] [ 6.95225134e-01 -7.18774121e-01 -5.07694102e-03 -1.28755835e+02] [ 7.16415540e-03 -1.33713476e-04 9.99974328e-01 -1.14610228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.490385723 meters 0.016093395149241647 Centerline is valid? [True, True] Translation: X:215.99, Y:-128.72, Z:-11.46 [[-7.17170926e-01 -6.96880738e-01 4.80623899e-03 2.15991275e+02] [ 6.96864056e-01 -7.17187023e-01 -4.82308467e-03 -1.28717433e+02] [ 6.80808703e-03 -1.09680907e-04 9.99976819e-01 -1.14598541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.550385723 meters 0.015856009511754376 Centerline is valid? [True, True] Translation: X:215.95, Y:-128.68, Z:-11.46 [[-7.16282473e-01 -6.97789923e-01 5.35187690e-03 2.15949352e+02] [ 6.97769289e-01 -7.16302458e-01 -5.36734459e-03 -1.28678986e+02] [ 7.57884154e-03 -1.10159512e-04 9.99971274e-01 -1.14603716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.610385723 meters 0.01599966215224272 Centerline is valid? [True, True] Translation: X:215.91, Y:-128.64, Z:-11.46 [[-7.16701624e-01 -6.97362945e-01 4.86878577e-03 2.15908289e+02] [ 6.97345878e-01 -7.16718155e-01 -4.87987984e-03 -1.28639282e+02] [ 6.89259452e-03 -1.02190123e-04 9.99976241e-01 -1.14595891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.670385723 meters 0.01612570728818903 Centerline is valid? [True, True] Translation: X:215.87, Y:-128.60, Z:-11.46 [[-7.17095968e-01 -6.96956646e-01 4.98061090e-03 2.15868179e+02] [ 6.96938800e-01 -7.17113256e-01 -4.98876305e-03 -1.28599476e+02] [ 7.04861367e-03 -1.06240888e-04 9.99975153e-01 -1.14595340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.730385723 meters 0.01584258934415298 Centerline is valid? [True, True] Translation: X:215.82, Y:-128.56, Z:-11.46 [[-7.16670884e-01 -6.97397957e-01 4.35139747e-03 2.15824160e+02] [ 6.97384359e-01 -7.16684088e-01 -4.35588048e-03 -1.28562059e+02] [ 6.15635947e-03 -8.71361806e-05 9.99981046e-01 -1.14595057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.790385723 meters 0.015338839031728339 Centerline is valid? [True, True] Translation: X:215.78, Y:-128.52, Z:-11.46 [[-7.15817914e-01 -6.98270163e-01 4.84697862e-03 2.15781310e+02] [ 6.98253330e-01 -7.15834318e-01 -4.84928403e-03 -1.28522847e+02] [ 6.85574399e-03 -8.67854175e-05 9.99976495e-01 -1.14589398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.850385723 meters 0.015376406072350808 Centerline is valid? [True, True] Translation: X:215.74, Y:-128.48, Z:-11.46 [[-7.15607643e-01 -6.98484047e-01 5.07322308e-03 2.15741742e+02] [ 6.98465628e-01 -7.15625621e-01 -5.07320883e-03 -1.28482243e+02] [ 7.17408385e-03 -8.69550672e-05 9.99974262e-01 -1.14584139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.910385723 meters 0.014757855757577706 Centerline is valid? [True, True] Translation: X:215.20, Y:-129.01, Z:-10.46 [[-7.49128292e-01 6.62404645e-01 5.18541683e-03 2.15199711e+02] [ 6.62389378e-01 7.49146235e-01 -4.49787929e-03 -1.29014924e+02] [-6.86405163e-03 6.52764027e-05 -9.99976440e-01 -1.04610913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9703857229999 meters 0.014769255468035532 Centerline is valid? [True, True] Translation: X:215.19, Y:-128.97, Z:-10.46 [[-7.95923780e-01 6.05369355e-01 5.76898642e-03 2.15193704e+02] [ 6.05353880e-01 7.95944685e-01 -4.32871255e-03 -1.28974190e+02] [-7.21226401e-03 4.69530548e-05 -9.99973990e-01 -1.04614735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.030385723 meters 0.014571813654023017 Centerline is valid? [True, True] Translation: X:215.24, Y:-128.97, Z:-10.46 [[-8.37051420e-01 5.47107648e-01 4.25941833e-03 2.15243357e+02] [ 5.47100750e-01 8.37062256e-01 -2.74748372e-03 -1.28973439e+02] [-5.06856767e-03 3.05458147e-05 -9.99987154e-01 -1.04636242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0903857229999 meters 0.014837813839261924 Centerline is valid? [True, True] Translation: X:215.66, Y:-128.35, Z:-11.45 [[-8.05276500e-01 -5.92890566e-01 3.24581877e-03 2.15655186e+02] [ 5.92885331e-01 -8.05283037e-01 -2.49299014e-03 -1.28346297e+02] [ 4.09187313e-03 -8.31480423e-05 9.99991625e-01 -1.14537924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.150385723 meters 0.015429700181389115 Centerline is valid? [True, True] Translation: X:215.20, Y:-128.95, Z:-10.46 [[-8.37555616e-01 5.46332629e-01 4.60962079e-03 2.15202763e+02] [ 5.46324667e-01 8.37568300e-01 -2.94992397e-03 -1.28948786e+02] [-5.47251196e-03 4.76241580e-05 -9.99985025e-01 -1.04646744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.210385723 meters 0.0156423353926895 Centerline is valid? [True, True] Translation: X:215.22, Y:-128.93, Z:-10.46 [[-8.73332799e-01 4.87099849e-01 4.85389621e-03 2.15223680e+02] [ 4.87092688e-01 8.73346285e-01 -2.64181727e-03 -1.28928780e+02] [-5.52596101e-03 5.71116824e-05 -9.99984730e-01 -1.04637612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.270385723 meters 0.01604790290036832 Centerline is valid? [True, True] Translation: X:215.23, Y:-128.90, Z:-10.46 [[-9.05024784e-01 4.25327384e-01 5.17281333e-03 2.15232929e+02] [ 4.25320857e-01 9.05039564e-01 -2.35724032e-03 -1.28902683e+02] [-5.68419958e-03 6.67444810e-05 -9.99983843e-01 -1.04632081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.330385723 meters 0.015519944059021743 Centerline is valid? [True, True] Translation: X:215.56, Y:-128.22, Z:-11.45 [[-8.85912505e-01 -4.63841844e-01 3.12696252e-03 2.15557396e+02] [ 4.63838283e-01 -8.85918008e-01 -1.82502416e-03 -1.28224784e+02] [ 3.61675498e-03 -1.66406796e-04 9.99993446e-01 -1.14530270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.390385723 meters 0.015493328211118026 Centerline is valid? [True, True] Translation: X:215.20, Y:-128.88, Z:-10.47 [[-9.05915151e-01 4.23449805e-01 2.82883500e-03 2.15203793e+02] [ 4.23447886e-01 9.05919566e-01 -1.27571791e-03 -1.28884151e+02] [-3.10289948e-03 4.21720153e-05 -9.99995185e-01 -1.04662249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.450385723 meters 0.015170055988059343 Centerline is valid? [True, True] Translation: X:215.22, Y:-128.85, Z:-10.47 [[-9.33724451e-01 3.57977842e-01 3.24260645e-03 2.15217657e+02] [ 3.57975854e-01 9.33730080e-01 -1.19406179e-03 -1.28853501e+02] [-3.45516684e-03 4.58501260e-05 -9.99994030e-01 -1.04653502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.510385723 meters 0.014927236921798715 Centerline is valid? [True, True] Translation: X:215.23, Y:-128.82, Z:-10.46 [[-9.56999551e-01 2.90074814e-01 2.90882432e-03 2.15225318e+02] [ 2.90073593e-01 9.57003971e-01 -8.42379053e-04 -1.28819704e+02] [-3.02810937e-03 3.76167458e-05 -9.99995415e-01 -1.04647753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.570385723 meters 0.014919246559640699 Centerline is valid? [True, True] Translation: X:215.23, Y:-128.79, Z:-10.46 [[-9.75195479e-01 2.21335379e-01 2.10438822e-03 2.15229013e+02] [ 2.21334923e-01 9.75197749e-01 -4.50222546e-04 -1.28786285e+02] [-2.15184484e-03 2.67196144e-05 -9.99997684e-01 -1.04648471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.630385723 meters 0.014710215971708414 Centerline is valid? [True, True] Translation: X:215.38, Y:-128.10, Z:-11.45 [[-9.64563469e-01 -2.63850421e-01 5.20046504e-04 2.15377717e+02] [ 2.63850321e-01 -9.64563603e-01 -2.53786913e-04 -1.28097610e+02] [ 5.68579713e-04 -1.07579148e-04 9.99999833e-01 -1.14542079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.690385723 meters 0.014670698057232312 Centerline is valid? [True, True] Translation: X:215.18, Y:-128.77, Z:-10.47 [[-9.76063324e-01 2.17485439e-01 -6.86700983e-04 2.15184600e+02] [ 2.17485390e-01 9.76063565e-01 1.46471756e-04 -1.28770534e+02] [ 7.02119284e-04 -6.38172149e-06 -9.99999754e-01 -1.04655560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.750385723 meters 0.01477404387557803 Centerline is valid? [True, True] Translation: X:215.19, Y:-128.74, Z:-10.47 [[-9.88578946e-01 1.50676882e-01 -2.85385918e-03 2.15192777e+02] [ 1.50676372e-01 9.88583065e-01 3.94033350e-04 -1.28738617e+02] [ 2.88064857e-03 -4.04760739e-05 -9.99995850e-01 -1.04683450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.810385723 meters 0.015530126470394609 Centerline is valid? [True, True] Translation: X:215.29, Y:-128.06, Z:-11.45 [[-9.82543145e-01 -1.86004438e-01 -3.36407562e-03 2.15287599e+02] [ 1.86003296e-01 -9.82548904e-01 6.52043561e-04 -1.28060682e+02] [-3.42665181e-03 1.49317787e-05 9.99994129e-01 -1.14498440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.870385723 meters 0.01493769187115958 Centerline is valid? [True, True] Translation: X:215.14, Y:-128.72, Z:-10.47 [[-9.88817752e-01 1.49083512e-01 -3.68242235e-03 2.15143618e+02] [ 1.49082707e-01 9.88824607e-01 4.93585490e-04 -1.28718924e+02] [ 3.71485529e-03 -6.09193976e-05 -9.99993098e-01 -1.04669802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.930385723 meters 0.0159688865738083 Centerline is valid? [True, True] Translation: X:215.23, Y:-128.07, Z:-11.45 [[-9.83966302e-01 -1.78312209e-01 -3.88242029e-03 2.15234479e+02] [ 1.78310618e-01 -9.83973960e-01 7.54963611e-04 -1.28069540e+02] [-3.95481970e-03 5.05819903e-05 9.99992178e-01 -1.14510623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.990385723 meters 0.01693272641646748 Centerline is valid? [True, True] Translation: X:215.10, Y:-128.70, Z:-10.47 [[-9.88100085e-01 1.53780694e-01 -3.11772017e-03 2.15098951e+02] [ 1.53780179e-01 9.88105000e-01 4.05756807e-04 -1.28701826e+02] [ 3.14303245e-03 -7.85152297e-05 -9.99995058e-01 -1.04665343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.050385723 meters 0.017145221327428146 Centerline is valid? [True, True] Translation: X:215.18, Y:-128.08, Z:-11.46 [[-9.85620180e-01 -1.68975115e-01 -5.21920605e-04 2.15177134e+02] [ 1.68974994e-01 -9.85620302e-01 2.67751403e-04 -1.28082119e+02] [-5.59658868e-04 1.75709654e-04 9.99999828e-01 -1.14563002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.110385723 meters 0.016379714528687337 Centerline is valid? [True, True] Translation: X:215.05, Y:-128.67, Z:-10.46 [[-9.88586745e-01 1.50650883e-01 -7.47193779e-04 2.15048762e+02] [ 1.50650854e-01 9.88587028e-01 9.51719055e-05 -1.28674346e+02] [ 7.53003809e-04 -1.84796963e-05 -9.99999716e-01 -1.04628856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.170385723 meters 0.016874973124756373 Centerline is valid? [True, True] Translation: X:215.05, Y:-128.63, Z:-10.46 [[-9.96848542e-01 7.93256029e-02 6.57493747e-04 2.15048079e+02] [ 7.93255976e-02 9.96848759e-01 -3.40411448e-05 -1.28634999e+02] [-6.58122160e-04 1.82222188e-05 -9.99999783e-01 -1.04609355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.230385723 meters 0.017094376518397777 Centerline is valid? [True, True] Translation: X:215.07, Y:-128.07, Z:-11.46 [[-9.95148011e-01 -9.83824065e-02 1.15677008e-03 2.15071261e+02] [ 9.83823434e-02 -9.95148683e-01 -1.11480005e-04 -1.28070893e+02] [ 1.16212589e-03 2.86664554e-06 9.99999325e-01 -1.14587213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.290385723 meters 0.015988409862176523 Centerline is valid? [True, True] Translation: X:214.99, Y:-128.62, Z:-10.46 [[-9.97508509e-01 7.05435424e-02 6.18677206e-04 2.14991221e+02] [ 7.05435376e-02 9.97508701e-01 -2.96812170e-05 -1.28616465e+02] [-6.19229715e-04 1.40364123e-05 -9.99999808e-01 -1.04607392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.350385723 meters 0.015409240299825369 Centerline is valid? [True, True] Translation: X:215.01, Y:-128.08, Z:-11.46 [[-9.95329507e-01 -9.65274181e-02 1.27667379e-03 2.15010174e+02] [ 9.65273581e-02 -9.95330326e-01 -1.08689357e-04 -1.28084608e+02] [ 1.28120364e-03 1.50522235e-05 9.99999179e-01 -1.14593471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.410385723 meters 0.01501795832647316 Centerline is valid? [True, True] Translation: X:214.94, Y:-128.60, Z:-10.46 [[-9.97903926e-01 6.47070774e-02 8.65661915e-04 2.14937119e+02] [ 6.47070680e-02 9.97904301e-01 -3.88377009e-05 -1.28602541e+02] [-8.66360823e-04 1.72581502e-05 -9.99999625e-01 -1.04602625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4703857229999 meters 0.014240233304410255 Centerline is valid? [True, True] Translation: X:214.92, Y:-128.57, Z:-10.46 [[-9.99943889e-01 -1.05864617e-02 3.82405534e-04 2.14923334e+02] [-1.05864584e-02 9.99943962e-01 1.06125923e-05 -1.28567025e+02] [-3.82496455e-04 6.56367653e-06 -9.99999927e-01 -1.04597728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.530385723 meters 0.014055941759298689 Centerline is valid? [True, True] Translation: X:214.91, Y:-128.54, Z:-10.46 [[-9.96468161e-01 -8.39702823e-02 -4.42558990e-04 2.14908120e+02] [-8.39702721e-02 9.96468259e-01 -4.16951900e-05 -1.28536386e+02] [ 4.44497144e-04 -4.38613048e-06 -9.99999901e-01 -1.04603332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5903857229999 meters 0.014000279599465596 Centerline is valid? [True, True] Translation: X:214.89, Y:-128.51, Z:-10.46 [[-9.87640786e-01 -1.56721199e-01 -2.03565655e-03 2.14888625e+02] [-1.56720825e-01 9.87642883e-01 -3.43004097e-04 -1.28506894e+02] [ 2.06425772e-03 -1.97350620e-05 -9.99997869e-01 -1.04612678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.650385723 meters 0.013831155203954509 Centerline is valid? [True, True] Translation: X:214.87, Y:-128.48, Z:-10.46 [[-9.74061992e-01 -2.26277496e-01 -1.31557591e-03 2.14869183e+02] [-2.26277271e-01 9.74062880e-01 -3.19129333e-04 -1.28480291e+02] [ 1.35366545e-03 -1.31668261e-05 -9.99999084e-01 -1.04603395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.710385723 meters 0.014729135665384408 Centerline is valid? [True, True] Translation: X:214.85, Y:-128.46, Z:-10.46 [[-9.57058554e-01 -2.89891873e-01 1.27544357e-03 2.14847714e+02] [-2.89891584e-01 9.57059403e-01 4.09988484e-04 -1.28460711e+02] [-1.33952759e-03 2.26426281e-05 -9.99999103e-01 -1.04579953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.770385723 meters 0.016859263101539408 Centerline is valid? [True, True] Translation: X:214.82, Y:-128.45, Z:-10.46 [[-9.36217354e-01 -3.51412660e-01 2.49174677e-03 2.14815561e+02] [-3.51411234e-01 9.36220668e-01 1.00306003e-03 -1.28449268e+02] [-2.68531282e-03 6.34543991e-05 -9.99996393e-01 -1.04576948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.830385723 meters 0.01705649241759537 Centerline is valid? [True, True] Translation: X:214.77, Y:-128.44, Z:-10.46 [[-9.09928665e-01 -4.14750741e-01 3.41296721e-03 2.14772914e+02] [-4.14747397e-01 9.09935059e-01 1.66867726e-03 -1.28438032e+02] [-3.79766365e-03 1.02858005e-04 -9.99992784e-01 -1.04572030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.890385723 meters 0.01710160608006386 Centerline is valid? [True, True] Translation: X:214.72, Y:-128.44, Z:-10.46 [[-8.77224361e-01 -4.80073596e-01 2.60066323e-03 2.14715010e+02] [-4.80071209e-01 8.77228212e-01 1.51584716e-03 -1.28436356e+02] [-3.00909335e-03 8.12345206e-05 -9.99995469e-01 -1.04579646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.950385723 meters 0.016909365257584713 Centerline is valid? [True, True] Translation: X:214.64, Y:-128.45, Z:-10.46 [[-8.39873396e-01 -5.42780061e-01 1.57635593e-03 2.14642159e+02] [-5.42778986e-01 8.39874873e-01 1.08132855e-03 -1.28445569e+02] [-1.91086531e-03 5.25662031e-05 -9.99998173e-01 -1.04585212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.010385723 meters 0.01637319563072491 Centerline is valid? [True, True] Translation: X:214.57, Y:-128.46, Z:-10.46 [[-7.97826619e-01 -6.02884322e-01 1.78342131e-03 2.14571991e+02] [-6.02882636e-01 7.97828609e-01 1.42726549e-03 -1.28457468e+02] [-2.28334053e-03 6.35166601e-05 -9.99997391e-01 -1.04578787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.070385723 meters 0.018275177913903543 Centerline is valid? [True, True] Translation: X:214.50, Y:-128.49, Z:-10.46 [[-7.52246444e-01 -6.58879469e-01 1.76971514e-03 2.14496593e+02] [-6.58877420e-01 7.52248523e-01 1.64494595e-03 -1.28489467e+02] [-2.41508672e-03 7.13794015e-05 -9.99997081e-01 -1.04584280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.130385723 meters 0.017641840645282635 Centerline is valid? [True, True] Translation: X:214.42, Y:-128.52, Z:-10.46 [[-7.01779770e-01 -7.12393226e-01 1.02273150e-03 2.14419237e+02] [-7.12392373e-01 7.01780514e-01 1.10366081e-03 -1.28521736e+02] [-1.50397353e-03 4.59407105e-05 -9.99998868e-01 -1.04590655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.190385723 meters 0.017883960385548358 Centerline is valid? [True, True] Translation: X:214.34, Y:-128.57, Z:-10.46 [[-6.44954515e-01 -7.64219459e-01 1.51406795e-03 2.14337597e+02] [-7.64217103e-01 6.44956289e-01 1.89887060e-03 -1.28567064e+02] [-2.42766151e-03 6.76085478e-05 -9.99997051e-01 -1.04573332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.250385723 meters 0.017717013281627895 Centerline is valid? [True, True] Translation: X:214.26, Y:-128.62, Z:-10.46 [[-5.85566872e-01 -8.10623636e-01 8.71725850e-04 2.14258572e+02] [-8.10622628e-01 5.85567519e-01 1.27898242e-03 -1.28622248e+02] [-1.54722772e-03 4.22890351e-05 -9.99998802e-01 -1.04567189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.310385723 meters 0.017861613992558565 Centerline is valid? [True, True] Translation: X:214.19, Y:-128.68, Z:-10.46 [[-5.26592558e-01 -8.50117787e-01 1.59583731e-04 2.14186012e+02] [-8.50117742e-01 5.26592582e-01 2.78282366e-04 -1.28682320e+02] [-3.20608399e-04 1.08764619e-05 -9.99999949e-01 -1.04574629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.370385723 meters 0.01950209943240883 Centerline is valid? [True, True] Translation: X:214.12, Y:-128.75, Z:-10.46 [[-4.65730009e-01 -8.84926688e-01 -5.61424070e-04 2.14117195e+02] [-8.84925924e-01 4.65730346e-01 -1.16341090e-03 -1.28752765e+02] [ 1.29100558e-03 -4.50166539e-05 -9.99999166e-01 -1.04580865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.430385723 meters 0.02212020256113141 Centerline is valid? [True, True] Translation: X:214.05, Y:-128.84, Z:-10.46 [[-4.05863579e-01 -9.13933663e-01 -1.24025513e-04 2.14050092e+02] [-9.13933609e-01 4.05863597e-01 -3.13655634e-04 -1.28836444e+02] [ 3.36997883e-04 -1.39503132e-05 -9.99999943e-01 -1.04570039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.490385723 meters 0.022939016300885903 Centerline is valid? [True, True] Translation: X:213.99, Y:-128.91, Z:-10.46 [[-3.44763280e-01 -9.38689637e-01 -2.17067376e-04 2.13988387e+02] [-9.38689374e-01 3.44763346e-01 -7.02953705e-04 -1.28910773e+02] [ 7.34692233e-04 -3.85937851e-05 -9.99999729e-01 -1.04580012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.550385723 meters 0.027260764776876813 Centerline is valid? [True, True] Translation: X:213.93, Y:-129.01, Z:-10.46 [[-2.77966034e-01 -9.60590885e-01 -1.87809599e-04 2.13928369e+02] [-9.60590533e-01 2.77966094e-01 -8.24480766e-04 -1.29008264e+02] [ 8.44193409e-04 -4.87695264e-05 -9.99999642e-01 -1.04577727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.610385723 meters 0.029800919883202163 Centerline is valid? [True, True] Translation: X:213.88, Y:-129.11, Z:-10.46 [[-2.05645362e-01 -9.78626554e-01 -2.28706573e-04 2.13879563e+02] [-9.78625355e-01 2.05645469e-01 -1.53486353e-03 -1.29105839e+02] [ 1.54909068e-03 -9.18195157e-05 -9.99998796e-01 -1.04582486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.670385723 meters 0.029672428557218623 Centerline is valid? [True, True] Translation: X:213.82, Y:-129.21, Z:-10.46 [[-1.33997088e-01 -9.90981713e-01 -1.58849959e-04 2.13820715e+02] [-9.90979312e-01 1.33997114e-01 -2.18564082e-03 -1.29209757e+02] [ 2.18721552e-03 -1.35452483e-04 -9.99997599e-01 -1.04572348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.730385723 meters 0.029234884841642873 Centerline is valid? [True, True] Translation: X:213.77, Y:-129.30, Z:-10.46 [[-5.93077249e-02 -9.98239748e-01 5.84176386e-06 2.13773446e+02] [-9.98237442e-01 5.93075754e-02 -2.14946918e-03 -1.29295229e+02] [ 2.14533911e-03 -1.33311594e-04 -9.99997690e-01 -1.04571787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.790385723 meters 0.028478749444452185 Centerline is valid? [True, True] Translation: X:213.74, Y:-129.41, Z:-10.46 [[ 1.74711530e-02 -9.99847360e-01 1.23170129e-04 2.13737953e+02] [-9.99846102e-01 -1.74713268e-02 -1.58919236e-03 -1.29405344e+02] [ 1.59110174e-03 -9.53861501e-05 -9.99998730e-01 -1.04567529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.850385723 meters 0.025046997049802375 Centerline is valid? [True, True] Translation: X:213.69, Y:-129.50, Z:-10.46 [[ 9.92579901e-02 -9.95061579e-01 5.51786656e-04 2.13692755e+02] [-9.95055096e-01 -9.92593381e-02 -3.59717301e-03 -1.29502191e+02] [ 3.63417863e-03 -1.92009961e-04 -9.99993378e-01 -1.04581302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.910385723 meters 0.022321950254297722 Centerline is valid? [True, True] Translation: X:213.66, Y:-129.60, Z:-10.46 [[ 1.80618994e-01 -9.83552459e-01 1.15733031e-03 2.13663734e+02] [-9.83539664e-01 -1.80622554e-01 -5.02228367e-03 -1.29602629e+02] [ 5.14871941e-03 -2.31160445e-04 -9.99986719e-01 -1.04588209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9703857229999 meters 0.025848145943599132 Centerline is valid? [True, True] Translation: X:213.65, Y:-129.70, Z:-10.45 [[ 2.60619410e-01 -9.65441428e-01 6.10852234e-04 2.13650820e+02] [-9.65439414e-01 -2.60620115e-01 -1.97313781e-03 -1.29704783e+02] [ 2.06414936e-03 -7.55028124e-05 -9.99997867e-01 -1.04537418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.030385723 meters 0.018556406449456383 Centerline is valid? [True, True] Translation: X:213.63, Y:-129.80, Z:-10.46 [[ 3.38744916e-01 -9.40877918e-01 7.90675430e-04 2.13634465e+02] [-9.40875762e-01 -3.38745833e-01 -2.01535802e-03 -1.29795177e+02] [ 2.16404387e-03 -6.12350640e-05 -9.99997657e-01 -1.04567777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0903857229999 meters 0.01785641132974028 Centerline is valid? [True, True] Translation: X:213.63, Y:-129.88, Z:-10.46 [[ 4.11289676e-01 -9.11504686e-01 -1.03210719e-04 2.13633812e+02] [-9.11504661e-01 -4.11289689e-01 2.12524663e-04 -1.29884369e+02] [-2.36166730e-04 6.66785124e-06 -9.99999972e-01 -1.04558830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.150385723 meters 0.015603912777782262 Centerline is valid? [True, True] Translation: X:213.64, Y:-129.98, Z:-10.46 [[ 4.83971408e-01 -8.75083674e-01 -4.89049337e-04 2.13637034e+02] [-8.75083262e-01 -4.83971655e-01 8.49290558e-04 -1.29976704e+02] [-9.79886318e-04 1.69265414e-05 -9.99999520e-01 -1.04554131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.210385723 meters 0.014262312772867047 Centerline is valid? [True, True] Translation: X:213.64, Y:-130.06, Z:-10.46 [[ 5.57875145e-01 -8.29924762e-01 4.60043935e-04 2.13644891e+02] [-8.29924482e-01 -5.57875335e-01 -6.82281333e-04 -1.30064142e+02] [ 8.22889338e-04 -1.17392695e-06 -9.99999661e-01 -1.04569392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.270385723 meters 0.014270983622121767 Centerline is valid? [True, True] Translation: X:213.66, Y:-130.14, Z:-10.46 [[ 6.22911308e-01 -7.82292083e-01 -7.74194883e-04 2.13659477e+02] [-7.82291468e-01 -6.22911789e-01 9.81145684e-04 -1.30137678e+02] [-1.24979762e-03 -5.52069027e-06 -9.99999219e-01 -1.04556509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.330385723 meters 0.015419607880240431 Centerline is valid? [True, True] Translation: X:213.68, Y:-130.21, Z:-10.46 [[ 6.85061017e-01 -7.28483818e-01 -1.65233580e-03 2.13684287e+02] [-7.28481576e-01 -6.85063008e-01 1.80783288e-03 -1.30208458e+02] [-2.44893113e-03 -3.47796388e-05 -9.99997001e-01 -1.04552846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.390385723 meters 0.01721248334445378 Centerline is valid? [True, True] Translation: X:213.72, Y:-130.27, Z:-10.46 [[ 7.41489820e-01 -6.70962716e-01 -1.37097972e-03 2.13716043e+02] [-6.70961466e-01 -7.41491087e-01 1.29596377e-03 -1.30273791e+02] [-1.88611262e-03 -4.10693799e-05 -9.99998220e-01 -1.04567249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.450385723 meters 0.01793874973642658 Centerline is valid? [True, True] Translation: X:213.60, Y:-130.48, Z:-11.46 [[ 7.08296960e-01 7.05913809e-01 -1.05397825e-03 2.13603345e+02] [-7.05913106e-01 7.08297743e-01 9.97220634e-04 -1.30479061e+02] [ 1.45048223e-03 3.76887149e-05 9.99998947e-01 -1.14622188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.510385723 meters 0.019709317757202263 Centerline is valid? [True, True] Translation: X:213.64, Y:-130.52, Z:-11.46 [[ 7.07187591e-01 7.07024849e-01 -1.25466869e-03 2.13640728e+02] [-7.07023855e-01 7.07188702e-01 1.18690154e-03 -1.30524170e+02] [ 1.72645640e-03 4.77186542e-05 9.99998509e-01 -1.14614369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.570385723 meters 0.02067295776155389 Centerline is valid? [True, True] Translation: X:213.67, Y:-130.58, Z:-11.46 [[ 7.06783129e-01 7.07428347e-01 -1.65603719e-03 2.13669513e+02] [-7.07426617e-01 7.06785066e-01 1.56584989e-03 -1.30578832e+02] [ 2.27818895e-03 6.48085031e-05 9.99997403e-01 -1.14634035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.630385723 meters 0.017758382950684142 Centerline is valid? [True, True] Translation: X:213.70, Y:-130.63, Z:-11.46 [[ 7.06790520e-01 7.07420300e-01 -1.91821177e-03 2.13699837e+02] [-7.07417979e-01 7.06793119e-01 1.81348502e-03 -1.30632621e+02] [ 2.63867499e-03 7.52234775e-05 9.99996516e-01 -1.14604233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.690385723 meters 0.01810537412250709 Centerline is valid? [True, True] Translation: X:213.73, Y:-130.68, Z:-11.46 [[ 7.05973546e-01 7.08230320e-01 -3.34170877e-03 2.13734357e+02] [-7.08223288e-01 7.05981441e-01 3.15881710e-03 -1.30682231e+02] [ 4.59635442e-03 1.36634667e-04 9.99989427e-01 -1.14614070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.750385723 meters 0.01960397038631207 Centerline is valid? [True, True] Translation: X:213.76, Y:-130.74, Z:-11.47 [[ 7.04561628e-01 7.09615433e-01 -6.23287160e-03 2.13762186e+02] [-7.09591031e-01 7.04589145e-01 5.89112985e-03 -1.30738467e+02] [ 8.57205033e-03 2.72125749e-04 9.99963222e-01 -1.14652131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.810385723 meters 0.019729676543318517 Centerline is valid? [True, True] Translation: X:213.80, Y:-130.79, Z:-11.47 [[ 7.04566699e-01 7.09600859e-01 -7.23787149e-03 2.13795569e+02] [-7.09567962e-01 7.04603804e-01 6.84009438e-03 -1.30788927e+02] [ 9.95356864e-03 3.16459003e-04 9.99950412e-01 -1.14654721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.870385723 meters 0.018781489067766617 Centerline is valid? [True, True] Translation: X:213.83, Y:-130.85, Z:-11.46 [[ 7.04901458e-01 7.09259111e-01 -8.08993803e-03 2.13825808e+02] [-7.09217949e-01 7.04947795e-01 7.64904579e-03 -1.30847611e+02] [ 1.11281394e-02 3.45705726e-04 9.99938021e-01 -1.14649674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.930385723 meters 0.018756713774209954 Centerline is valid? [True, True] Translation: X:213.86, Y:-130.90, Z:-11.47 [[ 7.05490930e-01 7.08656502e-01 -9.40798645e-03 2.13857465e+02] [-7.08600724e-01 7.05553550e-01 8.89954356e-03 -1.30904346e+02] [ 1.29445576e-02 3.87958749e-04 9.99916140e-01 -1.14658223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.990385723 meters 0.01669065487073175 Centerline is valid? [True, True] Translation: X:213.89, Y:-130.97, Z:-11.46 [[ 7.06704722e-01 7.07439715e-01 -9.87345128e-03 2.13886083e+02] [-7.07378140e-01 7.06773587e-01 9.34155185e-03 -1.30965203e+02] [ 1.35868794e-02 3.82544798e-04 9.99907621e-01 -1.14630433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.050385723 meters 0.01763031536827104 Centerline is valid? [True, True] Translation: X:213.92, Y:-131.02, Z:-11.46 [[ 7.07732954e-01 7.06423005e-01 -8.97791142e-03 2.13918962e+02] [-7.06371963e-01 7.07789821e-01 8.49819127e-03 -1.31018993e+02] [ 1.23577921e-02 3.27294903e-04 9.99923586e-01 -1.14620787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.110385723 meters 0.018304768263445664 Centerline is valid? [True, True] Translation: X:213.95, Y:-131.08, Z:-11.46 [[ 7.09464514e-01 7.04681789e-01 -9.14764842e-03 2.13950312e+02] [-7.04628599e-01 7.09523422e-01 8.66318090e-03 -1.31075976e+02] [ 1.25952566e-02 2.99475257e-04 9.99920632e-01 -1.14628746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.170385723 meters 0.016734482969082344 Centerline is valid? [True, True] Translation: X:213.98, Y:-131.13, Z:-11.46 [[ 7.11345045e-01 7.02776976e-01 -9.63064669e-03 2.13982233e+02] [-7.02717786e-01 7.11410181e-01 9.12512564e-03 -1.31132049e+02] [ 1.32642683e-02 2.76513815e-04 9.99911988e-01 -1.14605379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.230385723 meters 0.015946756968902683 Centerline is valid? [True, True] Translation: X:214.02, Y:-131.18, Z:-11.46 [[ 7.12208509e-01 7.01906624e-01 -9.28068099e-03 2.14018284e+02] [-7.01851533e-01 7.12268931e-01 8.79751950e-03 -1.31183311e+02] [ 1.27853779e-02 2.47991931e-04 9.99918233e-01 -1.14600349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.290385723 meters 0.015428239913097115 Centerline is valid? [True, True] Translation: X:214.05, Y:-131.24, Z:-11.46 [[ 7.13575220e-01 7.00519953e-01 -9.06646892e-03 2.14048929e+02] [-7.00467211e-01 7.13632783e-01 8.59865965e-03 -1.31240705e+02] [ 1.24936621e-02 2.14973752e-04 9.99921928e-01 -1.14581605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.350385723 meters 0.015122275556595247 Centerline is valid? [True, True] Translation: X:214.08, Y:-131.29, Z:-11.46 [[ 7.15187604e-01 6.98864492e-01 -9.75253807e-03 2.14084755e+02] [-6.98803251e-01 7.15254069e-01 9.25381813e-03 -1.31292646e+02] [ 1.34427074e-02 1.96889291e-04 9.99909623e-01 -1.14586415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.410385723 meters 0.014899779613958435 Centerline is valid? [True, True] Translation: X:214.12, Y:-131.34, Z:-11.46 [[ 7.16298024e-01 6.97715768e-01 -1.04808182e-02 2.14123922e+02] [-6.97644846e-01 7.16374673e-01 9.94967266e-03 -1.31341415e+02] [ 1.44502362e-02 1.84957929e-04 9.99895573e-01 -1.14592940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4703857229999 meters 0.014903961029397119 Centerline is valid? [True, True] Translation: X:214.16, Y:-131.39, Z:-11.46 [[ 7.17513337e-01 6.96449615e-01 -1.15128177e-02 2.14160329e+02] [-6.96363815e-01 7.17605674e-01 1.09331117e-02 -1.31393700e+02] [ 1.58760247e-02 1.72456191e-04 9.99873953e-01 -1.14602634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.530385723 meters 0.014963043227437139 Centerline is valid? [True, True] Translation: X:214.20, Y:-131.44, Z:-11.46 [[ 7.16832189e-01 6.97146086e-01 -1.17875937e-02 2.14201596e+02] [-6.97056147e-01 7.16929076e-01 1.11995019e-02 -1.31440870e+02] [ 1.62585576e-02 1.88451214e-04 9.99867803e-01 -1.14587344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5903857229999 meters 0.01466442355899802 Centerline is valid? [True, True] Translation: X:214.25, Y:-131.48, Z:-11.46 [[ 7.16435049e-01 6.97559237e-01 -1.14861320e-02 2.14249705e+02] [-6.97473795e-01 7.16527093e-01 1.09192593e-02 -1.31481366e+02] [ 1.58469549e-02 1.88335968e-04 9.99874411e-01 -1.14594113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.650385723 meters 0.014163073898763812 Centerline is valid? [True, True] Translation: X:214.30, Y:-131.52, Z:-11.46 [[ 7.19623530e-01 6.94268365e-01 -1.15503928e-02 2.14298865e+02] [-6.94181453e-01 7.19716211e-01 1.09857488e-02 -1.31520309e+02] [ 1.59400628e-02 1.12465137e-04 9.99872943e-01 -1.14604021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.710385723 meters 0.01478382336014122 Centerline is valid? [True, True] Translation: X:214.34, Y:-131.56, Z:-11.46 [[ 7.23179315e-01 6.90596495e-01 -9.38939114e-03 2.14341159e+02] [-6.90538699e-01 7.23240265e-01 8.93440715e-03 -1.31564723e+02] [ 1.29608560e-02 2.25595031e-05 9.99916004e-01 -1.14580104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.770385723 meters 0.014105751669125546 Centerline is valid? [True, True] Translation: X:214.38, Y:-131.61, Z:-11.46 [[ 7.25530221e-01 6.88133129e-01 -8.87101559e-03 2.14384852e+02] [-6.88081309e-01 7.25584451e-01 8.44490754e-03 -1.31607310e+02] [ 1.22478916e-02 -2.30556136e-05 9.99924992e-01 -1.14589129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.830385723 meters 0.014350958815009746 Centerline is valid? [True, True] Translation: X:214.43, Y:-131.65, Z:-11.46 [[ 7.28532858e-01 6.84940624e-01 -9.80900648e-03 2.14429339e+02] [-6.84876913e-01 7.28598884e-01 9.34233148e-03 -1.31651243e+02] [ 1.35457735e-02 -8.82333685e-05 9.99908248e-01 -1.14610292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.890385723 meters 0.014900024596981507 Centerline is valid? [True, True] Translation: X:214.47, Y:-131.70, Z:-11.46 [[ 7.30833555e-01 6.82481130e-01 -1.00906742e-02 2.14470183e+02] [-6.82413441e-01 7.30903200e-01 9.61287661e-03 -1.31696283e+02] [ 1.39359130e-02 -1.39401066e-04 9.99902881e-01 -1.14614150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.950385723 meters 0.014999207766460267 Centerline is valid? [True, True] Translation: X:214.51, Y:-131.74, Z:-11.46 [[ 7.31516090e-01 6.81767904e-01 -8.75985670e-03 2.14513306e+02] [-6.81716794e-01 7.31568525e-01 8.34901089e-03 -1.31741324e+02] [ 1.21005231e-02 -1.35694376e-04 9.99926777e-01 -1.14578157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.010385723 meters 0.015099419435408917 Centerline is valid? [True, True] Translation: X:214.56, Y:-131.78, Z:-11.46 [[ 7.32460223e-01 6.80769109e-01 -7.44594906e-03 2.14559244e+02] [-6.80732091e-01 7.32498056e-01 7.10057722e-03 -1.31784940e+02] [ 1.02879968e-02 -1.32193901e-04 9.99947068e-01 -1.14571937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.070385723 meters 0.01481587607461043 Centerline is valid? [True, True] Translation: X:214.60, Y:-131.83, Z:-11.46 [[ 7.31861811e-01 6.81420120e-01 -6.70144049e-03 2.14604883e+02] [-6.81390133e-01 7.31892484e-01 6.39371189e-03 -1.31827143e+02] [ 9.26153784e-03 -1.13018138e-04 9.99957105e-01 -1.14567573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.130385723 meters 0.014352004870908508 Centerline is valid? [True, True] Translation: X:214.65, Y:-131.87, Z:-11.46 [[ 7.30055052e-01 6.83359412e-01 -6.28774354e-03 2.14650893e+02] [-6.83333059e-01 7.30082123e-01 6.00197541e-03 -1.31869095e+02] [ 8.69207554e-03 -8.51494474e-05 9.99962220e-01 -1.14556037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.190385723 meters 0.014061510075945223 Centerline is valid? [True, True] Translation: X:214.70, Y:-131.91, Z:-11.46 [[ 7.27791477e-01 6.85774345e-01 -5.75440561e-03 2.14697074e+02] [-6.85752336e-01 7.27814224e-01 5.49440630e-03 -1.31909648e+02] [ 7.95606114e-03 -5.26849918e-05 9.99968349e-01 -1.14563195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.250385723 meters 0.013861295848626332 Centerline is valid? [True, True] Translation: X:214.74, Y:-131.95, Z:-11.46 [[ 7.26287263e-01 6.87368553e-01 -5.59331368e-03 2.14743007e+02] [-6.87347786e-01 7.26308799e-01 5.34318872e-03 -1.31952016e+02] [ 7.73521284e-03 -3.61381280e-05 9.99970082e-01 -1.14569425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.310385723 meters 0.014092517673049238 Centerline is valid? [True, True] Translation: X:214.78, Y:-132.00, Z:-11.46 [[ 7.27682246e-01 6.85888922e-01 -5.91064508e-03 2.14784513e+02] [-6.85865662e-01 7.27706248e-01 5.64884279e-03 -1.31996795e+02] [ 8.17569205e-03 -5.66541058e-05 9.99966577e-01 -1.14565463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.370385723 meters 0.014698767584365155 Centerline is valid? [True, True] Translation: X:214.83, Y:-132.04, Z:-11.46 [[ 7.30193813e-01 6.83219680e-01 -5.27863781e-03 2.14826628e+02] [-6.83201041e-01 7.30212889e-01 5.04722511e-03 -1.32042811e+02] [ 7.30289288e-03 -7.90816977e-05 9.99973330e-01 -1.14554810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.430385723 meters 0.015257798792486954 Centerline is valid? [True, True] Translation: X:214.87, Y:-132.09, Z:-11.46 [[ 7.32059768e-01 6.81222164e-01 -4.98595770e-03 2.14870618e+02] [-6.81205473e-01 7.32076741e-01 4.76960583e-03 -1.32086740e+02] [ 6.89926487e-03 -9.51748666e-05 9.99976195e-01 -1.14563782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.490385723 meters 0.015770561795988423 Centerline is valid? [True, True] Translation: X:214.91, Y:-132.13, Z:-11.45 [[ 7.35960038e-01 6.77016814e-01 -3.32501026e-03 2.14912255e+02] [-6.77009341e-01 7.35967544e-01 3.18217965e-03 -1.32132513e+02] [ 4.60148877e-03 -9.08940539e-05 9.99989409e-01 -1.14527654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.550385723 meters 0.016466419406181036 Centerline is valid? [True, True] Translation: X:214.96, Y:-132.18, Z:-11.45 [[ 7.37858733e-01 6.74952321e-01 -1.96342172e-03 2.14956768e+02] [-6.74949705e-01 7.37861343e-01 1.87998905e-03 -1.32175386e+02] [ 2.71763596e-03 -6.19554269e-05 9.99996305e-01 -1.14518500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.610385723 meters 0.01614544474553839 Centerline is valid? [True, True] Translation: X:215.00, Y:-132.22, Z:-11.45 [[ 7.35910916e-01 6.77074301e-01 -2.34830285e-03 2.15003788e+02] [-6.77070567e-01 7.35914660e-01 2.24959307e-03 -1.32215809e+02] [ 3.25129215e-03 -6.55333508e-05 9.99994712e-01 -1.14520804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.670385723 meters 0.015349102529841474 Centerline is valid? [True, True] Translation: X:215.05, Y:-132.26, Z:-11.45 [[ 7.33119148e-01 6.80096774e-01 -2.16648320e-03 2.15052101e+02] [-6.80093606e-01 7.33122347e-01 2.07641540e-03 -1.32255285e+02] [ 3.00046067e-03 -4.88485180e-05 9.99995497e-01 -1.14531059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.730385723 meters 0.01511922588425912 Centerline is valid? [True, True] Translation: X:215.10, Y:-132.29, Z:-11.46 [[ 7.30484529e-01 6.82925928e-01 -2.12835063e-03 2.15100179e+02] [-6.82922880e-01 7.30487628e-01 2.04083621e-03 -1.32294195e+02] [ 2.94847377e-03 -3.72999379e-05 9.99995653e-01 -1.14550132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.790385723 meters 0.015148688074144009 Centerline is valid? [True, True] Translation: X:215.15, Y:-132.34, Z:-11.45 [[ 7.31802178e-01 6.81512847e-01 -2.41078901e-03 2.15146415e+02] [-6.81508924e-01 7.31806147e-01 2.31277386e-03 -1.32335556e+02] [ 3.34041531e-03 -4.95187214e-05 9.99994420e-01 -1.14540750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.850385723 meters 0.01594955051148263 Centerline is valid? [True, True] Translation: X:215.19, Y:-132.38, Z:-11.45 [[ 7.34072398e-01 6.79070590e-01 -9.21109498e-04 2.15190973e+02] [-6.79070015e-01 7.34072975e-01 8.84046329e-04 -1.32377689e+02] [ 1.27649145e-03 -2.34561676e-05 9.99999185e-01 -1.14520437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.910385723 meters 0.016412885991533056 Centerline is valid? [True, True] Translation: X:215.24, Y:-132.42, Z:-11.45 [[ 7.35073660e-01 6.77987252e-01 2.40457027e-05 2.15237832e+02] [-6.77987252e-01 7.35073660e-01 -2.30933323e-05 -1.32418045e+02] [-3.33323475e-05 6.72620351e-07 9.99999999e-01 -1.14527314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9703857229999 meters 0.015935465496948176 Centerline is valid? [True, True] Translation: X:215.29, Y:-132.46, Z:-11.45 [[ 7.35755770e-01 6.77246898e-01 -2.95340757e-04 2.15286477e+02] [-6.77246838e-01 7.35755829e-01 2.83724427e-04 -1.32457079e+02] [ 4.09450172e-04 -8.73329004e-06 9.99999916e-01 -1.14543480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.030385723 meters 0.015760748079226637 Centerline is valid? [True, True] Translation: X:215.33, Y:-132.50, Z:-11.45 [[ 7.35247425e-01 6.77798797e-01 1.24882843e-04 2.15334967e+02] [-6.77798786e-01 7.35247435e-01 -1.20035789e-04 -1.32496748e+02] [-1.73179903e-04 3.61056555e-06 9.99999985e-01 -1.14541849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0903857229999 meters 0.01540537365889233 Centerline is valid? [True, True] Translation: X:215.38, Y:-132.53, Z:-11.46 [[ 7.32785815e-01 6.80458891e-01 -8.04564520e-04 2.15383964e+02] [-6.80458452e-01 7.32786256e-01 7.73649147e-04 -1.32534163e+02] [ 1.11601026e-03 -1.94463924e-05 9.99999377e-01 -1.14556793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.150385723 meters 0.014546145528527912 Centerline is valid? [True, True] Translation: X:215.43, Y:-132.57, Z:-11.46 [[ 7.28618745e-01 6.84917469e-01 -1.66914040e-03 2.15433887e+02] [-6.84915588e-01 7.28620656e-01 1.60511996e-03 -1.32569805e+02] [ 2.31554487e-03 -2.63002086e-05 9.99997319e-01 -1.14567529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.210385723 meters 0.014274485531070007 Centerline is valid? [True, True] Translation: X:215.48, Y:-132.61, Z:-11.46 [[ 7.27263868e-01 6.86354986e-01 -2.02471999e-03 2.15483622e+02] [-6.86352224e-01 7.27266686e-01 1.94739688e-03 -1.32608477e+02] [ 2.80911695e-03 -2.66003241e-05 9.99996054e-01 -1.14579282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.270385723 meters 0.01409345832941304 Centerline is valid? [True, True] Translation: X:215.53, Y:-132.65, Z:-11.46 [[ 7.27034251e-01 6.86597634e-01 -2.21083631e-03 2.15532311e+02] [-6.86594338e-01 7.27037612e-01 2.12760483e-03 -1.32648406e+02] [ 3.06816960e-03 -2.88938934e-05 9.99995293e-01 -1.14582943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.330385723 meters 0.014495481056312213 Centerline is valid? [True, True] Translation: X:215.58, Y:-132.69, Z:-11.46 [[ 7.29379361e-01 6.84107682e-01 -1.55804479e-03 2.15577663e+02] [-6.84106038e-01 7.29381024e-01 1.50012472e-03 -1.32691158e+02] [ 2.16265515e-03 -2.82921599e-05 9.99997661e-01 -1.14571428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.390385723 meters 0.01496217732162622 Centerline is valid? [True, True] Translation: X:215.62, Y:-132.73, Z:-11.46 [[ 7.31960599e-01 6.81345504e-01 -1.40918415e-03 2.15623505e+02] [-6.81344152e-01 7.31961955e-01 1.35746552e-03 -1.32733383e+02] [ 1.95637222e-03 -3.34718912e-05 9.99998086e-01 -1.14576530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.450385723 meters 0.016223502711774248 Centerline is valid? [True, True] Translation: X:215.67, Y:-132.77, Z:-11.46 [[ 7.34674176e-01 6.78417277e-01 -1.96297299e-03 2.15668270e+02] [-6.78414643e-01 7.34676796e-01 1.89139191e-03 -1.32774261e+02] [ 2.72530366e-03 -5.78471731e-05 9.99996285e-01 -1.14586786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.510385723 meters 0.01599796727144412 Centerline is valid? [True, True] Translation: X:215.72, Y:-132.82, Z:-11.46 [[ 7.34288605e-01 6.78831932e-01 -2.73000573e-03 2.15715555e+02] [-6.78826834e-01 7.34293676e-01 2.63189347e-03 -1.32815881e+02] [ 3.79123927e-03 -7.93682415e-05 9.99992810e-01 -1.14576910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.570385723 meters 0.015011038267635154 Centerline is valid? [True, True] Translation: X:215.77, Y:-132.85, Z:-11.46 [[ 7.31983343e-01 6.81310339e-01 -4.07513606e-03 2.15765330e+02] [-6.81299015e-01 7.31994680e-01 3.92937545e-03 -1.32854439e+02] [ 5.66010204e-03 -9.98511898e-05 9.99983977e-01 -1.14589133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.630385723 meters 0.015048387727070619 Centerline is valid? [True, True] Translation: X:215.81, Y:-132.89, Z:-11.46 [[ 7.30768140e-01 6.82607459e-01 -4.99832075e-03 2.15811582e+02] [-6.82590438e-01 7.30785225e-01 4.82169812e-03 -1.32894651e+02] [ 6.94402605e-03 -1.11737415e-04 9.99975884e-01 -1.14604883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.690385723 meters 0.015289626488653407 Centerline is valid? [True, True] Translation: X:215.86, Y:-132.94, Z:-11.46 [[ 7.31061533e-01 6.82292435e-01 -5.10579681e-03 2.15855735e+02] [-6.82274650e-01 7.31079352e-01 4.92772122e-03 -1.32938779e+02] [ 7.09488953e-03 -1.18911693e-04 9.99974824e-01 -1.14600639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.750385723 meters 0.01506731404914844 Centerline is valid? [True, True] Translation: X:215.90, Y:-132.98, Z:-11.46 [[ 7.30956882e-01 6.82407548e-01 -4.68777400e-03 2.15900865e+02] [-6.82392542e-01 7.30971906e-01 4.52678353e-03 -1.32982080e+02] [ 6.51574234e-03 -1.09981562e-04 9.99978766e-01 -1.14590249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.810385723 meters 0.014786318821283846 Centerline is valid? [True, True] Translation: X:215.94, Y:-133.03, Z:-11.46 [[ 7.29423279e-01 6.84050682e-01 -4.04287923e-03 2.15943446e+02] [-6.84039535e-01 7.29434478e-01 3.90591635e-03 -1.33027444e+02] [ 5.62086024e-03 -8.35770854e-05 9.99984199e-01 -1.14572228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.870385723 meters 0.01436659941569572 Centerline is valid? [True, True] Translation: X:215.99, Y:-133.07, Z:-11.46 [[ 7.27519714e-01 6.86079861e-01 -3.08061736e-03 2.15986745e+02] [-6.86073401e-01 7.27526234e-01 2.97769156e-03 -1.33071662e+02] [ 4.28416416e-03 -5.27996825e-05 9.99990822e-01 -1.14564106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.930385723 meters 0.01395749448192953 Centerline is valid? [True, True] Translation: X:216.03, Y:-133.12, Z:-11.46 [[ 7.25073196e-01 6.88663008e-01 -3.48163465e-03 2.16030998e+02] [-6.88654779e-01 7.25081554e-01 3.36693295e-03 -1.33115596e+02] [ 4.84315123e-03 -4.36284921e-05 9.99988271e-01 -1.14575059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.990385723 meters 0.013758265399380666 Centerline is valid? [True, True] Translation: X:216.07, Y:-133.16, Z:-11.46 [[ 7.23750714e-01 6.90052641e-01 -3.50094267e-03 2.16072668e+02] [-6.90044328e-01 7.23759181e-01 3.38724074e-03 -1.33162417e+02] [ 4.87121382e-03 -3.57122697e-05 9.99988135e-01 -1.14566016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.050385723 meters 0.013970626209121999 Centerline is valid? [True, True] Translation: X:216.12, Y:-133.21, Z:-11.46 [[ 7.23929040e-01 6.89870438e-01 -2.35038293e-03 2.16115541e+02] [-6.89866686e-01 7.23932855e-01 2.27529429e-03 -1.33209025e+02] [ 3.27117769e-03 -2.57007310e-05 9.99994649e-01 -1.14553887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.110385723 meters 0.01413897107571981 Centerline is valid? [True, True] Translation: X:216.16, Y:-133.26, Z:-11.46 [[ 7.25214010e-01 6.88518462e-01 -2.63954043e-03 2.16155839e+02] [-6.88513717e-01 7.25218813e-01 2.55644545e-03 -1.33256157e+02] [ 3.67440427e-03 -3.66102683e-05 9.99993249e-01 -1.14561209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.170385723 meters 0.01472682654709234 Centerline is valid? [True, True] Translation: X:216.19, Y:-133.31, Z:-11.46 [[ 7.27398714e-01 6.86206889e-01 -3.34912846e-03 2.16194813e+02] [-6.86199218e-01 7.27406421e-01 3.24526583e-03 -1.33305191e+02] [ 4.66310132e-03 -6.24328659e-05 9.99989126e-01 -1.14564660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.230385723 meters 0.015470654680755772 Centerline is valid? [True, True] Translation: X:216.23, Y:-133.36, Z:-11.46 [[ 7.30111960e-01 6.83315282e-01 -4.09286275e-03 2.16232903e+02] [-6.83303769e-01 7.30123425e-01 3.96786920e-03 -1.33355227e+02] [ 5.69960063e-03 -1.00320214e-04 9.99983752e-01 -1.14569461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.290385723 meters 0.016219001271311716 Centerline is valid? [True, True] Translation: X:216.27, Y:-133.40, Z:-11.46 [[ 7.30945272e-01 6.82424952e-01 -3.89785163e-03 2.16271409e+02] [-6.82414489e-01 7.30955658e-01 3.78049696e-03 -1.33403690e+02] [ 5.42906215e-03 -1.03385954e-04 9.99985257e-01 -1.14575357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.350385723 meters 0.015606767368029392 Centerline is valid? [True, True] Translation: X:216.31, Y:-133.45, Z:-11.46 [[ 7.29153018e-01 6.84342388e-01 -3.37227270e-03 2.16312871e+02] [-6.84334569e-01 7.29160812e-01 3.27232157e-03 -1.33450196e+02] [ 4.69831746e-03 -7.82603642e-05 9.99988960e-01 -1.14567947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.410385723 meters 0.015267619635578244 Centerline is valid? [True, True] Translation: X:216.36, Y:-133.50, Z:-11.46 [[ 7.27278219e-01 6.86338810e-01 -2.33033074e-03 2.16355109e+02] [-6.86335083e-01 7.27281951e-01 2.26236162e-03 -1.33495614e+02] [ 3.24755407e-03 -4.59785870e-05 9.99994726e-01 -1.14571338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4703857229999 meters 0.015191735071611843 Centerline is valid? [True, True] Translation: X:216.40, Y:-133.54, Z:-11.46 [[ 7.26197467e-01 6.87479806e-01 -2.95883369e-03 2.16398579e+02] [-6.87473801e-01 7.26203493e-01 2.87391379e-03 -1.33540454e+02] [ 4.12447305e-03 -5.29082684e-05 9.99991493e-01 -1.14584983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.530385723 meters 0.015243377770488536 Centerline is valid? [True, True] Translation: X:216.44, Y:-133.59, Z:-11.46 [[ 7.25572700e-01 6.88142310e-01 -2.10222000e-03 2.16438466e+02] [-6.88139278e-01 7.25575744e-01 2.04284978e-03 -1.33587750e+02] [ 2.93109121e-03 -3.56158763e-05 9.99995704e-01 -1.14581424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5903857229999 meters 0.015442223620422708 Centerline is valid? [True, True] Translation: X:216.48, Y:-133.63, Z:-11.46 [[ 7.25512738e-01 6.88204114e-01 -2.52300019e-03 2.16482252e+02] [-6.88199743e-01 7.25517123e-01 2.45305942e-03 -1.33632493e+02] [ 3.51868543e-03 -4.33977765e-05 9.99993808e-01 -1.14590120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.650385723 meters 0.015498791928433753 Centerline is valid? [True, True] Translation: X:216.53, Y:-133.67, Z:-11.46 [[ 7.25918176e-01 6.87771797e-01 -3.57168938e-03 2.16528210e+02] [-6.87763024e-01 7.25926960e-01 3.47435011e-03 -1.33674952e+02] [ 4.98234563e-03 -6.56180016e-05 9.99987586e-01 -1.14602098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.710385723 meters 0.015619243649602323 Centerline is valid? [True, True] Translation: X:216.58, Y:-133.72, Z:-11.46 [[ 7.26687884e-01 6.86955885e-01 -4.04111519e-03 2.16575114e+02] [-6.86944632e-01 7.26699116e-01 3.93288725e-03 -1.33715900e+02] [ 5.63839488e-03 -8.19591279e-05 9.99984101e-01 -1.14614052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.770385723 meters 0.015958404410344983 Centerline is valid? [True, True] Translation: X:216.62, Y:-133.76, Z:-11.46 [[ 7.28008829e-01 6.85561051e-01 -3.03147738e-03 2.16620074e+02] [-6.85554700e-01 7.28015137e-01 2.95172156e-03 -1.33758761e+02] [ 4.23054676e-03 -7.06357951e-05 9.99991049e-01 -1.14606052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.830385723 meters 0.01640012239657109 Centerline is valid? [True, True] Translation: X:216.67, Y:-133.80, Z:-11.46 [[ 7.29409856e-01 6.84070145e-01 -3.04924396e-03 2.16665268e+02] [-6.84063701e-01 7.29416225e-01 2.97045977e-03 -1.33801860e+02] [ 4.25617086e-03 -8.08055296e-05 9.99990939e-01 -1.14610048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.890385723 meters 0.016517302298069306 Centerline is valid? [True, True] Translation: X:216.71, Y:-133.85, Z:-11.46 [[ 7.29063928e-01 6.84439218e-01 -2.95729486e-03 2.16711016e+02] [-6.84433153e-01 7.29069922e-01 2.88246343e-03 -1.33845457e+02] [ 4.12894575e-03 -7.74294590e-05 9.99991473e-01 -1.14615286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.950385723 meters 0.01585051943099678 Centerline is valid? [True, True] Translation: X:216.76, Y:-133.89, Z:-11.46 [[ 7.27561029e-01 6.86040719e-01 -1.75537298e-03 2.16757248e+02] [-6.86038585e-01 7.27563145e-01 1.71179776e-03 -1.33886547e+02] [ 2.45150765e-03 -4.11837424e-05 9.99996994e-01 -1.14599006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.010385723 meters 0.01575026941799167 Centerline is valid? [True, True] Translation: X:216.80, Y:-133.93, Z:-11.46 [[ 7.26512067e-01 6.87153097e-01 -9.15424543e-04 2.16802757e+02] [-6.87152517e-01 7.26512644e-01 8.92858198e-04 -1.33929566e+02] [ 1.27859778e-03 -1.96359761e-05 9.99999182e-01 -1.14591348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.070385723 meters 0.01652846415094003 Centerline is valid? [True, True] Translation: X:216.84, Y:-133.98, Z:-11.46 [[ 7.27909705e-01 6.85672969e-01 -2.02488413e-04 2.16843100e+02] [-6.85672941e-01 7.27909733e-01 1.97581973e-04 -1.33975243e+02] [ 2.82869905e-04 -4.98101046e-06 9.99999960e-01 -1.14575844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.130385723 meters 0.016979789915569986 Centerline is valid? [True, True] Translation: X:216.89, Y:-134.02, Z:-11.46 [[ 7.31437572e-01 6.81907881e-01 -8.48194533e-04 2.16887151e+02] [-6.81907379e-01 7.31438064e-01 8.27774621e-04 -1.34018985e+02] [ 1.18486781e-03 -2.70753479e-05 9.99999298e-01 -1.14585364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.190385723 meters 0.017506931776776303 Centerline is valid? [True, True] Translation: X:216.93, Y:-134.06, Z:-11.46 [[ 7.33251116e-01 6.79957454e-01 -8.13050662e-04 2.16931114e+02] [-6.79956991e-01 7.33251566e-01 7.93863694e-04 -1.34062996e+02] [ 1.13596421e-03 -2.92619580e-05 9.99999354e-01 -1.14585796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.250385723 meters 0.017322157441486363 Centerline is valid? [True, True] Translation: X:216.98, Y:-134.11, Z:-11.46 [[ 7.31029440e-01 6.82344065e-01 -1.59222560e-03 2.16977000e+02] [-6.82342294e-01 7.31031172e-01 1.55540943e-03 -1.34105107e+02] [ 2.22529094e-03 -5.06072157e-05 9.99997523e-01 -1.14593319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.310385723 meters 0.017206249070356904 Centerline is valid? [True, True] Translation: X:217.02, Y:-134.15, Z:-11.46 [[ 7.29649283e-01 6.83819013e-01 -1.86591638e-03 2.17022406e+02] [-6.83816583e-01 7.29651667e-01 1.82364582e-03 -1.34147093e+02] [ 2.60851268e-03 -5.46772944e-05 9.99996596e-01 -1.14603269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.370385723 meters 0.016159371922376792 Centerline is valid? [True, True] Translation: X:217.07, Y:-134.19, Z:-11.46 [[ 7.25371975e-01 6.88356055e-01 -1.19962370e-03 2.17069063e+02] [-6.88355057e-01 7.25372967e-01 1.17252978e-03 -1.34187328e+02] [ 1.67729257e-03 -2.47531979e-05 9.99998593e-01 -1.14603339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.430385723 meters 0.015759488984324877 Centerline is valid? [True, True] Translation: X:217.11, Y:-134.23, Z:-11.46 [[ 7.22522756e-01 6.91347139e-01 2.49736117e-05 2.17114047e+02] [-6.91347138e-01 7.22522757e-01 -2.44152485e-05 -1.34230931e+02] [-3.49234149e-05 3.75137668e-07 9.99999999e-01 -1.14587207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.490385723 meters 0.015566804303426525 Centerline is valid? [True, True] Translation: X:217.16, Y:-134.27, Z:-11.46 [[ 7.20730786e-01 6.93214187e-01 1.10692288e-03 2.17158654e+02] [-6.93213342e-01 7.20731635e-01 -1.08261610e-03 -1.34274136e+02] [-1.54827918e-03 1.29410370e-05 9.99998801e-01 -1.14576909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.550385723 meters 0.015490492402561562 Centerline is valid? [True, True] Translation: X:217.20, Y:-134.32, Z:-11.46 [[ 7.19934015e-01 6.94039746e-01 1.96066319e-03 2.17201886e+02] [-6.94037095e-01 7.19936685e-01 -1.91865348e-03 -1.34319688e+02] [-2.74317513e-03 2.05309172e-05 9.99996237e-01 -1.14562672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.610385723 meters 0.015774369894163708 Centerline is valid? [True, True] Translation: X:217.25, Y:-134.36, Z:-11.46 [[ 7.22320153e-01 6.91558138e-01 9.69177869e-04 2.17246772e+02] [-6.91557487e-01 7.22320803e-01 -9.48879908e-04 -1.34362767e+02] [-1.35626296e-03 1.51528685e-05 9.99999080e-01 -1.14596022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.670385723 meters 0.01606952722724497 Centerline is valid? [True, True] Translation: X:217.29, Y:-134.41, Z:-11.46 [[ 7.24165270e-01 6.89625933e-01 8.56895017e-04 2.17289969e+02] [-6.89625422e-01 7.24165777e-01 -8.39356131e-04 -1.34407488e+02] [-1.19937580e-03 1.68959711e-05 9.99999281e-01 -1.14598683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.730385723 meters 0.016575085970922724 Centerline is valid? [True, True] Translation: X:217.33, Y:-134.45, Z:-11.46 [[ 7.26083562e-01 6.87606331e-01 4.40974947e-04 2.17332365e+02] [-6.87606195e-01 7.26083696e-01 -4.32145584e-04 -1.34452168e+02] [-6.17330759e-04 1.05566992e-05 9.99999809e-01 -1.14602035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.790385723 meters 0.016868671179832883 Centerline is valid? [True, True] Translation: X:217.38, Y:-134.49, Z:-11.46 [[ 7.26320992e-01 6.87355669e-01 -3.62622158e-05 2.17378367e+02] [-6.87355668e-01 7.26320993e-01 3.55502360e-05 -1.34494614e+02] [ 5.07736649e-05 -8.95843150e-07 9.99999999e-01 -1.14621731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.850385723 meters 0.016535929167131872 Centerline is valid? [True, True] Translation: X:217.42, Y:-134.54, Z:-11.46 [[ 7.25067489e-01 6.88677640e-01 4.93706523e-04 2.17424572e+02] [-6.88677470e-01 7.25067657e-01 -4.84316111e-04 -1.34536644e+02] [-6.91508309e-04 1.11573075e-05 9.99999761e-01 -1.14619541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.910385723 meters 0.01652176133590657 Centerline is valid? [True, True] Translation: X:217.47, Y:-134.58, Z:-11.46 [[ 7.24382817e-01 6.89397929e-01 1.73432143e-04 2.17469940e+02] [-6.89397908e-01 7.24382838e-01 -1.70216552e-04 -1.34579418e+02] [-2.42978206e-04 3.73818892e-06 9.99999970e-01 -1.14620502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9703857229999 meters 0.016861765046005634 Centerline is valid? [True, True] Translation: X:217.51, Y:-134.62, Z:-11.46 [[ 7.26431388e-01 6.87238947e-01 -2.59910357e-04 2.17514940e+02] [-6.87238900e-01 7.26431435e-01 2.55202417e-04 -1.34621833e+02] [ 3.64192094e-04 -6.76653849e-06 9.99999934e-01 -1.14626257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.030385723 meters 0.017481630722922838 Centerline is valid? [True, True] Translation: X:217.56, Y:-134.67, Z:-11.46 [[ 7.28993253e-01 6.84520774e-01 -3.82581875e-04 2.17559549e+02] [-6.84520671e-01 7.28993354e-01 3.75708813e-04 -1.34665258e+02] [ 5.36080131e-04 -1.20039880e-05 9.99999856e-01 -1.14615047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0903857229999 meters 0.01788581396021764 Centerline is valid? [True, True] Translation: X:217.61, Y:-134.70, Z:-11.46 [[ 7.30161264e-01 6.83274809e-01 -2.51941192e-04 2.17608212e+02] [-6.83274764e-01 7.30161308e-01 2.47521829e-04 -1.34703758e+02] [ 3.53083140e-04 -8.58579317e-06 9.99999938e-01 -1.14628499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.150385723 meters 0.018061237773789224 Centerline is valid? [True, True] Translation: X:217.66, Y:-134.74, Z:-11.46 [[ 7.29667776e-01 6.83801816e-01 1.14587322e-04 2.17656373e+02] [-6.83801807e-01 7.29667785e-01 -1.12636736e-04 -1.34743393e+02] [-1.60631882e-04 3.83237907e-06 9.99999987e-01 -1.14635413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.210385723 meters 0.018094829839506218 Centerline is valid? [True, True] Translation: X:217.70, Y:-134.78, Z:-11.46 [[ 7.28611002e-01 6.84927669e-01 -3.10456634e-04 2.17703150e+02] [-6.84927601e-01 7.28611068e-01 3.05287991e-04 -1.34783243e+02] [ 4.35302332e-04 -9.79587096e-06 9.99999905e-01 -1.14632664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.270385723 meters 0.017214275895608394 Centerline is valid? [True, True] Translation: X:217.75, Y:-134.82, Z:-11.46 [[ 7.28171224e-01 6.85395258e-01 9.45630728e-05 2.17751321e+02] [-6.85395251e-01 7.28171230e-01 -9.30389247e-05 -1.34822429e+02] [-1.32626547e-04 2.93518662e-06 9.99999991e-01 -1.14626419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.330385723 meters 0.016926491574739494 Centerline is valid? [True, True] Translation: X:217.80, Y:-134.86, Z:-11.46 [[ 7.26691346e-01 6.86964018e-01 -3.55192258e-04 2.17800034e+02] [-6.86963929e-01 7.26691433e-01 3.49612530e-04 -1.34861395e+02] [ 4.98286399e-04 -1.00561305e-05 9.99999876e-01 -1.14638613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.390385723 meters 0.016489232271953033 Centerline is valid? [True, True] Translation: X:217.85, Y:-134.90, Z:-11.46 [[ 7.26553178e-01 6.87109955e-01 6.23773764e-04 2.17847893e+02] [-6.87109680e-01 7.26553446e-01 -6.14330159e-04 -1.34902396e+02] [-8.75317345e-04 1.77425385e-05 9.99999617e-01 -1.14627301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.450385723 meters 0.016013925675919624 Centerline is valid? [True, True] Translation: X:217.90, Y:-134.94, Z:-11.46 [[ 7.26568548e-01 6.87093481e-01 8.33076978e-04 2.17897280e+02] [-6.87092991e-01 7.26569025e-01 -8.20937285e-04 -1.34941836e+02] [-1.16934858e-03 2.40658592e-05 9.99999316e-01 -1.14628012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.510385723 meters 0.017674040513821664 Centerline is valid? [True, True] Translation: X:217.94, Y:-134.98, Z:-11.46 [[ 7.26153816e-01 6.87531496e-01 1.03838774e-03 2.17941581e+02] [-6.87530734e-01 7.26154558e-01 -1.02353943e-03 -1.34983425e+02] [-1.45774559e-03 2.93235739e-05 9.99998937e-01 -1.14625579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.570385723 meters 0.016614304665518057 Centerline is valid? [True, True] Translation: X:217.99, Y:-135.02, Z:-11.46 [[ 7.25948808e-01 6.87744671e-01 2.36534491e-03 2.17991442e+02] [-6.87740718e-01 7.25952659e-01 -2.33279067e-03 -1.35022373e+02] [-3.32149277e-03 6.67425998e-05 9.99994482e-01 -1.14612495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.630385723 meters 0.01631062291165865 Centerline is valid? [True, True] Translation: X:218.04, Y:-135.06, Z:-11.46 [[ 7.27498448e-01 6.86108807e-01 8.44949885e-04 2.18041088e+02] [-6.86108301e-01 7.27498938e-01 -8.33735845e-04 -1.35060193e+02] [-1.18673365e-03 2.68144032e-05 9.99999295e-01 -1.14631503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.690385723 meters 0.017304901707092556 Centerline is valid? [True, True] Translation: X:218.09, Y:-135.10, Z:-11.46 [[ 7.30394672e-01 6.83025170e-01 4.89431581e-04 2.18088896e+02] [-6.83025000e-01 7.30394836e-01 -4.83001895e-04 -1.35100628e+02] [-6.87380752e-04 1.84880052e-05 9.99999764e-01 -1.14637968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.750385723 meters 0.018539192815290553 Centerline is valid? [True, True] Translation: X:218.14, Y:-135.14, Z:-11.47 [[ 7.34594076e-01 6.78504400e-01 -1.82284874e-03 2.18136756e+02] [-6.78502020e-01 7.34596333e-01 1.79902149e-03 -1.35139334e+02] [ 2.55970200e-03 -8.47439780e-05 9.99996720e-01 -1.14657335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.810385723 meters 0.020937832556274544 Centerline is valid? [True, True] Translation: X:218.18, Y:-135.18, Z:-11.47 [[ 7.37814014e-01 6.74992930e-01 -3.87626442e-03 2.18182662e+02] [-6.74982120e-01 7.37824167e-01 3.82572802e-03 -1.35178620e+02] [ 5.44234093e-03 -2.06266570e-04 9.99985169e-01 -1.14677213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.870385723 meters 0.020376951350830837 Centerline is valid? [True, True] Translation: X:218.23, Y:-135.21, Z:-11.47 [[ 7.38456305e-01 6.74283022e-01 -4.96902874e-03 2.18233465e+02] [-6.74265226e-01 7.38472973e-01 4.90643207e-03 -1.35214936e+02] [ 6.97781727e-03 -2.72742411e-04 9.99975618e-01 -1.14683405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.930385723 meters 0.020121167118476824 Centerline is valid? [True, True] Translation: X:218.29, Y:-135.25, Z:-11.47 [[ 7.36736464e-01 6.76146990e-01 -6.68058372e-03 2.18287432e+02] [-6.76114883e-01 7.36766672e-01 6.59814439e-03 -1.35249479e+02] [ 9.38334691e-03 -3.44251490e-04 9.99955916e-01 -1.14719073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.990385723 meters 0.018956005287628763 Centerline is valid? [True, True] Translation: X:218.34, Y:-135.29, Z:-11.47 [[ 7.34127216e-01 6.78978093e-01 -6.78080738e-03 2.18337215e+02] [-6.78945131e-01 7.34158465e-01 6.69759373e-03 -1.35286610e+02] [ 9.52570655e-03 -3.13089682e-04 9.99954580e-01 -1.14710522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.050385723 meters 0.01717966207614863 Centerline is valid? [True, True] Translation: X:218.39, Y:-135.32, Z:-11.47 [[ 7.29995958e-01 6.83418643e-01 -6.69781199e-03 2.18388898e+02] [-6.83386666e-01 7.30026640e-01 6.61584493e-03 -1.35321195e+02] [ 9.41097295e-03 -2.52344648e-04 9.99955684e-01 -1.14710768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.110385723 meters 0.015474166906965387 Centerline is valid? [True, True] Translation: X:218.44, Y:-135.36, Z:-11.47 [[ 7.26099096e-01 6.87557412e-01 -6.70127010e-03 2.18440467e+02] [-6.87525574e-01 7.26129992e-01 6.61973355e-03 -1.35356132e+02] [ 9.41744008e-03 -1.99287981e-04 9.99955635e-01 -1.14718078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.170385723 meters 0.015682873621237815 Centerline is valid? [True, True] Translation: X:218.49, Y:-135.40, Z:-11.47 [[ 7.23120362e-01 6.90675392e-01 -8.02780148e-03 2.18488356e+02] [-6.90629846e-01 7.23164895e-01 7.93408285e-03 -1.35395708e+02] [ 1.12853000e-02 -1.93057557e-04 9.99936300e-01 -1.14733004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.230385723 meters 0.016067311261372418 Centerline is valid? [True, True] Translation: X:218.54, Y:-135.44, Z:-11.47 [[ 7.22371207e-01 6.91453821e-01 -8.45300622e-03 2.18535238e+02] [-6.91403319e-01 7.22420637e-01 8.35907518e-03 -1.35437440e+02] [ 1.18865406e-02 -1.93918669e-04 9.99929334e-01 -1.14745295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.290385723 meters 0.015238520996968149 Centerline is valid? [True, True] Translation: X:218.58, Y:-135.48, Z:-11.47 [[ 7.23733066e-01 6.90043840e-01 -7.06740778e-03 2.18580932e+02] [-6.90008437e-01 7.23767549e-01 6.99229995e-03 -1.35479489e+02] [ 9.94015391e-03 -1.83987692e-04 9.99950579e-01 -1.14738443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.350385723 meters 0.016130849893275543 Centerline is valid? [True, True] Translation: X:218.62, Y:-135.52, Z:-11.47 [[ 7.26114341e-01 6.87534984e-01 -7.32186518e-03 2.18624743e+02] [-6.87496847e-01 7.26151220e-01 7.24506419e-03 -1.35523662e+02] [ 1.02980164e-02 -2.26985788e-04 9.99946948e-01 -1.14748010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.410385723 meters 0.019207665831866186 Centerline is valid? [True, True] Translation: X:218.67, Y:-135.57, Z:-11.48 [[ 7.27306517e-01 6.86270959e-01 -7.57638884e-03 2.18665223e+02] [-6.86230021e-01 7.27345932e-01 7.50024154e-03 -1.35569729e+02] [ 1.06578536e-02 -2.55829079e-04 9.99943171e-01 -1.14778086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4703857229999 meters 0.01655852053784187 Centerline is valid? [True, True] Translation: X:218.71, Y:-135.61, Z:-11.48 [[ 7.28217533e-01 6.85326160e-01 -5.22298171e-03 2.18711700e+02] [-6.85306660e-01 7.28236239e-01 5.17323250e-03 -1.35611549e+02] [ 7.34891611e-03 -1.87894461e-04 9.99972979e-01 -1.14760650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.530385723 meters 0.017317178188452128 Centerline is valid? [True, True] Translation: X:218.76, Y:-135.65, Z:-11.48 [[ 7.26901567e-01 6.86728128e-01 -4.31154596e-03 2.18755548e+02] [-6.86714852e-01 7.26914339e-01 4.27255520e-03 -1.35654859e+02] [ 6.06820842e-03 -1.44924420e-04 9.99981578e-01 -1.14787338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5903857229999 meters 0.016227029765164297 Centerline is valid? [True, True] Translation: X:218.80, Y:-135.70, Z:-11.48 [[ 7.24659363e-01 6.89097312e-01 -3.70182040e-03 2.18801156e+02] [-6.89087546e-01 7.24668809e-01 3.67013734e-03 -1.35696855e+02] [ 5.21167556e-03 -1.08721046e-04 9.99986413e-01 -1.14803396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.650385723 meters 0.01703884186687372 Centerline is valid? [True, True] Translation: X:218.84, Y:-135.74, Z:-11.48 [[ 7.24857496e-01 6.88894664e-01 -2.39842266e-03 2.18843769e+02] [-6.88890559e-01 7.24861460e-01 2.37924527e-03 -1.35743295e+02] [ 3.37757352e-03 -7.23630363e-05 9.99994293e-01 -1.14808740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.710385723 meters 0.01682549174031572 Centerline is valid? [True, True] Translation: X:218.89, Y:-135.79, Z:-11.48 [[ 7.24814390e-01 6.88943449e-01 -1.01175582e-03 2.18886082e+02] [-6.88942718e-01 7.24815096e-01 1.00401690e-03 -1.35788687e+02] [ 1.42504676e-03 -3.06840941e-05 9.99998984e-01 -1.14816881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.770385723 meters 0.016271872819526773 Centerline is valid? [True, True] Translation: X:218.93, Y:-135.83, Z:-11.48 [[ 7.23959006e-01 6.89842788e-01 5.34362561e-04 2.18927899e+02] [-6.89842585e-01 7.23959203e-01 -5.30541440e-04 -1.35834771e+02] [-7.52846880e-04 1.54642030e-05 9.99999717e-01 -1.14807742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.830385723 meters 0.016708309483400078 Centerline is valid? [True, True] Translation: X:218.97, Y:-135.88, Z:-11.48 [[ 7.24201520e-01 6.89587342e-01 1.20663234e-03 2.18969226e+02] [-6.89586301e-01 7.24202525e-01 -1.19857697e-03 -1.35881737e+02] [-1.70036969e-03 3.59341324e-05 9.99998554e-01 -1.14810319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.890385723 meters 0.016947312173399558 Centerline is valid? [True, True] Translation: X:219.01, Y:-135.93, Z:-11.48 [[ 7.25546349e-01 6.88172943e-01 7.03695898e-04 2.19008114e+02] [-6.88172588e-01 7.25546690e-01 -6.99341232e-04 -1.35930550e+02] [-9.91831943e-04 2.31402500e-05 9.99999508e-01 -1.14828964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.950385723 meters 0.019499795924106188 Centerline is valid? [True, True] Translation: X:219.05, Y:-135.98, Z:-11.49 [[ 7.26580084e-01 6.87081778e-01 -1.11092101e-04 2.19047835e+02] [-6.87081769e-01 7.26580092e-01 1.10449058e-04 -1.35977846e+02] [ 1.56604844e-04 -3.92072903e-06 9.99999988e-01 -1.14860359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.010385723 meters 0.016987574286509693 Centerline is valid? [True, True] Translation: X:219.09, Y:-136.02, Z:-11.48 [[ 7.26082756e-01 6.87607048e-01 6.15558347e-04 2.19089333e+02] [-6.87606776e-01 7.26083017e-01 -6.12321396e-04 -1.36024747e+02] [-8.67982970e-04 2.13339164e-05 9.99999623e-01 -1.14843878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.070385723 meters 0.017874347619390645 Centerline is valid? [True, True] Translation: X:219.13, Y:-136.07, Z:-11.49 [[ 7.25919301e-01 6.87779755e-01 4.19557215e-04 2.19128791e+02] [-6.87779629e-01 7.25919422e-01 -4.17494705e-04 -1.36073114e+02] [-5.91709137e-04 1.45045585e-05 9.99999825e-01 -1.14851516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.130385723 meters 0.016735562493025963 Centerline is valid? [True, True] Translation: X:219.17, Y:-136.12, Z:-11.49 [[ 7.25981816e-01 6.87713830e-01 -3.00844745e-04 2.19172858e+02] [-6.87713765e-01 7.25981879e-01 2.99528302e-04 -1.36117439e+02] [ 4.24397589e-04 -1.05570288e-05 9.99999910e-01 -1.14864360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.190385723 meters 0.017703275542076406 Centerline is valid? [True, True] Translation: X:219.21, Y:-136.17, Z:-11.49 [[ 7.26503615e-01 6.87162302e-01 -6.84758660e-04 2.19210674e+02] [-6.87161964e-01 7.26503937e-01 6.82079604e-04 -1.36165964e+02] [ 9.66179254e-04 -2.49931919e-05 9.99999533e-01 -1.14867381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.250385723 meters 0.01707082240427981 Centerline is valid? [True, True] Translation: X:219.25, Y:-136.21, Z:-11.49 [[ 7.25070328e-01 6.88671958e-01 -1.98867726e-03 2.19251358e+02] [-6.88669109e-01 7.25073052e-01 1.98186110e-03 -1.36213155e+02] [ 2.80678846e-03 -6.74480790e-05 9.99996059e-01 -1.14871735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.310385723 meters 0.0160157554987827 Centerline is valid? [True, True] Translation: X:219.29, Y:-136.26, Z:-11.49 [[ 7.22389622e-01 6.91481814e-01 -2.47705033e-03 2.19294108e+02] [-6.91477409e-01 7.22393865e-01 2.46922992e-03 -1.36258829e+02] [ 3.49683355e-03 -7.09217213e-05 9.99993884e-01 -1.14874246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.370385723 meters 0.015534555829403118 Centerline is valid? [True, True] Translation: X:219.34, Y:-136.31, Z:-11.49 [[ 7.19598936e-01 6.94386856e-01 -2.06519389e-03 2.19335114e+02] [-6.94383803e-01 7.19601898e-01 2.05968437e-03 -1.36305832e+02] [ 2.91633519e-03 -4.81094902e-05 9.99995746e-01 -1.14855337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.430385723 meters 0.015332450331589179 Centerline is valid? [True, True] Translation: X:219.38, Y:-136.35, Z:-11.49 [[ 7.17816727e-01 6.96222963e-01 -3.56819108e-03 2.19375605e+02] [-6.96213863e-01 7.17825592e-01 3.56027737e-03 -1.36351982e+02] [ 5.04008574e-03 -7.14025566e-05 9.99987296e-01 -1.14870368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.490385723 meters 0.014870849175282962 Centerline is valid? [True, True] Translation: X:219.41, Y:-136.40, Z:-11.49 [[ 7.15068764e-01 6.99040292e-01 -4.39705294e-03 2.19414724e+02] [-6.99026514e-01 7.15082280e-01 4.38941243e-03 -1.36400846e+02] [ 6.21263079e-03 -6.50751366e-05 9.99980699e-01 -1.14878291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.550385723 meters 0.014653798450945424 Centerline is valid? [True, True] Translation: X:219.45, Y:-136.45, Z:-11.49 [[ 7.13150063e-01 7.00994460e-01 -4.87392992e-03 2.19454879e+02] [-7.00977560e-01 7.13166716e-01 4.86777283e-03 -1.36448371e+02] [ 6.88820637e-03 -5.49369966e-05 9.99976275e-01 -1.14880335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.610385723 meters 0.014748918831343728 Centerline is valid? [True, True] Translation: X:219.49, Y:-136.50, Z:-11.49 [[ 7.12713890e-01 7.01428673e-01 -6.06025932e-03 2.19493086e+02] [-7.01402534e-01 7.12739652e-01 6.05584910e-03 -1.36498862e+02] [ 8.56713332e-03 -6.54065249e-05 9.99963299e-01 -1.14881817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.670385723 meters 0.014784320801755678 Centerline is valid? [True, True] Translation: X:219.53, Y:-136.55, Z:-11.49 [[ 7.13389109e-01 7.00729576e-01 -7.35127778e-03 2.19529055e+02] [-7.00691039e-01 7.13426978e-01 7.34945614e-03 -1.36550644e+02] [ 1.03945812e-02 -9.20475056e-05 9.99945971e-01 -1.14866199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.730385723 meters 0.015296630506119475 Centerline is valid? [True, True] Translation: X:219.56, Y:-136.60, Z:-11.49 [[ 7.14467754e-01 6.99620157e-01 -8.21372074e-03 2.19564873e+02] [-6.99571932e-01 7.14514955e-01 8.21529186e-03 -1.36601659e+02] [ 1.16164101e-02 -1.23472639e-04 9.99932520e-01 -1.14858621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.790385723 meters 0.015448119980676148 Centerline is valid? [True, True] Translation: X:220.12, Y:-136.20, Z:-10.43 [[ 7.50119556e-01 -6.61241481e-01 -8.96415597e-03 2.20120855e+02] [-6.61196694e-01 -7.50173101e-01 7.69743403e-03 -1.36195487e+02] [-1.18145314e-02 1.53074497e-04 -9.99930194e-01 -1.04331345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.850385723 meters 0.015761686001955343 Centerline is valid? [True, True] Translation: X:220.15, Y:-136.22, Z:-10.44 [[ 7.97642752e-01 -6.03052639e-01 -9.67237080e-03 2.20147079e+02] [-6.03011209e-01 -7.97701371e-01 7.07138142e-03 -1.36216513e+02] [-1.19800787e-02 1.92111879e-04 -9.99928218e-01 -1.04354050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.910385723 meters 0.01647846515606123 Centerline is valid? [True, True] Translation: X:220.17, Y:-136.23, Z:-10.44 [[ 8.41976740e-01 -5.39415214e-01 -1.03148795e-02 2.20173261e+02] [-5.39377671e-01 -8.42039896e-01 6.36728435e-03 -1.36234406e+02] [-1.21201501e-02 2.02510384e-04 -9.99926528e-01 -1.04359873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9703857229999 meters 0.01646503733871148 Centerline is valid? [True, True] Translation: X:220.20, Y:-136.25, Z:-10.44 [[ 8.81171962e-01 -4.72703286e-01 -9.35821609e-03 2.20199672e+02] [-4.72678852e-01 -8.81221634e-01 4.80982401e-03 -1.36252667e+02] [-1.05202821e-02 1.85148771e-04 -9.99944643e-01 -1.04376340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.030385723 meters 0.016054313914629827 Centerline is valid? [True, True] Translation: X:220.23, Y:-136.27, Z:-10.44 [[ 9.15929054e-01 -4.01202941e-01 -1.04961329e-02 2.20226307e+02] [-4.01178914e-01 -9.15989173e-01 4.39464222e-03 -1.36269484e+02] [-1.13774875e-02 1.85646707e-04 -9.99935257e-01 -1.04401417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0903857229999 meters 0.016051194080657496 Centerline is valid? [True, True] Translation: X:220.25, Y:-136.29, Z:-10.44 [[ 9.44951183e-01 -3.26994815e-01 -1.19017923e-02 2.20253444e+02] [-3.26971356e-01 -9.45026114e-01 3.92122009e-03 -1.36285187e+02] [-1.25297231e-02 1.86183594e-04 -9.99921483e-01 -1.04402738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.150385723 meters 0.01549840308758798 Centerline is valid? [True, True] Translation: X:220.28, Y:-136.31, Z:-10.44 [[ 9.67967020e-01 -2.50734778e-01 -1.31118391e-02 2.20280120e+02] [-2.50714304e-01 -9.68055803e-01 3.20925712e-03 -1.36306126e+02] [-1.34976643e-02 1.80870570e-04 -9.99908886e-01 -1.04395945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.210385723 meters 0.015335390682968658 Centerline is valid? [True, True] Translation: X:220.31, Y:-136.32, Z:-10.44 [[ 9.84770872e-01 -1.73313276e-01 -1.37418501e-02 2.20305197e+02] [-1.73298870e-01 -9.84866731e-01 2.24136862e-03 -1.36321299e+02] [-1.39223500e-02 1.74212573e-04 -9.99903064e-01 -1.04403421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.270385723 meters 0.015484112425360274 Centerline is valid? [True, True] Translation: X:220.33, Y:-136.33, Z:-10.44 [[ 9.95380922e-01 -9.48948907e-02 -1.45526631e-02 2.20329981e+02] [-9.48872647e-02 -9.95487283e-01 1.21516487e-03 -1.36333340e+02] [-1.46023040e-02 1.71310468e-04 -9.99893366e-01 -1.04418138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.330385723 meters 0.015045701188480582 Centerline is valid? [True, True] Translation: X:220.36, Y:-136.35, Z:-10.44 [[ 9.99761867e-01 -1.59135414e-02 -1.49321515e-02 2.20357292e+02] [-1.59142050e-02 -9.99873358e-01 7.43833874e-05 -1.36350838e+02] [-1.49314442e-02 1.63267646e-04 -9.99888506e-01 -1.04412773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.390385723 meters 0.01498965729769605 Centerline is valid? [True, True] Translation: X:220.39, Y:-136.36, Z:-10.44 [[ 9.97918108e-01 6.28260744e-02 -1.45716950e-02 2.20385317e+02] [ 6.28171221e-02 -9.98024479e-01 -1.07170116e-03 -1.36362985e+02] [-1.46102391e-02 1.54118055e-04 -9.99893253e-01 -1.04415570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.450385723 meters 0.01484153382301802 Centerline is valid? [True, True] Translation: X:220.41, Y:-136.37, Z:-10.44 [[ 9.89743376e-01 1.42103900e-01 -1.46469223e-02 2.20414682e+02] [ 1.42086307e-01 -9.89851738e-01 -2.24014613e-03 -1.36372104e+02] [-1.48166150e-02 1.36042702e-04 -9.99890219e-01 -1.04421824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.510385723 meters 0.014703211542786762 Centerline is valid? [True, True] Translation: X:220.44, Y:-136.38, Z:-10.44 [[ 9.75221931e-01 2.20758986e-01 -1.44102594e-02 2.20444654e+02] [ 2.20733192e-01 -9.75328385e-01 -3.37645505e-03 -1.36380116e+02] [-1.48001178e-02 1.11970464e-04 -9.99890466e-01 -1.04428098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.570385723 meters 0.014875786786257181 Centerline is valid? [True, True] Translation: X:220.47, Y:-136.38, Z:-10.44 [[ 9.54508229e-01 2.97816016e-01 -1.48209758e-02 2.20473777e+02] [ 2.97778580e-01 -9.54623283e-01 -4.72283938e-03 -1.36382886e+02] [-1.55549858e-02 9.46199307e-05 -9.99879009e-01 -1.04414445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.630385723 meters 0.014572300298228768 Centerline is valid? [True, True] Translation: X:220.50, Y:-136.38, Z:-10.44 [[ 9.27958391e-01 3.72418408e-01 -1.40625336e-02 2.20503505e+02] [ 3.72374354e-01 -9.28064935e-01 -5.72862990e-03 -1.36380642e+02] [-1.51843916e-02 7.94033133e-05 -9.99884707e-01 -1.04423757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.690385723 meters 0.01467166039105594 Centerline is valid? [True, True] Translation: X:220.53, Y:-136.38, Z:-10.44 [[ 8.96908226e-01 4.42022580e-01 -1.31023634e-02 2.20532494e+02] [ 4.41973671e-01 -8.97003917e-01 -6.57625915e-03 -1.36376093e+02] [-1.46597264e-02 1.07401270e-04 -9.99892535e-01 -1.04443199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.750385723 meters 0.01490225411137259 Centerline is valid? [True, True] Translation: X:220.56, Y:-136.37, Z:-10.45 [[ 8.61433298e-01 5.07762584e-01 -1.04800513e-02 2.20561002e+02] [ 5.07723107e-01 -8.61497034e-01 -6.33295095e-03 -1.36369340e+02] [-1.22441687e-02 1.34450595e-04 -9.99925028e-01 -1.04487780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.810385723 meters 0.014851687729694196 Centerline is valid? [True, True] Translation: X:220.59, Y:-136.37, Z:-10.45 [[ 8.20175031e-01 5.72025689e-01 -9.97643751e-03 2.20593356e+02] [ 5.71981012e-01 -8.20235689e-01 -7.15096121e-03 -1.36367001e+02] [-1.22735636e-02 1.58707018e-04 -9.99924664e-01 -1.04495818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.870385723 meters 0.014956957084959028 Centerline is valid? [True, True] Translation: X:220.63, Y:-136.36, Z:-10.45 [[ 7.72957871e-01 6.34390628e-01 -9.20113748e-03 2.20625451e+02] [ 6.34343252e-01 -7.73012617e-01 -7.75446855e-03 -1.36361255e+02] [-1.20319575e-02 1.57198025e-04 -9.99927601e-01 -1.04489759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.930385723 meters 0.015093311663105104 Centerline is valid? [True, True] Translation: X:220.66, Y:-136.35, Z:-10.45 [[ 7.20526704e-01 6.93383047e-01 -7.82428728e-03 2.20655310e+02] [ 6.93340082e-01 -7.20569172e-01 -7.72001314e-03 -1.36353028e+02] [-1.09908664e-02 1.37583636e-04 -9.99939589e-01 -1.04503641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.990385723 meters 0.014588458515137561 Centerline is valid? [True, True] Translation: X:220.69, Y:-136.34, Z:-10.45 [[ 6.62989136e-01 7.48591467e-01 -7.49805835e-03 2.20686652e+02] [ 7.48541408e-01 -6.63031522e-01 -8.65801073e-03 -1.36341971e+02] [-1.14527620e-02 1.27559903e-04 -9.99934407e-01 -1.04513875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.050385723 meters 0.01401207083571007 Centerline is valid? [True, True] Translation: X:220.72, Y:-136.33, Z:-10.45 [[ 5.99662767e-01 8.00230350e-01 -5.99605661e-03 2.20720507e+02] [ 8.00189028e-01 -5.99692739e-01 -8.13250010e-03 -1.36330598e+02] [-1.01036650e-02 7.87787976e-05 -9.99948954e-01 -1.04535069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.110385723 meters 0.01365520601413403 Centerline is valid? [True, True] Translation: X:220.75, Y:-136.32, Z:-10.45 [[ 5.31060139e-01 8.47313165e-01 -5.96061978e-03 2.20750690e+02] [ 8.47259096e-01 -5.31093588e-01 -9.57211092e-03 -1.36315967e+02] [-1.12762225e-02 3.31772237e-05 -9.99936421e-01 -1.04530476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.170385723 meters 0.013421856112148427 Centerline is valid? [True, True] Translation: X:220.78, Y:-136.30, Z:-10.45 [[ 4.59863956e-01 8.87976056e-01 -4.86473125e-03 2.20779979e+02] [ 8.87926537e-01 -4.59889686e-01 -9.37771698e-03 -1.36297426e+02] [-1.05644279e-02 -7.04994881e-06 -9.99944195e-01 -1.04529278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.230385723 meters 0.01324809838528212 Centerline is valid? [True, True] Translation: X:220.81, Y:-136.28, Z:-10.46 [[ 3.87980467e-01 9.21661197e-01 -3.43438410e-03 2.20809412e+02] [ 9.21625427e-01 -3.87995667e-01 -8.12001970e-03 -1.36276340e+02] [-8.81643323e-03 -1.48066757e-05 -9.99961134e-01 -1.04558595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.290385723 meters 0.013242428839578246 Centerline is valid? [True, True] Translation: X:220.84, Y:-136.25, Z:-10.46 [[ 3.17065393e-01 9.48400219e-01 -2.56166590e-03 2.20836373e+02] [ 9.48369079e-01 -3.17075741e-01 -7.68539470e-03 -1.36252821e+02] [-8.10107213e-03 7.36796187e-06 -9.99967186e-01 -1.04568796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.350385723 meters 0.013287947066308037 Centerline is valid? [True, True] Translation: X:220.86, Y:-136.23, Z:-10.46 [[ 2.45037960e-01 9.69511303e-01 -2.05724787e-03 2.20861383e+02] [ 9.69475898e-01 -2.45046593e-01 -8.28559316e-03 -1.36226516e+02] [-8.53709779e-03 3.58326251e-05 -9.99963558e-01 -1.04566142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.410385723 meters 0.0137102312467937 Centerline is valid? [True, True] Translation: X:220.88, Y:-136.20, Z:-10.45 [[ 1.72317098e-01 9.85039496e-01 -2.00244485e-03 2.20883709e+02] [ 9.84966079e-01 -1.72328703e-01 -1.20266663e-02 -1.36198680e+02] [-1.21918200e-02 1.00059972e-04 -9.99925672e-01 -1.04532784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4703857229999 meters 0.014620615788801401 Centerline is valid? [True, True] Translation: X:220.90, Y:-136.17, Z:-10.45 [[ 1.00933945e-01 9.94892225e-01 -1.34155603e-03 2.20903003e+02] [ 9.94772166e-01 -1.00942608e-01 -1.54573031e-02 -1.36168663e+02] [-1.55137708e-02 2.25623992e-04 -9.99879629e-01 -1.04506232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.530385723 meters 0.016255772994268784 Centerline is valid? [True, True] Translation: X:220.92, Y:-136.14, Z:-10.45 [[ 2.95199962e-02 9.99564180e-01 -1.41243282e-04 2.20916563e+02] [ 9.99416210e-01 -2.95180570e-02 -1.72024208e-02 -1.36137046e+02] [-1.71990929e-02 3.66654572e-04 -9.99852017e-01 -1.04502471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5903857229999 meters 0.016269016984792096 Centerline is valid? [True, True] Translation: X:220.93, Y:-136.10, Z:-10.45 [[-4.64020861e-02 9.98922266e-01 1.07379654e-03 2.20933166e+02] [ 9.98805538e-01 4.64130837e-02 -1.52749055e-02 -1.36103384e+02] [-1.53082814e-02 3.63726455e-04 -9.99882755e-01 -1.04528176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.650385723 meters 0.019527621179277487 Centerline is valid? [True, True] Translation: X:220.94, Y:-136.07, Z:-10.45 [[-1.27954577e-01 9.91776892e-01 2.49472116e-03 2.20943933e+02] [ 9.91636917e-01 1.27978439e-01 -1.66656336e-02 -1.36069621e+02] [-1.68478608e-02 3.41413514e-04 -9.99858006e-01 -1.04465142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.710385723 meters 0.014387575560305262 Centerline is valid? [True, True] Translation: X:220.96, Y:-136.03, Z:-10.45 [[-2.12367176e-01 9.77184446e-01 3.27728751e-03 2.20962540e+02] [ 9.77081469e-01 2.12392378e-01 -1.41873817e-02 -1.36031684e+02] [-1.45597597e-02 1.89242709e-04 -9.99893983e-01 -1.04520369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.770385723 meters 0.013348618027392711 Centerline is valid? [True, True] Translation: X:220.97, Y:-135.99, Z:-10.45 [[-2.96052303e-01 9.55162692e-01 4.15530729e-03 2.20972665e+02] [ 9.55071764e-01 2.96081455e-01 -1.31794125e-02 -1.35992444e+02] [-1.38187925e-02 6.68212506e-05 -9.99904514e-01 -1.04528231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.830385723 meters 0.013132807618321356 Centerline is valid? [True, True] Translation: X:220.98, Y:-135.95, Z:-10.45 [[-3.73926895e-01 9.27441166e-01 5.61801595e-03 2.20979449e+02] [ 9.27336822e-01 3.73969096e-01 -1.39116668e-02 -1.35951847e+02] [-1.50032169e-02 7.84667163e-06 -9.99887445e-01 -1.04531632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.890385723 meters 0.013333579401760448 Centerline is valid? [True, True] Translation: X:220.98, Y:-135.92, Z:-10.45 [[-4.45924868e-01 8.95044884e-01 6.75786187e-03 2.20975162e+02] [ 8.94942098e-01 4.45976071e-01 -1.35641075e-02 -1.35915975e+02] [-1.51543297e-02 -6.77750437e-07 -9.99885167e-01 -1.04523190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.950385723 meters 0.013723604325762391 Centerline is valid? [True, True] Translation: X:220.96, Y:-135.88, Z:-10.45 [[-5.11907876e-01 8.58992837e-01 9.03507833e-03 2.20961173e+02] [ 8.58860957e-01 5.11987601e-01 -1.50516817e-02 -1.35884046e+02] [-1.75551348e-02 5.48016021e-05 -9.99845895e-01 -1.04512006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.010385723 meters 0.01397617994422001 Centerline is valid? [True, True] Translation: X:220.95, Y:-135.85, Z:-10.45 [[-5.75658728e-01 8.17620928e-01 1.06323759e-02 2.20946636e+02] [ 8.17484718e-01 5.75756901e-01 -1.49240691e-02 -1.35851433e+02] [-1.83238950e-02 1.00634161e-04 -9.99832098e-01 -1.04507927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.070385723 meters 0.013760666540753797 Centerline is valid? [True, True] Translation: X:220.93, Y:-135.82, Z:-10.45 [[-6.36034951e-01 7.71570682e-01 1.17568459e-02 2.20932119e+02] [ 7.71443088e-01 6.36143585e-01 -1.40321527e-02 -1.35817449e+02] [-1.83058397e-02 1.44797924e-04 -9.99832424e-01 -1.04529415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.130385723 meters 0.013904022913664969 Centerline is valid? [True, True] Translation: X:220.91, Y:-135.79, Z:-10.45 [[-6.94086042e-01 7.19775624e-01 1.29467191e-02 2.20912552e+02] [ 7.19654628e-01 6.94206761e-01 -1.31980784e-02 -1.35787433e+02] [-1.84873551e-02 1.56564317e-04 -9.99829082e-01 -1.04541423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.190385723 meters 0.01405055633852575 Centerline is valid? [True, True] Translation: X:220.89, Y:-135.76, Z:-10.45 [[-7.47658944e-01 6.63925844e-01 1.44421859e-02 2.20893452e+02] [ 6.63806673e-01 7.47798396e-01 -1.25801750e-02 -1.35756546e+02] [-1.91521468e-02 1.81139004e-04 -9.99816564e-01 -1.04535937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.250385723 meters 0.013951247879427097 Centerline is valid? [True, True] Translation: X:221.25, Y:-135.35, Z:-11.46 [[-7.15289764e-01 -6.98711301e-01 1.27699785e-02 2.21251875e+02] [ 6.98594086e-01 -7.15403707e-01 -1.27999935e-02 -1.35345573e+02] [ 1.80791901e-02 -2.34672883e-04 9.99836531e-01 -1.14634483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.310385723 meters 0.014020010370207425 Centerline is valid? [True, True] Translation: X:220.85, Y:-135.74, Z:-10.46 [[-7.49235528e-01 6.62174104e-01 1.30988589e-02 2.20853008e+02] [ 6.62077051e-01 7.49350002e-01 -1.13381665e-02 -1.35738805e+02] [-1.73234702e-02 1.77496669e-04 -9.99849922e-01 -1.04575745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.370385723 meters 0.013627573944770792 Centerline is valid? [True, True] Translation: X:220.87, Y:-135.72, Z:-10.46 [[-7.95515462e-01 6.05800836e-01 1.26687557e-02 2.20866674e+02] [ 6.05726602e-01 7.95616321e-01 -9.48439980e-03 -1.35716815e+02] [-1.58251261e-02 1.28815660e-04 -9.99874767e-01 -1.04578673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.430385723 meters 0.013835985206215361 Centerline is valid? [True, True] Translation: X:220.88, Y:-135.69, Z:-10.46 [[-8.36727508e-01 5.47445981e-01 1.37831839e-02 2.20876066e+02] [ 5.47374137e-01 8.36841014e-01 -8.86965539e-03 -1.35692620e+02] [-1.63899908e-02 1.23073725e-04 -9.99865668e-01 -1.04562858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.490385723 meters 0.01398108940583743 Centerline is valid? [True, True] Translation: X:220.88, Y:-135.67, Z:-10.46 [[-8.72664470e-01 4.88113679e-01 1.42041991e-02 2.20883501e+02] [ 4.88051756e-01 8.72780050e-01 -7.77617785e-03 -1.35674127e+02] [-1.61928004e-02 1.46390202e-04 -9.99868877e-01 -1.04576483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.550385723 meters 0.013463092623000656 Centerline is valid? [True, True] Translation: X:220.89, Y:-135.65, Z:-10.46 [[-9.05801011e-01 4.23413345e-01 1.56738183e-02 2.20889747e+02] [ 4.23352347e-01 9.05936600e-01 -7.18790697e-03 -1.35648662e+02] [-1.72429414e-02 1.24734390e-04 -9.99851322e-01 -1.04589291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.610385723 meters 0.013473755403005192 Centerline is valid? [True, True] Translation: X:220.90, Y:-135.62, Z:-10.46 [[-9.34167783e-01 3.56456841e-01 1.64035042e-02 2.20897295e+02] [ 3.56403695e-01 9.34311785e-01 -6.15584852e-03 -1.35623373e+02] [-1.75202816e-02 9.56741630e-05 -9.99846504e-01 -1.04571847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.670385723 meters 0.013672037509309815 Centerline is valid? [True, True] Translation: X:220.90, Y:-135.60, Z:-10.46 [[-9.57247103e-01 2.88700510e-01 1.81658985e-02 2.20896764e+02] [ 2.88650319e-01 9.57419452e-01 -5.38387038e-03 -1.35604191e+02] [-1.89467107e-02 8.98980792e-05 -9.99820491e-01 -1.04561705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.730385723 meters 0.013516305291590593 Centerline is valid? [True, True] Translation: X:220.90, Y:-135.58, Z:-10.46 [[-9.75254770e-01 2.20230739e-01 1.94050414e-02 2.20899845e+02] [ 2.20189135e-01 9.75447801e-01 -4.28164463e-03 -1.35581154e+02] [-1.98715547e-02 9.70849320e-05 -9.99802536e-01 -1.04572065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.790385723 meters 0.013773197331127826 Centerline is valid? [True, True] Translation: X:220.90, Y:-135.56, Z:-10.46 [[-9.88541529e-01 1.49928575e-01 1.75233267e-02 2.20898870e+02] [ 1.49906403e-01 9.88696827e-01 -2.57953053e-03 -1.35559707e+02] [-1.77120029e-02 7.68858252e-05 -9.99843127e-01 -1.04568522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.850385723 meters 0.013496704012654447 Centerline is valid? [True, True] Translation: X:220.89, Y:-135.54, Z:-10.46 [[-9.96836829e-01 7.80505009e-02 1.49818278e-02 2.20887648e+02] [ 7.80423679e-02 9.96949406e-01 -1.12763280e-03 -1.35536414e+02] [-1.50241366e-02 4.51514096e-05 -9.99887130e-01 -1.04588943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.910385723 meters 0.013074198990661394 Centerline is valid? [True, True] Translation: X:220.94, Y:-134.87, Z:-11.46 [[-9.89937697e-01 -1.40754861e-01 1.45404692e-02 2.20943080e+02] [ 1.40738703e-01 -9.90044476e-01 -2.13374135e-03 -1.34870667e+02] [ 1.46960457e-02 -6.58642163e-05 9.99892005e-01 -1.14569874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9703857229999 meters 0.012992426369145743 Centerline is valid? [True, True] Translation: X:220.84, Y:-135.54, Z:-10.46 [[-9.97273572e-01 7.22442098e-02 1.50398701e-02 2.20837146e+02] [ 7.22362870e-02 9.97386973e-01 -1.07007378e-03 -1.35543932e+02] [-1.50778772e-02 1.92680748e-05 -9.99886322e-01 -1.04618276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.030385723 meters 0.013007957035948323 Centerline is valid? [True, True] Translation: X:220.83, Y:-135.52, Z:-10.46 [[-9.99887106e-01 2.37339152e-03 1.48371670e-02 2.20834871e+02] [ 2.37365970e-03 9.99997183e-01 4.64883386e-07 -1.35521725e+02] [-1.48371241e-02 3.56832163e-05 -9.99889923e-01 -1.04615106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0903857229999 meters 0.013069970605859658 Centerline is valid? [True, True] Translation: X:220.84, Y:-134.82, Z:-11.46 [[-9.97821457e-01 -6.43913558e-02 1.43559499e-02 2.20836979e+02] [ 6.43837772e-02 -9.97924721e-01 -9.89933817e-04 -1.34818610e+02] [ 1.43899005e-02 -6.34869236e-05 9.99896458e-01 -1.14563450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.150385723 meters 0.01315757706019924 Centerline is valid? [True, True] Translation: X:220.77, Y:-135.53, Z:-10.46 [[-9.99906018e-01 -1.15044109e-04 1.37092253e-02 2.20766506e+02] [-1.14174440e-04 9.99999991e-01 6.42194126e-05 -1.35534206e+02] [-1.37092326e-02 6.26481340e-05 -9.99906022e-01 -1.04622938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.210385723 meters 0.013595583458645023 Centerline is valid? [True, True] Translation: X:220.75, Y:-134.80, Z:-11.46 [[-9.98345303e-01 -5.52408914e-02 1.59718400e-02 2.20752835e+02] [ 5.52349185e-02 -9.98473054e-01 -8.15188033e-04 -1.34804010e+02] [ 1.59924836e-02 6.83641377e-05 9.99872110e-01 -1.14589586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.270385723 meters 0.013517754096822317 Centerline is valid? [True, True] Translation: X:220.67, Y:-135.55, Z:-10.46 [[-9.99874088e-01 -7.72753968e-04 1.58496100e-02 2.20673260e+02] [-7.70534608e-04 9.99999692e-01 1.46132441e-04 -1.35548894e+02] [-1.58497180e-02 1.33901368e-04 -9.99874376e-01 -1.04608288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.330385723 meters 0.013818827292390031 Centerline is valid? [True, True] Translation: X:220.69, Y:-135.53, Z:-10.46 [[-9.97380373e-01 -7.07918292e-02 1.48630049e-02 2.20690586e+02] [-7.07818253e-02 9.97491101e-01 1.19870451e-03 -1.35525169e+02] [-1.49105736e-02 1.43533737e-04 -9.99888821e-01 -1.04608920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.390385723 meters 0.01389277563465625 Centerline is valid? [True, True] Translation: X:220.63, Y:-134.76, Z:-11.46 [[-9.99619171e-01 2.36124772e-02 1.42816289e-02 2.20628814e+02] [-2.36126171e-02 -9.99721171e-01 1.58849074e-04 -1.34762524e+02] [ 1.42813975e-02 -1.78438054e-04 9.99898000e-01 -1.14568422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.450385723 meters 0.013942838867584949 Centerline is valid? [True, True] Translation: X:220.59, Y:-135.54, Z:-10.46 [[-9.97083298e-01 -7.53288911e-02 1.22660108e-02 2.20589731e+02] [-7.53214994e-02 9.97158733e-01 1.06412592e-03 -1.35542006e+02] [-1.23113192e-02 1.37127859e-04 -9.99924203e-01 -1.04637337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.510385723 meters 0.01381282329764456 Centerline is valid? [True, True] Translation: X:220.53, Y:-134.76, Z:-11.46 [[-9.99487390e-01 2.94877704e-02 1.24670927e-02 2.20532705e+02] [-2.94870776e-02 -9.99565133e-01 2.39428466e-04 -1.34764792e+02] [ 1.24687314e-02 -1.28312396e-04 9.99922254e-01 -1.14555773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.570385723 meters 0.01350380147029574 Centerline is valid? [True, True] Translation: X:220.50, Y:-135.55, Z:-10.46 [[-9.96482587e-01 -8.30464999e-02 1.12130477e-02 2.20497407e+02] [-8.30400365e-02 9.96545668e-01 1.04157851e-03 -1.35550701e+02] [-1.12608136e-02 1.06782958e-04 -9.99936589e-01 -1.04644899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.630385723 meters 0.013364969587037888 Centerline is valid? [True, True] Translation: X:220.43, Y:-134.77, Z:-11.45 [[-9.99360349e-01 3.41359242e-02 1.06597844e-02 2.20426005e+02] [-3.41354878e-02 -9.99417190e-01 2.22935938e-04 -1.34773106e+02] [ 1.06611819e-02 -1.41083603e-04 9.99943158e-01 -1.14535108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.690385723 meters 0.01341585886784532 Centerline is valid? [True, True] Translation: X:220.39, Y:-135.56, Z:-10.46 [[-9.95858888e-01 -9.02563093e-02 1.09029534e-02 2.20393749e+02] [-9.02498953e-02 9.95918566e-01 1.07987084e-03 -1.35558148e+02] [-1.09559189e-02 9.14085752e-05 -9.99939978e-01 -1.04646025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.750385723 meters 0.013444128182351566 Centerline is valid? [True, True] Translation: X:220.32, Y:-134.78, Z:-11.45 [[-9.99176455e-01 3.89832062e-02 1.12570204e-02 2.20321955e+02] [-3.89815601e-02 -9.99239863e-01 3.65690819e-04 -1.34784673e+02] [ 1.12627194e-02 -7.34265617e-05 9.99936571e-01 -1.14550000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.810385723 meters 0.013471295214457325 Centerline is valid? [True, True] Translation: X:220.29, Y:-135.56, Z:-10.46 [[-9.95391724e-01 -9.52764689e-02 1.08494277e-02 2.20291466e+02] [-9.52696873e-02 9.95450845e-01 1.14136027e-03 -1.35564872e+02] [-1.09088168e-02 1.02478980e-04 -9.99940492e-01 -1.04647700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.870385723 meters 0.014165838598596488 Centerline is valid? [True, True] Translation: X:220.29, Y:-135.54, Z:-10.47 [[-9.86639320e-01 -1.62590344e-01 1.03553318e-02 2.20287235e+02] [-1.62579952e-01 9.86693652e-01 1.84320821e-03 -1.35539325e+02] [-1.05172280e-02 1.35012350e-04 -9.99944683e-01 -1.04663960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.930385723 meters 0.01442573776809902 Centerline is valid? [True, True] Translation: X:220.15, Y:-134.77, Z:-11.45 [[-9.92440155e-01 1.22303615e-01 1.02159059e-02 2.20151587e+02] [-1.22298667e-01 -9.92492722e-01 1.11000142e-03 -1.34772841e+02] [ 1.02749695e-02 -1.47781696e-04 9.99947200e-01 -1.14526234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.990385723 meters 0.0146619641787659 Centerline is valid? [True, True] Translation: X:220.18, Y:-135.56, Z:-10.47 [[-9.86162154e-01 -1.65474455e-01 1.01197916e-02 2.20175770e+02] [-1.65463968e-01 9.86214062e-01 1.87066652e-03 -1.35557869e+02] [-1.02898283e-02 1.70319649e-04 -9.99947044e-01 -1.04656821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.050385723 meters 0.014694024137605568 Centerline is valid? [True, True] Translation: X:220.15, Y:-135.53, Z:-10.47 [[-9.71684394e-01 -2.36074193e-01 9.92036397e-03 2.20154688e+02] [-2.36060159e-01 9.71735020e-01 2.57932975e-03 -1.35532717e+02] [-1.02488783e-02 1.64491767e-04 -9.99947465e-01 -1.04651053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.110385723 meters 0.014416269266116052 Centerline is valid? [True, True] Translation: X:220.12, Y:-135.51, Z:-10.47 [[-9.51559124e-01 -3.07318442e-01 9.51886303e-03 2.20122722e+02] [-3.07301567e-01 9.51606723e-01 3.22368106e-03 -1.35509557e+02] [-1.00489107e-02 1.42361603e-04 -9.99949498e-01 -1.04660985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.170385723 meters 0.01421943993730892 Centerline is valid? [True, True] Translation: X:220.07, Y:-135.50, Z:-10.47 [[-9.26046155e-01 -3.77295929e-01 9.28975773e-03 2.20068345e+02] [-3.77275554e-01 9.26092741e-01 3.92319998e-03 -1.35499518e+02] [-1.00833846e-02 1.28265762e-04 -9.99949153e-01 -1.04670450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.230385723 meters 0.014081326179670579 Centerline is valid? [True, True] Translation: X:220.00, Y:-135.49, Z:-10.47 [[-8.95304737e-01 -4.45372166e-01 8.54757388e-03 2.20002148e+02] [-4.45350663e-01 8.95345532e-01 4.37789293e-03 -1.35494503e+02] [-9.60282373e-03 1.12880580e-04 -9.99953885e-01 -1.04661048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.290385723 meters 0.014023852932092877 Centerline is valid? [True, True] Translation: X:219.93, Y:-135.50, Z:-10.47 [[-8.59972353e-01 -5.10278444e-01 7.96630377e-03 2.19926128e+02] [-5.10255335e-01 8.60009242e-01 4.85759135e-03 -1.35503764e+02] [-9.32981902e-03 1.12545268e-04 -9.99956470e-01 -1.04669683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.350385723 meters 0.014529677574030663 Centerline is valid? [True, True] Translation: X:219.85, Y:-135.53, Z:-10.47 [[-8.20967761e-01 -5.70929612e-01 7.16330276e-03 2.19845109e+02] [-5.70906495e-01 8.20999002e-01 5.13936009e-03 -1.35525963e+02] [-8.81527728e-03 1.29672881e-04 -9.99961136e-01 -1.04689109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.410385723 meters 0.014924908394147313 Centerline is valid? [True, True] Translation: X:219.76, Y:-135.55, Z:-10.47 [[-7.78171542e-01 -6.28023893e-01 5.91964872e-03 2.19758996e+02] [-6.28004313e-01 7.78194044e-01 4.96119228e-03 -1.35553041e+02] [-7.72238266e-03 1.43093719e-04 -9.99970172e-01 -1.04686933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4703857229999 meters 0.015901315074401255 Centerline is valid? [True, True] Translation: X:219.67, Y:-135.60, Z:-10.47 [[-7.30913307e-01 -6.82435322e-01 6.91143796e-03 2.19670541e+02] [-6.82402035e-01 7.30945953e-01 6.74364904e-03 -1.35595815e+02] [-9.65399191e-03 2.12643492e-04 -9.99953377e-01 -1.04671151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.530385723 meters 0.01659984595033524 Centerline is valid? [True, True] Translation: X:219.58, Y:-135.65, Z:-10.47 [[-6.79235858e-01 -7.33888920e-01 6.76037694e-03 2.19580100e+02] [-7.33848794e-01 6.79269452e-01 7.67848499e-03 -1.35648504e+02] [-1.02272726e-02 2.54407876e-04 -9.99947668e-01 -1.04673405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5903857229999 meters 0.017155535231566474 Centerline is valid? [True, True] Translation: X:219.49, Y:-135.71, Z:-10.47 [[-6.22161493e-01 -7.82862302e-01 6.45698564e-03 2.19487833e+02] [-7.82815486e-01 6.22194938e-01 8.56585531e-03 -1.35708575e+02] [-1.07233890e-02 2.74716980e-04 -9.99942465e-01 -1.04650034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.650385723 meters 0.01714737217038592 Centerline is valid? [True, True] Translation: X:219.40, Y:-135.78, Z:-10.47 [[-5.59243865e-01 -8.28984177e-01 5.61546289e-03 2.19399861e+02] [-8.28937871e-01 5.59272003e-01 8.76548538e-03 -1.35784249e+02] [-1.04070199e-02 2.47174075e-04 -9.99945815e-01 -1.04671456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.710385723 meters 0.01704063545678889 Centerline is valid? [True, True] Translation: X:219.31, Y:-135.86, Z:-10.47 [[-4.92931939e-01 -8.70056666e-01 4.41598988e-03 2.19314247e+02] [-8.70017950e-01 4.92951677e-01 8.21046929e-03 -1.35860395e+02] [-9.32044315e-03 2.05212089e-04 -9.99956543e-01 -1.04661263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.770385723 meters 0.016764366909469784 Centerline is valid? [True, True] Translation: X:219.23, Y:-135.95, Z:-10.47 [[-4.23625515e-01 -9.05829277e-01 3.83985243e-03 2.19233665e+02] [-9.05787832e-01 4.23642873e-01 8.66712996e-03 -1.35950818e+02] [-9.47766618e-03 1.93525786e-04 -9.99955067e-01 -1.04652607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.830385723 meters 0.01513245971125175 Centerline is valid? [True, True] Translation: X:219.16, Y:-136.05, Z:-10.47 [[-3.50563141e-01 -9.36534109e-01 3.05720385e-03 2.19157292e+02] [-9.36494385e-01 3.50576435e-01 8.62727886e-03 -1.36046085e+02] [-9.15152454e-03 1.61351741e-04 -9.99958111e-01 -1.04682806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.890385723 meters 0.015853953123584633 Centerline is valid? [True, True] Translation: X:219.09, Y:-136.15, Z:-10.47 [[-2.76879206e-01 -9.60902454e-01 2.09289953e-03 2.19093740e+02] [-9.60871258e-01 2.76887084e-01 7.74390626e-03 -1.36147972e+02] [-8.02063537e-03 1.33119607e-04 -9.99967825e-01 -1.04678651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.950385723 meters 0.01504869573136682 Centerline is valid? [True, True] Translation: X:219.03, Y:-136.25, Z:-10.47 [[-2.02466126e-01 -9.79288169e-01 1.46603079e-03 2.19031993e+02] [-9.79257648e-01 2.02471392e-01 7.73270173e-03 -1.36254201e+02] [-7.86937261e-03 1.29988298e-04 -9.99969028e-01 -1.04680376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.010385723 meters 0.015284097130846828 Centerline is valid? [True, True] Translation: X:218.98, Y:-136.37, Z:-10.47 [[-1.26857117e-01 -9.91920479e-01 1.01755632e-03 2.18982901e+02] [-9.91878255e-01 1.26861107e-01 9.15350845e-03 -1.36368583e+02] [-9.20864081e-03 1.51895710e-04 -9.99957588e-01 -1.04669459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.070385723 meters 0.015794342052919345 Centerline is valid? [True, True] Translation: X:218.94, Y:-136.48, Z:-10.47 [[-5.19586681e-02 -9.98649184e-01 3.23137250e-04 2.18942402e+02] [-9.98603942e-01 5.19593905e-02 9.50727221e-03 -1.36484046e+02] [-9.51121965e-03 1.71299069e-04 -9.99954753e-01 -1.04663568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.130385723 meters 0.015523127586933421 Centerline is valid? [True, True] Translation: X:218.91, Y:-136.60, Z:-10.47 [[ 2.30220059e-02 -9.99734866e-01 -4.30681920e-04 2.18908325e+02] [-9.99684010e-01 -2.30251797e-02 1.00857274e-02 -1.36603908e+02] [-1.00929698e-02 1.98352154e-04 -9.99949045e-01 -1.04662030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.190385723 meters 0.016197306520198823 Centerline is valid? [True, True] Translation: X:218.89, Y:-136.73, Z:-10.47 [[ 9.84992960e-02 -9.95136305e-01 -1.27439719e-03 2.18889111e+02] [-9.95079558e-01 -9.85072916e-02 1.06295525e-02 -1.36726069e+02] [-1.07033910e-02 2.21123152e-04 -9.99942693e-01 -1.04657723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.250385723 meters 0.016915600638865307 Centerline is valid? [True, True] Translation: X:218.88, Y:-136.85, Z:-10.47 [[ 1.72790996e-01 -9.84956304e-01 -2.08584014e-03 2.18875589e+02] [-9.84900293e-01 -1.72803420e-01 1.05067118e-02 -1.36846945e+02] [-1.07090924e-02 2.38879365e-04 -9.99942628e-01 -1.04659185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.310385723 meters 0.017016285373119354 Centerline is valid? [True, True] Translation: X:218.87, Y:-136.98, Z:-10.47 [[ 2.47459687e-01 -9.68894746e-01 -2.58355993e-03 2.18874213e+02] [-9.68850656e-01 -2.47473079e-01 9.24558500e-03 -1.36979214e+02] [-9.59736026e-03 2.15174170e-04 -9.99953921e-01 -1.04683203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.370385723 meters 0.016316377381364693 Centerline is valid? [True, True] Translation: X:218.87, Y:-137.09, Z:-10.47 [[ 3.21028264e-01 -9.47065298e-01 -2.85912039e-03 2.18873437e+02] [-9.47032720e-01 -3.21040942e-01 7.85755709e-03 -1.37093961e+02] [-8.35951436e-03 1.85182646e-04 -9.99965042e-01 -1.04695294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.430385723 meters 0.01629628371240916 Centerline is valid? [True, True] Translation: X:218.89, Y:-137.21, Z:-10.47 [[ 3.92064022e-01 -9.19930724e-01 -3.64232054e-03 2.18886390e+02] [-9.19895607e-01 -3.92080890e-01 8.04040866e-03 -1.37214321e+02] [-8.82470324e-03 1.98199709e-04 -9.99961042e-01 -1.04693538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.490385723 meters 0.01629998895125519 Centerline is valid? [True, True] Translation: X:218.91, Y:-137.33, Z:-10.47 [[ 4.62075201e-01 -8.86826936e-01 -4.94924862e-03 2.18907710e+02] [-8.86781039e-01 -4.62101654e-01 9.02495581e-03 -1.37331050e+02] [-1.02906299e-02 2.18691571e-04 -9.99947026e-01 -1.04687771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.550385723 meters 0.015660839275275153 Centerline is valid? [True, True] Translation: X:218.94, Y:-137.45, Z:-10.47 [[ 5.31061994e-01 -8.47312482e-01 -5.89204392e-03 2.18935038e+02] [-8.47264289e-01 -5.31094644e-01 9.03901931e-03 -1.37447684e+02] [-1.07881069e-02 1.91838778e-04 -9.99941788e-01 -1.04692836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.610385723 meters 0.015451909267693442 Centerline is valid? [True, True] Translation: X:218.97, Y:-137.56, Z:-10.47 [[ 5.95804028e-01 -8.03100063e-01 -6.91726582e-03 2.18971736e+02] [-8.03049284e-01 -5.95844156e-01 9.03268534e-03 -1.37555782e+02] [-1.13757626e-02 1.73195053e-04 -9.99935279e-01 -1.04688189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.670385723 meters 0.014916269015580193 Centerline is valid? [True, True] Translation: X:219.01, Y:-137.66, Z:-10.47 [[ 6.57450149e-01 -7.53461492e-01 -7.42167269e-03 2.19014392e+02] [-7.53415717e-01 -6.57492025e-01 8.30635846e-03 -1.37660574e+02] [-1.11382118e-02 1.30588242e-04 -9.99937960e-01 -1.04686503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.730385723 meters 0.014966778211087495 Centerline is valid? [True, True] Translation: X:219.06, Y:-137.75, Z:-10.47 [[ 7.13217614e-01 -7.00886369e-01 -8.88440593e-03 2.19062673e+02] [-7.00834263e-01 -7.13272936e-01 8.54719828e-03 -1.37754982e+02] [-1.23276211e-02 1.30483715e-04 -9.99924004e-01 -1.04672641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.790385723 meters 0.01498706824546963 Centerline is valid? [True, True] Translation: X:219.08, Y:-137.79, Z:-10.47 [[ 7.65939987e-01 -6.42851317e-01 -8.83860228e-03 2.19083021e+02] [-6.42810309e-01 -7.65990973e-01 7.26196950e-03 -1.37788450e+02] [-1.14386562e-02 1.19311839e-04 -9.99934569e-01 -1.04695516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.850385723 meters 0.014897688150004392 Centerline is valid? [True, True] Translation: X:219.11, Y:-137.82, Z:-10.47 [[ 8.14039577e-01 -5.80744974e-01 -8.65119785e-03 2.19105373e+02] [-5.80713570e-01 -8.14085538e-01 6.04038473e-03 -1.37821334e+02] [-1.05507381e-02 1.06755762e-04 -9.99944334e-01 -1.04704417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.910385723 meters 0.01472695041018985 Centerline is valid? [True, True] Translation: X:219.13, Y:-137.86, Z:-10.47 [[ 8.58131296e-01 -5.13357604e-01 -8.63997993e-03 2.19128298e+02] [-5.13332509e-01 -8.58174786e-01 5.07659111e-03 -1.37856253e+02] [-1.00207196e-02 7.88008651e-05 -9.99949788e-01 -1.04705212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9703857229999 meters 0.014633535580982546 Centerline is valid? [True, True] Translation: X:219.16, Y:-137.89, Z:-10.47 [[ 8.97037546e-01 -4.41858184e-01 -9.21883546e-03 2.19156160e+02] [-4.41835404e-01 -8.97084914e-01 4.48694456e-03 -1.37885530e+02] [-1.02526714e-02 4.82501570e-05 -9.99947439e-01 -1.04706938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.030385723 meters 0.014594135769719387 Centerline is valid? [True, True] Translation: X:219.19, Y:-137.91, Z:-10.47 [[ 9.29214647e-01 -3.69428406e-01 -9.09902706e-03 2.19186714e+02] [-3.69411077e-01 -9.29259195e-01 3.57827734e-03 -1.37911825e+02] [-9.77727186e-03 3.62936698e-05 -9.99952201e-01 -1.04710044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0903857229999 meters 0.014661091474356456 Centerline is valid? [True, True] Translation: X:219.22, Y:-137.93, Z:-10.47 [[ 9.54674379e-01 -2.97504362e-01 -9.38004350e-03 2.19219300e+02] [-2.97490572e-01 -9.54720457e-01 2.86494931e-03 -1.37933858e+02] [-9.80765434e-03 5.53808003e-05 -9.99951902e-01 -1.04708174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.150385723 meters 0.015052367195762863 Centerline is valid? [True, True] Translation: X:219.25, Y:-137.95, Z:-10.47 [[ 9.74115365e-01 -2.25833934e-01 -9.91412377e-03 2.19253337e+02] [-2.25823255e-01 -9.74165810e-01 2.19828489e-03 -1.37947682e+02] [-1.01544477e-02 9.74566139e-05 -9.99948438e-01 -1.04704351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.210385723 meters 0.015607248029474224 Centerline is valid? [True, True] Translation: X:219.29, Y:-137.96, Z:-10.47 [[ 9.88151717e-01 -1.53068612e-01 -1.12331612e-02 2.19287905e+02] [-1.53060520e-01 -9.88215551e-01 1.58165200e-03 -1.37961798e+02] [-1.13428858e-02 1.56441352e-04 -9.99935655e-01 -1.04702016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.270385723 meters 0.016235362309115313 Centerline is valid? [True, True] Translation: X:219.32, Y:-137.97, Z:-10.47 [[ 9.96874784e-01 -7.82245310e-02 -1.10266654e-02 2.19319316e+02] [-7.82217966e-02 -9.96935749e-01 6.79699872e-04 -1.37972213e+02] [-1.10460461e-02 1.84949912e-04 -9.99938973e-01 -1.04699570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.330385723 meters 0.016451528408596365 Centerline is valid? [True, True] Translation: X:219.35, Y:-137.98, Z:-10.47 [[ 9.99939374e-01 -1.26479375e-03 -1.09384425e-02 2.19352120e+02] [-1.26688269e-03 -9.99999181e-01 -1.84045565e-04 -1.37982698e+02] [-1.09382008e-02 1.97892130e-04 -9.99940157e-01 -1.04700740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.390385723 meters 0.01686733815814393 Centerline is valid? [True, True] Translation: X:219.38, Y:-137.99, Z:-10.47 [[ 9.96963498e-01 7.70747351e-02 -1.11026388e-02 2.19383903e+02] [ 7.70677080e-02 -9.97025298e-01 -1.06002083e-03 -1.37986352e+02] [-1.11513126e-02 2.01147150e-04 -9.99937802e-01 -1.04695779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.450385723 meters 0.016220106436537512 Centerline is valid? [True, True] Translation: X:219.42, Y:-137.99, Z:-10.47 [[ 9.87829152e-01 1.55242245e-01 -9.66492822e-03 2.19417828e+02] [ 1.55233096e-01 -9.87876417e-01 -1.69431030e-03 -1.37992829e+02] [-9.81078319e-03 1.73372373e-04 -9.99951858e-01 -1.04712622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.510385723 meters 0.016490298372887676 Centerline is valid? [True, True] Translation: X:219.45, Y:-137.99, Z:-10.47 [[ 9.72756497e-01 2.31693536e-01 -7.93117020e-03 2.19449439e+02] [ 2.31684592e-01 -9.72788817e-01 -2.04124266e-03 -1.37991623e+02] [-8.18829641e-03 1.48102124e-04 -9.99966464e-01 -1.04736658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.570385723 meters 0.01598435780714532 Centerline is valid? [True, True] Translation: X:219.48, Y:-137.99, Z:-10.47 [[ 9.50565568e-01 3.10407831e-01 -8.49001751e-03 2.19483463e+02] [ 3.10394214e-01 -9.50603472e-01 -2.91036290e-03 -1.37991772e+02] [-8.97403956e-03 1.31238443e-04 -9.99959724e-01 -1.04733379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.630385723 meters 0.015269241444867961 Centerline is valid? [True, True] Translation: X:219.52, Y:-137.99, Z:-10.47 [[ 9.21756787e-01 3.87696549e-01 -7.47068430e-03 2.19518518e+02] [ 3.87683061e-01 -9.21787057e-01 -3.23512981e-03 -1.37993593e+02] [-8.14062876e-03 8.57451070e-05 -9.99966861e-01 -1.04734070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.690385723 meters 0.015223611045110412 Centerline is valid? [True, True] Translation: X:219.55, Y:-137.99, Z:-10.47 [[ 8.88399815e-01 4.59018620e-01 -6.90474553e-03 2.19551903e+02] [ 4.59004061e-01 -8.88426643e-01 -3.65679340e-03 -1.37989124e+02] [-7.81289615e-03 7.93883391e-05 -9.99969476e-01 -1.04736409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.750385723 meters 0.015626605847919035 Centerline is valid? [True, True] Translation: X:219.58, Y:-137.98, Z:-10.47 [[ 8.51190634e-01 5.24805742e-01 -7.31016159e-03 2.19582239e+02] [ 5.24785257e-01 -8.51222016e-01 -4.63824790e-03 -1.37977362e+02] [-8.65674962e-03 1.11768140e-04 -9.99962523e-01 -1.04737561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.810385723 meters 0.016347544059097805 Centerline is valid? [True, True] Translation: X:219.61, Y:-137.96, Z:-10.47 [[ 8.09853134e-01 5.86581686e-01 -7.73476765e-03 2.19611277e+02] [ 5.86552989e-01 -8.09890053e-01 -5.80452214e-03 -1.37964042e+02] [-9.66913777e-03 1.63959363e-04 -9.99953239e-01 -1.04718924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.870385723 meters 0.016988424369986422 Centerline is valid? [True, True] Translation: X:219.64, Y:-137.95, Z:-10.47 [[ 7.63440746e-01 6.45848807e-01 -6.12750450e-03 2.19637451e+02] [ 6.45826270e-01 -7.63465318e-01 -5.39779805e-03 -1.37947290e+02] [-8.16429861e-03 1.63595597e-04 -9.99966658e-01 -1.04734698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.930385723 meters 0.017634736027250308 Centerline is valid? [True, True] Translation: X:219.66, Y:-137.93, Z:-10.47 [[ 7.12030000e-01 7.02119376e-01 -6.45457363e-03 2.19660736e+02] [ 7.02087883e-01 -7.12059225e-01 -6.65316567e-03 -1.37928000e+02] [-9.26735522e-03 2.05575618e-04 -9.99957036e-01 -1.04730530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.990385723 meters 0.01835380822254291 Centerline is valid? [True, True] Translation: X:219.68, Y:-137.91, Z:-10.47 [[ 6.55706304e-01 7.54991370e-01 -6.10525766e-03 2.19682426e+02] [ 7.54955440e-01 -6.55734689e-01 -7.36893090e-03 -1.37908389e+02] [-9.56690846e-03 2.22656957e-04 -9.99954211e-01 -1.04729048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.050385723 meters 0.018000490325174867 Centerline is valid? [True, True] Translation: X:219.71, Y:-137.89, Z:-10.47 [[ 5.95459827e-01 8.03366038e-01 -5.53205699e-03 2.19707423e+02] [ 8.03327657e-01 -5.95485478e-01 -7.85620439e-03 -1.37890552e+02] [-9.60566739e-03 2.33999728e-04 -9.99953837e-01 -1.04736089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.110385723 meters 0.017871671729460824 Centerline is valid? [True, True] Translation: X:219.73, Y:-137.87, Z:-10.48 [[ 5.31005882e-01 8.47356574e-01 -4.42599343e-03 2.19729663e+02] [ 8.47323716e-01 -5.31024284e-01 -7.46527316e-03 -1.37870424e+02] [-8.67605829e-03 2.13854759e-04 -9.99962339e-01 -1.04751755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.170385723 meters 0.017345992456890457 Centerline is valid? [True, True] Translation: X:219.75, Y:-137.85, Z:-10.47 [[ 4.59757972e-01 8.88034172e-01 -4.23275420e-03 2.19751184e+02] [ 8.87992427e-01 -4.59777412e-01 -8.61288754e-03 -1.37849115e+02] [-9.59466323e-03 2.01190038e-04 -9.99953950e-01 -1.04749394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.230385723 meters 0.016352170254753894 Centerline is valid? [True, True] Translation: X:219.77, Y:-137.83, Z:-10.47 [[ 3.85078592e-01 9.22873678e-01 -4.31892219e-03 2.19774137e+02] [ 9.22809764e-01 -3.85102760e-01 -1.08629276e-02 -1.37827562e+02] [-1.16883388e-02 1.97537302e-04 -9.99931670e-01 -1.04726755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.290385723 meters 0.015554468348983264 Centerline is valid? [True, True] Translation: X:219.79, Y:-137.80, Z:-10.48 [[ 3.08898547e-01 9.51090250e-01 -3.00412072e-03 2.19793040e+02] [ 9.51040695e-01 -3.08913122e-01 -9.70976449e-03 -1.37804052e+02] [-1.01628746e-02 1.42291087e-04 -9.99948347e-01 -1.04753631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.350385723 meters 0.015494941300551329 Centerline is valid? [True, True] Translation: X:219.81, Y:-137.78, Z:-10.48 [[ 2.32902818e-01 9.72497390e-01 -2.25936602e-03 2.19808107e+02] [ 9.72445719e-01 -2.32913736e-01 -1.00257743e-02 -1.37778629e+02] [-1.02762767e-02 1.37920267e-04 -9.99947188e-01 -1.04766316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.410385723 meters 0.01571976551616149 Centerline is valid? [True, True] Translation: X:219.82, Y:-137.75, Z:-10.48 [[ 1.56626030e-01 9.87656795e-01 -1.53048572e-03 2.19821227e+02] [ 9.87599822e-01 -1.56633435e-01 -1.06093487e-02 -1.37752249e+02] [-1.07181206e-02 1.50192745e-04 -9.99942548e-01 -1.04762108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4703857229999 meters 0.01622037807962341 Centerline is valid? [True, True] Translation: X:219.83, Y:-137.72, Z:-10.48 [[ 8.45311432e-02 9.96420692e-01 -5.39427319e-04 2.19830650e+02] [ 9.96386103e-01 -8.45327043e-02 -8.30398914e-03 -1.37724623e+02] [-8.31986586e-03 1.64467811e-04 -9.99965376e-01 -1.04798960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.530385723 meters 0.017005552943033613 Centerline is valid? [True, True] Translation: X:219.84, Y:-137.70, Z:-10.48 [[ 1.00894228e-02 9.99949094e-01 1.10957667e-04 2.19839562e+02] [ 9.99915594e-01 -1.00881763e-02 -8.18746135e-03 -1.37697485e+02] [-8.18592521e-03 1.93555061e-04 -9.99966476e-01 -1.04793800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5903857229999 meters 0.017889147683337343 Centerline is valid? [True, True] Translation: X:219.84, Y:-137.67, Z:-10.48 [[-6.55798094e-02 9.97847002e-01 8.05476842e-04 2.19844527e+02] [ 9.97808813e-01 6.55843490e-02 -8.73302379e-03 -1.37669952e+02] [-8.76704829e-03 2.31001855e-04 -9.99961542e-01 -1.04792110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.650385723 meters 0.017491267025083003 Centerline is valid? [True, True] Translation: X:219.85, Y:-137.64, Z:-10.48 [[-1.44633021e-01 9.89484044e-01 1.61743182e-03 2.19852292e+02] [ 9.89439406e-01 1.44641864e-01 -9.40179296e-03 -1.37641825e+02] [-9.53687247e-03 2.40541066e-04 -9.99954494e-01 -1.04791306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.710385723 meters 0.01684965833046222 Centerline is valid? [True, True] Translation: X:219.86, Y:-137.61, Z:-10.48 [[-2.26146645e-01 9.74089673e-01 2.64634234e-03 2.19858856e+02] [ 9.74034012e-01 2.26162019e-01 -1.04156135e-02 -1.37614032e+02] [-1.07442437e-02 2.22171395e-04 -9.99942254e-01 -1.04777982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.770385723 meters 0.016369074287671915 Centerline is valid? [True, True] Translation: X:219.86, Y:-137.58, Z:-10.48 [[-3.03880710e-01 9.52703519e-01 3.53816894e-03 2.19860619e+02] [ 9.52646495e-01 3.03901240e-01 -1.04255019e-02 -1.37584972e+02] [-1.10076663e-02 2.02515319e-04 -9.99939393e-01 -1.04777510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.830385723 meters 0.014982411082088925 Centerline is valid? [True, True] Translation: X:219.87, Y:-137.55, Z:-10.48 [[-3.81976814e-01 9.24162553e-01 4.15794930e-03 2.19865076e+02] [ 9.24111836e-01 3.81999417e-01 -9.68294421e-03 -1.37553852e+02] [-1.05369487e-02 1.43749979e-04 -9.99944475e-01 -1.04793090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.890385723 meters 0.014782885263605765 Centerline is valid? [True, True] Translation: X:219.86, Y:-137.52, Z:-10.48 [[-4.54148069e-01 8.90913980e-01 4.67038135e-03 2.19864807e+02] [ 8.90869701e-01 4.54172065e-01 -8.88315559e-03 -1.37523717e+02] [-1.00352842e-02 1.26433284e-04 -9.99949637e-01 -1.04787176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.950385723 meters 0.014526003903364247 Centerline is valid? [True, True] Translation: X:219.86, Y:-137.49, Z:-10.48 [[-5.22258093e-01 8.52773822e-01 4.82636151e-03 2.19859835e+02] [ 8.52739457e-01 5.22280380e-01 -7.65657795e-03 -1.37493838e+02] [-9.05004317e-03 1.16919096e-04 -9.99959041e-01 -1.04806017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.010385723 meters 0.014657631006623026 Centerline is valid? [True, True] Translation: X:219.85, Y:-137.47, Z:-10.48 [[-5.87274697e-01 8.09372118e-01 5.02049445e-03 2.19851353e+02] [ 8.09344138e-01 5.87296146e-01 -6.73078981e-03 -1.37466350e+02] [-8.39623064e-03 1.10485207e-04 -9.99964745e-01 -1.04821306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.070385723 meters 0.014306264298243223 Centerline is valid? [True, True] Translation: X:219.84, Y:-137.44, Z:-10.48 [[-6.50098761e-01 7.59828007e-01 5.74456934e-03 2.19841730e+02] [ 7.59799704e-01 6.50124134e-01 -6.55903438e-03 -1.37438114e+02] [-8.71842119e-03 1.00701955e-04 -9.99961989e-01 -1.04820028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.130385723 meters 0.014140992095020267 Centerline is valid? [True, True] Translation: X:219.83, Y:-137.41, Z:-10.48 [[-7.08760666e-01 7.05415993e-01 6.82612907e-03 2.19830954e+02] [ 7.05384555e-01 7.08793530e-01 -6.66043038e-03 -1.37410348e+02] [-9.53669023e-03 9.43949452e-05 -9.99954520e-01 -1.04815818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.190385723 meters 0.01387429479730576 Centerline is valid? [True, True] Translation: X:219.85, Y:-137.39, Z:-10.48 [[-7.57166724e-01 6.53183837e-01 7.03045914e-03 2.19854328e+02] [ 6.53156724e-01 7.57199358e-01 -5.95198448e-03 -1.37394983e+02] [-9.21119921e-03 8.53470777e-05 -9.99957572e-01 -1.04822678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.250385723 meters 0.01388426507829772 Centerline is valid? [True, True] Translation: X:219.87, Y:-137.38, Z:-10.48 [[-8.00753158e-01 5.98958899e-01 6.52821526e-03 2.19873870e+02] [ 5.98939857e-01 8.00779764e-01 -4.77686106e-03 -1.37376301e+02] [-8.08880612e-03 8.49217415e-05 -9.99967281e-01 -1.04838822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.310385723 meters 0.013691252527631075 Centerline is valid? [True, True] Translation: X:219.89, Y:-137.35, Z:-10.49 [[-8.41257438e-01 5.40608762e-01 5.29992241e-03 2.19890785e+02] [ 5.40598515e-01 8.41274130e-01 -3.32916675e-03 -1.37353913e+02] [-6.25846433e-03 6.44438970e-05 -9.99980414e-01 -1.04856335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.370385723 meters 0.013477179129585197 Centerline is valid? [True, True] Translation: X:219.91, Y:-137.33, Z:-10.48 [[-8.77906402e-01 4.78807418e-01 4.87909887e-03 2.19905317e+02] [ 4.78800348e-01 8.77919959e-01 -2.60253308e-03 -1.37327534e+02] [-5.52957042e-03 5.13337804e-05 -9.99984711e-01 -1.04846268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.430385723 meters 0.013550904931000213 Centerline is valid? [True, True] Translation: X:219.92, Y:-137.30, Z:-10.48 [[-9.09496755e-01 4.15681597e-01 4.94602607e-03 2.19916314e+02] [ 4.15675757e-01 9.09510202e-01 -2.20404915e-03 -1.37302209e+02] [-5.41464384e-03 5.13675802e-05 -9.99985339e-01 -1.04838296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.490385723 meters 0.013661548309169694 Centerline is valid? [True, True] Translation: X:219.93, Y:-137.28, Z:-10.48 [[-9.36010552e-01 3.51932912e-01 5.24135089e-03 2.19931032e+02] [ 3.51927767e-01 9.36025225e-01 -1.90413628e-03 -1.37278832e+02] [-5.57616487e-03 6.22852663e-05 -9.99984451e-01 -1.04830053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.550385723 meters 0.014075890631935395 Centerline is valid? [True, True] Translation: X:220.18, Y:-136.61, Z:-11.44 [[-9.19832756e-01 -3.92256668e-01 6.51210275e-03 2.20177912e+02] [ 3.92246921e-01 -9.19855807e-01 -2.76516905e-03 -1.36607401e+02] [ 7.07485154e-03 1.08591872e-05 9.99974973e-01 -1.14368039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.610385723 meters 0.014627793980919632 Centerline is valid? [True, True] Translation: X:219.88, Y:-137.26, Z:-10.48 [[-9.35701415e-01 3.52704318e-01 7.90732114e-03 2.19876862e+02] [ 3.52692905e-01 9.35734817e-01 -2.84037153e-03 -1.37262300e+02] [-8.40096700e-03 1.31116403e-04 -9.99964703e-01 -1.04796192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.670385723 meters 0.015849246844099208 Centerline is valid? [True, True] Translation: X:220.14, Y:-136.59, Z:-11.44 [[-9.23916151e-01 -3.82504506e-01 8.32160957e-03 2.20139180e+02] [ 3.82487980e-01 -9.23953620e-01 -3.55715460e-03 -1.36590331e+02] [ 9.04940895e-03 -1.03596956e-04 9.99959048e-01 -1.14408037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.730385723 meters 0.016432953101365708 Centerline is valid? [True, True] Translation: X:219.84, Y:-137.26, Z:-10.48 [[-9.34758768e-01 3.55191038e-01 8.08530897e-03 2.19844543e+02] [ 3.55179490e-01 9.34793716e-01 -2.87035925e-03 -1.37258309e+02] [-8.57762190e-03 1.88642439e-04 -9.99963194e-01 -1.04784289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.790385723 meters 0.015981137504759275 Centerline is valid? [True, True] Translation: X:220.09, Y:-136.57, Z:-11.44 [[-9.26952512e-01 -3.75128064e-01 6.16243171e-03 2.20093773e+02] [ 3.75117910e-01 -9.26972960e-01 -2.77197363e-03 -1.36574378e+02] [ 6.75225266e-03 -2.57849411e-04 9.99977170e-01 -1.14392497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.850385723 meters 0.01544741190248128 Centerline is valid? [True, True] Translation: X:219.80, Y:-137.24, Z:-10.48 [[-9.36087142e-01 3.51737586e-01 4.64033098e-03 2.19797982e+02] [ 3.51733837e-01 9.36098637e-01 -1.62764096e-03 -1.37240911e+02] [-4.91631001e-03 1.08547650e-04 -9.99987909e-01 -1.04803940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.910385723 meters 0.014782794147534545 Centerline is valid? [True, True] Translation: X:219.81, Y:-137.21, Z:-10.48 [[-9.59602861e-01 2.81320536e-01 4.59411531e-03 2.19807280e+02] [ 2.81317756e-01 9.59613854e-01 -1.25382953e-03 -1.37212293e+02] [-4.76130470e-03 8.92278049e-05 -9.99988661e-01 -1.04803120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9703857229999 meters 0.013824742387498654 Centerline is valid? [True, True] Translation: X:219.99, Y:-136.52, Z:-11.44 [[-9.49026736e-01 -3.15150176e-01 5.34984848e-03 2.19994186e+02] [ 3.15144898e-01 -9.49041814e-01 -1.82454160e-03 -1.36518529e+02] [ 5.65223451e-03 -4.55613045e-05 9.99984025e-01 -1.14407897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.030385723 meters 0.01334489989712014 Centerline is valid? [True, True] Translation: X:219.75, Y:-137.19, Z:-10.48 [[-9.63211580e-01 2.68699016e-01 4.92858550e-03 2.19754078e+02] [ 2.68695750e-01 9.63224188e-01 -1.32557099e-03 -1.37192566e+02] [-5.10351239e-03 4.74846522e-05 -9.99986976e-01 -1.04783194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0903857229999 meters 0.012854901458008163 Centerline is valid? [True, True] Translation: X:219.76, Y:-137.16, Z:-10.48 [[-9.80772707e-01 1.95098625e-01 4.62865508e-03 2.19759600e+02] [ 1.95096555e-01 9.80783629e-01 -8.99070747e-04 -1.37162464e+02] [-4.71511659e-03 2.12506096e-05 -9.99988884e-01 -1.04778713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.150385723 meters 0.012605362526013075 Centerline is valid? [True, True] Translation: X:219.75, Y:-137.13, Z:-10.48 [[-9.92604901e-01 1.21316358e-01 4.22510638e-03 2.19748545e+02] [ 1.21315273e-01 9.92613893e-01 -5.13185637e-04 -1.37128756e+02] [-4.25615711e-03 3.17935480e-06 -9.99990943e-01 -1.04755535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.210385723 meters 0.01262888641200404 Centerline is valid? [True, True] Translation: X:219.76, Y:-137.11, Z:-10.48 [[-9.98761631e-01 4.95999981e-02 3.87876026e-03 2.19757529e+02] [ 4.95996211e-02 9.98769163e-01 -1.93374161e-04 -1.37105001e+02] [-3.88357749e-03 -7.49653375e-07 -9.99992459e-01 -1.04765381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.270385723 meters 0.012685143772843108 Centerline is valid? [True, True] Translation: X:219.75, Y:-137.08, Z:-10.48 [[-9.99750387e-01 -2.18466256e-02 4.67862028e-03 2.19753344e+02] [-2.18464004e-02 9.99761334e-01 9.92319499e-05 -1.37079070e+02] [-4.67967153e-03 -3.00383177e-06 -9.99989050e-01 -1.04766714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.330385723 meters 0.012729371304878207 Centerline is valid? [True, True] Translation: X:219.74, Y:-137.05, Z:-10.47 [[-9.95542678e-01 -9.41833211e-02 4.92727962e-03 2.19737188e+02] [-9.41822208e-02 9.95554871e-01 4.55387468e-04 -1.37052189e+02] [-4.94826713e-03 -1.07044775e-05 -9.99987757e-01 -1.04742798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.390385723 meters 0.01283363197334242 Centerline is valid? [True, True] Translation: X:219.69, Y:-136.34, Z:-11.45 [[-9.99726965e-01 2.28656557e-02 4.81216184e-03 2.19689892e+02] [-2.28653836e-02 -9.99738547e-01 1.11547824e-04 -1.36336961e+02] [ 4.81345429e-03 1.48544083e-06 9.99988415e-01 -1.14450027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.450385723 meters 0.012942173928868579 Centerline is valid? [True, True] Translation: X:219.67, Y:-137.07, Z:-10.47 [[-9.95269315e-01 -9.70386739e-02 4.74204588e-03 2.19666325e+02] [-9.70375596e-02 9.95280612e-01 4.65042002e-04 -1.37069003e+02] [-4.76479338e-03 2.68547578e-06 -9.99988648e-01 -1.04739153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.510385723 meters 0.012959188073717067 Centerline is valid? [True, True] Translation: X:219.66, Y:-137.04, Z:-10.47 [[-9.85970663e-01 -1.66849588e-01 4.80279082e-03 2.19656166e+02] [-1.66847576e-01 9.85982360e-01 8.19309372e-04 -1.37044716e+02] [-4.87216846e-03 6.48099677e-06 -9.99988131e-01 -1.04728898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.570385723 meters 0.01301101883056868 Centerline is valid? [True, True] Translation: X:219.54, Y:-136.31, Z:-11.45 [[-9.94670233e-01 1.02899548e-01 6.54295250e-03 2.19535262e+02] [-1.02896624e-01 -9.94691747e-01 7.82812245e-04 -1.36312224e+02] [ 6.58877188e-03 1.05392316e-04 9.99978288e-01 -1.14464720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.630385723 meters 0.013126924620417894 Centerline is valid? [True, True] Translation: X:219.54, Y:-137.07, Z:-10.47 [[-9.84941446e-01 -1.72748887e-01 6.94049495e-03 2.19540758e+02] [-1.72744524e-01 9.84965899e-01 1.22778631e-03 -1.37070333e+02] [-7.04824956e-03 1.03651229e-05 -9.99975161e-01 -1.04717020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.690385723 meters 0.013242907082395972 Centerline is valid? [True, True] Translation: X:219.53, Y:-137.05, Z:-10.47 [[-9.70229223e-01 -2.42106407e-01 6.30421208e-03 2.19534882e+02] [-2.42101193e-01 9.70249704e-01 1.58907200e-03 -1.37046195e+02] [-6.50138441e-03 1.55068315e-05 -9.99978866e-01 -1.04709305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.750385723 meters 0.013418637728299182 Centerline is valid? [True, True] Translation: X:219.51, Y:-137.03, Z:-10.47 [[-9.50582716e-01 -3.10385722e-01 7.29405162e-03 2.19507627e+02] [-3.10376378e-01 9.50610700e-01 2.40857154e-03 -1.37029043e+02] [-7.68138974e-03 2.56451499e-05 -9.99970497e-01 -1.04702665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.810385723 meters 0.013507006670639948 Centerline is valid? [True, True] Translation: X:219.46, Y:-137.02, Z:-10.47 [[-9.25165815e-01 -3.79488207e-01 7.54428708e-03 2.19463458e+02] [-3.79475420e-01 9.25196574e-01 3.11537775e-03 -1.37019192e+02] [-8.16219767e-03 1.93694891e-05 -9.99966689e-01 -1.04707210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.870385723 meters 0.01354162941380086 Centerline is valid? [True, True] Translation: X:219.39, Y:-137.02, Z:-10.47 [[-8.93554292e-01 -4.48904719e-01 6.72915157e-03 2.19394002e+02] [-4.48892007e-01 8.93579629e-01 3.37826906e-03 -1.37018496e+02] [-7.52955368e-03 -1.99553189e-06 -9.99971653e-01 -1.04695354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.930385723 meters 0.01628552141953199 Centerline is valid? [True, True] Translation: X:219.33, Y:-137.03, Z:-10.47 [[-8.57863898e-01 -5.13851661e-01 5.09927639e-03 2.19326701e+02] [-5.13842588e-01 8.57879054e-01 3.05358686e-03 -1.37025957e+02] [-5.94365309e-03 -6.63449628e-07 -9.99982336e-01 -1.04688021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.990385723 meters 0.013700364700053114 Centerline is valid? [True, True] Translation: X:219.24, Y:-137.06, Z:-10.47 [[-8.16656724e-01 -5.77108915e-01 4.13463567e-03 2.19235899e+02] [-5.77101559e-01 8.16667190e-01 2.91388110e-03 -1.37055107e+02] [-5.05824805e-03 -6.46409271e-06 -9.99987207e-01 -1.04720813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.050385723 meters 0.013865888952133242 Centerline is valid? [True, True] Translation: X:219.16, Y:-137.08, Z:-10.47 [[-7.69726559e-01 -6.38358089e-01 4.46931097e-03 2.19157636e+02] [-6.38347469e-01 7.69739534e-01 3.68218314e-03 -1.37079634e+02] [-5.79075673e-03 -1.86991915e-05 -9.99983233e-01 -1.04717326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.110385723 meters 0.013882795004406328 Centerline is valid? [True, True] Translation: X:219.06, Y:-137.13, Z:-10.47 [[-7.17135470e-01 -6.96925566e-01 3.38733106e-03 2.19063770e+02] [-6.96917997e-01 7.17143469e-01 3.24809206e-03 -1.37125116e+02] [-4.69288074e-03 -3.13699521e-05 -9.99988988e-01 -1.04716057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.170385723 meters 0.014344534353383832 Centerline is valid? [True, True] Translation: X:218.96, Y:-137.20, Z:-10.47 [[-6.60376431e-01 -7.50925193e-01 3.78473965e-03 2.18955833e+02] [-7.50913335e-01 6.60387274e-01 4.22038090e-03 -1.37197660e+02] [-5.66858424e-03 -5.49713926e-05 -9.99983932e-01 -1.04710985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.230385723 meters 0.015404697785337304 Centerline is valid? [True, True] Translation: X:218.90, Y:-137.22, Z:-10.47 [[-5.99995985e-01 -7.99989546e-01 4.64166205e-03 2.18898114e+02] [-7.99966678e-01 6.00013933e-01 6.04928123e-03 -1.37222470e+02] [-7.62442364e-03 -8.36305250e-05 -9.99970930e-01 -1.04671218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.290385723 meters 0.014818754730016636 Centerline is valid? [True, True] Translation: X:218.81, Y:-137.31, Z:-10.47 [[-5.38107457e-01 -8.42860865e-01 5.09181518e-03 2.18811156e+02] [-8.42824761e-01 5.38131539e-01 7.80183697e-03 -1.37305377e+02] [-9.31592940e-03 -9.32812608e-05 -9.99956601e-01 -1.04656822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.350385723 meters 0.014654173570274464 Centerline is valid? [True, True] Translation: X:218.74, Y:-137.37, Z:-10.47 [[-4.73237299e-01 -8.80924134e-01 4.37375854e-03 2.18743926e+02] [-8.80888013e-01 4.73257504e-01 7.97769061e-03 -1.37371260e+02] [-9.09765424e-03 -7.74507128e-05 -9.99958613e-01 -1.04662506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.410385723 meters 0.014450005869269523 Centerline is valid? [True, True] Translation: X:218.67, Y:-137.46, Z:-10.47 [[-4.06257160e-01 -9.13753061e-01 3.23458643e-03 2.18668998e+02] [-9.13725086e-01 4.06270034e-01 7.15028649e-03 -1.37462631e+02] [-7.84771171e-03 -5.06676757e-05 -9.99969205e-01 -1.04674355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4703857229999 meters 0.014622531843939761 Centerline is valid? [True, True] Translation: X:218.60, Y:-137.56, Z:-10.47 [[-3.34796599e-01 -9.42286044e-01 2.87205022e-03 2.18596858e+02] [-9.42252777e-01 3.34808913e-01 7.91811780e-03 -1.37556525e+02] [-8.42271991e-03 -5.52383807e-05 -9.99964527e-01 -1.04667983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.530385723 meters 0.014752598045937362 Centerline is valid? [True, True] Translation: X:218.53, Y:-137.68, Z:-10.47 [[-2.61905628e-01 -9.65089901e-01 2.63140353e-03 2.18525868e+02] [-9.65043511e-01 2.61918840e-01 9.46277032e-03 -1.37677943e+02] [-9.82163823e-03 -6.10660993e-05 -9.99951765e-01 -1.04655308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5903857229999 meters 0.014666288670249104 Centerline is valid? [True, True] Translation: X:218.48, Y:-137.77, Z:-10.47 [[-1.92199046e-01 -9.81354518e-01 1.68453360e-03 2.18478304e+02] [-9.81317095e-01 1.92206427e-01 8.57017477e-03 -1.37768613e+02] [-8.73415791e-03 -5.88220525e-06 -9.99961857e-01 -1.04657961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.650385723 meters 0.015000298334903238 Centerline is valid? [True, True] Translation: X:218.43, Y:-137.88, Z:-10.47 [[-1.21405250e-01 -9.92602449e-01 1.06898550e-03 2.18432991e+02] [-9.92560757e-01 1.21409948e-01 9.09773886e-03 -1.37884657e+02] [-9.16022335e-03 4.34801985e-05 -9.99958043e-01 -1.04658366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.710385723 meters 0.01516700944285628 Centerline is valid? [True, True] Translation: X:218.40, Y:-138.01, Z:-10.47 [[-4.68425705e-02 -9.98902220e-01 3.58568453e-04 2.18395507e+02] [-9.98861558e-01 4.68438990e-02 9.01321546e-03 -1.38007657e+02] [-9.02011768e-03 6.40419369e-05 -9.99959316e-01 -1.04662205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.770385723 meters 0.015543404659578245 Centerline is valid? [True, True] Translation: X:218.37, Y:-138.12, Z:-10.47 [[ 2.82306363e-02 -9.99601385e-01 -3.21080820e-04 2.18367186e+02] [-9.99563814e-01 -2.82323591e-02 8.66697420e-03 -1.38116305e+02] [-8.67258428e-03 7.62665723e-05 -9.99962390e-01 -1.04664906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.830385723 meters 0.015734194052616994 Centerline is valid? [True, True] Translation: X:218.35, Y:-138.24, Z:-10.47 [[ 1.04182088e-01 -9.94557796e-01 -9.39561909e-04 2.18347560e+02] [-9.94524100e-01 -1.04186293e-01 8.18727898e-03 -1.38243817e+02] [-8.24061161e-03 8.14491379e-05 -9.99966042e-01 -1.04670043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.890385723 meters 0.015672834330586048 Centerline is valid? [True, True] Translation: X:218.34, Y:-138.37, Z:-10.47 [[ 1.80672565e-01 -9.83542159e-01 -1.49845151e-03 2.18336591e+02] [-9.83511785e-01 -1.80678763e-01 7.73006441e-03 -1.38367845e+02] [-7.87358260e-03 7.71341557e-05 -9.99969000e-01 -1.04675741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.950385723 meters 0.01576004322563526 Centerline is valid? [True, True] Translation: X:218.34, Y:-138.50, Z:-10.47 [[ 2.56317876e-01 -9.66590584e-01 -1.94649893e-03 2.18337052e+02] [-9.66564717e-01 -2.56325257e-01 7.07176664e-03 -1.38499041e+02] [-7.33443988e-03 6.87969820e-05 -9.99973100e-01 -1.04690675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.010385723 meters 0.01550978279939354 Centerline is valid? [True, True] Translation: X:218.34, Y:-138.63, Z:-10.47 [[ 3.32722067e-01 -9.43022840e-01 -1.98714177e-03 2.18343234e+02] [-9.43006699e-01 -3.32727999e-01 5.51763891e-03 -1.38627635e+02] [-5.86443722e-03 3.80477718e-05 -9.99982803e-01 -1.04696473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.070385723 meters 0.015383209413051655 Centerline is valid? [True, True] Translation: X:218.36, Y:-138.75, Z:-10.47 [[ 4.07981982e-01 -9.12987888e-01 -1.95431376e-03 2.18357768e+02] [-9.12977546e-01 -4.07986662e-01 4.34549905e-03 -1.38750931e+02] [-4.76472195e-03 1.13592662e-05 -9.99988649e-01 -1.04703748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.130385723 meters 0.015473568912256703 Centerline is valid? [True, True] Translation: X:218.38, Y:-138.87, Z:-10.47 [[ 4.79196648e-01 -8.77704058e-01 -2.48184883e-03 2.18382900e+02] [-8.77692277e-01 -4.79203075e-01 4.54745619e-03 -1.38868576e+02] [-5.18063034e-03 -8.26218075e-07 -9.99986580e-01 -1.04714064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.190385723 meters 0.015649816092460866 Centerline is valid? [True, True] Translation: X:218.43, Y:-139.00, Z:-10.47 [[ 5.46421271e-01 -8.37502558e-01 -3.64130959e-03 2.18428605e+02] [-8.37483822e-01 -5.46433404e-01 5.60211047e-03 -1.39002987e+02] [-6.68151504e-03 -1.15744566e-05 -9.99977678e-01 -1.04706236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.250385723 meters 0.01564024913249254 Centerline is valid? [True, True] Translation: X:218.46, Y:-139.10, Z:-10.47 [[ 6.08255148e-01 -7.93732498e-01 -3.79424624e-03 2.18461329e+02] [-7.93717008e-01 -6.08266982e-01 4.95880147e-03 -1.39097021e+02] [-6.24387659e-03 -4.65875423e-06 -9.99980507e-01 -1.04720560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.310385723 meters 0.01567174597040426 Centerline is valid? [True, True] Translation: X:218.51, Y:-139.20, Z:-10.47 [[ 6.65279598e-01 -7.46584135e-01 -3.89686845e-03 2.18508597e+02] [-7.46571421e-01 -6.65291011e-01 4.35714276e-03 -1.39197040e+02] [-5.84552521e-03 1.05724345e-05 -9.99982915e-01 -1.04726823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.370385723 meters 0.015962806212074195 Centerline is valid? [True, True] Translation: X:218.57, Y:-139.29, Z:-10.47 [[ 7.16553354e-01 -6.97511314e-01 -5.40903897e-03 2.18565099e+02] [-6.97492012e-01 -7.16573767e-01 5.18936771e-03 -1.39289401e+02] [-7.49561812e-03 5.43026368e-05 -9.99971906e-01 -1.04733393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.430385723 meters 0.016147042581819034 Centerline is valid? [True, True] Translation: X:218.58, Y:-139.32, Z:-10.47 [[ 7.66874162e-01 -6.41774967e-01 -5.37685161e-03 2.18581830e+02] [-6.41759848e-01 -7.66893008e-01 4.40585135e-03 -1.39315844e+02] [-6.95103501e-03 7.19139027e-05 -9.99975839e-01 -1.04742365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.490385723 meters 0.016741575029959755 Centerline is valid? [True, True] Translation: X:218.60, Y:-139.34, Z:-10.47 [[ 8.12482225e-01 -5.82965544e-01 -4.87938915e-03 2.18599174e+02] [-5.82955651e-01 -8.12496872e-01 3.39724989e-03 -1.39342784e+02] [-5.94496806e-03 8.42623327e-05 -9.99982325e-01 -1.04745462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.550385723 meters 0.0168969936826225 Centerline is valid? [True, True] Translation: X:218.62, Y:-139.37, Z:-10.47 [[ 8.54934833e-01 -5.18706133e-01 -5.51163575e-03 2.18619439e+02] [-5.18696093e-01 -8.54952594e-01 3.22891484e-03 -1.39366864e+02] [-6.38704521e-03 9.83521609e-05 -9.99979598e-01 -1.04749552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.610385723 meters 0.01707878720789648 Centerline is valid? [True, True] Translation: X:218.64, Y:-139.39, Z:-10.48 [[ 8.92005071e-01 -4.51969444e-01 -7.11162602e-03 2.18639830e+02] [-4.51956295e-01 -8.92033409e-01 3.45023087e-03 -1.39391528e+02] [-7.90320693e-03 1.36520712e-04 -9.99968760e-01 -1.04758870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.670385723 meters 0.017365452578343314 Centerline is valid? [True, True] Translation: X:218.66, Y:-139.42, Z:-10.48 [[ 9.24462478e-01 -3.81214539e-01 -6.67849187e-03 2.18661184e+02] [-3.81205577e-01 -9.24486592e-01 2.61704601e-03 -1.39415178e+02] [-7.17183218e-03 1.26517509e-04 -9.99974274e-01 -1.04766309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.730385723 meters 0.017076796236070352 Centerline is valid? [True, True] Translation: X:218.68, Y:-139.44, Z:-10.48 [[ 9.51657435e-01 -3.07087109e-01 -6.75529749e-03 2.18684023e+02] [-3.07080262e-01 -9.51681403e-01 2.05406567e-03 -1.39441191e+02] [-7.05966809e-03 1.19651656e-04 -9.99975073e-01 -1.04767279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.790385723 meters 0.01688482151671786 Centerline is valid? [True, True] Translation: X:218.71, Y:-139.46, Z:-10.48 [[ 9.73001306e-01 -2.30652993e-01 -8.22525124e-03 2.18710169e+02] [-2.30645906e-01 -9.73036063e-01 1.81304700e-03 -1.39461782e+02] [-8.42165080e-03 1.33023420e-04 -9.99964528e-01 -1.04766425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.850385723 meters 0.016769176834261386 Centerline is valid? [True, True] Translation: X:218.73, Y:-139.48, Z:-10.48 [[ 9.88407291e-01 -1.51650086e-01 -7.29923266e-03 2.18733805e+02] [-1.51646701e-01 -9.88434237e-01 1.01818401e-03 -1.39481360e+02] [-7.36921916e-03 1.00524052e-04 -9.99972842e-01 -1.04775677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.910385723 meters 0.016503556984193576 Centerline is valid? [True, True] Translation: X:218.76, Y:-139.50, Z:-10.48 [[ 9.97337723e-01 -7.24789734e-02 -8.01650321e-03 2.18759964e+02] [-7.24774303e-02 -9.97369936e-01 4.83212713e-04 -1.39502641e+02] [-8.03044205e-03 9.90892852e-05 -9.99967751e-01 -1.04760225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9703857229999 meters 0.016368116140098945 Centerline is valid? [True, True] Translation: X:218.79, Y:-139.52, Z:-10.48 [[ 9.99947363e-01 6.24795921e-03 -8.13847339e-03 2.18788269e+02] [ 6.24696173e-03 -9.99980477e-01 -1.47979125e-04 -1.39515977e+02] [-8.13923907e-03 9.71306042e-05 -9.99966871e-01 -1.04773870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.030385723 meters 0.016151963099000206 Centerline is valid? [True, True] Translation: X:218.82, Y:-139.53, Z:-10.48 [[ 9.96362493e-01 8.49532852e-02 -6.68737441e-03 2.18818073e+02] [ 8.49508519e-02 -9.96384932e-01 -6.47586013e-04 -1.39528622e+02] [-6.71821366e-03 7.71322614e-05 -9.99977430e-01 -1.04788725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0903857229999 meters 0.015806455028069162 Centerline is valid? [True, True] Translation: X:218.85, Y:-139.54, Z:-10.48 [[ 9.86350861e-01 1.64492469e-01 -7.36253099e-03 2.18849718e+02] [ 1.64487338e-01 -9.86378336e-01 -1.30122949e-03 -1.39543143e+02] [-7.47628352e-03 7.24257076e-05 -9.99972050e-01 -1.04782154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.150385723 meters 0.015603072654603993 Centerline is valid? [True, True] Translation: X:218.88, Y:-139.55, Z:-10.48 [[ 9.69627731e-01 2.44426688e-01 -8.81237251e-03 2.18882148e+02] [ 2.44416049e-01 -9.69667774e-01 -2.28118556e-03 -1.39554071e+02] [-9.10265626e-03 5.80155064e-05 -9.99958568e-01 -1.04774489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.210385723 meters 0.015549978503816632 Centerline is valid? [True, True] Translation: X:218.91, Y:-139.56, Z:-10.48 [[ 9.46917564e-01 3.21349697e-01 -9.02771186e-03 2.18914843e+02] [ 3.21334656e-01 -9.46960596e-01 -3.10943718e-03 -1.39560414e+02] [-9.54810410e-03 4.34640000e-05 -9.99954415e-01 -1.04777606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.270385723 meters 0.015480352649239386 Centerline is valid? [True, True] Translation: X:218.95, Y:-139.56, Z:-10.48 [[ 9.18870526e-01 3.94427606e-01 -1.01892293e-02 2.18950007e+02] [ 3.94402739e-01 -9.18927016e-01 -4.42930234e-03 -1.39564677e+02] [-1.11101972e-02 5.12954184e-05 -9.99938279e-01 -1.04776456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.330385723 meters 0.015691089014285016 Centerline is valid? [True, True] Translation: X:218.98, Y:-139.56, Z:-10.48 [[ 8.86098954e-01 4.63376578e-01 -1.05257220e-02 2.18984554e+02] [ 4.63342824e-01 -8.86161464e-01 -5.59344371e-03 -1.39563226e+02] [-1.19193600e-02 7.93268608e-05 -9.99928959e-01 -1.04768195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.390385723 meters 0.01572868629843528 Centerline is valid? [True, True] Translation: X:219.02, Y:-139.56, Z:-10.48 [[ 8.48164422e-01 5.29643074e-01 -9.76361960e-03 2.19017186e+02] [ 5.29606620e-01 -8.48220611e-01 -6.21480858e-03 -1.39557393e+02] [-1.15733337e-02 1.00301950e-04 -9.99933022e-01 -1.04773538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.450385723 meters 0.015898014672349147 Centerline is valid? [True, True] Translation: X:219.05, Y:-139.55, Z:-10.48 [[ 8.04812325e-01 5.93456519e-01 -9.29952824e-03 2.19052049e+02] [ 5.93415248e-01 -8.04866043e-01 -6.99971826e-03 -1.39551481e+02] [-1.16389029e-02 1.14977668e-04 -9.99932259e-01 -1.04774554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.510385723 meters 0.01583388863142192 Centerline is valid? [True, True] Translation: X:219.09, Y:-139.54, Z:-10.48 [[ 7.55571378e-01 6.54998280e-01 -9.44164857e-03 2.19086473e+02] [ 6.54945174e-01 -7.55630358e-01 -8.34148456e-03 -1.39543082e+02] [-1.25980543e-02 1.18824816e-04 -9.99920634e-01 -1.04765047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.570385723 meters 0.015757496795558976 Centerline is valid? [True, True] Translation: X:219.12, Y:-139.53, Z:-10.48 [[ 7.01545777e-01 7.12568013e-01 -8.96384042e-03 2.19115972e+02] [ 7.12507772e-01 -7.01603032e-01 -9.26609902e-03 -1.39529409e+02] [-1.28917834e-02 1.13786662e-04 -9.99916891e-01 -1.04768549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.630385723 meters 0.015822122656920304 Centerline is valid? [True, True] Translation: X:219.14, Y:-139.51, Z:-10.48 [[ 6.43479015e-01 7.65419751e-01 -8.20745242e-03 2.19142582e+02] [ 7.65355275e-01 -6.43531346e-01 -9.93530720e-03 -1.39512620e+02] [-1.28864333e-02 1.11544689e-04 -9.99916960e-01 -1.04774677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.690385723 meters 0.01567037654124149 Centerline is valid? [True, True] Translation: X:219.17, Y:-139.49, Z:-10.48 [[ 5.79793599e-01 8.14726882e-01 -7.71301663e-03 2.19167386e+02] [ 8.14652797e-01 -5.79844894e-01 -1.09872284e-02 -1.39491870e+02] [-1.34239436e-02 8.68941165e-05 -9.99909891e-01 -1.04772226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.750385723 meters 0.015459311742830224 Centerline is valid? [True, True] Translation: X:219.19, Y:-139.47, Z:-10.48 [[ 5.12817228e-01 8.58476828e-01 -6.00215127e-03 2.19189096e+02] [ 8.58416728e-01 -5.12852349e-01 -1.01582050e-02 -1.39468655e+02] [-1.17988010e-02 5.69554906e-05 -9.99930390e-01 -1.04787225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.810385723 meters 0.015393001988934948 Centerline is valid? [True, True] Translation: X:219.21, Y:-139.44, Z:-10.48 [[ 4.43526997e-01 8.96246287e-01 -5.13762904e-03 2.19210331e+02] [ 8.96184866e-01 -4.43556749e-01 -1.04926662e-02 -1.39444202e+02] [-1.16828432e-02 4.95153327e-05 -9.99931752e-01 -1.04780690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.870385723 meters 0.015270374138188348 Centerline is valid? [True, True] Translation: X:219.23, Y:-139.42, Z:-10.48 [[ 3.70715736e-01 9.28738325e-01 -3.86856145e-03 2.19227615e+02] [ 9.28686903e-01 -3.70735919e-01 -9.77312564e-03 -1.39418963e+02] [-1.05108910e-02 3.03691203e-05 -9.99944759e-01 -1.04776766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.930385723 meters 0.015048592166146972 Centerline is valid? [True, True] Translation: X:219.25, Y:-139.39, Z:-10.48 [[ 2.95491832e-01 9.55341089e-01 -2.82493015e-03 2.19246634e+02] [ 9.55296987e-01 -2.95505335e-01 -9.17956932e-03 -1.39392363e+02] [-9.60440168e-03 1.38404946e-05 -9.99953877e-01 -1.04808121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.990385723 meters 0.014968404369059671 Centerline is valid? [True, True] Translation: X:219.27, Y:-139.37, Z:-10.48 [[ 2.18234071e-01 9.75893920e-01 -2.22427392e-03 2.19267029e+02] [ 9.75843293e-01 -2.18245406e-01 -9.94033540e-03 -1.39365670e+02] [-1.01861504e-02 -1.22291830e-06 -9.99948120e-01 -1.04812230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.050385723 meters 0.014915490582685776 Centerline is valid? [True, True] Translation: X:219.28, Y:-139.34, Z:-10.48 [[ 1.41518606e-01 9.89934617e-01 -1.39197950e-03 2.19282575e+02] [ 9.89886565e-01 -1.41525452e-01 -9.75370712e-03 -1.39337065e+02] [-9.85253285e-03 2.42923038e-06 -9.99951463e-01 -1.04817065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.110385723 meters 0.015007798631002206 Centerline is valid? [True, True] Translation: X:219.29, Y:-139.31, Z:-10.48 [[ 6.39479463e-02 9.97953018e-01 -6.58322546e-04 2.19294945e+02] [ 9.97899111e-01 -6.39513345e-02 -1.03725964e-02 -1.39308531e+02] [-1.03934645e-02 6.36675562e-06 -9.99945986e-01 -1.04790611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.170385723 meters 0.015042279784370833 Centerline is valid? [True, True] Translation: X:219.30, Y:-139.28, Z:-10.48 [[-1.30801597e-02 9.99914436e-01 1.76023054e-04 2.19303965e+02] [ 9.99845715e-01 1.30813244e-02 -1.17228398e-02 -1.39278443e+02] [-1.17241393e-02 2.26592807e-05 -9.99931270e-01 -1.04787395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.230385723 meters 0.014979318996301106 Centerline is valid? [True, True] Translation: X:219.31, Y:-139.25, Z:-10.48 [[-9.10937228e-02 9.95841781e-01 1.03986080e-03 2.19307975e+02] [ 9.95779901e-01 9.10996546e-02 -1.11014183e-02 -1.39248029e+02] [-1.11499871e-02 2.42029638e-05 -9.99937837e-01 -1.04797074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.290385723 meters 0.015019229590040518 Centerline is valid? [True, True] Translation: X:219.31, Y:-139.22, Z:-10.48 [[-1.70227213e-01 9.85402932e-01 1.93827654e-03 2.19310454e+02] [ 9.85339602e-01 1.70238248e-01 -1.11717066e-02 -1.39217859e+02] [-1.13386013e-02 8.13214844e-06 -9.99935716e-01 -1.04790970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.350385723 meters 0.015004690204903722 Centerline is valid? [True, True] Translation: X:219.31, Y:-139.19, Z:-10.48 [[-2.50827246e-01 9.68028534e-01 2.53978136e-03 2.19311748e+02] [ 9.67977528e-01 2.50840101e-01 -9.93726929e-03 -1.39187467e+02] [-1.02566392e-02 -3.40866064e-05 -9.99947399e-01 -1.04797139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.410385723 meters 0.0152581936332655 Centerline is valid? [True, True] Translation: X:219.31, Y:-139.16, Z:-10.48 [[-3.28752857e-01 9.44410486e-01 3.22376722e-03 2.19310054e+02] [ 9.44363177e-01 3.28768656e-01 -9.45311307e-03 -1.39159136e+02] [-9.98749273e-03 -6.33308755e-05 -9.99950122e-01 -1.04802182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4703857229999 meters 0.015388108007954118 Centerline is valid? [True, True] Translation: X:219.31, Y:-139.13, Z:-10.48 [[-4.03596434e-01 9.14929624e-01 3.70153010e-03 2.19307392e+02] [ 9.14889343e-01 4.03613400e-01 -8.58563770e-03 -1.39129323e+02] [-9.34924142e-03 -7.86423224e-05 -9.99956292e-01 -1.04799034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.530385723 meters 0.015568808202755356 Centerline is valid? [True, True] Translation: X:219.30, Y:-139.10, Z:-10.48 [[-4.75001366e-01 8.79974376e-01 4.33596299e-03 2.19299388e+02] [ 8.79936000e-01 4.75021147e-01 -8.21862948e-03 -1.39102013e+02] [-9.29185746e-03 -8.84902988e-05 -9.99956826e-01 -1.04786825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5903857229999 meters 0.015366197475619358 Centerline is valid? [True, True] Translation: X:219.29, Y:-139.08, Z:-10.48 [[-5.41917570e-01 8.40419950e-01 4.43340059e-03 2.19289734e+02] [ 8.40390713e-01 5.41935700e-01 -7.01052309e-03 -1.39075335e+02] [-8.29440151e-03 -7.33369577e-05 -9.99965598e-01 -1.04804135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.650385723 meters 0.015354594455062098 Centerline is valid? [True, True] Translation: X:219.28, Y:-139.05, Z:-10.48 [[-6.05225718e-01 7.96044531e-01 3.86459868e-03 2.19277129e+02] [ 7.96027770e-01 6.05238055e-01 -5.16595947e-03 -1.39050258e+02] [-6.45133597e-03 -5.02436638e-05 -9.99979189e-01 -1.04811042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.710385723 meters 0.015521299502504606 Centerline is valid? [True, True] Translation: X:219.26, Y:-139.03, Z:-10.48 [[-6.65633285e-01 7.46259599e-01 5.37964114e-03 2.19262272e+02] [ 7.46234466e-01 6.65655021e-01 -6.12492978e-03 -1.39028685e+02] [-8.15177278e-03 -6.24834911e-05 -9.99966772e-01 -1.04783976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.770385723 meters 0.015285875663049503 Centerline is valid? [True, True] Translation: X:219.24, Y:-139.01, Z:-10.48 [[-7.20331354e-01 6.93606941e-01 5.67032239e-03 2.19244187e+02] [ 6.93585000e-01 7.20353670e-01 -5.51702080e-03 -1.39009047e+02] [-7.91128146e-03 -4.12325087e-05 -9.99968704e-01 -1.04783916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.830385723 meters 0.015083109437467778 Centerline is valid? [True, True] Translation: X:219.27, Y:-139.00, Z:-10.48 [[-7.65513851e-01 6.43390688e-01 6.08000370e-03 2.19266162e+02] [ 6.43370229e-01 7.65537996e-01 -5.13086327e-03 -1.39003325e+02] [-7.95562349e-03 -1.60535360e-05 -9.99968353e-01 -1.04788269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.890385723 meters 0.014975904821542096 Centerline is valid? [True, True] Translation: X:219.29, Y:-138.99, Z:-10.48 [[-8.08547278e-01 5.88396703e-01 6.37332325e-03 2.19286016e+02] [ 5.88378342e-01 8.08572396e-01 -4.64828513e-03 -1.38990886e+02] [-7.88832890e-03 -8.43292165e-06 -9.99968887e-01 -1.04788762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.950385723 meters 0.015051948694542506 Centerline is valid? [True, True] Translation: X:219.30, Y:-138.97, Z:-10.48 [[-8.48118668e-01 5.29767970e-01 6.37357403e-03 2.19301775e+02] [ 5.29752942e-01 8.48142617e-01 -3.99028574e-03 -1.38969404e+02] [-7.51962533e-03 -7.81623638e-06 -9.99971727e-01 -1.04765347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.010385723 meters 0.015054819116361404 Centerline is valid? [True, True] Translation: X:219.73, Y:-138.31, Z:-11.44 [[-8.10363980e-01 -5.85907110e-01 4.80410998e-03 2.19726385e+02] [ 5.85896211e-01 -8.10378215e-01 -3.57464526e-03 -1.38305365e+02] [ 5.98755614e-03 -8.20539252e-05 9.99982071e-01 -1.14403225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.070385723 meters 0.014995968158510987 Centerline is valid? [True, True] Translation: X:219.26, Y:-138.96, Z:-10.48 [[-8.48914167e-01 5.28517646e-01 3.71951246e-03 2.19259001e+02] [ 5.28512597e-01 8.48922315e-01 -2.31035186e-03 -1.38955460e+02] [-4.37863886e-03 4.51875886e-06 -9.99990414e-01 -1.04806372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.130385723 meters 0.015083853475482429 Centerline is valid? [True, True] Translation: X:219.28, Y:-138.94, Z:-10.48 [[-8.84460614e-01 4.66596398e-01 4.15010814e-03 2.19282449e+02] [ 4.66591265e-01 8.84470351e-01 -2.18860688e-03 -1.38936986e+02] [-4.69184369e-03 6.67620958e-07 -9.99988993e-01 -1.04800274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.190385723 meters 0.015134518946870556 Centerline is valid? [True, True] Translation: X:219.66, Y:-138.23, Z:-11.44 [[-8.50845978e-01 -5.25390430e-01 5.10066792e-03 2.19663043e+02] [ 5.25381518e-01 -8.50861264e-01 -3.06115459e-03 -1.38229194e+02] [ 5.94826208e-03 7.52255798e-05 9.99982306e-01 -1.14412055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.250385723 meters 0.015241474593276912 Centerline is valid? [True, True] Translation: X:219.65, Y:-138.26, Z:-11.44 [[-8.14344619e-01 -5.80351840e-01 5.88083641e-03 2.19653826e+02] [ 5.80336652e-01 -8.14365853e-01 -4.19863228e-03 -1.38256301e+02] [ 7.22583633e-03 -6.26869267e-06 9.99973893e-01 -1.14416414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.310385723 meters 0.015354925527334508 Centerline is valid? [True, True] Translation: X:219.16, Y:-138.91, Z:-10.48 [[-8.50418861e-01 5.26063992e-01 6.66605742e-03 2.19164949e+02] [ 5.26048178e-01 8.50444986e-01 -4.07923491e-03 -1.38910785e+02] [-7.81505371e-03 3.76090462e-05 -9.99969461e-01 -1.04777380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.370385723 meters 0.015668960212443715 Centerline is valid? [True, True] Translation: X:219.21, Y:-138.91, Z:-10.48 [[-8.84586555e-01 4.66321444e-01 7.13709896e-03 2.19207602e+02] [ 4.66306765e-01 8.84615345e-01 -3.70044753e-03 -1.38905535e+02] [-8.03918529e-03 5.47113962e-05 -9.99967684e-01 -1.04771418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.430385723 meters 0.015731004019166946 Centerline is valid? [True, True] Translation: X:219.22, Y:-138.88, Z:-10.48 [[-9.14548415e-01 4.04406691e-01 7.51162724e-03 2.19224445e+02] [ 4.04393699e-01 9.14579260e-01 -3.24239592e-03 -1.38879784e+02] [-8.18122509e-03 7.23266737e-05 -9.99966531e-01 -1.04766802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.490385723 meters 0.01589202735694948 Centerline is valid? [True, True] Translation: X:219.53, Y:-138.12, Z:-11.44 [[-8.94446548e-01 -4.47123590e-01 6.77255624e-03 2.19534705e+02] [ 4.47109927e-01 -8.94472183e-01 -3.49684925e-03 -1.38123705e+02] [ 7.62138695e-03 -9.96676211e-05 9.99970952e-01 -1.14423013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.550385723 meters 0.016600492681617045 Centerline is valid? [True, True] Translation: X:219.18, Y:-138.86, Z:-10.48 [[-9.13928791e-01 4.05824486e-01 6.37590345e-03 2.19183624e+02] [ 4.05815357e-01 9.13951025e-01 -2.72378235e-03 -1.38862327e+02] [-6.93264107e-03 9.80964237e-05 -9.99975964e-01 -1.04771240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.610385723 meters 0.0167712085358203 Centerline is valid? [True, True] Translation: X:219.20, Y:-138.84, Z:-10.48 [[-9.39585930e-01 3.42256622e-01 6.21967234e-03 2.19201987e+02] [ 3.42249886e-01 9.39606509e-01 -2.15009950e-03 -1.38837522e+02] [-6.57993041e-03 1.08478907e-04 -9.99978346e-01 -1.04787357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.670385723 meters 0.01684828860089475 Centerline is valid? [True, True] Translation: X:219.21, Y:-138.81, Z:-10.48 [[-9.61506660e-01 2.74685340e-01 7.27375839e-03 2.19208767e+02] [ 2.74678443e-01 9.61534164e-01 -1.95039780e-03 -1.38807367e+02] [-7.52971288e-03 1.22624153e-04 -9.99971644e-01 -1.04776207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.730385723 meters 0.016426836768089273 Centerline is valid? [True, True] Translation: X:219.43, Y:-138.04, Z:-11.44 [[-9.50510557e-01 -3.10578066e-01 8.42292327e-03 2.19426007e+02] [ 3.10565343e-01 -9.50547875e-01 -2.81176992e-03 -1.38035470e+02] [ 8.87966587e-03 -5.67489371e-05 9.99960573e-01 -1.14429746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.790385723 meters 0.016354348282533356 Centerline is valid? [True, True] Translation: X:219.17, Y:-138.79, Z:-10.48 [[-9.63544823e-01 2.67446002e-01 7.34918916e-03 2.19165891e+02] [ 2.67438973e-01 9.63572845e-01 -1.94132377e-03 -1.38787500e+02] [-7.60067838e-03 9.49071300e-05 -9.99971110e-01 -1.04765184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.850385723 meters 0.016636893150896268 Centerline is valid? [True, True] Translation: X:219.17, Y:-138.76, Z:-10.48 [[-9.79816660e-01 1.99793479e-01 6.47130007e-03 2.19171626e+02] [ 1.99789735e-01 9.79838026e-01 -1.22655279e-03 -1.38760376e+02] [-6.58588313e-03 9.11024664e-05 -9.99978309e-01 -1.04785010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.910385723 meters 0.016776119690417635 Centerline is valid? [True, True] Translation: X:219.19, Y:-138.73, Z:-10.48 [[-9.91544064e-01 1.29688430e-01 4.61307519e-03 2.19185284e+02] [ 1.29687317e-01 9.91554793e-01 -5.40842167e-04 -1.38732068e+02] [-4.64425778e-03 6.19885038e-05 -9.99989213e-01 -1.04792003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9703857229999 meters 0.016339219814958526 Centerline is valid? [True, True] Translation: X:219.27, Y:-137.95, Z:-11.44 [[-9.84900487e-01 -1.73066172e-01 4.37379850e-03 2.19273928e+02] [ 1.73064139e-01 -9.84910196e-01 -8.41843218e-04 -1.37952487e+02] [ 4.45349332e-03 -7.21841238e-05 9.99990081e-01 -1.14393079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.030385723 meters 0.01583941238677917 Centerline is valid? [True, True] Translation: X:219.12, Y:-138.72, Z:-10.48 [[-9.92904327e-01 1.18796013e-01 5.33902798e-03 2.19123985e+02] [ 1.18794482e-01 9.92918681e-01 -6.04002451e-04 -1.38717041e+02] [-5.37297370e-03 3.45304172e-05 -9.99985565e-01 -1.04788683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0903857229999 meters 0.015750134724310843 Centerline is valid? [True, True] Translation: X:219.13, Y:-138.68, Z:-10.48 [[-9.99058569e-01 4.30140171e-02 5.63656667e-03 2.19126068e+02] [ 4.30133762e-02 9.99074469e-01 -2.34929323e-04 -1.38684325e+02] [-5.64145511e-03 7.73961015e-06 -9.99984087e-01 -1.04778109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.150385723 meters 0.015778236750318596 Centerline is valid? [True, True] Translation: X:219.16, Y:-137.92, Z:-11.44 [[-9.93874296e-01 -1.10319115e-01 6.60121547e-03 2.19160305e+02] [ 1.10317068e-01 -9.93896217e-01 -6.74446223e-04 -1.37924380e+02] [ 6.63532739e-03 5.79119715e-05 9.99977984e-01 -1.14422684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.210385723 meters 0.015812361077760833 Centerline is valid? [True, True] Translation: X:219.06, Y:-138.68, Z:-10.48 [[-9.99372040e-01 3.47361646e-02 6.99464283e-03 2.19060669e+02] [ 3.47351914e-02 9.99396517e-01 -2.60616333e-04 -1.38680398e+02] [-6.99947450e-03 -1.74924194e-05 -9.99975503e-01 -1.04760357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.270385723 meters 0.01578507925698243 Centerline is valid? [True, True] Translation: X:219.09, Y:-137.92, Z:-11.44 [[-9.94211868e-01 -1.07202336e-01 7.10082046e-03 2.19086540e+02] [ 1.07199795e-01 -9.94237224e-01 -7.38598107e-04 -1.37920287e+02] [ 7.13907947e-03 2.68834967e-05 9.99974516e-01 -1.14427246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.330385723 meters 0.015856438862950947 Centerline is valid? [True, True] Translation: X:218.99, Y:-138.68, Z:-10.48 [[-9.99543021e-01 2.95405745e-02 6.41113704e-03 2.18992050e+02] [ 2.95398390e-02 9.99563582e-01 -2.09401507e-04 -1.38680113e+02] [-6.41452495e-03 -1.99218583e-05 -9.99979427e-01 -1.04763021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.390385723 meters 0.015819890628369464 Centerline is valid? [True, True] Translation: X:218.97, Y:-138.65, Z:-10.48 [[-9.99127247e-01 -4.13900599e-02 5.62197910e-03 2.18970372e+02] [-4.13895000e-02 9.99143064e-01 2.15948369e-04 -1.38652211e+02] [-5.62609954e-03 -1.69310049e-05 -9.99984173e-01 -1.04766400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.450385723 meters 0.015781317771737788 Centerline is valid? [True, True] Translation: X:218.96, Y:-137.89, Z:-11.44 [[-9.99525664e-01 -3.04137157e-02 4.84274045e-03 2.18962884e+02] [ 3.04131856e-02 -9.99537395e-01 -1.83083179e-04 -1.37886432e+02] [ 4.84606842e-03 -3.57131723e-05 9.99988257e-01 -1.14410587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.510385723 meters 0.01570269556614825 Centerline is valid? [True, True] Translation: X:218.91, Y:-138.66, Z:-10.48 [[-9.99073468e-01 -4.28872389e-02 3.59043623e-03 2.18911209e+02] [-4.28869514e-02 9.99079919e-01 1.57071196e-04 -1.38659956e+02] [-3.59386909e-03 2.94280007e-06 -9.99993542e-01 -1.04786980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.570385723 meters 0.015718771154704707 Centerline is valid? [True, True] Translation: X:218.88, Y:-137.89, Z:-11.44 [[-9.99777368e-01 -2.09295892e-02 2.67721898e-03 2.18883354e+02] [ 2.09293520e-02 -9.99780950e-01 -1.16589848e-04 -1.37887865e+02] [ 2.67907272e-03 -6.05314324e-05 9.99996409e-01 -1.14403549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.630385723 meters 0.015724228659968982 Centerline is valid? [True, True] Translation: X:218.83, Y:-138.66, Z:-10.48 [[-9.99074203e-01 -4.29149654e-02 3.00707521e-03 2.18830234e+02] [-4.29147160e-02 9.99078728e-01 1.47442563e-04 -1.38664021e+02] [-3.01063237e-03 1.82582822e-05 -9.99995468e-01 -1.04781916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.690385723 meters 0.016042895604464796 Centerline is valid? [True, True] Translation: X:218.82, Y:-138.64, Z:-10.48 [[-9.93736461e-01 -1.11681287e-01 3.89052621e-03 2.18815926e+02] [-1.11680303e-01 9.93744076e-01 4.69892205e-04 -1.38638764e+02] [-3.91866555e-03 3.24538712e-05 -9.99992321e-01 -1.04775032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.750385723 meters 0.01622420387491058 Centerline is valid? [True, True] Translation: X:218.81, Y:-138.61, Z:-10.48 [[-9.83780622e-01 -1.79315597e-01 4.64800446e-03 2.18809313e+02] [-1.79313338e-01 9.83791601e-01 9.01504453e-04 -1.38610568e+02] [-4.73432156e-03 5.34334150e-05 -9.99988792e-01 -1.04768612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.810385723 meters 0.016563988219566086 Centerline is valid? [True, True] Translation: X:218.79, Y:-138.58, Z:-10.48 [[-9.69026871e-01 -2.46889821e-01 5.68679030e-03 2.18792831e+02] [-2.46885064e-01 9.69043554e-01 1.53488268e-03 -1.38583740e+02] [-5.88969439e-03 8.33589698e-05 -9.99982652e-01 -1.04755480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.870385723 meters 0.017046775113262233 Centerline is valid? [True, True] Translation: X:218.76, Y:-138.57, Z:-10.48 [[-9.49399212e-01 -3.14018955e-01 5.76480566e-03 2.18756558e+02] [-3.14012510e-01 9.49416708e-01 2.01450049e-03 -1.38566613e+02] [-6.10579415e-03 1.02344084e-04 -9.99981354e-01 -1.04762864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.930385723 meters 0.018372156753496256 Centerline is valid? [True, True] Translation: X:218.70, Y:-138.56, Z:-10.48 [[-9.25750925e-01 -3.78116395e-01 3.63558790e-03 2.18695723e+02] [-3.78113107e-01 9.25758059e-01 1.57928641e-03 -1.38560669e+02] [-3.96282888e-03 8.73624158e-05 -9.99992144e-01 -1.04786386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.990385723 meters 0.01969872305166066 Centerline is valid? [True, True] Translation: X:218.63, Y:-138.56, Z:-10.48 [[-8.96894719e-01 -4.42224365e-01 4.18023266e-03 2.18628416e+02] [-4.42218928e-01 8.96904452e-01 2.19609410e-03 -1.38559045e+02] [-4.72043560e-03 1.21087192e-04 -9.99988851e-01 -1.04776726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.050385723 meters 0.020150194029623383 Centerline is valid? [True, True] Translation: X:218.55, Y:-138.57, Z:-10.48 [[-8.61470606e-01 -5.07788387e-01 4.39872302e-03 2.18548330e+02] [-5.07780978e-01 8.61481826e-01 2.74622587e-03 -1.38567323e+02] [-5.18392155e-03 1.32204988e-04 -9.99986555e-01 -1.04785022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.110385723 meters 0.019425705040802717 Centerline is valid? [True, True] Translation: X:218.46, Y:-138.58, Z:-10.48 [[-8.19545534e-01 -5.72994985e-01 4.67600983e-03 2.18460904e+02] [-5.72984736e-01 8.19558863e-01 3.42977611e-03 -1.38581575e+02] [-5.79750980e-03 1.31575434e-04 -9.99983186e-01 -1.04768546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.170385723 meters 0.01693529952805768 Centerline is valid? [True, True] Translation: X:218.37, Y:-138.61, Z:-10.48 [[-7.71353554e-01 -6.36382342e-01 5.58657254e-03 2.18366071e+02] [-6.36364397e-01 7.71373773e-01 4.78088089e-03 -1.38606524e+02] [-7.35180372e-03 1.32653600e-04 -9.99972966e-01 -1.04777176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.230385723 meters 0.018151638689787235 Centerline is valid? [True, True] Translation: X:218.28, Y:-138.65, Z:-10.48 [[-7.20577424e-01 -6.93354967e-01 5.20249970e-03 2.18275470e+02] [-6.93335637e-01 7.20596194e-01 5.17877643e-03 -1.38647695e+02] [-7.33963184e-03 1.24630937e-04 -9.99973057e-01 -1.04780533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.290385723 meters 0.01662044143569785 Centerline is valid? [True, True] Translation: X:218.18, Y:-138.69, Z:-10.48 [[-6.67514812e-01 -7.44581767e-01 4.68700222e-03 2.18184024e+02] [-7.44561977e-01 6.67531253e-01 5.43028454e-03 -1.38692983e+02] [-7.17201132e-03 1.35031723e-04 -9.99974272e-01 -1.04807490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.350385723 meters 0.016748354729112867 Centerline is valid? [True, True] Translation: X:218.09, Y:-138.75, Z:-10.48 [[-6.10156475e-01 -7.92261786e-01 5.50803813e-03 2.18093032e+02] [-7.92226728e-01 6.10181308e-01 7.45538467e-03 -1.38751225e+02] [-9.26751828e-03 1.85336203e-04 -9.99957038e-01 -1.04796504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.410385723 meters 0.016972914786806192 Centerline is valid? [True, True] Translation: X:218.01, Y:-138.82, Z:-10.48 [[-5.49019481e-01 -8.35793142e-01 5.23769075e-03 2.18006125e+02] [-8.35751482e-01 5.49044426e-01 8.34735972e-03 -1.38821493e+02] [-9.85239092e-03 2.05455297e-04 -9.99951443e-01 -1.04796800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4703857229999 meters 0.017366517162776988 Centerline is valid? [True, True] Translation: X:217.92, Y:-138.90, Z:-10.48 [[-4.84726302e-01 -8.74650825e-01 5.13287020e-03 2.17923103e+02] [-8.74596431e-01 4.84753418e-01 9.75738687e-03 -1.38898068e+02] [-1.10224829e-02 2.40472092e-04 -9.99939222e-01 -1.04781348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.530385723 meters 0.017490413234384043 Centerline is valid? [True, True] Translation: X:217.85, Y:-138.99, Z:-10.48 [[-4.16580341e-01 -9.09089317e-01 4.17534983e-03 2.17847062e+02] [-9.09038043e-01 4.16601202e-01 9.65788570e-03 -1.38988959e+02] [-1.05193365e-02 2.27733472e-04 -9.99944644e-01 -1.04788360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5903857229999 meters 0.016592195374595525 Centerline is valid? [True, True] Translation: X:217.77, Y:-139.08, Z:-10.48 [[-3.43902432e-01 -9.39000018e-01 3.17537472e-03 2.17774210e+02] [-9.38954787e-01 3.43917040e-01 9.21830074e-03 -1.39079808e+02] [-9.74805004e-03 1.88662748e-04 -9.99952469e-01 -1.04807266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.650385723 meters 0.016125392216426712 Centerline is valid? [True, True] Translation: X:217.71, Y:-139.18, Z:-10.48 [[-2.68361876e-01 -9.63314500e-01 2.66034894e-03 2.17708257e+02] [-9.63260627e-01 2.68375007e-01 1.01892326e-02 -1.39181067e+02] [-1.05294066e-02 1.71792173e-04 -9.99944550e-01 -1.04789727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.710385723 meters 0.015207387029191251 Centerline is valid? [True, True] Translation: X:217.65, Y:-139.29, Z:-10.48 [[-1.91583810e-01 -9.81474672e-01 1.76420799e-03 2.17650254e+02] [-9.81426259e-01 1.91591884e-01 9.74929895e-03 -1.39293342e+02] [-9.90669792e-03 1.36367789e-04 -9.99950918e-01 -1.04809773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.770385723 meters 0.01585817196291888 Centerline is valid? [True, True] Translation: X:217.61, Y:-139.40, Z:-10.48 [[-1.18923451e-01 -9.92902935e-01 9.86673337e-04 2.17605181e+02] [-9.92856658e-01 1.18927436e-01 9.58762040e-03 -1.39399538e+02] [-9.63691897e-03 1.60567717e-04 -9.99953551e-01 -1.04798267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.830385723 meters 0.016641915325779882 Centerline is valid? [True, True] Translation: X:217.57, Y:-139.52, Z:-10.48 [[-4.56566971e-02 -9.98957156e-01 2.59231807e-04 2.17568790e+02] [-9.98907520e-01 4.56570133e-02 9.96007210e-03 -1.39515109e+02] [-9.96152105e-03 1.95795394e-04 -9.99950364e-01 -1.04788694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.890385723 meters 0.01679410495625182 Centerline is valid? [True, True] Translation: X:217.54, Y:-139.63, Z:-10.48 [[ 2.81773197e-02 -9.99602828e-01 -4.73890963e-04 2.17541577e+02] [-9.99558901e-01 -2.81805252e-02 9.37343854e-03 -1.39631035e+02] [-9.38307017e-03 2.09563556e-04 -9.99955956e-01 -1.04806533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.950385723 meters 0.016908496514851747 Centerline is valid? [True, True] Translation: X:217.52, Y:-139.75, Z:-10.48 [[ 1.05615739e-01 -9.94406164e-01 -1.30276442e-03 2.17520882e+02] [-9.94353846e-01 -1.05623549e-01 1.02027297e-02 -1.39753364e+02] [-1.02832599e-02 2.17839970e-04 -9.99947102e-01 -1.04793533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.010385723 meters 0.016337610077461005 Centerline is valid? [True, True] Translation: X:217.51, Y:-139.88, Z:-10.48 [[ 1.84558710e-01 -9.82819479e-01 -1.98855390e-03 2.17508396e+02] [-9.82772211e-01 -1.84569340e-01 9.64049758e-03 -1.39877698e+02] [-9.84189489e-03 1.75057719e-04 -9.99951552e-01 -1.04792884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.070385723 meters 0.01534779793238744 Centerline is valid? [True, True] Translation: X:217.50, Y:-140.00, Z:-10.48 [[ 2.60884676e-01 -9.65367060e-01 -2.37185099e-03 2.17503797e+02] [-9.65331783e-01 -2.60895422e-01 8.25391834e-03 -1.40000003e+02] [-8.58686595e-03 1.36302335e-04 -9.99963123e-01 -1.04803694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.130385723 meters 0.015531032776840667 Centerline is valid? [True, True] Translation: X:217.51, Y:-140.12, Z:-10.48 [[ 3.34447743e-01 -9.42407896e-01 -3.47332197e-03 2.17514699e+02] [-9.42361664e-01 -3.34465744e-01 9.33600393e-03 -1.40120099e+02] [-9.96003104e-03 1.50720024e-04 -9.99950386e-01 -1.04802004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.190385723 meters 0.015588614285859973 Centerline is valid? [True, True] Translation: X:217.53, Y:-140.24, Z:-10.48 [[ 4.04779226e-01 -9.14405665e-01 -4.00730953e-03 2.17530527e+02] [-9.14364477e-01 -4.04799034e-01 8.68017346e-03 -1.40236674e+02] [-9.55935481e-03 1.50587584e-04 -9.99954297e-01 -1.04809485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.250385723 meters 0.01545987690990019 Centerline is valid? [True, True] Translation: X:217.56, Y:-140.35, Z:-10.48 [[ 4.73414694e-01 -8.80827097e-01 -4.70675640e-03 2.17555125e+02] [-8.80786669e-01 -4.73438067e-01 8.44039809e-03 -1.40352453e+02] [-9.66288900e-03 1.49839816e-04 -9.99953302e-01 -1.04806633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.310385723 meters 0.015637643568488027 Centerline is valid? [True, True] Translation: X:217.59, Y:-140.46, Z:-10.48 [[ 5.40018450e-01 -8.41633079e-01 -5.81677950e-03 2.17589615e+02] [-8.41587231e-01 -5.40049755e-01 8.78599616e-03 -1.40462844e+02] [-1.05359353e-02 1.50727333e-04 -9.99944484e-01 -1.04801209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.370385723 meters 0.015652931279377016 Centerline is valid? [True, True] Translation: X:217.63, Y:-140.57, Z:-10.48 [[ 6.03129566e-01 -7.97614418e-01 -6.77989558e-03 2.17632690e+02] [-7.97566749e-01 -6.03167654e-01 8.72131477e-03 -1.40570154e+02] [-1.10456601e-02 1.47336487e-04 -9.99938984e-01 -1.04803303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.430385723 meters 0.015274181441584302 Centerline is valid? [True, True] Translation: X:217.68, Y:-140.67, Z:-10.48 [[ 6.62343306e-01 -7.49168464e-01 -6.92506508e-03 2.17679806e+02] [-7.49129562e-01 -6.62379495e-01 7.63570436e-03 -1.40669862e+02] [-1.03074500e-02 1.30313302e-04 -9.99946868e-01 -1.04823119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.490385723 meters 0.015032107046885746 Centerline is valid? [True, True] Translation: X:217.73, Y:-140.76, Z:-10.48 [[ 7.17410101e-01 -6.96606557e-01 -7.87733455e-03 2.17730355e+02] [-6.96566562e-01 -7.17453335e-01 7.46571767e-03 -1.40764755e+02] [-1.08522878e-02 1.31106578e-04 -9.99941104e-01 -1.04815912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.550385723 meters 0.01447706844773503 Centerline is valid? [True, True] Translation: X:217.75, Y:-140.80, Z:-10.49 [[ 7.70757397e-01 -6.37086065e-01 -7.37435947e-03 2.17750720e+02] [-6.37058121e-01 -7.70792667e-01 5.96777458e-03 -1.40797163e+02] [-9.48608823e-03 9.81891842e-05 -9.99955001e-01 -1.04850930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.610385723 meters 0.014461053895076795 Centerline is valid? [True, True] Translation: X:217.77, Y:-140.83, Z:-10.49 [[ 8.17970106e-01 -5.75219597e-01 -6.87902152e-03 2.17771993e+02] [-5.75200174e-01 -8.17999026e-01 4.72788855e-03 -1.40829893e+02] [-8.34660705e-03 8.95428796e-05 -9.99965162e-01 -1.04858116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.670385723 meters 0.014418662994022502 Centerline is valid? [True, True] Translation: X:217.80, Y:-140.86, Z:-10.48 [[ 8.61105413e-01 -5.08377085e-01 -7.08571954e-03 2.17795474e+02] [-5.08360605e-01 -8.61134562e-01 4.09410330e-03 -1.40858649e+02] [-8.18310629e-03 7.66461590e-05 -9.99966515e-01 -1.04845089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.730385723 meters 0.014629934954804873 Centerline is valid? [True, True] Translation: X:217.83, Y:-140.88, Z:-10.49 [[ 8.98179485e-01 -4.39568765e-01 -7.27417957e-03 2.17825447e+02] [-4.39555033e-01 -8.98208938e-01 3.47522708e-03 -1.40878798e+02] [-8.06133437e-03 7.60245786e-05 -9.99967504e-01 -1.04867698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.790385723 meters 0.014741365273040477 Centerline is valid? [True, True] Translation: X:217.85, Y:-140.90, Z:-10.49 [[ 9.29240176e-01 -3.69417007e-01 -6.61589670e-03 2.17854170e+02] [-3.69408239e-01 -9.29263724e-01 2.54643483e-03 -1.40901719e+02] [-7.08860914e-03 7.77171963e-05 -9.99974872e-01 -1.04860920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.850385723 meters 0.014846553825076112 Centerline is valid? [True, True] Translation: X:217.89, Y:-140.92, Z:-10.49 [[ 9.55145936e-01 -2.96023850e-01 -8.13151489e-03 2.17885172e+02] [-2.96013980e-01 -9.55180544e-01 2.41927864e-03 -1.40919941e+02] [-8.48322899e-03 9.62779240e-05 -9.99964012e-01 -1.04857544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.910385723 meters 0.015135681138312583 Centerline is valid? [True, True] Translation: X:217.92, Y:-140.93, Z:-10.49 [[ 9.75136707e-01 -2.21425503e-01 -8.89660746e-03 2.17917910e+02] [-2.21417340e-01 -9.75177283e-01 1.90465625e-03 -1.40932534e+02] [-9.09750896e-03 1.12562936e-04 -9.99958610e-01 -1.04867714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9703857229999 meters 0.015326912313013086 Centerline is valid? [True, True] Translation: X:217.95, Y:-140.94, Z:-10.49 [[ 9.89455947e-01 -1.44540733e-01 -9.21441017e-03 2.17948401e+02] [-1.44535561e-01 -9.89498844e-01 1.22819989e-03 -1.40944112e+02] [-9.29517313e-03 1.16560267e-04 -9.99956792e-01 -1.04870681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.030385723 meters 0.015489446414212923 Centerline is valid? [True, True] Translation: X:217.98, Y:-140.95, Z:-10.49 [[ 9.97857463e-01 -6.48304476e-02 -8.80320502e-03 2.17977409e+02] [-6.48287627e-02 -9.97896289e-01 4.76920421e-04 -1.40949524e+02] [-8.81560458e-03 9.48022871e-05 -9.99961137e-01 -1.04882479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0903857229999 meters 0.015427627086399037 Centerline is valid? [True, True] Translation: X:218.01, Y:-140.95, Z:-10.49 [[ 9.99853184e-01 1.48382345e-02 -8.56955876e-03 2.18006909e+02] [ 1.48370011e-02 -9.99889904e-01 -2.07492688e-04 -1.40949933e+02] [-8.57169411e-03 8.03156723e-05 -9.99963259e-01 -1.04890843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.150385723 meters 0.015422096679326548 Centerline is valid? [True, True] Translation: X:218.04, Y:-140.96, Z:-10.49 [[ 9.95689053e-01 9.23447486e-02 -8.70390203e-03 2.18038106e+02] [ 9.23404452e-02 -9.95727091e-01 -8.95865207e-04 -1.40956945e+02] [-8.74943950e-03 8.82809914e-05 -9.99961719e-01 -1.04895651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.210385723 meters 0.015384930598125651 Centerline is valid? [True, True] Translation: X:218.07, Y:-140.96, Z:-10.49 [[ 9.85597485e-01 1.68878832e-01 -8.80551658e-03 2.18069735e+02] [ 1.68871176e-01 -9.85636814e-01 -1.61114047e-03 -1.40961325e+02] [-8.95112883e-03 1.00938057e-04 -9.99959933e-01 -1.04911855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.270385723 meters 0.015611201496022648 Centerline is valid? [True, True] Translation: X:218.10, Y:-140.96, Z:-10.49 [[ 9.69568788e-01 2.44682569e-01 -8.17352119e-03 2.18100353e+02] [ 2.44672982e-01 -9.69603233e-01 -2.16838203e-03 -1.40961679e+02] [-8.45563785e-03 1.02555730e-04 -9.99964245e-01 -1.04930229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.330385723 meters 0.01594256885474178 Centerline is valid? [True, True] Translation: X:218.13, Y:-140.96, Z:-10.49 [[ 9.46910155e-01 3.21374462e-01 -8.92259189e-03 2.18130926e+02] [ 3.21359203e-01 -9.46952187e-01 -3.13330849e-03 -1.40961841e+02] [-9.45623324e-03 9.96046165e-05 -9.99955284e-01 -1.04898380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.390385723 meters 0.015917748442619648 Centerline is valid? [True, True] Translation: X:218.16, Y:-140.96, Z:-10.49 [[ 9.18457525e-01 3.95421140e-01 -8.82586895e-03 2.18159970e+02] [ 3.95401917e-01 -9.18499926e-01 -3.90013514e-03 -1.40955788e+02] [-9.64875586e-03 9.23429716e-05 -9.99953445e-01 -1.04887418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.450385723 meters 0.016358304983401847 Centerline is valid? [True, True] Translation: X:218.19, Y:-140.94, Z:-10.49 [[ 8.85502873e-01 4.64581197e-01 -6.99812563e-03 2.18185239e+02] [ 4.64565887e-01 -8.85530521e-01 -3.77270742e-03 -1.40942007e+02] [-7.94978276e-03 8.96528183e-05 -9.99968396e-01 -1.04912823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.510385723 meters 0.01666677429214994 Centerline is valid? [True, True] Translation: X:218.21, Y:-140.93, Z:-10.49 [[ 8.48892540e-01 5.28528116e-01 -6.28383160e-03 2.18213475e+02] [ 5.28512591e-01 -8.48915789e-01 -4.05268831e-03 -1.40933438e+02] [-7.47640358e-03 1.19212750e-04 -9.99972044e-01 -1.04895279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.570385723 meters 0.01724749135829576 Centerline is valid? [True, True] Translation: X:218.24, Y:-140.92, Z:-10.49 [[ 8.06717555e-01 5.90918878e-01 -4.65473458e-03 2.18238384e+02] [ 5.90908243e-01 -8.06730976e-01 -3.54687452e-03 -1.40919680e+02] [-5.85103368e-03 1.10804907e-04 -9.99982876e-01 -1.04914710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.630385723 meters 0.017499210912051345 Centerline is valid? [True, True] Translation: X:218.26, Y:-140.91, Z:-10.49 [[ 7.57866292e-01 6.52405470e-01 -2.40556274e-03 2.18263904e+02] [ 6.52401928e-01 -7.57870107e-01 -2.15044136e-03 -1.40909485e+02] [-3.22606379e-03 6.03532505e-05 -9.99994794e-01 -1.04902019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.690385723 meters 0.01721112117465271 Centerline is valid? [True, True] Translation: X:218.29, Y:-140.90, Z:-10.49 [[ 7.03729072e-01 7.10463451e-01 -2.66046658e-03 2.18290253e+02] [ 7.10458005e-01 -7.03734098e-01 -2.78264588e-03 -1.40897249e+02] [-3.84922924e-03 6.80790232e-05 -9.99992589e-01 -1.04883942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.750385723 meters 0.016954628278915952 Centerline is valid? [True, True] Translation: X:218.31, Y:-140.88, Z:-10.49 [[ 6.44645230e-01 7.64476563e-01 -2.84817515e-03 2.18312894e+02] [ 7.64468603e-01 -6.44651518e-01 -3.48935276e-03 -1.40880948e+02] [-4.50360884e-03 7.20541304e-05 -9.99989856e-01 -1.04891374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.810385723 meters 0.017434748831945568 Centerline is valid? [True, True] Translation: X:218.33, Y:-140.87, Z:-10.49 [[ 5.83187944e-01 8.12336495e-01 -1.11357058e-03 2.18334488e+02] [ 8.12334909e-01 -5.83189006e-01 -1.60597436e-03 -1.40865164e+02] [-1.95401370e-03 3.19926335e-05 -9.99998090e-01 -1.04885570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.870385723 meters 0.017376003902455923 Centerline is valid? [True, True] Translation: X:218.35, Y:-140.84, Z:-10.49 [[ 5.17115137e-01 8.55915193e-01 -1.05763079e-03 2.18349680e+02] [ 8.55913271e-01 -5.17116217e-01 -1.81385162e-03 -1.40844777e+02] [-2.09942120e-03 3.27298975e-05 -9.99997796e-01 -1.04869272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.930385723 meters 0.01714483704808571 Centerline is valid? [True, True] Translation: X:218.36, Y:-140.82, Z:-10.49 [[ 4.47513143e-01 8.94277123e-01 -6.43858870e-04 2.18364025e+02] [ 8.94276127e-01 -4.47513605e-01 -1.33455233e-03 -1.40823050e+02] [-1.48159523e-03 2.14420918e-05 -9.99998902e-01 -1.04878926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.990385723 meters 0.016632034807799033 Centerline is valid? [True, True] Translation: X:218.39, Y:-140.81, Z:-10.49 [[ 3.75336076e-01 9.26888723e-01 -3.54626318e-04 2.18386686e+02] [ 9.26888275e-01 -3.75336243e-01 -9.11215570e-04 -1.40805026e+02] [-9.77699546e-04 1.33131003e-05 -9.99999522e-01 -1.04876288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.050385723 meters 0.016763136067145197 Centerline is valid? [True, True] Translation: X:218.40, Y:-140.78, Z:-10.49 [[ 3.01129368e-01 9.53583278e-01 -1.89397117e-04 2.18404462e+02] [ 9.53583071e-01 -3.01129427e-01 -6.28154945e-04 -1.40784393e+02] [-6.56031097e-04 8.55001666e-06 -9.99999785e-01 -1.04882044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.110385723 meters 0.016787933868209943 Centerline is valid? [True, True] Translation: X:218.42, Y:-140.76, Z:-10.49 [[ 2.25407008e-01 9.74264687e-01 -2.23825135e-05 2.18419766e+02] [ 9.74264682e-01 -2.25407009e-01 -1.01917382e-04 -1.40762184e+02] [-1.04339681e-04 1.16639966e-06 -9.99999995e-01 -1.04886234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.170385723 meters 0.016855581423298686 Centerline is valid? [True, True] Translation: X:218.43, Y:-140.74, Z:-10.49 [[ 1.48999444e-01 9.88837276e-01 -8.10802094e-05 2.18432962e+02] [ 9.88837099e-01 -1.48999466e-01 -5.92206350e-04 -1.40738658e+02] [-5.97676622e-04 8.06329777e-06 -9.99999821e-01 -1.04876510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.230385723 meters 0.017196431368936355 Centerline is valid? [True, True] Translation: X:218.44, Y:-140.71, Z:-10.48 [[ 7.30348966e-02 9.97329382e-01 -9.07352227e-05 2.18444434e+02] [ 9.97328133e-01 -7.30349488e-02 -1.57858065e-03 -1.40714554e+02] [-1.58099170e-03 2.47986842e-05 -9.99998750e-01 -1.04841770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.290385723 meters 0.01756267271780951 Centerline is valid? [True, True] Translation: X:218.45, Y:-140.69, Z:-10.48 [[-4.00998625e-03 9.99991959e-01 3.58130192e-05 2.18450849e+02] [ 9.99990507e-01 4.01004147e-03 -1.70457818e-03 -1.40690410e+02] [-1.70470809e-03 2.89773441e-05 -9.99998547e-01 -1.04840379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.350385723 meters 0.017556338942593362 Centerline is valid? [True, True] Translation: X:218.46, Y:-140.67, Z:-10.49 [[-8.24308713e-02 9.96596766e-01 1.91475628e-04 2.18455193e+02] [ 9.96594920e-01 8.24310872e-02 -1.91850748e-03 -1.40666424e+02] [-1.92776189e-03 3.26793953e-05 -9.99998141e-01 -1.04853865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.410385723 meters 0.017313413480114136 Centerline is valid? [True, True] Translation: X:218.46, Y:-140.64, Z:-10.48 [[-1.61553246e-01 9.86863904e-01 4.27733109e-04 2.18462323e+02] [ 9.86861039e-01 1.61553808e-01 -2.37848898e-03 -1.40641543e+02] [-2.41634683e-03 3.78605248e-05 -9.99997080e-01 -1.04848543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4703857229999 meters 0.01676128692658315 Centerline is valid? [True, True] Translation: X:218.47, Y:-140.62, Z:-10.48 [[-2.42835600e-01 9.70067043e-01 8.96213318e-04 2.18465445e+02] [ 9.70061021e-01 2.42837250e-01 -3.41853723e-03 -1.40618045e+02] [-3.53384428e-03 3.92390672e-05 -9.99993755e-01 -1.04834806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.530385723 meters 0.016626441573864517 Centerline is valid? [True, True] Translation: X:218.47, Y:-140.59, Z:-10.48 [[-3.19757855e-01 9.47498418e-01 1.28920114e-03 2.18468206e+02] [ 9.47491171e-01 3.19760452e-01 -3.70586523e-03 -1.40592936e+02] [-3.92353698e-03 3.65271755e-05 -9.99992302e-01 -1.04837458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5903857229999 meters 0.016822350575726803 Centerline is valid? [True, True] Translation: X:218.47, Y:-140.57, Z:-10.48 [[-3.92387054e-01 9.19799708e-01 9.47236260e-04 2.18465835e+02] [ 9.19797170e-01 3.92388197e-01 -2.16078763e-03 -1.40570488e+02] [-2.35917616e-03 2.34001385e-05 -9.99997217e-01 -1.04839908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.650385723 meters 0.01708779833238825 Centerline is valid? [True, True] Translation: X:218.46, Y:-140.55, Z:-10.49 [[-4.59776173e-01 8.88034454e-01 8.23910416e-04 2.18460769e+02] [ 8.88033121e-01 4.59776911e-01 -1.53893504e-03 -1.40547733e+02] [-1.74544232e-03 2.40940749e-05 -9.99998476e-01 -1.04862335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.710385723 meters 0.017732254582539755 Centerline is valid? [True, True] Translation: X:218.45, Y:-140.53, Z:-10.49 [[-5.25553774e-01 8.50758260e-01 1.90093633e-03 2.18454385e+02] [ 8.50753094e-01 5.25557209e-01 -2.96544841e-03 -1.40527039e+02] [-3.52193052e-03 5.87248614e-05 -9.99993796e-01 -1.04856967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.770385723 meters 0.017844979756912155 Centerline is valid? [True, True] Translation: X:218.45, Y:-140.50, Z:-10.48 [[-5.89999048e-01 8.07395773e-01 3.63168847e-03 2.18452613e+02] [ 8.07381556e-01 5.90010216e-01 -4.79248645e-03 -1.40501257e+02] [-6.01216660e-03 1.04595851e-04 -9.99981921e-01 -1.04821270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.830385723 meters 0.0177482596130509 Centerline is valid? [True, True] Translation: X:218.45, Y:-140.48, Z:-10.48 [[-6.52175806e-01 7.58052561e-01 4.79930015e-03 2.18446854e+02] [ 7.58033362e-01 6.52193454e-01 -5.39645808e-03 -1.40476772e+02] [-7.22087101e-03 1.18590230e-04 -9.99973922e-01 -1.04819710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.890385723 meters 0.01791120716283659 Centerline is valid? [True, True] Translation: X:218.44, Y:-140.45, Z:-10.48 [[-7.08798642e-01 7.05384372e-01 6.11339991e-03 2.18437808e+02] [ 7.05359923e-01 7.08824990e-01 -5.87479818e-03 -1.40454195e+02] [-8.47732146e-03 1.48098316e-04 -9.99964056e-01 -1.04821725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.950385723 meters 0.018081285183419872 Centerline is valid? [True, True] Translation: X:218.46, Y:-140.44, Z:-10.48 [[-7.55744814e-01 6.54849484e-01 4.68287946e-03 2.18462877e+02] [ 6.54837869e-01 7.55759313e-01 -3.90204080e-03 -1.40435762e+02] [-6.09437917e-03 1.17579709e-04 -9.99981422e-01 -1.04836116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.010385723 meters 0.01808871616452739 Centerline is valid? [True, True] Translation: X:218.48, Y:-140.41, Z:-10.49 [[-8.00063785e-01 5.99903005e-01 3.78470275e-03 2.18482670e+02] [ 5.99896826e-01 8.00072732e-01 -2.72430584e-03 -1.40414516e+02] [-4.66235673e-03 9.08127270e-05 -9.99989127e-01 -1.04865707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.070385723 meters 0.018177676548997573 Centerline is valid? [True, True] Translation: X:218.98, Y:-139.75, Z:-11.43 [[-7.82515399e-01 -6.22618669e-01 3.95507775e-03 2.18978994e+02] [ 6.22610243e-01 -7.82525391e-01 -3.24008102e-03 -1.39748071e+02] [ 5.11228370e-03 -7.29413737e-05 9.99986930e-01 -1.14322441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.130385723 meters 0.017554906168084968 Centerline is valid? [True, True] Translation: X:218.45, Y:-140.39, Z:-10.49 [[-8.04493165e-01 5.93942389e-01 4.81519965e-03 2.18451582e+02] [ 5.93932431e-01 8.04507570e-01 -3.44043176e-03 -1.40385552e+02] [-5.91728283e-03 9.20994010e-05 -9.99982489e-01 -1.04856588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.190385723 meters 0.017097124588441245 Centerline is valid? [True, True] Translation: X:218.93, Y:-139.73, Z:-11.43 [[-7.79981574e-01 -6.25780281e-01 5.27114952e-03 2.18930992e+02] [ 6.25765552e-01 -7.79999383e-01 -4.29367352e-03 -1.39725761e+02] [ 6.79838959e-03 -5.04824353e-05 9.99976889e-01 -1.14338168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.250385723 meters 0.016855341523504586 Centerline is valid? [True, True] Translation: X:218.42, Y:-140.35, Z:-10.48 [[-8.09473447e-01 5.87114644e-01 7.00948822e-03 2.18417883e+02] [ 5.87093612e-01 8.09503790e-01 -4.97028995e-03 -1.40353500e+02] [-8.59233730e-03 9.19080199e-05 -9.99963081e-01 -1.04835546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.310385723 meters 0.016793403557020185 Centerline is valid? [True, True] Translation: X:218.88, Y:-139.70, Z:-11.44 [[-7.82550762e-01 -6.22551773e-01 6.60273073e-03 2.18883190e+02] [ 6.22528579e-01 -7.82578610e-01 -5.37471829e-03 -1.39697587e+02] [ 8.51319624e-03 -9.56013105e-05 9.99963758e-01 -1.14356738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.370385723 meters 0.016845563820390246 Centerline is valid? [True, True] Translation: X:218.38, Y:-140.33, Z:-10.49 [[-8.09675219e-01 5.86825904e-01 7.83572370e-03 2.18380973e+02] [ 5.86800011e-01 8.09713123e-01 -5.51422174e-03 -1.40331359e+02] [-9.58057646e-03 1.33274056e-04 -9.99954096e-01 -1.04851719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.430385723 meters 0.01691615919188934 Centerline is valid? [True, True] Translation: X:218.40, Y:-140.31, Z:-10.48 [[-8.49351247e-01 5.27766161e-01 8.08322806e-03 2.18402573e+02] [ 5.27743689e-01 8.49389700e-01 -4.87201035e-03 -1.40309743e+02] [-9.43709286e-03 1.27824525e-04 -9.99955462e-01 -1.04831695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.490385723 meters 0.016717867103778497 Centerline is valid? [True, True] Translation: X:218.41, Y:-140.28, Z:-10.48 [[-8.85654474e-01 4.64255670e-01 9.10085335e-03 2.18409018e+02] [ 4.64232486e-01 8.85701225e-01 -4.64105914e-03 -1.40281562e+02] [-1.02152750e-02 1.14536978e-04 -9.99947816e-01 -1.04818672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.550385723 meters 0.01652393226240836 Centerline is valid? [True, True] Translation: X:218.43, Y:-140.26, Z:-10.48 [[-9.16609148e-01 3.99682556e-01 9.02901757e-03 2.18432162e+02] [ 3.99664265e-01 9.16653612e-01 -3.82514905e-03 -1.40262281e+02] [-9.80532692e-03 1.02409054e-04 -9.99951921e-01 -1.04825695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.610385723 meters 0.016558344108581948 Centerline is valid? [True, True] Translation: X:218.43, Y:-140.23, Z:-10.48 [[-9.42477697e-01 3.34132458e-01 9.55465593e-03 2.18429152e+02] [ 3.34116461e-01 9.42526121e-01 -3.27131314e-03 -1.40230987e+02] [-1.00985647e-02 1.09228152e-04 -9.99949002e-01 -1.04819287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.670385723 meters 0.016704233926895184 Centerline is valid? [True, True] Translation: X:218.72, Y:-139.47, Z:-11.44 [[-9.26343618e-01 -3.76546018e-01 1.00298203e-02 2.18715059e+02] [ 3.76523120e-01 -9.26397912e-01 -4.15316926e-03 -1.39471685e+02] [ 1.08554639e-02 -7.08025968e-05 9.99941075e-01 -1.14364935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.730385723 meters 0.016588264900282593 Centerline is valid? [True, True] Translation: X:218.40, Y:-140.22, Z:-10.48 [[-9.43488240e-01 3.31270573e-01 9.47356837e-03 2.18397488e+02] [ 3.31255093e-01 9.43535794e-01 -3.20448356e-03 -1.40221646e+02] [-1.00002020e-02 1.14775219e-04 -9.99949990e-01 -1.04820076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.790385723 meters 0.01683297722231654 Centerline is valid? [True, True] Translation: X:218.67, Y:-139.46, Z:-11.44 [[-9.27932246e-01 -3.72633807e-01 9.26243054e-03 2.18668257e+02] [ 3.72614021e-01 -9.27978466e-01 -3.84161039e-03 -1.39457519e+02] [ 1.00268500e-02 -1.13442666e-04 9.99949723e-01 -1.14382614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.850385723 meters 0.016223281634695223 Centerline is valid? [True, True] Translation: X:218.36, Y:-140.21, Z:-10.48 [[-9.44328001e-01 3.28859921e-01 9.78671832e-03 2.18355511e+02] [ 3.28843682e-01 9.44378703e-01 -3.27069149e-03 -1.40209552e+02] [-1.03179677e-02 1.29694926e-04 -9.99946760e-01 -1.04831914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.910385723 meters 0.016458915961806802 Centerline is valid? [True, True] Translation: X:218.36, Y:-140.18, Z:-10.48 [[-9.65242291e-01 2.61106163e-01 1.14407946e-02 2.18363381e+02] [ 2.61089643e-01 9.65310080e-01 -2.94088613e-03 -1.40183417e+02] [-1.18117978e-02 1.48405299e-04 -9.99930227e-01 -1.04814528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9703857229999 meters 0.016145849456440087 Centerline is valid? [True, True] Translation: X:218.38, Y:-140.16, Z:-10.48 [[-9.81046385e-01 1.93411167e-01 1.18368366e-02 2.18376698e+02] [ 1.93399154e-01 9.81117777e-01 -2.16216142e-03 -1.40157566e+02] [-1.20315170e-02 1.68053543e-04 -9.99927605e-01 -1.04828578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.030385723 meters 0.017212955173295918 Centerline is valid? [True, True] Translation: X:218.38, Y:-140.13, Z:-10.48 [[-9.92022486e-01 1.25547021e-01 1.13724814e-02 2.18379921e+02] [ 1.25540915e-01 9.92087653e-01 -1.25205183e-03 -1.40132968e+02] [-1.14396898e-02 1.85648153e-04 -9.99934547e-01 -1.04816476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0903857229999 meters 0.016926684079729575 Centerline is valid? [True, True] Translation: X:218.38, Y:-140.10, Z:-10.48 [[-9.98384640e-01 5.56956541e-02 1.12296189e-02 2.18384972e+02] [ 5.56943015e-02 9.98447774e-01 -4.33377547e-04 -1.40104357e+02] [-1.12363252e-02 1.92748291e-04 -9.99936852e-01 -1.04830736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.150385723 meters 0.01712723316730416 Centerline is valid? [True, True] Translation: X:218.38, Y:-140.08, Z:-10.48 [[-9.99837823e-01 -1.50591583e-02 9.87668984e-03 2.18380051e+02] [-1.50567168e-02 9.99886590e-01 3.21507374e-04 -1.40076691e+02] [-9.88041135e-03 1.72744711e-04 -9.99951173e-01 -1.04840007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.210385723 meters 0.016604667666181076 Centerline is valid? [True, True] Translation: X:218.35, Y:-139.26, Z:-11.43 [[-9.99802857e-01 -1.83201026e-02 7.65643944e-03 2.18353892e+02] [ 1.83174107e-02 -9.99832133e-01 -4.21569448e-04 -1.39257715e+02] [ 7.66287738e-03 -2.81240192e-04 9.99970600e-01 -1.14328827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.270385723 meters 0.01639154030028198 Centerline is valid? [True, True] Translation: X:218.29, Y:-140.08, Z:-10.49 [[-9.99689630e-01 -2.37256479e-02 7.59845016e-03 2.18288299e+02] [-2.37241151e-02 9.99718501e-01 2.91819635e-04 -1.40075021e+02] [-7.60323482e-03 1.11462557e-04 -9.99971089e-01 -1.04858695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.330385723 meters 0.015594103162447978 Centerline is valid? [True, True] Translation: X:218.26, Y:-139.27, Z:-11.43 [[-9.99770164e-01 -1.91155721e-02 9.70634629e-03 2.18262457e+02] [ 1.91147272e-02 -9.99817281e-01 -1.79814430e-04 -1.39266339e+02] [ 9.70801001e-03 5.76105991e-06 9.99952876e-01 -1.14344276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.390385723 meters 0.015129937607316561 Centerline is valid? [True, True] Translation: X:218.20, Y:-140.07, Z:-10.48 [[-9.99196875e-01 -3.84762561e-02 1.11885430e-02 2.18200029e+02] [-3.84732168e-02 9.99259513e-01 4.86829910e-04 -1.40069506e+02] [-1.11989894e-02 5.59796842e-05 -9.99937288e-01 -1.04818822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.450385723 meters 0.01490985236964982 Centerline is valid? [True, True] Translation: X:218.16, Y:-140.04, Z:-10.48 [[-9.93822472e-01 -1.10443011e-01 1.09195098e-02 2.18155560e+02] [-1.10435876e-01 9.93882458e-01 1.25613973e-03 -1.40042394e+02] [-1.09914411e-02 4.24742609e-05 -9.99939591e-01 -1.04813026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.510385723 meters 0.014932944008689648 Centerline is valid? [True, True] Translation: X:218.10, Y:-139.25, Z:-11.44 [[-9.98584692e-01 5.20407993e-02 1.09712423e-02 2.18095324e+02] [-5.20381310e-02 -9.98644959e-01 5.28731411e-04 -1.39253255e+02] [ 1.09838914e-02 -4.29398510e-05 9.99939674e-01 -1.14365444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.570385723 meters 0.015155105769551034 Centerline is valid? [True, True] Translation: X:218.08, Y:-140.05, Z:-10.48 [[-9.93617753e-01 -1.12415502e-01 9.30143234e-03 2.18079065e+02] [-1.12409879e-01 9.93661285e-01 1.12679553e-03 -1.40054638e+02] [-9.36914250e-03 7.40311542e-05 -9.99956106e-01 -1.04842012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.630385723 meters 0.015209353411024322 Centerline is valid? [True, True] Translation: X:218.07, Y:-140.03, Z:-10.49 [[-9.83267586e-01 -1.82003721e-01 7.71365775e-03 2.18070798e+02] [-1.81997565e-01 9.83297839e-01 1.49857493e-03 -1.40027004e+02] [-7.85756921e-03 6.96332252e-05 -9.99969126e-01 -1.04852420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.690385723 meters 0.014897173708715987 Centerline is valid? [True, True] Translation: X:218.05, Y:-140.00, Z:-10.49 [[-9.67942388e-01 -2.51086552e-01 6.56325205e-03 2.18051001e+02] [-2.51080315e-01 9.67964637e-01 1.77094820e-03 -1.40000092e+02] [-6.79765716e-03 6.62724354e-05 -9.99976893e-01 -1.04871039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.750385723 meters 0.014762066112819505 Centerline is valid? [True, True] Translation: X:218.02, Y:-139.98, Z:-10.49 [[-9.47168842e-01 -3.20648058e-01 7.48382061e-03 2.18015830e+02] [-3.20637422e-01 9.47198405e-01 2.61263391e-03 -1.39978608e+02] [-7.92639893e-03 7.50124904e-05 -9.99968583e-01 -1.04869598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.810385723 meters 0.0148971747548705 Centerline is valid? [True, True] Translation: X:217.95, Y:-139.97, Z:-10.48 [[-9.20930260e-01 -3.89636023e-01 8.43960991e-03 2.17954764e+02] [-3.89618829e-01 9.20968926e-01 3.66128510e-03 -1.39968796e+02] [-9.19918704e-03 8.35572996e-05 -9.99957683e-01 -1.04843363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.870385723 meters 0.014897812734714078 Centerline is valid? [True, True] Translation: X:217.88, Y:-139.97, Z:-10.48 [[-8.90027943e-01 -4.55817621e-01 8.97529594e-03 2.17882420e+02] [-4.55793321e-01 8.90073192e-01 4.70771004e-03 -1.39966996e+02] [-1.01345275e-02 9.91135398e-05 -9.99948639e-01 -1.04830309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.930385723 meters 0.015270281827763615 Centerline is valid? [True, True] Translation: X:217.81, Y:-139.97, Z:-10.48 [[-8.55333661e-01 -5.18010463e-01 8.33593943e-03 2.17810664e+02] [-5.17984388e-01 8.55374271e-01 5.19907985e-03 -1.39974971e+02] [-9.82352588e-03 1.29061520e-04 -9.99951740e-01 -1.04837920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.990385723 meters 0.015485101965721776 Centerline is valid? [True, True] Translation: X:217.73, Y:-139.99, Z:-10.49 [[-8.15938341e-01 -5.78105514e-01 6.21595446e-03 2.17728828e+02] [-5.78087575e-01 8.15962008e-01 4.55595187e-03 -1.39994123e+02] [-7.70580359e-03 1.24009773e-04 -9.99970302e-01 -1.04868146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.050385723 meters 0.015708346639163602 Centerline is valid? [True, True] Translation: X:217.64, Y:-140.02, Z:-10.49 [[-7.70923032e-01 -6.36912454e-01 4.49497640e-03 2.17639184e+02] [-6.36900854e-01 7.70936129e-01 3.84543734e-03 -1.40022288e+02] [-5.91454664e-03 1.01681901e-04 -9.99982504e-01 -1.04873074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.110385723 meters 0.015533096205304913 Centerline is valid? [True, True] Translation: X:217.55, Y:-140.06, Z:-10.49 [[-7.20425158e-01 -6.93521690e-01 3.90617431e-03 2.17549602e+02] [-6.93510794e-01 7.20435741e-01 3.88864059e-03 -1.40061676e+02] [-5.51100417e-03 9.25004623e-05 -9.99984810e-01 -1.04878919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.170385723 meters 0.015650401417384344 Centerline is valid? [True, True] Translation: X:217.45, Y:-140.12, Z:-10.49 [[-6.64138650e-01 -7.47595947e-01 4.48931241e-03 2.17451366e+02] [-7.47577857e-01 6.64153815e-01 5.20168770e-03 -1.40117391e+02] [-6.87035461e-03 9.85313001e-05 -9.99976394e-01 -1.04867983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.230385723 meters 0.014859676183247338 Centerline is valid? [True, True] Translation: X:217.36, Y:-140.17, Z:-10.49 [[-6.03212364e-01 -7.97562770e-01 5.33590984e-03 2.17355755e+02] [-7.97530054e-01 6.03235955e-01 7.22470629e-03 -1.40173681e+02] [-8.98096943e-03 1.02483696e-04 -9.99959665e-01 -1.04853202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.290385723 meters 0.014887336804011787 Centerline is valid? [True, True] Translation: X:217.27, Y:-140.24, Z:-10.49 [[-5.40333280e-01 -8.41433923e-01 5.37583224e-03 2.17270652e+02] [-8.41390262e-01 5.40360011e-01 8.57242374e-03 -1.40237285e+02] [-1.01180129e-02 1.08792940e-04 -9.99948806e-01 -1.04856205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.350385723 meters 0.015078908428443595 Centerline is valid? [True, True] Translation: X:217.19, Y:-140.31, Z:-10.49 [[-4.76184699e-01 -8.79334983e-01 4.25667801e-03 2.17187205e+02] [-8.79297702e-01 4.76203711e-01 8.09798225e-03 -1.40312202e+02] [-9.14788495e-03 1.13248051e-04 -9.99958151e-01 -1.04863835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.410385723 meters 0.015553434915263956 Centerline is valid? [True, True] Translation: X:217.11, Y:-140.40, Z:-10.49 [[-4.09543490e-01 -9.12284977e-01 3.20171658e-03 2.17107625e+02] [-9.12254870e-01 4.09555989e-01 7.41243220e-03 -1.40397984e+02] [-8.07353274e-03 1.14931802e-04 -9.99967402e-01 -1.04864026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4703857229999 meters 0.014969987825585371 Centerline is valid? [True, True] Translation: X:217.04, Y:-140.49, Z:-10.49 [[-3.39089197e-01 -9.40749900e-01 2.85337699e-03 2.17036779e+02] [-9.40713364e-01 3.39101179e-01 8.29204906e-03 -1.40486628e+02] [-8.76832782e-03 1.27534398e-04 -9.99961549e-01 -1.04874044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.530385723 meters 0.015087747490307446 Centerline is valid? [True, True] Translation: X:216.97, Y:-140.59, Z:-10.49 [[-2.65679756e-01 -9.64058409e-01 2.37736176e-03 2.16968851e+02] [-9.64015302e-01 2.65690361e-01 9.11758554e-03 -1.40589755e+02] [-9.42152711e-03 1.30544787e-04 -9.99955608e-01 -1.04865031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5903857229999 meters 0.014898268091429185 Centerline is valid? [True, True] Translation: X:216.91, Y:-140.70, Z:-10.49 [[-1.89793280e-01 -9.81822645e-01 1.67465364e-03 2.16908810e+02] [-9.81778894e-01 1.89800633e-01 9.26945502e-03 -1.40697625e+02] [-9.41881116e-03 1.15140676e-04 -9.99955635e-01 -1.04860750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.650385723 meters 0.014899469162130176 Centerline is valid? [True, True] Translation: X:216.86, Y:-140.79, Z:-10.49 [[-1.22656728e-01 -9.92448662e-01 9.89740026e-04 2.16855296e+02] [-9.92407159e-01 1.22660651e-01 9.07719293e-03 -1.40793793e+02] [-9.13005013e-03 1.31153696e-04 -9.99958312e-01 -1.04864522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.710385723 meters 0.014524635714423561 Centerline is valid? [True, True] Translation: X:216.82, Y:-140.90, Z:-10.49 [[-4.61947705e-02 -9.98932405e-01 3.06165072e-04 2.16815029e+02] [-9.98894032e-01 4.61956797e-02 8.75625424e-03 -1.40901916e+02] [-8.76104960e-03 9.86666915e-05 -9.99961616e-01 -1.04878189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.770385723 meters 0.014238134731955397 Centerline is valid? [True, True] Translation: X:216.78, Y:-141.02, Z:-10.49 [[ 3.39496889e-02 -9.99423497e-01 -3.02335856e-04 2.16780267e+02] [-9.99396847e-01 -3.39509916e-02 7.29884049e-03 -1.41020519e+02] [-7.30489730e-03 5.43601372e-05 -9.99973317e-01 -1.04875521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.830385723 meters 0.013898055944661591 Centerline is valid? [True, True] Translation: X:216.75, Y:-141.14, Z:-10.49 [[ 1.16297472e-01 -9.93214056e-01 -8.58306417e-04 2.16754948e+02] [-9.93187507e-01 -1.16300639e-01 7.26201425e-03 -1.41142005e+02] [-7.31255622e-03 7.90531336e-06 -9.99973263e-01 -1.04870476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.890385723 meters 0.013881188588439435 Centerline is valid? [True, True] Translation: X:216.74, Y:-141.26, Z:-10.49 [[ 1.96524833e-01 -9.80497887e-01 -1.37273663e-03 2.16740318e+02] [-9.80472943e-01 -1.96529625e-01 6.99394735e-03 -1.41260780e+02] [-7.12733401e-03 -2.85532051e-05 -9.99974600e-01 -1.04876073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.950385723 meters 0.014147554087242968 Centerline is valid? [True, True] Translation: X:216.74, Y:-141.38, Z:-10.49 [[ 2.73895097e-01 -9.61757777e-01 -1.85844948e-03 2.16736549e+02] [-9.61734353e-01 -2.73901397e-01 6.71263783e-03 -1.41381693e+02] [-6.96496355e-03 -5.12238845e-05 -9.99975743e-01 -1.04869255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.010385723 meters 0.014230734654703718 Centerline is valid? [True, True] Translation: X:216.75, Y:-141.50, Z:-10.49 [[ 3.47211937e-01 -9.37783561e-01 -2.42152585e-03 2.16745410e+02] [-9.37759549e-01 -3.47220376e-01 6.71109435e-03 -1.41504517e+02] [-7.13435708e-03 -5.93630784e-05 -9.99974548e-01 -1.04864560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.070385723 meters 0.014607899353767695 Centerline is valid? [True, True] Translation: X:216.76, Y:-141.62, Z:-10.49 [[ 4.20354480e-01 -9.07353007e-01 -3.55416807e-03 2.16762625e+02] [-9.07318571e-01 -4.20369494e-01 7.90571967e-03 -1.41618934e+02] [-8.66734235e-03 -9.84419828e-05 -9.99962433e-01 -1.04859645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.130385723 meters 0.014645674193343535 Centerline is valid? [True, True] Translation: X:216.79, Y:-141.73, Z:-10.49 [[ 4.88407539e-01 -8.72609510e-01 -3.27385348e-03 2.16787957e+02] [-8.72588796e-01 -4.88418505e-01 6.01303642e-03 -1.41728066e+02] [-6.84604339e-03 -8.00844574e-05 -9.99976562e-01 -1.04861825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.190385723 meters 0.014448599472310636 Centerline is valid? [True, True] Translation: X:216.82, Y:-141.83, Z:-10.49 [[ 5.52045580e-01 -8.33807354e-01 -3.31262983e-03 2.16822822e+02] [-8.33791664e-01 -5.52055516e-01 5.11557018e-03 -1.41833184e+02] [-6.09415560e-03 -6.19847648e-05 -9.99981429e-01 -1.04869131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.250385723 meters 0.014203642195957515 Centerline is valid? [True, True] Translation: X:216.87, Y:-141.93, Z:-10.49 [[ 6.10884940e-01 -7.91711084e-01 -3.62626389e-03 2.16868206e+02] [-7.91696759e-01 -6.10895702e-01 4.76278503e-03 -1.41934788e+02] [-5.98601872e-03 -3.86122808e-05 -9.99982083e-01 -1.04862066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.310385723 meters 0.013972917803297737 Centerline is valid? [True, True] Translation: X:216.92, Y:-142.03, Z:-10.49 [[ 6.66643965e-01 -7.45366291e-01 -3.86210991e-03 2.16920100e+02] [-7.45353633e-01 -6.66655152e-01 4.34392513e-03 -1.42029524e+02] [-5.81251083e-03 -1.72138177e-05 -9.99983107e-01 -1.04873909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.370385723 meters 0.013953282859335444 Centerline is valid? [True, True] Translation: X:216.98, Y:-142.12, Z:-10.49 [[ 7.20291117e-01 -6.93658213e-01 -4.35788367e-03 2.16976696e+02] [-6.93645436e-01 -7.20304299e-01 4.21020744e-03 -1.42120991e+02] [-6.05944731e-03 -9.74890078e-06 -9.99981641e-01 -1.04865186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.430385723 meters 0.013989457373685498 Centerline is valid? [True, True] Translation: X:217.00, Y:-142.15, Z:-10.49 [[ 7.72888813e-01 -6.34527420e-01 -4.22336018e-03 2.16997466e+02] [-6.34517848e-01 -7.72900351e-01 3.48527013e-03 -1.42151058e+02] [-5.47573603e-03 -1.39288775e-05 -9.99985008e-01 -1.04866833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.490385723 meters 0.014248080967415656 Centerline is valid? [True, True] Translation: X:217.02, Y:-142.18, Z:-10.49 [[ 8.22101017e-01 -5.69316856e-01 -5.31369260e-03 2.17021048e+02] [-5.69304658e-01 -8.22118189e-01 3.72695260e-03 -1.42175687e+02] [-6.49030027e-03 -3.88215724e-05 -9.99978937e-01 -1.04862189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.550385723 meters 0.014445664142187358 Centerline is valid? [True, True] Translation: X:217.05, Y:-142.20, Z:-10.49 [[ 8.65735766e-01 -5.00454473e-01 -6.84872007e-03 2.17046780e+02] [-5.00438141e-01 -8.65762852e-01 4.04377070e-03 -1.42199090e+02] [-7.95309055e-03 -7.34761875e-05 -9.99968371e-01 -1.04859171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.610385723 meters 0.01474625546642009 Centerline is valid? [True, True] Translation: X:217.07, Y:-142.22, Z:-10.49 [[ 9.03166255e-01 -4.29242524e-01 -6.44761548e-03 2.17072623e+02] [-4.29230934e-01 -9.03189265e-01 3.15534254e-03 -1.42223357e+02] [-7.17782429e-03 -8.22828921e-05 -9.99974236e-01 -1.04856323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.670385723 meters 0.01500078691815157 Centerline is valid? [True, True] Translation: X:217.10, Y:-142.24, Z:-10.49 [[ 9.34905901e-01 -3.54851816e-01 -5.58081800e-03 2.17100851e+02] [-3.54844952e-01 -9.34922554e-01 2.20875109e-03 -1.42243011e+02] [-6.00141196e-03 -8.46493360e-05 -9.99981988e-01 -1.04869977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.730385723 meters 0.015484826529847793 Centerline is valid? [True, True] Translation: X:217.13, Y:-142.26, Z:-10.49 [[ 9.60292114e-01 -2.78953795e-01 -4.88218706e-03 2.17130251e+02] [-2.78949758e-01 -9.60304521e-01 1.50300004e-03 -1.42257675e+02] [-5.10765387e-03 -8.14341945e-05 -9.99986953e-01 -1.04877867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.790385723 meters 0.01575193074573018 Centerline is valid? [True, True] Translation: X:217.16, Y:-142.27, Z:-10.49 [[ 9.79297340e-01 -2.02364743e-01 -5.02297567e-03 2.17161388e+02] [-2.02361632e-01 -9.79310218e-01 1.12525245e-03 -1.42270849e+02] [-5.14676282e-03 -8.54991764e-05 -9.99986752e-01 -1.04869802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.850385723 meters 0.015177627322287316 Centerline is valid? [True, True] Translation: X:217.19, Y:-142.28, Z:-10.49 [[ 9.92071632e-01 -1.25597279e-01 -4.38192131e-03 2.17192182e+02] [-1.25595736e-01 -9.92081306e-01 6.26529385e-04 -1.42282805e+02] [-4.42591261e-03 -7.12113958e-05 -9.99990203e-01 -1.04879801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.910385723 meters 0.0150583083033024 Centerline is valid? [True, True] Translation: X:217.22, Y:-142.29, Z:-10.49 [[ 9.98768331e-01 -4.93900766e-02 -4.73725660e-03 2.17220358e+02] [-4.93892009e-02 -9.98779563e-01 3.01720675e-04 -1.42288827e+02] [-4.74637708e-03 -6.73797371e-05 -9.99988734e-01 -1.04884424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9703857229999 meters 0.014823805616975322 Centerline is valid? [True, True] Translation: X:217.25, Y:-142.29, Z:-10.49 [[ 9.99606365e-01 2.70493428e-02 -7.44628764e-03 2.17249078e+02] [ 2.70492714e-02 -9.99634095e-01 -1.10308055e-04 -1.42294299e+02] [-7.44654677e-03 -9.11520214e-05 -9.99972270e-01 -1.04861506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.030385723 meters 0.014600099804181931 Centerline is valid? [True, True] Translation: X:217.28, Y:-142.30, Z:-10.48 [[ 9.94591040e-01 1.03460780e-01 -9.19401643e-03 2.17277843e+02] [ 1.03457257e-01 -9.94633529e-01 -8.59280288e-04 -1.42298830e+02] [-9.23357882e-03 -9.65552461e-05 -9.99957365e-01 -1.04846716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0903857229999 meters 0.014248345277532017 Centerline is valid? [True, True] Translation: X:217.30, Y:-142.30, Z:-10.48 [[ 9.84342927e-01 1.76021208e-01 -9.24855504e-03 2.17303503e+02] [ 1.76013920e-01 -9.84386373e-01 -1.60258105e-03 -1.42295612e+02] [-9.38623981e-03 -5.03851028e-05 -9.99955947e-01 -1.04847766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.150385723 meters 0.014068321772204302 Centerline is valid? [True, True] Translation: X:217.33, Y:-142.29, Z:-10.49 [[ 9.69020061e-01 2.46838880e-01 -8.40768730e-03 2.17329826e+02] [ 2.46829546e-01 -9.69056535e-01 -2.14651156e-03 -1.42291251e+02] [-8.67736683e-03 4.74712280e-06 -9.99962351e-01 -1.04869910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.210385723 meters 0.01439631108202027 Centerline is valid? [True, True] Translation: X:217.35, Y:-142.28, Z:-10.49 [[ 9.48081717e-01 3.17900530e-01 -8.96160308e-03 2.17353974e+02] [ 3.17885873e-01 -9.48124070e-01 -3.05300599e-03 -1.42284648e+02] [-9.46726380e-03 4.57321468e-05 -9.99955183e-01 -1.04869659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.270385723 meters 0.01433772657969302 Centerline is valid? [True, True] Translation: X:217.38, Y:-142.28, Z:-10.49 [[ 9.20915245e-01 3.89651173e-01 -9.33141499e-03 2.17379888e+02] [ 3.89630447e-01 -9.20962518e-01 -4.01936345e-03 -1.42281552e+02] [-1.01600331e-02 6.56896825e-05 -9.99948383e-01 -1.04872923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.330385723 meters 0.014479955993815227 Centerline is valid? [True, True] Translation: X:217.40, Y:-142.27, Z:-10.49 [[ 8.87362271e-01 4.60971148e-01 -9.68510986e-03 2.17404927e+02] [ 4.60942882e-01 -8.87415121e-01 -5.10522875e-03 -1.42274656e+02] [-1.09480761e-02 6.59049282e-05 -9.99940066e-01 -1.04876733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.390385723 meters 0.014351438713603587 Centerline is valid? [True, True] Translation: X:217.43, Y:-142.27, Z:-10.49 [[ 8.48279090e-01 5.29458504e-01 -9.81210931e-03 2.17429022e+02] [ 5.29422216e-01 -8.48335834e-01 -6.19916333e-03 -1.42266055e+02] [-1.16061637e-02 6.38719771e-05 -9.99932644e-01 -1.04875590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.450385723 meters 0.014419258961854545 Centerline is valid? [True, True] Translation: X:217.45, Y:-142.25, Z:-10.49 [[ 8.04038445e-01 5.94511751e-01 -8.82927221e-03 2.17449595e+02] [ 5.94475131e-01 -8.04086920e-01 -6.59881998e-03 -1.42254898e+02] [-1.10225783e-02 5.69222042e-05 -9.99939248e-01 -1.04874103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.510385723 meters 0.014269655369240006 Centerline is valid? [True, True] Translation: X:217.47, Y:-142.24, Z:-10.49 [[ 7.54816362e-01 6.55896754e-01 -7.19085183e-03 2.17472225e+02] [ 6.55866404e-01 -7.54850612e-01 -6.30980344e-03 -1.42244628e+02] [-9.56659849e-03 4.65047462e-05 -9.99954238e-01 -1.04924681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.570385723 meters 0.014270446602212617 Centerline is valid? [True, True] Translation: X:217.49, Y:-142.23, Z:-10.49 [[ 7.00691316e-01 7.13436363e-01 -6.34315751e-03 2.17494375e+02] [ 7.13406632e-01 -7.00720026e-01 -6.51327032e-03 -1.42234645e+02] [-9.09158138e-03 3.85413119e-05 -9.99958670e-01 -1.04921418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.630385723 meters 0.014245459113910766 Centerline is valid? [True, True] Translation: X:217.52, Y:-142.23, Z:-10.49 [[ 6.41669217e-01 7.66959175e-01 -5.85154999e-03 2.17519609e+02] [ 7.66926908e-01 -6.41695896e-01 -7.03525369e-03 -1.42225616e+02] [-9.15066798e-03 2.65945831e-05 -9.99958131e-01 -1.04910975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.690385723 meters 0.01423990296146272 Centerline is valid? [True, True] Translation: X:217.54, Y:-142.21, Z:-10.49 [[ 5.80239372e-01 8.14430130e-01 -5.08278528e-03 2.17541104e+02] [ 8.14398401e-01 -5.80261633e-01 -7.18897372e-03 -1.42212462e+02] [-8.80426209e-03 3.19133861e-05 -9.99961241e-01 -1.04925463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.750385723 meters 0.014241600362561927 Centerline is valid? [True, True] Translation: X:217.57, Y:-142.20, Z:-10.49 [[ 5.15944522e-01 8.56608367e-01 -4.83275780e-03 2.17565172e+02] [ 8.56569911e-01 -5.15967153e-01 -8.11693200e-03 -1.42199780e+02] [-9.44657615e-03 4.82916817e-05 -9.99955379e-01 -1.04920377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.810385723 meters 0.014259108496552802 Centerline is valid? [True, True] Translation: X:217.59, Y:-142.19, Z:-10.49 [[ 4.47612032e-01 8.94216641e-01 -4.47975213e-03 2.17589686e+02] [ 8.94170613e-01 -4.47634445e-01 -9.07292800e-03 -1.42186078e+02] [-1.01184546e-02 5.54890324e-05 -9.99948806e-01 -1.04905798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.870385723 meters 0.014441488883796424 Centerline is valid? [True, True] Translation: X:217.61, Y:-142.17, Z:-10.49 [[ 3.76590948e-01 9.26371765e-01 -3.82251071e-03 2.17609205e+02] [ 9.26322393e-01 -3.76610342e-01 -9.56419875e-03 -1.42168541e+02] [-1.02996007e-02 6.09134071e-05 -9.99946956e-01 -1.04900708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.930385723 meters 0.014561620537884186 Centerline is valid? [True, True] Translation: X:217.63, Y:-142.15, Z:-10.49 [[ 3.03860299e-01 9.52711151e-01 -3.22205288e-03 2.17629916e+02] [ 9.52654946e-01 -3.03877372e-01 -1.03487925e-02 -1.42150484e+02] [-1.08385190e-02 7.50825762e-05 -9.99941259e-01 -1.04892472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.990385723 meters 0.014863078262966433 Centerline is valid? [True, True] Translation: X:217.65, Y:-142.13, Z:-10.49 [[ 2.29804164e-01 9.73232999e-01 -2.75245090e-03 2.17646723e+02] [ 9.73157617e-01 -2.29820623e-01 -1.21133576e-02 -1.42131409e+02] [-1.24216893e-02 1.05131460e-04 -9.99922842e-01 -1.04877573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.050385723 meters 0.015066006398292826 Centerline is valid? [True, True] Translation: X:217.66, Y:-142.11, Z:-10.49 [[ 1.54719358e-01 9.87956891e-01 -1.76133233e-03 2.17661865e+02] [ 9.87883288e-01 -1.54729332e-01 -1.20599633e-02 -1.42109636e+02] [-1.21872536e-02 1.25918991e-04 -9.99925725e-01 -1.04887304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.110385723 meters 0.015438306807364742 Centerline is valid? [True, True] Translation: X:217.68, Y:-142.09, Z:-10.49 [[ 7.98344045e-02 9.96807870e-01 -7.33857383e-04 2.17676685e+02] [ 9.96747172e-01 -7.98376424e-02 -1.10011423e-02 -1.42087211e+02] [-1.10246146e-02 1.46799371e-04 -9.99939216e-01 -1.04889116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.170385723 meters 0.01592975314698902 Centerline is valid? [True, True] Translation: X:217.69, Y:-142.06, Z:-10.49 [[ 3.30688011e-03 9.99994526e-01 1.16114549e-04 2.17686358e+02] [ 9.99945965e-01 -3.30557509e-03 -9.85598762e-03 -1.42064908e+02] [-9.85554984e-03 1.48700844e-04 -9.99951422e-01 -1.04894948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.230385723 meters 0.01585877257115786 Centerline is valid? [True, True] Translation: X:217.70, Y:-142.04, Z:-10.49 [[-7.24886787e-02 9.97368904e-01 8.13008513e-04 2.17699869e+02] [ 9.97328368e-01 7.24930636e-02 -8.99341774e-03 -1.42040648e+02] [-9.02869267e-03 1.58915485e-04 -9.99959228e-01 -1.04914293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.290385723 meters 0.016160652270405324 Centerline is valid? [True, True] Translation: X:217.71, Y:-142.02, Z:-10.49 [[-1.50269439e-01 9.88643689e-01 1.65913455e-03 2.17708217e+02] [ 9.88595625e-01 1.50278496e-01 -9.75010232e-03 -1.42015743e+02] [-9.88870937e-03 1.75070753e-04 -9.99951090e-01 -1.04903692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.350385723 meters 0.01577454607495554 Centerline is valid? [True, True] Translation: X:217.72, Y:-141.99, Z:-10.49 [[-2.27817715e-01 9.73700207e-01 2.64501284e-03 2.17719648e+02] [ 9.73643697e-01 2.27832994e-01 -1.04917869e-02 -1.41988758e+02] [-1.08184762e-02 1.85085174e-04 -9.99941461e-01 -1.04895322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.410385723 meters 0.015759556999248747 Centerline is valid? [True, True] Translation: X:217.73, Y:-141.96, Z:-10.49 [[-3.04161149e-01 9.52615408e-01 3.14319870e-03 2.17725616e+02] [ 9.52569845e-01 3.04177347e-01 -9.31836090e-03 -1.41962272e+02] [-9.83290402e-03 1.59832941e-04 -9.99951643e-01 -1.04900864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4703857229999 meters 0.015186749029063425 Centerline is valid? [True, True] Translation: X:217.73, Y:-141.93, Z:-10.49 [[-3.78170544e-01 9.25728679e-01 3.66784800e-03 2.17730576e+02] [ 9.25688869e-01 3.78188302e-01 -8.58637996e-03 -1.41933358e+02] [-9.33579539e-03 1.48170082e-04 -9.99956410e-01 -1.04926129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.530385723 meters 0.015356595090046055 Centerline is valid? [True, True] Translation: X:217.73, Y:-141.91, Z:-10.49 [[-4.49578960e-01 8.93235142e-01 3.12078945e-03 2.17732931e+02] [ 8.93215238e-01 4.49589779e-01 -5.96394015e-03 -1.41905833e+02] [-6.73027597e-03 1.06274687e-04 -9.99977346e-01 -1.04935122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5903857229999 meters 0.01589939008439885 Centerline is valid? [True, True] Translation: X:217.73, Y:-141.88, Z:-10.49 [[-5.18165319e-01 8.55273512e-01 3.45288889e-03 2.17729352e+02] [ 8.55255824e-01 5.18176813e-01 -5.50147338e-03 -1.41879700e+02] [-6.49447142e-03 1.02430630e-04 -9.99978905e-01 -1.04926562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.650385723 meters 0.015343845134423285 Centerline is valid? [True, True] Translation: X:217.73, Y:-141.85, Z:-10.49 [[-5.83389657e-01 8.12185365e-01 3.38252084e-03 2.17726071e+02] [ 8.12172602e-01 5.83399456e-01 -4.55407449e-03 -1.41851359e+02] [-5.67211347e-03 9.03907988e-05 -9.99983909e-01 -1.04927563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.710385723 meters 0.01537710887127193 Centerline is valid? [True, True] Translation: X:217.72, Y:-141.83, Z:-10.49 [[-6.46012391e-01 7.63319675e-01 3.32637666e-03 2.17718884e+02] [ 7.63310151e-01 6.46020951e-01 -3.81385928e-03 -1.41825877e+02] [-5.06010284e-03 7.52567126e-05 -9.99987195e-01 -1.04929113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.770385723 meters 0.01518708008344216 Centerline is valid? [True, True] Translation: X:217.71, Y:-141.80, Z:-10.49 [[-7.04060117e-01 7.10126376e-01 4.45893893e-03 2.17709437e+02] [ 7.10112945e-01 7.04074231e-01 -4.36833056e-03 -1.41798687e+02] [-6.24149074e-03 9.07829324e-05 -9.99980518e-01 -1.04915011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.830385723 meters 0.015375446643500459 Centerline is valid? [True, True] Translation: X:217.74, Y:-141.78, Z:-10.49 [[-7.52735109e-01 6.58307618e-01 4.57555758e-03 2.17737939e+02] [ 6.58296140e-01 7.52749011e-01 -3.88823060e-03 -1.41782367e+02] [-6.00389826e-03 8.52642064e-05 -9.99981973e-01 -1.04906173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.890385723 meters 0.015019502441351569 Centerline is valid? [True, True] Translation: X:217.76, Y:-141.76, Z:-10.49 [[-7.97731072e-01 6.02990167e-01 5.29110814e-03 2.17757248e+02] [ 6.02977646e-01 7.97748614e-01 -3.88678249e-03 -1.41757540e+02] [-6.56466580e-03 8.98127716e-05 -9.99978448e-01 -1.04897481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.950385723 meters 0.015307422153490742 Centerline is valid? [True, True] Translation: X:217.77, Y:-141.73, Z:-10.49 [[-8.38221153e-01 5.45316008e-01 3.96868974e-03 2.17773313e+02] [ 5.45310265e-01 8.38230545e-01 -2.50369094e-03 -1.41734468e+02] [-4.69197971e-03 6.55205429e-05 -9.99988990e-01 -1.04906245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.010385723 meters 0.014984460919033769 Centerline is valid? [True, True] Translation: X:217.79, Y:-141.71, Z:-10.49 [[-8.74561255e-01 4.84902537e-01 3.48448803e-03 2.17791145e+02] [ 4.84898944e-01 8.74568194e-01 -1.86764856e-03 -1.41709542e+02] [-3.95304993e-03 5.62514944e-05 -9.99992185e-01 -1.04910464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.070385723 meters 0.014808453017679114 Centerline is valid? [True, True] Translation: X:217.81, Y:-141.68, Z:-10.49 [[-9.07758193e-01 4.19468220e-01 4.63408461e-03 2.17806824e+02] [ 4.19463089e-01 9.07770020e-01 -2.07569849e-03 -1.41683984e+02] [-5.07737263e-03 5.95951298e-05 -9.99987108e-01 -1.04897845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.130385723 meters 0.014176269070830649 Centerline is valid? [True, True] Translation: X:217.82, Y:-141.65, Z:-10.49 [[-9.37206695e-01 3.48723262e-01 5.97476226e-03 2.17815359e+02] [ 3.48716431e-01 9.37225739e-01 -2.18304963e-03 -1.41653384e+02] [-6.36098116e-03 3.75290486e-05 -9.99979768e-01 -1.04892262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.190385723 meters 0.014846883474566256 Centerline is valid? [True, True] Translation: X:218.07, Y:-140.98, Z:-11.43 [[-9.15016893e-01 -4.03359571e-01 6.71881248e-03 2.18067040e+02] [ 4.03348858e-01 -9.15041560e-01 -2.93988781e-03 -1.40975342e+02] [ 7.33382454e-03 1.99783308e-05 9.99973107e-01 -1.14306490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.250385723 meters 0.01380904779037933 Centerline is valid? [True, True] Translation: X:217.77, Y:-141.63, Z:-10.49 [[-9.40851342e-01 3.38769373e-01 5.83643740e-03 2.17769846e+02] [ 3.38762811e-01 9.40869445e-01 -2.10859736e-03 -1.41632470e+02] [-6.20565382e-03 -6.70871220e-06 -9.99980745e-01 -1.04897969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.310385723 meters 0.013792345012710355 Centerline is valid? [True, True] Translation: X:218.02, Y:-140.96, Z:-11.43 [[-9.15268054e-01 -4.02808331e-01 5.46241033e-03 2.18020094e+02] [ 4.02801106e-01 -9.15284354e-01 -2.41255378e-03 -1.40959023e+02] [ 5.97145547e-03 -7.86848082e-06 9.99982171e-01 -1.14276038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.370385723 meters 0.01385677355189247 Centerline is valid? [True, True] Translation: X:217.72, Y:-141.62, Z:-10.49 [[-9.40934268e-01 3.38552346e-01 5.00125181e-03 2.17721834e+02] [ 3.38547636e-01 9.40947559e-01 -1.78595815e-03 -1.41621756e+02] [-5.31055601e-03 1.26927525e-05 -9.99985899e-01 -1.04926097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.430385723 meters 0.013969589201994252 Centerline is valid? [True, True] Translation: X:217.98, Y:-140.94, Z:-11.43 [[-9.18933632e-01 -3.94374925e-01 5.42200761e-03 2.17977278e+02] [ 3.94368191e-01 -9.18949628e-01 -2.30471726e-03 -1.40939324e+02] [ 5.89147457e-03 2.03851268e-05 9.99982645e-01 -1.14278967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.490385723 meters 0.01426715746553172 Centerline is valid? [True, True] Translation: X:217.68, Y:-141.62, Z:-10.49 [[-9.40475039e-01 3.39826552e-01 4.96143399e-03 2.17683157e+02] [ 3.39822042e-01 9.40488125e-01 -1.75123874e-03 -1.41615799e+02] [-5.26128717e-03 3.90083046e-05 -9.99986159e-01 -1.04912677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.550385723 meters 0.014727565139082065 Centerline is valid? [True, True] Translation: X:217.93, Y:-140.91, Z:-11.43 [[-9.22412186e-01 -3.86164554e-01 5.71807282e-03 2.17933913e+02] [ 3.86157196e-01 -9.22429909e-01 -2.38392736e-03 -1.40914819e+02] [ 6.19510964e-03 9.11131959e-06 9.99980810e-01 -1.14273727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.610385723 meters 0.014691468512004653 Centerline is valid? [True, True] Translation: X:217.64, Y:-141.61, Z:-10.49 [[-9.41097267e-01 3.38084912e-01 5.87587114e-03 2.17635218e+02] [ 3.38078704e-01 9.41115609e-01 -2.04965137e-03 -1.41606854e+02] [-6.22283025e-03 5.75855935e-05 -9.99980636e-01 -1.04917982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.670385723 meters 0.014828603203300402 Centerline is valid? [True, True] Translation: X:217.89, Y:-140.90, Z:-11.43 [[-9.23381276e-01 -3.83836691e-01 6.03437169e-03 2.17886374e+02] [ 3.83828209e-01 -9.23400993e-01 -2.55196179e-03 -1.40895436e+02] [ 6.55168138e-03 -4.02716559e-05 9.99978537e-01 -1.14279105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.730385723 meters 0.014443687714563449 Centerline is valid? [True, True] Translation: X:217.58, Y:-141.59, Z:-10.49 [[-9.42608197e-01 3.33807621e-01 7.89046088e-03 2.17583150e+02] [ 3.33796550e-01 9.42641219e-01 -2.71957425e-03 -1.41592782e+02] [-8.34568827e-03 7.03156437e-05 -9.99965172e-01 -1.04897729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.790385723 meters 0.014722725931919537 Centerline is valid? [True, True] Translation: X:217.59, Y:-141.57, Z:-10.49 [[-9.63770474e-01 2.66599911e-01 8.42380734e-03 2.17593403e+02] [ 2.66590429e-01 9.63807285e-01 -2.24982014e-03 -1.41569542e+02] [-8.71872872e-03 7.73961878e-05 -9.99961988e-01 -1.04897804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.850385723 meters 0.014829121479793856 Centerline is valid? [True, True] Translation: X:217.80, Y:-140.83, Z:-11.43 [[-9.49611626e-01 -3.13320791e-01 8.23666346e-03 2.17801956e+02] [ 3.13308288e-01 -9.49647343e-01 -2.80013542e-03 -1.40832718e+02] [ 8.69926621e-03 -7.84262225e-05 9.99962158e-01 -1.14290251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.910385723 meters 0.014940563717320079 Centerline is valid? [True, True] Translation: X:217.55, Y:-141.56, Z:-10.49 [[-9.64782081e-01 2.62928819e-01 7.99828643e-03 2.17546377e+02] [ 2.62920409e-01 9.64815231e-01 -2.10423300e-03 -1.41561538e+02] [-8.27013208e-03 7.27864444e-05 -9.99965799e-01 -1.04905175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9703857229999 meters 0.01479781864999304 Centerline is valid? [True, True] Translation: X:217.75, Y:-140.82, Z:-11.43 [[-9.50009477e-01 -3.12108700e-01 8.37575045e-03 2.17752565e+02] [ 3.12096182e-01 -9.50046398e-01 -2.79560272e-03 -1.40817331e+02] [ 8.82988347e-03 -4.18093361e-05 9.99961015e-01 -1.14298367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.030385723 meters 0.014741019714307465 Centerline is valid? [True, True] Translation: X:217.49, Y:-141.55, Z:-10.49 [[-9.66278992e-01 2.57335146e-01 9.13963454e-03 2.17486554e+02] [ 2.57324262e-01 9.66322213e-01 -2.36762890e-03 -1.41548763e+02] [-9.44110600e-03 6.40596547e-05 -9.99955430e-01 -1.04875112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0903857229999 meters 0.014944420933894403 Centerline is valid? [True, True] Translation: X:217.71, Y:-140.80, Z:-11.43 [[-9.51442174e-01 -3.07671395e-01 9.80316726e-03 2.17705225e+02] [ 3.07654886e-01 -9.51492676e-01 -3.18725939e-03 -1.40799275e+02] [ 1.03082704e-02 -1.65007023e-05 9.99946868e-01 -1.14312845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.150385723 meters 0.014917163229424914 Centerline is valid? [True, True] Translation: X:217.45, Y:-141.55, Z:-10.49 [[-9.66897716e-01 2.54947628e-01 1.05125085e-02 2.17453550e+02] [ 2.54933545e-01 9.66954859e-01 -2.68112963e-03 -1.41549200e+02] [-1.08486688e-02 8.76129496e-05 -9.99941148e-01 -1.04889568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.210385723 meters 0.014841572188837143 Centerline is valid? [True, True] Translation: X:217.65, Y:-140.78, Z:-11.43 [[-9.52242294e-01 -3.05109502e-01 1.19501448e-02 2.17654569e+02] [ 3.05085565e-01 -9.52317275e-01 -3.82181788e-03 -1.40781586e+02] [ 1.25464023e-02 6.52006206e-06 9.99921291e-01 -1.14311822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.270385723 meters 0.014841792942082599 Centerline is valid? [True, True] Translation: X:217.40, Y:-141.54, Z:-10.49 [[-9.68648964e-01 2.48097072e-01 1.29239336e-02 2.17401678e+02] [ 2.48075868e-01 9.68735175e-01 -3.24419683e-03 -1.41542660e+02] [-1.33247448e-02 6.36281429e-05 -9.99911220e-01 -1.04874541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.330385723 meters 0.014730248652322614 Centerline is valid? [True, True] Translation: X:217.60, Y:-140.76, Z:-11.43 [[-9.52518696e-01 -3.04287826e-01 1.08190834e-02 2.17603364e+02] [ 3.04266107e-01 -9.52580122e-01 -3.63972620e-03 -1.40762432e+02] [ 1.14135681e-02 -1.75026870e-04 9.99934848e-01 -1.14295351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.390385723 meters 0.014724462242494072 Centerline is valid? [True, True] Translation: X:217.35, Y:-141.54, Z:-10.49 [[-9.69986373e-01 2.42965402e-01 9.70825736e-03 2.17348176e+02] [ 2.42953572e-01 9.70034954e-01 -2.39777566e-03 -1.41537606e+02] [-9.99992551e-03 3.28460952e-05 -9.99949999e-01 -1.04914798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.450385723 meters 0.014655567494205874 Centerline is valid? [True, True] Translation: X:217.55, Y:-140.75, Z:-11.43 [[-9.53272004e-01 -3.01954817e-01 9.78647238e-03 2.17554383e+02] [ 3.01938727e-01 -9.53322237e-01 -3.11723275e-03 -1.40746720e+02] [ 1.02709252e-02 -1.66556999e-05 9.99947253e-01 -1.14274970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.510385723 meters 0.01485222375068634 Centerline is valid? [True, True] Translation: X:217.29, Y:-141.52, Z:-10.49 [[-9.71509013e-01 2.36688815e-01 1.21918878e-02 2.17287746e+02] [ 2.36670273e-01 9.71585511e-01 -2.96257177e-03 -1.41523635e+02] [-1.25466692e-02 7.29224832e-06 -9.99921287e-01 -1.04895235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.570385723 meters 0.014877296949754995 Centerline is valid? [True, True] Translation: X:217.49, Y:-140.73, Z:-11.43 [[-9.52853639e-01 -3.03125677e-01 1.35928722e-02 2.17487989e+02] [ 3.03096358e-01 -9.52950583e-01 -4.21713008e-03 -1.40732772e+02] [ 1.42316559e-02 1.01642302e-04 9.99898720e-01 -1.14295827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.630385723 meters 0.014996367377716655 Centerline is valid? [True, True] Translation: X:217.22, Y:-141.51, Z:-10.49 [[-9.73167713e-01 2.29744193e-01 1.27361103e-02 2.17224791e+02] [ 2.29724016e-01 9.73251049e-01 -3.04498899e-03 -1.41505429e+02] [-1.30950013e-02 -3.74945563e-05 -9.99914256e-01 -1.04903374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.690385723 meters 0.014759538414900917 Centerline is valid? [True, True] Translation: X:217.26, Y:-141.48, Z:-10.49 [[-9.86791561e-01 1.61480466e-01 1.29025187e-02 2.17262152e+02] [ 1.61466406e-01 9.86875908e-01 -2.13096797e-03 -1.41484121e+02] [-1.30772946e-02 -1.94978808e-05 -9.99914488e-01 -1.04906878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.750385723 meters 0.014826457342942806 Centerline is valid? [True, True] Translation: X:217.40, Y:-140.68, Z:-11.43 [[-9.73750355e-01 -2.27290282e-01 1.22218223e-02 2.17400430e+02] [ 2.27272217e-01 -9.73827052e-01 -2.86566539e-03 -1.40683784e+02] [ 1.25532791e-02 -1.27620503e-05 9.99921204e-01 -1.14255661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.810385723 meters 0.014723633234851706 Centerline is valid? [True, True] Translation: X:217.21, Y:-141.48, Z:-10.49 [[-9.86506927e-01 1.63290334e-01 1.18469139e-02 2.17212000e+02] [ 1.63279185e-01 9.86578058e-01 -1.90880421e-03 -1.41478716e+02] [-1.19995946e-02 5.13058736e-05 -9.99928001e-01 -1.04941573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.870385723 meters 0.015373384968973034 Centerline is valid? [True, True] Translation: X:217.35, Y:-140.67, Z:-11.42 [[-9.76608540e-01 -2.14751339e-01 1.08453723e-02 2.17352393e+02] [ 2.14736988e-01 -9.76668753e-01 -2.48454968e-03 -1.40674301e+02] [ 1.11258966e-02 -9.75298474e-05 9.99938101e-01 -1.14238695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.930385723 meters 0.01603537237582684 Centerline is valid? [True, True] Translation: X:217.16, Y:-141.48, Z:-10.50 [[-9.85772933e-01 1.67676577e-01 1.16743512e-02 2.17164942e+02] [ 1.67666622e-01 9.85842048e-01 -1.83331050e-03 -1.41477132e+02] [-1.18164695e-02 1.50171164e-04 -9.99930172e-01 -1.04951723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.990385723 meters 0.016256396060168644 Centerline is valid? [True, True] Translation: X:217.17, Y:-141.45, Z:-10.50 [[-9.94979475e-01 9.94153772e-02 1.15077057e-02 2.17166754e+02] [ 9.94107139e-02 9.95046006e-01 -9.77964766e-04 -1.41447968e+02] [-1.15479214e-02 1.70934374e-04 -9.99933306e-01 -1.04962124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.050385723 meters 0.016007066977964186 Centerline is valid? [True, True] Translation: X:217.24, Y:-140.63, Z:-11.42 [[-9.90441719e-01 -1.37544508e-01 1.03299999e-02 2.17238037e+02] [ 1.37534652e-01 -9.90495562e-01 -1.66195749e-03 -1.40631828e+02] [ 1.04604122e-02 -2.25339089e-04 9.99945263e-01 -1.14231618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.110385723 meters 0.016302446198142695 Centerline is valid? [True, True] Translation: X:217.10, Y:-141.44, Z:-10.49 [[-9.95770901e-01 9.12571841e-02 1.06037250e-02 2.17104438e+02] [ 9.12532709e-02 9.95827351e-01 -8.53286115e-04 -1.41435794e+02] [-1.06373478e-02 1.17947106e-04 -9.99943415e-01 -1.04949520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.170385723 meters 0.01459480637094347 Centerline is valid? [True, True] Translation: X:217.10, Y:-141.40, Z:-10.50 [[-9.99820189e-01 1.62856050e-02 9.71433574e-03 2.17103784e+02] [ 1.62855002e-02 9.99867378e-01 -8.99006628e-05 -1.41401108e+02] [-9.71451150e-03 6.83183190e-05 -9.99952811e-01 -1.04970908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.230385723 meters 0.014333337400775432 Centerline is valid? [True, True] Translation: X:217.10, Y:-141.37, Z:-10.50 [[-9.98322946e-01 -5.72483652e-02 8.59772350e-03 2.17099253e+02] [-5.72459019e-02 9.98359967e-01 5.32524907e-04 -1.41370036e+02] [-8.61410913e-03 3.94473977e-05 -9.99962897e-01 -1.04969570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.290385723 meters 0.014128170401081032 Centerline is valid? [True, True] Translation: X:217.09, Y:-141.34, Z:-10.50 [[-9.91478988e-01 -1.30044254e-01 7.60980544e-03 2.17094004e+02] [-1.30040269e-01 9.91508190e-01 1.01823224e-03 -1.41340073e+02] [-7.67759968e-03 1.99747221e-05 -9.99970527e-01 -1.04977590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.350385723 meters 0.01432919169503506 Centerline is valid? [True, True] Translation: X:217.09, Y:-141.31, Z:-10.50 [[-9.79841076e-01 -1.99658696e-01 6.91887870e-03 2.17086119e+02] [-1.99653547e-01 9.79865503e-01 1.43412173e-03 -1.41311309e+02] [-7.06590543e-03 2.38327092e-05 -9.99975036e-01 -1.04969733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.410385723 meters 0.014117637287810049 Centerline is valid? [True, True] Translation: X:217.06, Y:-141.29, Z:-10.50 [[-9.63301957e-01 -2.68370320e-01 5.16833135e-03 2.17062992e+02] [-2.68366332e-01 9.63315821e-01 1.46320182e-03 -1.41288444e+02] [-5.37141530e-03 2.24990432e-05 -9.99985574e-01 -1.04983648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4703857229999 meters 0.014173039659530937 Centerline is valid? [True, True] Translation: X:217.03, Y:-141.27, Z:-10.50 [[-9.41801556e-01 -3.36145280e-01 4.02232324e-03 2.17028767e+02] [-3.36142109e-01 9.41810146e-01 1.46027065e-03 -1.41271231e+02] [-4.27912792e-03 2.32129595e-05 -9.99990844e-01 -1.04980608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.530385723 meters 0.014120035476805903 Centerline is valid? [True, True] Translation: X:216.97, Y:-141.26, Z:-10.50 [[-9.14589290e-01 -4.04365076e-01 3.91343904e-03 2.16967121e+02] [-4.04361267e-01 9.14597663e-01 1.75532955e-03 -1.41263760e+02] [-4.28901617e-03 2.29624429e-05 -9.99990802e-01 -1.04964604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5903857229999 meters 0.014030998008462348 Centerline is valid? [True, True] Translation: X:216.90, Y:-141.27, Z:-10.49 [[-8.81714396e-01 -4.71761825e-01 4.52813371e-03 2.16899386e+02] [-4.71755474e-01 8.81726023e-01 2.44801492e-03 -1.41265374e+02] [-5.14745332e-03 2.22781347e-05 -9.99986752e-01 -1.04945186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.650385723 meters 0.014019082797891635 Centerline is valid? [True, True] Translation: X:216.82, Y:-141.28, Z:-10.49 [[-8.44313832e-01 -5.35835953e-01 3.73962897e-03 2.16824662e+02] [-5.35830592e-01 8.44322113e-01 2.39703374e-03 -1.41276561e+02] [-4.44186830e-03 2.00411366e-05 -9.99990135e-01 -1.04939677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.710385723 meters 0.013935668584407424 Centerline is valid? [True, True] Translation: X:216.74, Y:-141.30, Z:-10.49 [[-8.01926769e-01 -5.97411332e-01 3.62725924e-03 2.16739943e+02] [-5.97405102e-01 8.01934972e-01 2.72835459e-03 -1.41300190e+02] [-4.53877599e-03 2.09973995e-05 -9.99989700e-01 -1.04931349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.770385723 meters 0.014052101999371623 Centerline is valid? [True, True] Translation: X:216.65, Y:-141.34, Z:-10.49 [[-7.55309446e-01 -6.55360654e-01 3.17079447e-03 2.16650043e+02] [-6.55354751e-01 7.55316101e-01 2.78153674e-03 -1.41339075e+02] [-4.21786185e-03 2.29257492e-05 -9.99991105e-01 -1.04925220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.830385723 meters 0.01410948084151752 Centerline is valid? [True, True] Translation: X:216.57, Y:-141.38, Z:-10.49 [[-7.05070579e-01 -7.09131627e-01 2.79562911e-03 2.16569983e+02] [-7.09125880e-01 7.05076120e-01 2.85498031e-03 -1.41379268e+02] [-3.99568816e-03 3.05096687e-05 -9.99992017e-01 -1.04922751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.890385723 meters 0.014167864192054668 Centerline is valid? [True, True] Translation: X:216.48, Y:-141.44, Z:-10.49 [[-6.50634251e-01 -7.59387501e-01 2.38652470e-03 2.16477218e+02] [-7.59382195e-01 6.50638627e-01 2.83903159e-03 -1.41441389e+02] [-3.70869025e-03 3.48868274e-05 -9.99993122e-01 -1.04920759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.950385723 meters 0.014250682961959598 Centerline is valid? [True, True] Translation: X:216.39, Y:-141.51, Z:-10.49 [[-5.90875429e-01 -8.06759707e-01 2.23665163e-03 2.16393787e+02] [-8.06753696e-01 5.90879661e-01 3.11466887e-03 -1.41505747e+02] [-3.83438130e-03 3.59543379e-05 -9.99992648e-01 -1.04925025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.010385723 meters 0.01399877641517772 Centerline is valid? [True, True] Translation: X:216.31, Y:-141.58, Z:-10.49 [[-5.27494738e-01 -8.49553815e-01 2.75999509e-03 2.16312196e+02] [-8.49541683e-01 5.27501956e-01 4.54044730e-03 -1.41579553e+02] [-5.31325714e-03 5.03311856e-05 -9.99985883e-01 -1.04921260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.070385723 meters 0.014026044274761975 Centerline is valid? [True, True] Translation: X:216.23, Y:-141.67, Z:-10.49 [[-4.60671429e-01 -8.87567720e-01 2.31893223e-03 2.16232903e+02] [-8.87555957e-01 4.60677263e-01 4.56985165e-03 -1.41665891e+02] [-5.12433216e-03 4.70179719e-05 -9.99986869e-01 -1.04924302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.130385723 meters 0.01392690700469145 Centerline is valid? [True, True] Translation: X:216.16, Y:-141.76, Z:-10.49 [[-3.90033761e-01 -9.20798454e-01 1.96770188e-03 2.16158253e+02] [-9.20786208e-01 3.90038722e-01 4.74919661e-03 -1.41760275e+02] [-5.14053283e-03 4.05142585e-05 -9.99986787e-01 -1.04917995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.190385723 meters 0.013745421983826932 Centerline is valid? [True, True] Translation: X:216.09, Y:-141.87, Z:-10.49 [[-3.17552614e-01 -9.48238986e-01 1.77868714e-03 2.16090024e+02] [-9.48223366e-01 3.17557593e-01 5.44269433e-03 -1.41865626e+02] [-5.72581056e-03 4.17491007e-05 -9.99983607e-01 -1.04913116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.250385723 meters 0.013847359530971987 Centerline is valid? [True, True] Translation: X:216.03, Y:-141.97, Z:-10.49 [[-2.44021630e-01 -9.69769456e-01 8.04207106e-04 2.16032796e+02] [-9.69763841e-01 2.44022954e-01 3.30006855e-03 -1.41974384e+02] [-3.39655068e-03 2.53971350e-05 -9.99994231e-01 -1.04930349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.310385723 meters 0.014263931593491885 Centerline is valid? [True, True] Translation: X:215.98, Y:-142.08, Z:-10.49 [[-1.70503798e-01 -9.85356934e-01 4.10225130e-04 2.15982274e+02] [-9.85353739e-01 1.70504290e-01 2.50913699e-03 -1.42083001e+02] [-2.54234067e-03 2.36005213e-05 -9.99996768e-01 -1.04918478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.370385723 meters 0.01420438245654301 Centerline is valid? [True, True] Translation: X:215.94, Y:-142.20, Z:-10.49 [[-9.51509841e-02 -9.95462826e-01 2.29908136e-04 2.15938311e+02] [-9.95459154e-01 9.51512576e-02 2.70391492e-03 -1.42203050e+02] [-2.71352283e-03 2.84160072e-05 -9.99996318e-01 -1.04909132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.430385723 meters 0.014805413917651755 Centerline is valid? [True, True] Translation: X:215.91, Y:-142.37, Z:-10.49 [[-2.02388508e-02 -9.99795173e-01 1.86278578e-05 2.15906576e+02] [-9.99792312e-01 2.02388374e-02 2.39233550e-03 -1.42368787e+02] [-2.39222250e-03 2.97941322e-05 -9.99997138e-01 -1.04909842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.490385723 meters 0.015207974908705157 Centerline is valid? [True, True] Translation: X:215.88, Y:-142.44, Z:-10.49 [[ 5.50007925e-02 -9.98486279e-01 -2.51644035e-04 2.15877491e+02] [-9.98479813e-01 -5.50013420e-02 3.59372183e-03 -1.42442686e+02] [-3.60212270e-03 5.36039397e-05 -9.99993511e-01 -1.04872147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.550385723 meters 0.015514292788211398 Centerline is valid? [True, True] Translation: X:215.87, Y:-142.58, Z:-10.49 [[ 1.30441569e-01 -9.91455878e-01 -4.89676315e-04 2.15866120e+02] [-9.91450370e-01 -1.30442477e-01 3.30506021e-03 -1.42575365e+02] [-3.34069596e-03 5.43725255e-05 -9.99994418e-01 -1.04878928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.610385723 meters 0.015883727028447234 Centerline is valid? [True, True] Translation: X:215.86, Y:-142.70, Z:-10.49 [[ 2.05312280e-01 -9.78696051e-01 -9.52966510e-04 2.15860323e+02] [-9.78687150e-01 -2.05314478e-01 4.17458898e-03 -1.42701878e+02] [-4.28131156e-03 7.55616984e-05 -9.99990832e-01 -1.04861962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.670385723 meters 0.015970768195498718 Centerline is valid? [True, True] Translation: X:215.86, Y:-142.83, Z:-10.48 [[ 2.80459908e-01 -9.59864308e-01 -1.65835957e-03 2.15862064e+02] [-9.59849517e-01 -2.80464794e-01 5.32958146e-03 -1.42828446e+02] [-5.58078650e-03 9.70417096e-05 -9.99984423e-01 -1.04834327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.730385723 meters 0.01609582723988631 Centerline is valid? [True, True] Translation: X:215.88, Y:-142.97, Z:-10.49 [[ 3.53938696e-01 -9.35267145e-01 -1.66354845e-03 2.15882699e+02] [-9.35257802e-01 -3.53942597e-01 4.18104139e-03 -1.42968018e+02] [-4.49919130e-03 7.60143268e-05 -9.99989876e-01 -1.04853680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.790385723 meters 0.016417489081413383 Centerline is valid? [True, True] Translation: X:215.89, Y:-143.07, Z:-10.49 [[ 4.23123401e-01 -9.06071343e-01 -1.14439127e-03 2.15894739e+02] [-9.06068332e-01 -4.23124945e-01 2.33625777e-03 -1.43069861e+02] [-2.60103671e-03 4.83713530e-05 -9.99996616e-01 -1.04859583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.850385723 meters 0.01588655426510301 Centerline is valid? [True, True] Translation: X:215.92, Y:-143.19, Z:-10.48 [[ 4.91228157e-01 -8.71030052e-01 -1.24364717e-03 2.15923776e+02] [-8.71027493e-01 -4.91229729e-01 2.11180756e-03 -1.43192878e+02] [-2.45036431e-03 4.58715404e-05 -9.99996997e-01 -1.04845509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.910385723 meters 0.01609340357214073 Centerline is valid? [True, True] Translation: X:215.96, Y:-143.31, Z:-10.49 [[ 5.56997486e-01 -8.30513058e-01 -1.36437313e-03 2.15962691e+02] [-8.30510755e-01 -5.56999155e-01 1.95625513e-03 -1.43306962e+02] [-2.38465011e-03 4.34973708e-05 -9.99997156e-01 -1.04855476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9703857229999 meters 0.015614570303532584 Centerline is valid? [True, True] Translation: X:216.00, Y:-143.42, Z:-10.48 [[ 6.19554809e-01 -7.84951095e-01 -1.90210269e-03 2.16003949e+02] [-7.84947655e-01 -6.19557726e-01 2.32442437e-03 -1.43416873e+02] [-3.00302187e-03 5.29427503e-05 -9.99995490e-01 -1.04844071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.030385723 meters 0.015299281949019436 Centerline is valid? [True, True] Translation: X:216.06, Y:-143.53, Z:-10.48 [[ 6.79051572e-01 -7.34084324e-01 -3.02791302e-03 2.16058484e+02] [-7.34077482e-01 -6.79058319e-01 3.17012178e-03 -1.43527813e+02] [-4.38326623e-03 7.00465912e-05 -9.99990391e-01 -1.04825051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0903857229999 meters 0.015524508869474037 Centerline is valid? [True, True] Translation: X:216.11, Y:-143.62, Z:-10.48 [[ 7.32440666e-01 -6.80826013e-01 -2.57120926e-03 2.16107623e+02] [-6.80822092e-01 -7.32445177e-01 2.31117359e-03 -1.43618699e+02] [-3.45677692e-03 5.77385482e-05 -9.99994024e-01 -1.04829558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.150385723 meters 0.01600841405012492 Centerline is valid? [True, True] Translation: X:216.12, Y:-143.65, Z:-10.48 [[ 7.82016618e-01 -6.23250020e-01 -3.06950512e-03 2.16123883e+02] [-6.23245584e-01 -7.82022639e-01 2.35263665e-03 -1.43647637e+02] [-3.86670333e-03 7.32545537e-05 -9.99992522e-01 -1.04832961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.210385723 meters 0.016757409584216853 Centerline is valid? [True, True] Translation: X:216.14, Y:-143.67, Z:-10.48 [[ 8.27542184e-01 -5.61396918e-01 -2.72666488e-03 2.16141452e+02] [-5.61394131e-01 -8.27546673e-01 1.77015606e-03 -1.43673133e+02] [-3.25020261e-03 6.58548541e-05 -9.99994716e-01 -1.04828732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.270385723 meters 0.016509542980927803 Centerline is valid? [True, True] Translation: X:216.16, Y:-143.70, Z:-10.48 [[ 8.69033760e-01 -4.94748889e-01 -1.96505711e-03 2.16161390e+02] [-4.94747738e-01 -8.69035980e-01 1.06782654e-03 -1.43700388e+02] [-2.23601132e-03 4.42302484e-05 -9.99997499e-01 -1.04834725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.330385723 meters 0.015272119114191568 Centerline is valid? [True, True] Translation: X:216.18, Y:-143.73, Z:-10.48 [[ 9.05308141e-01 -4.24737531e-01 -3.89879049e-03 2.16180927e+02] [-4.24733986e-01 -9.05316532e-01 1.73714443e-03 -1.43733326e+02] [-4.26746992e-03 8.32978374e-05 -9.99990891e-01 -1.04826187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.390385723 meters 0.016485551599829274 Centerline is valid? [True, True] Translation: X:216.20, Y:-143.76, Z:-10.48 [[ 9.35576650e-01 -3.53098433e-01 -4.22245908e-03 2.16203572e+02] [-3.53095267e-01 -9.35586174e-01 1.49805371e-03 -1.43759202e+02] [-4.47943476e-03 8.93862408e-05 -9.99989963e-01 -1.04808340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.450385723 meters 0.015457018534652726 Centerline is valid? [True, True] Translation: X:216.23, Y:-143.79, Z:-10.48 [[ 9.60277670e-01 -2.79012656e-01 -4.32831329e-03 2.16228420e+02] [-2.79010242e-01 -9.60287420e-01 1.16399847e-03 -1.43788810e+02] [-4.48119511e-03 8.98820055e-05 -9.99989955e-01 -1.04817708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.510385723 meters 0.015725730889046753 Centerline is valid? [True, True] Translation: X:216.26, Y:-143.81, Z:-10.48 [[ 9.79221075e-01 -2.02757201e-01 -3.95003729e-03 2.16256032e+02] [-2.02755876e-01 -9.79229039e-01 7.37222350e-04 -1.43811303e+02] [-4.01746836e-03 7.89896091e-05 -9.99991927e-01 -1.04821039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.570385723 meters 0.015545630309162938 Centerline is valid? [True, True] Translation: X:216.28, Y:-143.83, Z:-10.48 [[ 9.92236769e-01 -1.24289096e-01 -4.29122516e-03 2.16282887e+02] [-1.24288281e-01 -9.92246045e-01 4.57188325e-04 -1.43830525e+02] [-4.31477472e-03 7.97099319e-05 -9.99990688e-01 -1.04811666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.630385723 meters 0.015402800701672551 Centerline is valid? [True, True] Translation: X:216.31, Y:-143.84, Z:-10.48 [[ 9.98949893e-01 -4.55710880e-02 -4.73151896e-03 2.16311721e+02] [-4.55709774e-02 -9.98961095e-01 1.31245267e-04 -1.43843152e+02] [-4.73258435e-03 8.45124983e-05 -9.99988798e-01 -1.04811974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.690385723 meters 0.014959349185441638 Centerline is valid? [True, True] Translation: X:216.34, Y:-143.86, Z:-10.48 [[ 9.99430493e-01 3.34245853e-02 -4.63539030e-03 2.16341811e+02] [ 3.34238559e-02 -9.99441239e-01 -2.34760567e-04 -1.43856761e+02] [-4.64064700e-03 7.96942521e-05 -9.99989229e-01 -1.04816428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.750385723 meters 0.014043974348387854 Centerline is valid? [True, True] Translation: X:216.37, Y:-143.87, Z:-10.48 [[ 9.93348674e-01 1.15060354e-01 -4.41892035e-03 2.16373094e+02] [ 1.15058943e-01 -9.93358501e-01 -5.73108058e-04 -1.43871022e+02] [-4.45551411e-03 6.08598233e-05 -9.99990072e-01 -1.04821964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.810385723 meters 0.013773349759633166 Centerline is valid? [True, True] Translation: X:216.40, Y:-143.88, Z:-10.48 [[ 9.80840140e-01 1.94763256e-01 -4.46021385e-03 2.16404781e+02] [ 1.94761003e-01 -9.80850280e-01 -9.38296019e-04 -1.43878292e+02] [-4.55754759e-03 5.16426759e-05 -9.99989613e-01 -1.04819994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.870385723 meters 0.013258817166682948 Centerline is valid? [True, True] Translation: X:216.44, Y:-143.89, Z:-10.48 [[ 9.61749013e-01 2.73913642e-01 -3.18626197e-03 2.16437811e+02] [ 2.73912046e-01 -9.61754291e-01 -9.35584674e-04 -1.43885473e+02] [-3.32067053e-03 2.70421020e-05 -9.99994486e-01 -1.04814983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.930385723 meters 0.01298526600208412 Centerline is valid? [True, True] Translation: X:216.47, Y:-143.89, Z:-10.48 [[ 9.36354546e-01 3.51041269e-01 -3.19245414e-03 2.16470549e+02] [ 3.51039162e-01 -9.36359988e-01 -1.21622653e-03 -1.43885729e+02] [-3.41623202e-03 1.81428165e-05 -9.99994165e-01 -1.04813310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.990385723 meters 0.012907928164016163 Centerline is valid? [True, True] Translation: X:216.50, Y:-143.88, Z:-10.48 [[ 9.05464959e-01 4.24409110e-01 -3.18055942e-03 2.16501225e+02] [ 4.24406437e-01 -9.05470544e-01 -1.50656827e-03 -1.43881858e+02] [-3.51930417e-03 1.42948862e-05 -9.99993807e-01 -1.04810293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.050385723 meters 0.012853360743831902 Centerline is valid? [True, True] Translation: X:216.53, Y:-143.88, Z:-10.48 [[ 8.69203181e-01 4.94444506e-01 -3.23435431e-03 2.16533040e+02] [ 4.94441026e-01 -8.69209198e-01 -1.85505889e-03 -1.43876790e+02] [-3.72855419e-03 1.32256223e-05 -9.99993049e-01 -1.04808635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.110385723 meters 0.012992886107020525 Centerline is valid? [True, True] Translation: X:216.56, Y:-143.87, Z:-10.48 [[ 8.27858278e-01 5.60930690e-01 -2.72623751e-03 2.16561446e+02] [ 5.60927601e-01 -8.27862767e-01 -1.86147566e-03 -1.43867836e+02] [-3.30110935e-03 1.18161688e-05 -9.99994551e-01 -1.04813545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.170385723 meters 0.013086421513267023 Centerline is valid? [True, True] Translation: X:216.59, Y:-143.85, Z:-10.48 [[ 7.82022286e-01 6.23241409e-01 -3.36009129e-03 2.16586810e+02] [ 6.23235545e-01 -7.82029504e-01 -2.70360227e-03 -1.43853736e+02] [-4.31268742e-03 2.01488985e-05 -9.99990700e-01 -1.04787218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.230385723 meters 0.013235409881963478 Centerline is valid? [True, True] Translation: X:216.61, Y:-143.84, Z:-10.48 [[ 7.32216776e-01 6.81066103e-01 -2.74888996e-03 2.16612106e+02] [ 6.81061175e-01 -7.32221935e-01 -2.59098474e-03 -1.43838193e+02] [-3.77742940e-03 2.50002647e-05 -9.99992865e-01 -1.04804929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.290385723 meters 0.013793315630733676 Centerline is valid? [True, True] Translation: X:216.64, Y:-143.82, Z:-10.48 [[ 6.80050230e-01 7.33163475e-01 -1.73303808e-03 2.16635134e+02] [ 7.33160987e-01 -6.80052438e-01 -1.91040711e-03 -1.43820390e+02] [-2.57919749e-03 2.85768899e-05 -9.99996673e-01 -1.04803690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.350385723 meters 0.01414900413937594 Centerline is valid? [True, True] Translation: X:216.66, Y:-143.80, Z:-10.48 [[ 6.22889718e-01 7.82306096e-01 -2.36054744e-03 2.16658844e+02] [ 7.82300139e-01 -6.22894188e-01 -3.05327526e-03 -1.43803877e+02] [-3.85896713e-03 5.51971723e-05 -9.99992553e-01 -1.04779466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.410385723 meters 0.014515047163015628 Centerline is valid? [True, True] Translation: X:216.68, Y:-143.78, Z:-10.48 [[ 5.60939029e-01 8.27853384e-01 -2.48590113e-03 2.16678494e+02] [ 8.27844679e-01 -5.60944533e-01 -3.79714667e-03 -1.43784174e+02] [-4.53793337e-03 7.20277474e-05 -9.99989701e-01 -1.04797045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4703857229999 meters 0.015123397136222684 Centerline is valid? [True, True] Translation: X:216.70, Y:-143.77, Z:-10.48 [[ 4.97703046e-01 8.67345352e-01 -1.92837509e-03 2.16699579e+02] [ 8.67338219e-01 -4.97706775e-01 -3.51860135e-03 -1.43766020e+02] [-4.01160787e-03 7.86651902e-05 -9.99991950e-01 -1.04788575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.530385723 meters 0.015956390299698545 Centerline is valid? [True, True] Translation: X:216.72, Y:-143.75, Z:-10.48 [[ 4.29565194e-01 9.03032457e-01 -2.47487311e-03 2.16715934e+02] [ 9.03015713e-01 -4.29572304e-01 -5.50061649e-03 -1.43745690e+02] [-6.03037217e-03 1.28024079e-04 -9.99981809e-01 -1.04767246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5903857229999 meters 0.015991208496417636 Centerline is valid? [True, True] Translation: X:216.73, Y:-143.72, Z:-10.48 [[ 3.56860018e-01 9.34155707e-01 -2.01076497e-03 2.16729463e+02] [ 9.34138897e-01 -3.56865662e-01 -5.60544982e-03 -1.43723256e+02] [-5.95393591e-03 1.22027156e-04 -9.99982268e-01 -1.04781162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.650385723 meters 0.015812013869227284 Centerline is valid? [True, True] Translation: X:216.75, Y:-143.70, Z:-10.48 [[ 2.81458727e-01 9.59571902e-01 -1.65819864e-03 2.16746482e+02] [ 9.59552604e-01 -2.81463585e-01 -6.08688345e-03 -1.43701743e+02] [-6.30752486e-03 1.22077644e-04 -9.99980100e-01 -1.04759257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.710385723 meters 0.016037045541642123 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.68, Z:-10.48 [[ 2.05537534e-01 9.78648412e-01 -1.26809786e-03 2.16755760e+02] [ 9.78625600e-01 -2.05541403e-01 -6.68339517e-03 -1.43677805e+02] [-6.80134068e-03 1.32695533e-04 -9.99976862e-01 -1.04762136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.770385723 meters 0.016981672016795155 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.65, Z:-10.48 [[ 1.29805881e-01 9.91539297e-01 -5.05941678e-04 2.16758801e+02] [ 9.91528557e-01 -1.29806830e-01 -4.61594943e-03 -1.43654684e+02] [-4.64256994e-03 9.75217598e-05 -9.99989218e-01 -1.04784612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.830385723 meters 0.017242931517249822 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.63, Z:-10.48 [[ 5.13113355e-02 9.98682698e-01 -1.27100763e-04 2.16764635e+02] [ 9.98674164e-01 -5.13114226e-02 -4.12930923e-03 -1.43630832e+02] [-4.13039140e-03 8.49481223e-05 -9.99991466e-01 -1.04779841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.890385723 meters 0.0170952946648768 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.61, Z:-10.48 [[-2.86446445e-02 9.99589639e-01 1.96232309e-04 2.16764947e+02] [ 9.99581170e-01 2.86452097e-02 -4.11537444e-03 -1.43606739e+02] [-4.11930677e-03 7.82666833e-05 -9.99991513e-01 -1.04789027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.950385723 meters 0.015633649795371244 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.58, Z:-10.48 [[-1.07058232e-01 9.94252457e-01 7.66261257e-04 2.16777195e+02] [ 9.94234117e-01 1.07060913e-01 -6.03998573e-03 -1.43580889e+02] [-6.08730728e-03 1.15212889e-04 -9.99981466e-01 -1.04786002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.010385723 meters 0.015637220824957058 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.55, Z:-10.48 [[-1.85523982e-01 9.82638455e-01 1.58707657e-03 2.16784312e+02] [ 9.82608714e-01 1.85530717e-01 -7.64646109e-03 -1.43555000e+02] [-7.80815816e-03 1.40873359e-04 -9.99969506e-01 -1.04772747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.070385723 meters 0.01570790987070473 Centerline is valid? [True, True] Translation: X:216.79, Y:-143.53, Z:-10.48 [[-2.63059449e-01 9.64776562e-01 2.43123318e-03 2.16787462e+02] [ 9.64740369e-01 2.63070643e-01 -8.35810141e-03 -1.43529511e+02] [-8.70328642e-03 1.46831236e-04 -9.99962115e-01 -1.04768426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.130385723 meters 0.015784062281357744 Centerline is valid? [True, True] Translation: X:216.79, Y:-143.50, Z:-10.48 [[-3.38839148e-01 9.40838932e-01 3.18382373e-03 2.16786992e+02] [ 9.40801255e-01 3.38854076e-01 -8.42099901e-03 -1.43503982e+02] [-9.00165536e-03 1.41981237e-04 -9.99959474e-01 -1.04769435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.190385723 meters 0.01588043758565858 Centerline is valid? [True, True] Translation: X:216.79, Y:-143.48, Z:-10.48 [[-4.12066642e-01 9.11147079e-01 3.47603716e-03 2.16785110e+02] [ 9.11117150e-01 4.12081285e-01 -7.38609160e-03 -1.43480636e+02] [-8.16222565e-03 1.23515099e-04 -9.99966681e-01 -1.04765922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.250385723 meters 0.01587392253558601 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.46, Z:-10.48 [[-4.82521554e-01 8.75873908e-01 4.22469562e-03 2.16780080e+02] [ 8.75842588e-01 4.82540032e-01 -7.40796376e-03 -1.43456579e+02] [-8.52702692e-03 1.25666159e-04 -9.99963636e-01 -1.04779940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.310385723 meters 0.015802037533527803 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.43, Z:-10.48 [[-5.50183232e-01 8.35030549e-01 4.73215545e-03 2.16776146e+02] [ 8.35001499e-01 5.50203569e-01 -6.96625257e-03 -1.43431318e+02] [-8.42068253e-03 1.18641544e-04 -9.99964538e-01 -1.04779761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.370385723 meters 0.015794476748558075 Centerline is valid? [True, True] Translation: X:216.77, Y:-143.41, Z:-10.48 [[-6.14017669e-01 7.89270575e-01 5.85336584e-03 2.16770097e+02] [ 7.89236724e-01 6.14045554e-01 -7.31103730e-03 -1.43406407e+02] [-9.36461988e-03 1.30585200e-04 -9.99956142e-01 -1.04774962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.430385723 meters 0.016056413020265774 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.38, Z:-10.48 [[-6.73719744e-01 7.38957515e-01 6.59526710e-03 2.16760782e+02] [ 7.38924089e-01 6.73752011e-01 -7.02974731e-03 -1.43383219e+02] [-9.63825908e-03 1.37322175e-04 -9.99953541e-01 -1.04771839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.490385723 meters 0.01624909398729593 Centerline is valid? [True, True] Translation: X:216.75, Y:-143.36, Z:-10.48 [[-7.29295705e-01 6.84166395e-01 6.64222368e-03 2.16749864e+02] [ 6.84139643e-01 7.29325940e-01 -6.05160135e-03 -1.43360934e+02] [-8.98464830e-03 1.30801663e-04 -9.99959629e-01 -1.04773432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.550385723 meters 0.0162714500791149 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.35, Z:-10.48 [[-7.75613184e-01 6.31175379e-01 6.46759563e-03 2.16775464e+02] [ 6.31154751e-01 7.75640140e-01 -5.10431919e-03 -1.43347087e+02] [-8.23824738e-03 1.23076448e-04 -9.99966058e-01 -1.04783712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.610385723 meters 0.016170509056634533 Centerline is valid? [True, True] Translation: X:217.28, Y:-142.71, Z:-11.44 [[-7.51397878e-01 -6.59829935e-01 5.06813079e-03 2.17280151e+02] [ 6.59813278e-01 -7.51414948e-01 -4.69181428e-03 -1.42713928e+02] [ 6.90406874e-03 -1.81399306e-04 9.99976150e-01 -1.14406641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.670385723 meters 0.016208470658704018 Centerline is valid? [True, True] Translation: X:216.74, Y:-143.32, Z:-10.48 [[-7.78145812e-01 6.28074473e-01 3.39895382e-03 2.16743144e+02] [ 6.28068828e-01 7.78153232e-01 -2.66355906e-03 -1.43320652e+02] [-4.31782035e-03 6.21396100e-05 -9.99990676e-01 -1.04802173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.730385723 meters 0.01596064507940091 Centerline is valid? [True, True] Translation: X:216.76, Y:-143.30, Z:-10.48 [[-8.20991826e-01 5.70932562e-01 2.90365058e-03 2.16764688e+02] [ 5.70929196e-01 8.20996960e-01 -1.96084147e-03 -1.43298275e+02] [-3.50339654e-03 4.79440724e-05 -9.99993862e-01 -1.04798457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.790385723 meters 0.015687718463426818 Centerline is valid? [True, True] Translation: X:216.78, Y:-143.27, Z:-10.48 [[-8.60834962e-01 5.08879042e-01 2.29958915e-03 2.16782655e+02] [ 5.08877314e-01 8.60838033e-01 -1.32653009e-03 -1.43273424e+02] [-2.65461716e-03 2.82852712e-05 -9.99996476e-01 -1.04809357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.850385723 meters 0.015193572862206833 Centerline is valid? [True, True] Translation: X:216.80, Y:-143.24, Z:-10.48 [[-8.96398573e-01 4.43243365e-01 2.21764810e-03 2.16799297e+02] [ 4.43242055e-01 8.96401316e-01 -1.07787665e-03 -1.43242189e+02] [-2.46566435e-03 1.67478076e-05 -9.99996960e-01 -1.04791011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.910385723 meters 0.014955677765808926 Centerline is valid? [True, True] Translation: X:217.14, Y:-142.54, Z:-11.44 [[-8.70053833e-01 -4.92947679e-01 2.98552679e-03 2.17144859e+02] [ 4.92944921e-01 -8.70058954e-01 -1.64957681e-03 -1.42542272e+02] [ 3.41073937e-03 3.64796435e-05 9.99994183e-01 -1.14413090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9703857229999 meters 0.014902920577180836 Centerline is valid? [True, True] Translation: X:217.12, Y:-142.57, Z:-11.44 [[-8.33977659e-01 -5.51792622e-01 2.48333881e-03 2.17122596e+02] [ 5.51790148e-01 -8.33981356e-01 -1.65230698e-03 -1.42567437e+02] [ 2.98278907e-03 -7.70521772e-06 9.99995551e-01 -1.14416544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.030385723 meters 0.014920996725223474 Centerline is valid? [True, True] Translation: X:217.12, Y:-142.61, Z:-11.44 [[-7.94788766e-01 -6.06883547e-01 1.78243608e-03 2.17123580e+02] [ 6.06882006e-01 -7.94790765e-01 -1.36795036e-03 -1.42605950e+02] [ 2.24685030e-03 -5.50319709e-06 9.99997476e-01 -1.14411044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0903857229999 meters 0.014863854459361702 Centerline is valid? [True, True] Translation: X:216.65, Y:-143.22, Z:-10.48 [[-8.32953959e-01 5.53341606e-01 8.76909973e-04 2.16652316e+02] [ 5.53341302e-01 8.32954421e-01 -5.79930367e-04 -1.43220775e+02] [-1.05132564e-03 2.17521175e-06 -9.99999447e-01 -1.04778854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.150385723 meters 0.015048638636341725 Centerline is valid? [True, True] Translation: X:216.67, Y:-143.20, Z:-10.48 [[-8.68490110e-01 4.95706256e-01 4.86968756e-04 2.16673305e+02] [ 4.95706179e-01 8.68490246e-01 -2.75325618e-04 -1.43203054e+02] [-5.59408246e-04 2.27584564e-06 -9.99999844e-01 -1.04769692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.210385723 meters 0.01572923683106766 Centerline is valid? [True, True] Translation: X:216.68, Y:-143.18, Z:-10.48 [[-8.98738973e-01 4.38482881e-01 1.01086935e-03 2.16683505e+02] [ 4.38482619e-01 8.98739541e-01 -4.79260472e-04 -1.43181610e+02] [-1.11865576e-03 1.25185739e-05 -9.99999374e-01 -1.04758205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.270385723 meters 0.017021160218062808 Centerline is valid? [True, True] Translation: X:217.04, Y:-142.48, Z:-11.44 [[-8.81901592e-01 -4.71429827e-01 1.87103586e-03 2.17038821e+02] [ 4.71428837e-01 -8.81903576e-01 -9.66558259e-04 -1.42476898e+02] [ 2.10573761e-03 2.96509917e-05 9.99997783e-01 -1.14448030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.330385723 meters 0.018479721201325086 Centerline is valid? [True, True] Translation: X:216.65, Y:-143.17, Z:-10.47 [[-8.95728285e-01 4.44591599e-01 3.02463788e-03 2.16653896e+02] [ 4.44589344e-01 8.95733389e-01 -1.41824495e-03 -1.43172578e+02] [-3.33980892e-03 7.43596521e-05 -9.99994420e-01 -1.04720154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.390385723 meters 0.018833456010477763 Centerline is valid? [True, True] Translation: X:216.67, Y:-143.15, Z:-10.47 [[-9.24687586e-01 3.80713420e-01 3.18745368e-03 2.16665413e+02] [ 3.80711450e-01 9.24693076e-01 -1.22746612e-03 -1.43149663e+02] [-3.41472917e-03 7.84774291e-05 -9.99994167e-01 -1.04731491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.450385723 meters 0.017902558437078993 Centerline is valid? [True, True] Translation: X:216.68, Y:-143.12, Z:-10.47 [[-9.48777820e-01 3.15915548e-01 4.24443773e-03 2.16681126e+02] [ 3.15912904e-01 9.48787307e-01 -1.29714679e-03 -1.43119546e+02] [-4.43685749e-03 1.10168543e-04 -9.99990151e-01 -1.04727806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.510385723 meters 0.018855390453740847 Centerline is valid? [True, True] Translation: X:216.92, Y:-142.37, Z:-11.45 [[-9.43943895e-01 -3.30091379e-01 3.09929792e-03 2.16918464e+02] [ 3.30089079e-01 -9.43948971e-01 -1.24114582e-03 -1.42368284e+02] [ 3.33527061e-03 -1.48527622e-04 9.99994427e-01 -1.14457145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.570385723 meters 0.018105142398299353 Centerline is valid? [True, True] Translation: X:216.64, Y:-143.10, Z:-10.48 [[-9.49192668e-01 3.14683326e-01 2.77188447e-03 2.16635956e+02] [ 3.14682226e-01 9.49196712e-01 -8.36038187e-04 -1.43102700e+02] [-2.89415090e-03 7.87014555e-05 -9.99995809e-01 -1.04751961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.630385723 meters 0.017936865657118085 Centerline is valid? [True, True] Translation: X:216.87, Y:-142.36, Z:-11.45 [[-9.45125048e-01 -3.26693479e-01 3.16456218e-03 2.16866190e+02] [ 3.26691427e-01 -9.45130344e-01 -1.15949684e-03 -1.42362742e+02] [ 3.36972380e-03 -6.20341764e-05 9.99994321e-01 -1.14451453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.690385723 meters 0.017458124948914997 Centerline is valid? [True, True] Translation: X:216.59, Y:-143.08, Z:-10.47 [[-9.50955705e-01 3.09298475e-01 4.20716807e-03 2.16590899e+02] [ 3.09295964e-01 9.50965005e-01 -1.25121810e-03 -1.43081995e+02] [-4.38786945e-03 1.11407111e-04 -9.99990367e-01 -1.04738610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.750385723 meters 0.01697337493678232 Centerline is valid? [True, True] Translation: X:216.60, Y:-143.05, Z:-10.47 [[-9.70962246e-01 2.39173679e-01 5.31673048e-03 2.16598483e+02] [ 2.39170812e-01 9.70976794e-01 -1.17793967e-03 -1.43049811e+02] [-5.44415408e-03 1.27871798e-04 -9.99985172e-01 -1.04741253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.810385723 meters 0.017757350807422006 Centerline is valid? [True, True] Translation: X:216.60, Y:-143.02, Z:-10.47 [[-9.85385764e-01 1.70228059e-01 6.10776230e-03 2.16604434e+02] [ 1.70225721e-01 9.85404681e-01 -9.04405240e-04 -1.43019309e+02] [-6.17257271e-03 1.48510194e-04 -9.99980938e-01 -1.04721997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.870385723 meters 0.01801973800729849 Centerline is valid? [True, True] Translation: X:216.61, Y:-142.99, Z:-10.47 [[-9.94721032e-01 1.02542348e-01 3.89049007e-03 2.16606679e+02] [ 1.02541972e-01 9.94728634e-01 -2.96564227e-04 -1.42987563e+02] [-3.90039226e-03 1.03939850e-04 -9.99992388e-01 -1.04742220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.930385723 meters 0.017417909217615657 Centerline is valid? [True, True] Translation: X:216.67, Y:-142.25, Z:-11.44 [[-9.93485774e-01 -1.13925639e-01 2.63914174e-03 2.16668462e+02] [ 1.13924841e-01 -9.93489269e-01 -4.51130398e-04 -1.42248497e+02] [ 2.67335431e-03 -1.47527830e-04 9.99996416e-01 -1.14424929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.990385723 meters 0.01831167628795692 Centerline is valid? [True, True] Translation: X:216.54, Y:-142.98, Z:-10.47 [[-9.94768772e-01 1.02104273e-01 3.13163665e-03 2.16538886e+02] [ 1.02104068e-01 9.94773697e-01 -2.25756836e-04 -1.42977117e+02] [-3.13832050e-03 9.51769900e-05 -9.99995071e-01 -1.04741909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.050385723 meters 0.018932085919588462 Centerline is valid? [True, True] Translation: X:216.55, Y:-142.95, Z:-10.47 [[-9.99486680e-01 3.16772166e-02 4.78858111e-03 2.16552044e+02] [ 3.16775627e-02 9.99498140e-01 -3.58182627e-06 -1.42948619e+02] [-4.78629137e-03 1.48110590e-04 -9.99988535e-01 -1.04743866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.110385723 meters 0.01893157868371424 Centerline is valid? [True, True] Translation: X:216.54, Y:-142.92, Z:-10.47 [[-9.99201778e-01 -3.96601964e-02 4.78291829e-03 2.16544694e+02] [-3.96590359e-02 9.99213214e-01 3.37269486e-04 -1.42915260e+02] [-4.79253133e-03 1.47314342e-04 -9.99988505e-01 -1.04738461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.170385723 meters 0.017858270661730093 Centerline is valid? [True, True] Translation: X:216.53, Y:-142.88, Z:-10.47 [[-9.93682366e-01 -1.12082655e-01 5.73009905e-03 2.16532945e+02] [-1.12079802e-01 9.93698873e-01 8.17607934e-04 -1.42879985e+02] [-5.78563263e-03 1.70214220e-04 -9.99983249e-01 -1.04729417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.230385723 meters 0.01785729104610349 Centerline is valid? [True, True] Translation: X:216.52, Y:-142.85, Z:-10.47 [[-9.82959953e-01 -1.83723494e-01 5.95050930e-03 2.16517182e+02] [-1.83719062e-01 9.82977949e-01 1.28770189e-03 -1.42849206e+02] [-6.08580051e-03 1.72537398e-04 -9.99981466e-01 -1.04727747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.290385723 meters 0.018462632241075513 Centerline is valid? [True, True] Translation: X:216.49, Y:-142.82, Z:-10.47 [[-9.67486515e-01 -2.52867081e-01 5.29922386e-03 2.16490024e+02] [-2.52862371e-01 9.67501015e-01 1.55181193e-03 -1.42824248e+02] [-5.51940662e-03 1.61382807e-04 -9.99984755e-01 -1.04728378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.350385723 meters 0.017836923593024183 Centerline is valid? [True, True] Translation: X:216.45, Y:-142.80, Z:-10.47 [[-9.45962804e-01 -3.24223197e-01 5.80453361e-03 2.16450440e+02] [-3.24216011e-01 9.45980598e-01 2.16504528e-03 -1.42803967e+02] [-6.19293408e-03 1.66129571e-04 -9.99980810e-01 -1.04740863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.410385723 meters 0.01720351612612888 Centerline is valid? [True, True] Translation: X:216.39, Y:-142.79, Z:-10.47 [[-9.18460339e-01 -3.95474982e-01 5.49035997e-03 2.16391262e+02] [-3.95466981e-01 9.18476738e-01 2.51970072e-03 -1.42793136e+02] [-6.03924651e-03 1.42989097e-04 -9.99981753e-01 -1.04738195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4703857229999 meters 0.016347595622592914 Centerline is valid? [True, True] Translation: X:216.32, Y:-142.79, Z:-10.47 [[-8.86281898e-01 -4.63120302e-01 4.89716632e-03 2.16323022e+02] [-4.63112450e-01 8.86295419e-01 2.69980438e-03 -1.42791103e+02] [-5.59067030e-03 1.24849062e-04 -9.99984364e-01 -1.04739538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.530385723 meters 0.017357881623253538 Centerline is valid? [True, True] Translation: X:216.25, Y:-142.80, Z:-10.47 [[-8.49488488e-01 -5.27581270e-01 5.22623027e-03 2.16246233e+02] [-5.27570276e-01 8.49504553e-01 3.40874931e-03 -1.42804469e+02] [-6.23809869e-03 1.38489550e-04 -9.99980533e-01 -1.04729712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5903857229999 meters 0.0177015164061995 Centerline is valid? [True, True] Translation: X:216.16, Y:-142.83, Z:-10.47 [[-8.07853392e-01 -5.89366532e-01 4.47074982e-03 2.16163236e+02] [-5.89356647e-01 8.07865753e-01 3.41579409e-03 -1.42826970e+02] [-5.62492039e-03 1.24594723e-04 -9.99984172e-01 -1.04732950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.650385723 meters 0.01829676281968242 Centerline is valid? [True, True] Translation: X:216.08, Y:-142.86, Z:-10.47 [[-7.62091879e-01 -6.47459905e-01 3.41166644e-03 2.16082113e+02] [-6.47452792e-01 7.62099508e-01 3.03665773e-03 -1.42856330e+02] [-4.56614344e-03 1.05319237e-04 -9.99989570e-01 -1.04733645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.710385723 meters 0.017287362030571955 Centerline is valid? [True, True] Translation: X:216.00, Y:-142.90, Z:-10.47 [[-7.13219502e-01 -7.00930728e-01 3.74927846e-03 2.15995492e+02] [-7.00920001e-01 7.13229343e-01 3.88019414e-03 -1.42898389e+02] [-5.39384272e-03 1.39485867e-04 -9.99985443e-01 -1.04732214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.770385723 meters 0.016937906554837054 Centerline is valid? [True, True] Translation: X:215.91, Y:-142.95, Z:-10.47 [[-6.58621802e-01 -7.52462057e-01 4.26331155e-03 2.15907402e+02] [-7.52444546e-01 6.58635577e-01 5.13646334e-03 -1.42954666e+02] [-6.67296243e-03 1.75081212e-04 -9.99977720e-01 -1.04716349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.830385723 meters 0.01898925800720823 Centerline is valid? [True, True] Translation: X:215.82, Y:-143.02, Z:-10.47 [[-6.00974937e-01 -7.99252613e-01 4.93820987e-03 2.15822984e+02] [-7.99222338e-01 6.00995179e-01 6.96057813e-03 -1.43019019e+02] [-8.53110058e-03 2.36405367e-04 -9.99963582e-01 -1.04684532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.890385723 meters 0.017452120020350365 Centerline is valid? [True, True] Translation: X:215.75, Y:-143.09, Z:-10.47 [[-5.40720227e-01 -8.41193549e-01 3.87949802e-03 2.15745778e+02] [-8.41168796e-01 5.40734095e-01 6.45714322e-03 -1.43094948e+02] [-7.52948407e-03 2.28195263e-04 -9.99971627e-01 -1.04716382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.950385723 meters 0.017983736912253745 Centerline is valid? [True, True] Translation: X:215.67, Y:-143.18, Z:-10.47 [[-4.75165848e-01 -8.79888207e-01 3.76306015e-03 2.15670218e+02] [-8.79856251e-01 4.75180680e-01 7.50327295e-03 -1.43177211e+02] [-8.39017486e-03 2.54347054e-04 -9.99964770e-01 -1.04706582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.010385723 meters 0.017221190048603306 Centerline is valid? [True, True] Translation: X:215.60, Y:-143.27, Z:-10.47 [[-4.04549168e-01 -9.14510910e-01 3.12504799e-03 2.15596335e+02] [-9.14479083e-01 4.04561173e-01 7.63310168e-03 -1.43274634e+02] [-8.24482784e-03 2.30173916e-04 -9.99965984e-01 -1.04708290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.070385723 meters 0.017487938564748368 Centerline is valid? [True, True] Translation: X:215.53, Y:-143.37, Z:-10.47 [[-3.31423405e-01 -9.43479336e-01 2.29564682e-03 2.15531306e+02] [-9.43452532e-01 3.31431300e-01 7.11428930e-03 -1.43373848e+02] [-7.47303415e-03 1.92008176e-04 -9.99972058e-01 -1.04715884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.130385723 meters 0.01584086066620064 Centerline is valid? [True, True] Translation: X:215.47, Y:-143.48, Z:-10.47 [[-2.55303627e-01 -9.66859262e-01 1.79607959e-03 2.15470193e+02] [-9.66830321e-01 2.55309886e-01 7.48281729e-03 -1.43479538e+02] [-7.69338807e-03 1.73886185e-04 -9.99970390e-01 -1.04720627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.190385723 meters 0.016024563680061554 Centerline is valid? [True, True] Translation: X:215.42, Y:-143.59, Z:-10.47 [[-1.78897486e-01 -9.83867187e-01 1.02385101e-03 2.15421828e+02] [-9.83846467e-01 1.78900365e-01 6.38655220e-03 -1.43594578e+02] [-6.46668646e-03 1.35225935e-04 -9.99979082e-01 -1.04730985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.250385723 meters 0.015870842830483553 Centerline is valid? [True, True] Translation: X:215.38, Y:-143.71, Z:-10.47 [[-1.02647768e-01 -9.94717600e-01 5.76631444e-04 2.15379920e+02] [-9.94693001e-01 1.02649286e-01 6.99696886e-03 -1.43708461e+02] [-7.01919888e-03 1.44651978e-04 -9.99975355e-01 -1.04726996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.310385723 meters 0.015877123027583637 Centerline is valid? [True, True] Translation: X:215.35, Y:-143.83, Z:-10.47 [[-2.49512338e-02 -9.99688669e-01 4.41892330e-05 2.15347977e+02] [-9.99655426e-01 2.49507646e-02 8.15405377e-03 -1.43832361e+02] [-8.15261771e-03 1.59279696e-04 -9.99966754e-01 -1.04716540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.370385723 meters 0.014985160230423693 Centerline is valid? [True, True] Translation: X:215.32, Y:-143.95, Z:-10.47 [[ 5.23639675e-02 -9.98627903e-01 -5.71334258e-04 2.15324642e+02] [-9.98595950e-01 -5.23668632e-02 7.99003915e-03 -1.43951395e+02] [-8.00899503e-03 1.52141925e-04 -9.99967916e-01 -1.04724761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.430385723 meters 0.0160446046846339 Centerline is valid? [True, True] Translation: X:215.32, Y:-144.08, Z:-10.47 [[ 1.26533179e-01 -9.91961909e-01 -9.62570440e-04 2.15316335e+02] [-9.91940981e-01 -1.26536764e-01 6.44500525e-03 -1.44077870e+02] [-6.51500026e-03 1.39306062e-04 -9.99978767e-01 -1.04735208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.490385723 meters 0.015817089691670352 Centerline is valid? [True, True] Translation: X:215.31, Y:-144.20, Z:-10.47 [[ 1.99978046e-01 -9.79799116e-01 -1.57289738e-03 2.15313141e+02] [-9.79775059e-01 -1.99984162e-01 6.86792901e-03 -1.44196804e+02] [-7.04374534e-03 1.67650596e-04 -9.99975178e-01 -1.04743966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.550385723 meters 0.015989351641930268 Centerline is valid? [True, True] Translation: X:215.32, Y:-144.32, Z:-10.47 [[ 2.73198087e-01 -9.61955335e-01 -2.17700203e-03 2.15319368e+02] [-9.61929962e-01 -2.73206698e-01 6.98910325e-03 -1.44322549e+02] [-7.31797669e-03 1.84713845e-04 -9.99973206e-01 -1.04735952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.610385723 meters 0.017002896026512275 Centerline is valid? [True, True] Translation: X:215.34, Y:-144.45, Z:-10.47 [[ 3.45396410e-01 -9.38452779e-01 -2.77524632e-03 2.15338024e+02] [-9.38426888e-01 -3.45407504e-01 6.97364263e-03 -1.44448750e+02] [-7.50302521e-03 1.95694636e-04 -9.99971833e-01 -1.04727582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.670385723 meters 0.018023191476934992 Centerline is valid? [True, True] Translation: X:215.36, Y:-144.56, Z:-10.47 [[ 4.16272082e-01 -9.09232626e-01 -3.68580347e-03 2.15363521e+02] [-9.09201534e-01 -4.16288342e-01 7.52243727e-03 -1.44563223e+02] [-8.37400241e-03 2.19757539e-04 -9.99964913e-01 -1.04709995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.730385723 meters 0.016430546833627664 Centerline is valid? [True, True] Translation: X:215.40, Y:-144.68, Z:-10.47 [[ 4.86335492e-01 -8.73756427e-01 -5.24372055e-03 2.15396236e+02] [-8.73711112e-01 -4.86363695e-01 8.90222457e-03 -1.44684669e+02] [-1.03287312e-02 2.52029152e-04 -9.99946625e-01 -1.04689766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.790385723 meters 0.015942653417388958 Centerline is valid? [True, True] Translation: X:215.44, Y:-144.80, Z:-10.47 [[ 5.54672184e-01 -8.32045431e-01 -6.25847990e-03 2.15437090e+02] [-8.31997053e-01 -5.54707443e-01 8.97531059e-03 -1.44796361e+02] [-1.09394916e-02 2.28681701e-04 -9.99940136e-01 -1.04688814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.850385723 meters 0.015567788945014252 Centerline is valid? [True, True] Translation: X:215.49, Y:-144.91, Z:-10.47 [[ 6.18457697e-01 -7.85790601e-01 -6.57327777e-03 2.15487713e+02] [-7.85749490e-01 -6.18492599e-01 8.04023198e-03 -1.44905562e+02] [-1.03834624e-02 1.92406298e-04 -9.99946072e-01 -1.04701143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.910385723 meters 0.015509057272531875 Centerline is valid? [True, True] Translation: X:215.54, Y:-145.01, Z:-10.47 [[ 6.76935153e-01 -7.36014236e-01 -6.46868438e-03 2.15541670e+02] [-7.35983001e-01 -6.76966038e-01 6.78281843e-03 -1.45007098e+02] [-9.37133056e-03 1.69313508e-04 -9.99956074e-01 -1.04701726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9703857229999 meters 0.015923476697381426 Centerline is valid? [True, True] Translation: X:215.60, Y:-145.10, Z:-10.47 [[ 7.30678364e-01 -6.82693165e-01 -6.25862542e-03 2.15601199e+02] [-6.82669941e-01 -7.30705151e-01 5.63329740e-03 -1.45097395e+02] [-8.41902347e-03 1.56446912e-04 -9.99964547e-01 -1.04714225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.030385723 meters 0.01644024765063781 Centerline is valid? [True, True] Translation: X:215.62, Y:-145.12, Z:-10.47 [[ 7.81052138e-01 -6.24448457e-01 -4.65639588e-03 2.15622160e+02] [-6.24438240e-01 -7.81066009e-01 3.57406239e-03 -1.45119171e+02] [-5.86877030e-03 1.16102574e-04 -9.99982772e-01 -1.04729296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0903857229999 meters 0.01675945556604158 Centerline is valid? [True, True] Translation: X:215.64, Y:-145.14, Z:-10.47 [[ 8.27472356e-01 -5.61480406e-01 -5.40867970e-03 2.15643830e+02] [-5.61469415e-01 -8.27490022e-01 3.51557633e-03 -1.45137965e+02] [-6.44955571e-03 1.27765996e-04 -9.99979193e-01 -1.04722089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.150385723 meters 0.01616554970019426 Centerline is valid? [True, True] Translation: X:215.66, Y:-145.16, Z:-10.47 [[ 8.68367242e-01 -4.95870836e-01 -7.10260456e-03 2.15664616e+02] [-4.95855820e-01 -8.68396273e-01 3.86256957e-03 -1.45161036e+02] [-8.08321092e-03 1.67738925e-04 -9.99967316e-01 -1.04722012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.210385723 meters 0.01700515563895811 Centerline is valid? [True, True] Translation: X:215.69, Y:-145.18, Z:-10.47 [[ 9.03339731e-01 -4.28839338e-01 -8.61125991e-03 2.15688307e+02] [-4.28822171e-01 -9.03380747e-01 3.84345392e-03 -1.45179545e+02] [-9.42747064e-03 2.20754540e-04 -9.99955536e-01 -1.04714726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.270385723 meters 0.01701735444159044 Centerline is valid? [True, True] Translation: X:215.71, Y:-145.20, Z:-10.47 [[ 9.33587689e-01 -3.58177094e-01 -1.10994235e-02 2.15711628e+02] [-3.58155489e-01 -9.33653621e-01 3.94486050e-03 -1.45198318e+02] [-1.17759756e-02 2.92446251e-04 -9.99930618e-01 -1.04695245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.330385723 meters 0.017395491272270143 Centerline is valid? [True, True] Translation: X:215.74, Y:-145.22, Z:-10.47 [[ 9.58404614e-01 -2.85198025e-01 -1.10762606e-02 2.15736815e+02] [-2.85182555e-01 -9.58468569e-01 2.98531981e-03 -1.45215554e+02] [-1.14676549e-02 2.97612008e-04 -9.99934200e-01 -1.04699501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.390385723 meters 0.017913341705445476 Centerline is valid? [True, True] Translation: X:215.76, Y:-145.23, Z:-10.47 [[ 9.76929617e-01 -2.13373829e-01 -8.95164412e-03 2.15759869e+02] [-2.13367434e-01 -9.76970590e-01 1.67458971e-03 -1.45228562e+02] [-9.10280666e-03 2.74033051e-04 -9.99958531e-01 -1.04732932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.450385723 meters 0.018593243022544982 Centerline is valid? [True, True] Translation: X:215.78, Y:-145.24, Z:-10.47 [[ 9.90267207e-01 -1.39062345e-01 -5.70297832e-03 2.15783267e+02] [-1.39061134e-01 -9.90283610e-01 6.10266584e-04 -1.45244280e+02] [-5.73243107e-03 1.88735647e-04 -9.99983552e-01 -1.04747279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.510385723 meters 0.018362002446572743 Centerline is valid? [True, True] Translation: X:215.81, Y:-145.26, Z:-10.47 [[ 9.98137946e-01 -6.06590078e-02 -6.41287586e-03 2.15807212e+02] [-6.06590963e-02 -9.98158525e-01 1.80874842e-04 -1.45260735e+02] [-6.41203840e-03 2.08461211e-04 -9.99979421e-01 -1.04739587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.570385723 meters 0.018182923822476542 Centerline is valid? [True, True] Translation: X:215.83, Y:-145.27, Z:-10.47 [[ 9.99772757e-01 1.99418140e-02 -7.53378250e-03 2.15832813e+02] [ 1.99395271e-02 -9.99801116e-01 -3.78542113e-04 -1.45274081e+02] [-7.53983297e-03 2.28236032e-04 -9.99971549e-01 -1.04732992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.630385723 meters 0.01768238833738253 Centerline is valid? [True, True] Translation: X:215.86, Y:-145.29, Z:-10.47 [[ 9.94877415e-01 1.00661399e-01 -9.28504637e-03 2.15859525e+02] [ 1.00654575e-01 -9.94920708e-01 -1.20059283e-03 -1.45288063e+02] [-9.35873826e-03 2.59860291e-04 -9.99956172e-01 -1.04708172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.690385723 meters 0.017180536434721543 Centerline is valid? [True, True] Translation: X:215.89, Y:-145.30, Z:-10.47 [[ 9.83695668e-01 1.79473301e-01 -1.14964201e-02 2.15887208e+02] [ 1.79457338e-01 -9.83762795e-01 -2.41385278e-03 -1.45297802e+02] [-1.17429725e-02 3.11379581e-04 -9.99931000e-01 -1.04694399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.750385723 meters 0.019399631294760328 Centerline is valid? [True, True] Translation: X:215.91, Y:-145.30, Z:-10.47 [[ 9.67000364e-01 2.54534007e-01 -1.10786053e-02 2.15913412e+02] [ 2.54513469e-01 -9.67063770e-01 -3.24941720e-03 -1.45299085e+02] [-1.15408050e-02 3.22533344e-04 -9.99933351e-01 -1.04689355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.810385723 meters 0.017982926547122163 Centerline is valid? [True, True] Translation: X:215.94, Y:-145.31, Z:-10.47 [[ 9.44849637e-01 3.27371880e-01 -9.31751041e-03 2.15943719e+02] [ 3.27352812e-01 -9.44895530e-01 -3.54608204e-03 -1.45308587e+02] [-9.96496148e-03 3.00401089e-04 -9.99950303e-01 -1.04708808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.870385723 meters 0.018129975424359214 Centerline is valid? [True, True] Translation: X:215.97, Y:-145.31, Z:-10.47 [[ 9.16258609e-01 4.00510017e-01 -7.86684121e-03 2.15972915e+02] [ 4.00492801e-01 -9.16292343e-01 -3.72255909e-03 -1.45310424e+02] [-8.69924857e-03 2.60213542e-04 -9.99962127e-01 -1.04725856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.930385723 meters 0.018027772207018206 Centerline is valid? [True, True] Translation: X:216.00, Y:-145.31, Z:-10.47 [[ 8.80689110e-01 4.73664289e-01 -5.36958069e-03 2.16001859e+02] [ 4.73654326e-01 -8.80705464e-01 -3.07659359e-03 -1.45311042e+02] [-6.18629157e-03 1.66197343e-04 -9.99980851e-01 -1.04738022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.990385723 meters 0.016656709575461413 Centerline is valid? [True, True] Translation: X:216.03, Y:-145.31, Z:-10.47 [[ 8.38037715e-01 5.45590638e-01 -4.86243026e-03 2.16033660e+02] [ 5.45580571e-01 -8.38051812e-01 -3.31683312e-03 -1.45311221e+02] [-5.88460159e-03 1.26783770e-04 -9.99982678e-01 -1.04737173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.050385723 meters 0.01741855462008423 Centerline is valid? [True, True] Translation: X:216.06, Y:-145.31, Z:-10.47 [[ 7.91015386e-01 6.11766522e-01 -6.03166428e-03 2.16064032e+02] [ 6.11747326e-01 -7.91038369e-01 -4.84846977e-03 -1.45306713e+02] [-7.73740937e-03 1.45359693e-04 -9.99970055e-01 -1.04722260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.110385723 meters 0.015745724968606212 Centerline is valid? [True, True] Translation: X:216.09, Y:-145.30, Z:-10.47 [[ 7.38430843e-01 6.74307388e-01 -5.42555689e-03 2.16093639e+02] [ 6.74288035e-01 -7.38450766e-01 -5.10999963e-03 -1.45299807e+02] [-7.45221714e-03 1.14993239e-04 -9.99972225e-01 -1.04728438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.170385723 meters 0.01612113118806703 Centerline is valid? [True, True] Translation: X:216.12, Y:-145.29, Z:-10.47 [[ 6.83883438e-01 7.29571211e-01 -5.41205096e-03 2.16120695e+02] [ 7.29546849e-01 -6.83904840e-01 -5.96355501e-03 -1.45288464e+02] [-8.05216590e-03 1.30031780e-04 -9.99967572e-01 -1.04718385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.230385723 meters 0.017105338689893772 Centerline is valid? [True, True] Translation: X:216.14, Y:-145.27, Z:-10.47 [[ 6.27037799e-01 7.78974383e-01 -4.74438392e-03 2.16142021e+02] [ 7.78950270e-01 -6.27055730e-01 -6.13093789e-03 -1.45272942e+02] [-7.75083669e-03 1.48690666e-04 -9.99969951e-01 -1.04720148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.290385723 meters 0.018082427324787195 Centerline is valid? [True, True] Translation: X:216.16, Y:-145.25, Z:-10.47 [[ 5.66276737e-01 8.24209048e-01 -3.17833020e-03 2.16162411e+02] [ 8.24194798e-01 -5.66285643e-01 -4.84833749e-03 -1.45254416e+02] [-5.79588639e-03 1.25937521e-04 -9.99983196e-01 -1.04738632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.350385723 meters 0.017360428075731106 Centerline is valid? [True, True] Translation: X:216.19, Y:-145.24, Z:-10.48 [[ 5.00163161e-01 8.65927849e-01 -2.40258749e-03 2.16187713e+02] [ 8.65916787e-01 -5.00168919e-01 -4.37834896e-03 -1.45237935e+02] [-4.99303389e-03 1.09448014e-04 -9.99987529e-01 -1.04751034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.410385723 meters 0.016649357092404393 Centerline is valid? [True, True] Translation: X:216.22, Y:-145.22, Z:-10.47 [[ 4.29009665e-01 9.03296950e-01 -2.30826090e-03 2.16215915e+02] [ 9.03282442e-01 -4.29015860e-01 -5.12068003e-03 -1.45221682e+02] [-5.61577518e-03 1.11809677e-04 -9.99984225e-01 -1.04744551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4703857229999 meters 0.016307031377083815 Centerline is valid? [True, True] Translation: X:216.24, Y:-145.20, Z:-10.47 [[ 3.55340843e-01 9.34734893e-01 -1.88790274e-03 2.16243379e+02] [ 9.34720143e-01 -3.55345844e-01 -5.25218096e-03 -1.45202425e+02] [-5.58025520e-03 1.01653695e-04 -9.99984425e-01 -1.04746593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.530385723 meters 0.01644794711788086 Centerline is valid? [True, True] Translation: X:216.27, Y:-145.18, Z:-10.47 [[ 2.81406003e-01 9.59587787e-01 -1.39295114e-03 2.16267880e+02] [ 9.59574244e-01 -2.81409433e-01 -5.09909653e-03 -1.45181228e+02] [-5.28502035e-03 9.82763332e-05 -9.99986029e-01 -1.04736755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5903857229999 meters 0.016483266461770403 Centerline is valid? [True, True] Translation: X:216.29, Y:-145.16, Z:-10.47 [[ 2.05529701e-01 9.78650577e-01 -7.68720376e-04 2.16290121e+02] [ 9.78642264e-01 -2.05531124e-01 -4.03426847e-03 -1.45157079e+02] [-4.10613512e-03 7.68597422e-05 -9.99991567e-01 -1.04737769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.650385723 meters 0.016716191516457205 Centerline is valid? [True, True] Translation: X:216.31, Y:-145.13, Z:-10.47 [[ 1.28591367e-01 9.91697594e-01 -3.77333067e-04 2.16307025e+02] [ 9.91691704e-01 -1.28591904e-01 -3.41850046e-03 -1.45131008e+02] [-3.43864066e-03 6.53915748e-05 -9.99994086e-01 -1.04742444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.710385723 meters 0.01677439742567954 Centerline is valid? [True, True] Translation: X:216.33, Y:-145.10, Z:-10.47 [[ 5.06738811e-02 9.98715250e-01 -8.35340560e-05 2.16327465e+02] [ 9.98711757e-01 -5.06739248e-02 -2.64211821e-03 -1.45103566e+02] [-2.64295675e-03 5.04599403e-05 -9.99996506e-01 -1.04735120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.770385723 meters 0.017637965776465134 Centerline is valid? [True, True] Translation: X:216.34, Y:-145.07, Z:-10.47 [[-2.73905025e-02 9.99624803e-01 1.19503117e-04 2.16339719e+02] [ 9.99621546e-01 2.73907184e-02 -2.55212308e-03 -1.45074292e+02] [-2.55443881e-03 4.95539564e-05 -9.99996736e-01 -1.04727923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.830385723 meters 0.01693590841134428 Centerline is valid? [True, True] Translation: X:216.35, Y:-145.04, Z:-10.47 [[-1.05008407e-01 9.94471287e-01 3.05668538e-04 2.16352585e+02] [ 9.94468320e-01 1.05008841e-01 -2.42970894e-03 -1.45043632e+02] [-2.44837368e-03 4.88378116e-05 -9.99997002e-01 -1.04722048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.890385723 meters 0.017129872785129768 Centerline is valid? [True, True] Translation: X:216.36, Y:-145.01, Z:-10.47 [[-1.82188188e-01 9.83263613e-01 3.63850718e-04 2.16360505e+02] [ 9.83262031e-01 1.82188548e-01 -1.76376865e-03 -1.45011784e+02] [-1.80053897e-03 3.64227805e-05 -9.99998378e-01 -1.04726271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.950385723 meters 0.01624557176628255 Centerline is valid? [True, True] Translation: X:216.37, Y:-144.98, Z:-10.47 [[-2.58623814e-01 9.65978107e-01 -1.42901356e-04 2.16373877e+02] [ 9.65977983e-01 2.58623853e-01 4.89295763e-04 -1.44976439e+02] [ 5.09606694e-04 -1.14960272e-05 -9.99999870e-01 -1.04736729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.010385723 meters 0.016121682286642836 Centerline is valid? [True, True] Translation: X:216.38, Y:-144.94, Z:-10.47 [[-3.35387561e-01 9.42080238e-01 -9.33318926e-05 2.16379142e+02] [ 9.42080206e-01 3.35387574e-01 2.44811271e-04 -1.44941944e+02] [ 2.61934217e-04 -5.81947338e-06 -9.99999966e-01 -1.04739284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.070385723 meters 0.01583866375712333 Centerline is valid? [True, True] Translation: X:216.38, Y:-144.91, Z:-10.47 [[-4.09915308e-01 9.12123142e-01 -9.02501016e-04 2.16382951e+02] [ 9.12121124e-01 4.09916300e-01 1.91904912e-03 -1.44906058e+02] [ 2.12035899e-03 -3.65426271e-05 -9.99997751e-01 -1.04737971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.130385723 meters 0.015773608541889157 Centerline is valid? [True, True] Translation: X:216.38, Y:-144.87, Z:-10.47 [[-4.81032904e-01 8.76702313e-01 -6.32014965e-04 2.16378971e+02] [ 8.76701613e-01 4.81033319e-01 1.10831128e-03 -1.44873587e+02] [ 1.27567932e-03 -2.09543474e-05 -9.99999186e-01 -1.04730605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.190385723 meters 0.015480941511600637 Centerline is valid? [True, True] Translation: X:216.37, Y:-144.84, Z:-10.47 [[-5.48207457e-01 8.36342180e-01 -5.85745806e-04 2.16373920e+02] [ 8.36341736e-01 5.48207769e-01 8.62039090e-04 -1.44838980e+02] [ 1.04207005e-03 -1.73074076e-05 -9.99999457e-01 -1.04727316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.250385723 meters 0.015255585138273683 Centerline is valid? [True, True] Translation: X:216.37, Y:-144.80, Z:-10.47 [[-6.12495798e-01 7.90473461e-01 -7.78116448e-04 2.16367386e+02] [ 7.90472864e-01 6.12496291e-01 9.71993181e-04 -1.44802972e+02] [ 1.24492825e-03 -1.97381982e-05 -9.99999225e-01 -1.04724996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.310385723 meters 0.014940894410639572 Centerline is valid? [True, True] Translation: X:216.36, Y:-144.77, Z:-10.47 [[-6.73789296e-01 7.38923087e-01 -8.09557479e-04 2.16356316e+02] [ 7.38922584e-01 6.73789782e-01 8.62956244e-04 -1.44769608e+02] [ 1.18312985e-03 -1.67496241e-05 -9.99999300e-01 -1.04722560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.370385723 meters 0.015095967756876192 Centerline is valid? [True, True] Translation: X:216.34, Y:-144.74, Z:-10.47 [[-7.29919825e-01 6.83532327e-01 -7.79060383e-04 2.16339691e+02] [ 6.83531959e-01 7.29920240e-01 7.09695837e-04 -1.44741372e+02] [ 1.05375199e-03 -1.44916085e-05 -9.99999445e-01 -1.04732569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.430385723 meters 0.015251531460060615 Centerline is valid? [True, True] Translation: X:216.36, Y:-144.72, Z:-10.47 [[-7.75574954e-01 6.31255373e-01 -3.81236325e-04 2.16355110e+02] [ 6.31255301e-01 7.75575048e-01 3.00304639e-04 -1.44717173e+02] [ 4.85246298e-04 -7.74869451e-06 -9.99999882e-01 -1.04726638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.490385723 meters 0.01579389045360853 Centerline is valid? [True, True] Translation: X:216.37, Y:-144.70, Z:-10.47 [[-8.15829615e-01 5.78292348e-01 -1.53753674e-05 2.16369075e+02] [ 5.78292347e-01 8.15829615e-01 9.50703925e-06 -1.44697552e+02] [ 1.80415280e-05 -1.13533314e-06 -1.00000000e+00 -1.04730011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.550385723 meters 0.016465617890852085 Centerline is valid? [True, True] Translation: X:216.38, Y:-144.68, Z:-10.47 [[-8.52374788e-01 5.22931369e-01 -6.98279709e-05 2.16383346e+02] [ 5.22931367e-01 8.52374791e-01 3.97256460e-05 -1.44677373e+02] [ 8.02933884e-05 -2.65409720e-06 -9.99999997e-01 -1.04733389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.610385723 meters 0.016770163104621802 Centerline is valid? [True, True] Translation: X:216.40, Y:-144.65, Z:-10.47 [[-8.86702680e-01 4.62339983e-01 3.13731185e-04 2.16395893e+02] [ 4.62339957e-01 8.86702735e-01 -1.54890063e-04 -1.44653047e+02] [-3.49798169e-04 7.70902832e-06 -9.99999939e-01 -1.04724905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.670385723 meters 0.017375266578044925 Centerline is valid? [True, True] Translation: X:216.40, Y:-144.63, Z:-10.47 [[-9.17604171e-01 3.97494066e-01 1.02604652e-03 2.16399572e+02] [ 3.97493848e-01 9.17604744e-01 -4.17128835e-04 -1.44626510e+02] [-1.10731139e-03 2.50880216e-05 -9.99999387e-01 -1.04719646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.730385723 meters 0.016664271992661774 Centerline is valid? [True, True] Translation: X:216.64, Y:-144.05, Z:-11.45 [[-9.08722798e-01 -4.17398255e-01 1.25413412e-03 2.16637887e+02] [ 4.17397836e-01 -9.08723664e-01 -5.91477951e-04 -1.44048926e+02] [ 1.38654321e-03 -1.40166333e-05 9.99999039e-01 -1.14469835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.790385723 meters 0.016351797091042543 Centerline is valid? [True, True] Translation: X:216.36, Y:-144.61, Z:-10.47 [[-9.20494234e-01 3.90748331e-01 2.47122739e-03 2.16355553e+02] [ 3.90747073e-01 9.20497550e-01 -9.93019425e-04 -1.44610213e+02] [-2.66277944e-03 5.15562136e-05 -9.99996453e-01 -1.04710960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.850385723 meters 0.016059623605650445 Centerline is valid? [True, True] Translation: X:216.59, Y:-144.03, Z:-11.45 [[-9.08647950e-01 -4.17550787e-01 3.20039306e-03 2.16586780e+02] [ 4.17548143e-01 -9.08653586e-01 -1.48610986e-03 -1.44027011e+02] [ 3.52857497e-03 -1.40325041e-05 9.99993774e-01 -1.14483463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.910385723 meters 0.015665358047727805 Centerline is valid? [True, True] Translation: X:216.31, Y:-144.60, Z:-10.47 [[-9.23016783e-01 3.84753484e-01 2.18538733e-03 2.16308592e+02] [ 3.84752504e-01 9.23019369e-01 -8.69192012e-04 -1.44596436e+02] [-2.35157949e-03 3.85544341e-05 -9.99997234e-01 -1.04727145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9703857229999 meters 0.017074857025794404 Centerline is valid? [True, True] Translation: X:216.31, Y:-144.57, Z:-10.47 [[-9.48231088e-01 3.17572561e-01 2.33925245e-03 2.16313265e+02] [ 3.17571694e-01 9.48233973e-01 -7.43123096e-04 -1.44566973e+02] [-2.45415415e-03 3.82279411e-05 -9.99996988e-01 -1.04696679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.030385723 meters 0.015413006427451807 Centerline is valid? [True, True] Translation: X:216.51, Y:-143.96, Z:-11.45 [[-9.36480521e-01 -3.50711187e-01 2.42836661e-03 2.16508297e+02] [ 3.50709921e-01 -9.36483669e-01 -9.42814468e-04 -1.43960442e+02] [ 2.60478125e-03 -3.12751221e-05 9.99996607e-01 -1.14458001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0903857229999 meters 0.01578224455209353 Centerline is valid? [True, True] Translation: X:216.26, Y:-144.56, Z:-10.47 [[-9.48942214e-01 3.15435995e-01 2.96759251e-03 2.16264541e+02] [ 3.15434628e-01 9.48946853e-01 -9.30343206e-04 -1.44560859e+02] [-3.10955131e-03 5.32394970e-05 -9.99995164e-01 -1.04725283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.150385723 meters 0.015898186155934597 Centerline is valid? [True, True] Translation: X:216.27, Y:-144.53, Z:-10.47 [[-9.69099955e-01 2.46615727e-01 5.09517104e-03 2.16268591e+02] [ 2.46612785e-01 9.69113345e-01 -1.20776496e-03 -1.44533594e+02] [-5.23565208e-03 8.60893516e-05 -9.99986290e-01 -1.04697641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.210385723 meters 0.015490126845038282 Centerline is valid? [True, True] Translation: X:216.27, Y:-144.51, Z:-10.47 [[-9.84460397e-01 1.75531011e-01 5.15655019e-03 2.16269943e+02] [ 1.75529010e-01 9.84473899e-01 -8.41646705e-04 -1.44509938e+02] [-5.22422417e-03 7.65563008e-05 -9.99986351e-01 -1.04708561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.270385723 meters 0.015843543975784042 Centerline is valid? [True, True] Translation: X:216.38, Y:-143.86, Z:-11.45 [[-9.77131328e-01 -2.12566896e-01 5.44817240e-03 2.16377651e+02] [ 2.12563257e-01 -9.77146515e-01 -1.24534436e-03 -1.43856928e+02] [ 5.58838166e-03 -5.87837178e-05 9.99984383e-01 -1.14496039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.330385723 meters 0.015599333106302009 Centerline is valid? [True, True] Translation: X:216.21, Y:-144.51, Z:-10.47 [[-9.85216838e-01 1.71217623e-01 5.68401774e-03 2.16213160e+02] [ 1.71215249e-01 9.85233231e-01 -9.05289376e-04 -1.44507472e+02] [-5.75508465e-03 8.12841764e-05 -9.99983436e-01 -1.04692616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.390385723 meters 0.015486683861974817 Centerline is valid? [True, True] Translation: X:216.21, Y:-144.48, Z:-10.47 [[-9.95130277e-01 9.84539908e-02 4.74808074e-03 2.16208419e+02] [ 9.84531364e-02 9.95141602e-01 -4.13920079e-04 -1.44484250e+02] [-4.76576476e-03 5.55590379e-05 -9.99988642e-01 -1.04708348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.450385723 meters 0.014831724871979635 Centerline is valid? [True, True] Translation: X:216.21, Y:-144.46, Z:-10.47 [[-9.99730867e-01 2.26030359e-02 5.22457279e-03 2.16207738e+02] [ 2.26029113e-02 9.99744518e-01 -8.29109444e-05 -1.44456021e+02] [-5.22511204e-03 3.52019249e-05 -9.99986348e-01 -1.04694638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.510385723 meters 0.01462396434510297 Centerline is valid? [True, True] Translation: X:216.20, Y:-144.43, Z:-10.47 [[-9.98599838e-01 -5.25900795e-02 5.71371233e-03 2.16201851e+02] [-5.25891315e-02 9.98616184e-01 3.16134378e-04 -1.44432652e+02] [-5.72243114e-03 1.52125692e-05 -9.99983627e-01 -1.04702221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.570385723 meters 0.014484819373948602 Centerline is valid? [True, True] Translation: X:216.19, Y:-144.41, Z:-10.47 [[-9.91991010e-01 -1.26160235e-01 6.11806593e-03 2.16189823e+02] [-1.26157836e-01 9.92009877e-01 7.77992517e-04 -1.44409971e+02] [-6.16733355e-03 -8.03756717e-08 -9.99980982e-01 -1.04690348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.630385723 meters 0.014534947119282129 Centerline is valid? [True, True] Translation: X:216.11, Y:-143.71, Z:-11.45 [[-9.98298134e-01 5.79578092e-02 6.45979335e-03 2.16105654e+02] [-5.79564615e-02 -9.98319033e-01 3.95788763e-04 -1.43708623e+02] [ 6.47187370e-03 2.07284194e-05 9.99979057e-01 -1.14508853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.690385723 meters 0.014553708953502444 Centerline is valid? [True, True] Translation: X:216.10, Y:-144.43, Z:-10.47 [[-9.90897860e-01 -1.34467086e-01 6.32729944e-03 2.16097455e+02] [-1.34464453e-01 9.90918060e-01 8.41668816e-04 -1.44434054e+02] [-6.38301204e-03 -1.67890297e-05 -9.99979628e-01 -1.04689320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.750385723 meters 0.014465209484840855 Centerline is valid? [True, True] Translation: X:216.08, Y:-144.42, Z:-10.47 [[-9.79075838e-01 -2.03366666e-01 7.24586815e-03 2.16084647e+02] [-2.03361164e-01 9.79102650e-01 1.49594096e-03 -1.44418862e+02] [-7.39867324e-03 -8.88853288e-06 -9.99972629e-01 -1.04689964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.810385723 meters 0.014652448017579879 Centerline is valid? [True, True] Translation: X:215.93, Y:-143.68, Z:-11.45 [[-9.90567048e-01 1.36769325e-01 8.43057554e-03 2.15927834e+02] [-1.36763661e-01 -9.90602920e-01 1.24750697e-03 -1.43675991e+02] [ 8.52197343e-03 8.27429293e-05 9.99963684e-01 -1.14519978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.870385723 meters 0.014752841015951637 Centerline is valid? [True, True] Translation: X:215.97, Y:-144.46, Z:-10.47 [[-9.78906579e-01 -2.04160901e-01 7.76115234e-03 2.15971552e+02] [-2.04154187e-01 9.78937345e-01 1.65616938e-03 -1.44462881e+02] [-7.93580690e-03 3.67633515e-05 -9.99968510e-01 -1.04689134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.930385723 meters 0.015045865099367731 Centerline is valid? [True, True] Translation: X:215.95, Y:-144.45, Z:-10.47 [[-9.62541605e-01 -2.71032465e-01 7.42036536e-03 2.15946938e+02] [-2.71023939e-01 9.62570205e-01 2.15062446e-03 -1.44449322e+02] [-7.72551166e-03 5.89688635e-05 -9.99970156e-01 -1.04700223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.990385723 meters 0.01490359262162242 Centerline is valid? [True, True] Translation: X:215.91, Y:-144.43, Z:-10.47 [[-9.39996337e-01 -3.41149912e-01 4.86046056e-03 2.15907405e+02] [-3.41145166e-01 9.40008902e-01 1.79985079e-03 -1.44433446e+02] [-5.18289513e-03 3.37305244e-05 -9.99986568e-01 -1.04709924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.050385723 meters 0.014704448224116618 Centerline is valid? [True, True] Translation: X:215.84, Y:-144.43, Z:-10.47 [[-9.11128327e-01 -4.12090016e-01 5.19532137e-03 2.15843848e+02] [-4.12083188e-01 9.11143138e-01 2.37223117e-03 -1.44426201e+02] [-5.71125420e-03 2.05024217e-05 -9.99983690e-01 -1.04697246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.110385723 meters 0.014760292941146728 Centerline is valid? [True, True] Translation: X:215.77, Y:-144.43, Z:-10.47 [[-8.77962070e-01 -4.78702633e-01 5.13730770e-03 2.15774716e+02] [-4.78694311e-01 8.77977100e-01 2.82275236e-03 -1.44429731e+02] [-5.86169751e-03 1.90695360e-05 -9.99982820e-01 -1.04701839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.170385723 meters 0.014671935691385694 Centerline is valid? [True, True] Translation: X:215.70, Y:-144.44, Z:-10.47 [[-8.40032509e-01 -5.42519293e-01 4.26631542e-03 2.15695111e+02] [-5.42512187e-01 8.40043342e-01 2.77673455e-03 -1.44442795e+02] [-5.09032193e-03 1.80191772e-05 -9.99987044e-01 -1.04710309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.230385723 meters 0.01486121637145445 Centerline is valid? [True, True] Translation: X:215.61, Y:-144.46, Z:-10.47 [[-7.97843603e-01 -6.02840968e-01 5.32469522e-03 2.15609206e+02] [-6.02827259e-01 7.97861370e-01 4.06568211e-03 -1.44464489e+02] [-6.69932837e-03 3.39070401e-05 -9.99977559e-01 -1.04682759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.290385723 meters 0.015474911001893327 Centerline is valid? [True, True] Translation: X:215.52, Y:-144.50, Z:-10.47 [[-7.52567842e-01 -6.58492973e-01 5.35228835e-03 2.15523309e+02] [-6.58475723e-01 7.52586872e-01 4.76671690e-03 -1.44501867e+02] [-7.16691153e-03 6.29259088e-05 -9.99974315e-01 -1.04683384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.350385723 meters 0.016140958101625212 Centerline is valid? [True, True] Translation: X:215.44, Y:-144.55, Z:-10.47 [[-7.04654789e-01 -7.09529080e-01 5.48753476e-03 2.15435144e+02] [-7.09506274e-01 7.04676146e-01 5.69000710e-03 -1.44545742e+02] [-7.90416035e-03 1.16050408e-04 -9.99968755e-01 -1.04670464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.410385723 meters 0.01693739677972593 Centerline is valid? [True, True] Translation: X:215.34, Y:-144.61, Z:-10.47 [[-6.51426982e-01 -7.58699079e-01 4.31209537e-03 2.15344591e+02] [-7.58681191e-01 6.51441242e-01 5.21130050e-03 -1.44608354e+02] [-6.76288566e-03 1.23276105e-04 -9.99977124e-01 -1.04681773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4703857229999 meters 0.017687806383174853 Centerline is valid? [True, True] Translation: X:215.26, Y:-144.67, Z:-10.47 [[-5.92813613e-01 -8.05332410e-01 3.42485253e-03 2.15259807e+02] [-8.05317821e-01 5.92823495e-01 4.84877710e-03 -1.44673336e+02] [-5.93521039e-03 1.16326291e-04 -9.99982380e-01 -1.04688151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.530385723 meters 0.016874516400759067 Centerline is valid? [True, True] Translation: X:215.17, Y:-144.75, Z:-10.47 [[-5.26283183e-01 -8.50303265e-01 3.22000802e-03 2.15169085e+02] [-8.50286191e-01 5.26293024e-01 5.38940681e-03 -1.44753186e+02] [-6.27729797e-03 9.84258137e-05 -9.99980293e-01 -1.04683074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5903857229999 meters 0.016293841225322892 Centerline is valid? [True, True] Translation: X:215.09, Y:-144.84, Z:-10.47 [[-4.55944697e-01 -8.90001490e-01 3.43240296e-03 2.15085099e+02] [-8.89974792e-01 4.55957608e-01 6.89419103e-03 -1.44840750e+02] [-7.70087054e-03 8.86177311e-05 -9.99970344e-01 -1.04656166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.650385723 meters 0.015980862395522835 Centerline is valid? [True, True] Translation: X:215.01, Y:-144.93, Z:-10.47 [[-3.86155215e-01 -9.22428999e-01 2.98188236e-03 2.15013106e+02] [-9.22399686e-01 3.86166718e-01 7.35431917e-03 -1.44930805e+02] [-7.93534099e-03 8.94213517e-05 -9.99968511e-01 -1.04659888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.710385723 meters 0.016462940907255787 Centerline is valid? [True, True] Translation: X:214.95, Y:-145.03, Z:-10.47 [[-3.16578216e-01 -9.48563667e-01 2.28085132e-03 2.14949048e+02] [-9.48536633e-01 3.16586415e-01 7.16227273e-03 -1.45034625e+02] [-7.51595823e-03 1.03948495e-04 -9.99971749e-01 -1.04665460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.770385723 meters 0.017060596906050635 Centerline is valid? [True, True] Translation: X:214.89, Y:-145.14, Z:-10.47 [[-2.44497680e-01 -9.69648784e-01 1.45588216e-03 2.14893155e+02] [-9.69629083e-01 2.44501994e-01 6.18188574e-03 -1.45139775e+02] [-6.35022408e-03 9.97910300e-05 -9.99979832e-01 -1.04670630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.830385723 meters 0.017715764817466353 Centerline is valid? [True, True] Translation: X:214.84, Y:-145.26, Z:-10.47 [[-1.70096596e-01 -9.85426889e-01 9.96886020e-04 2.14843420e+02] [-9.85406029e-01 1.70099483e-01 6.41288304e-03 -1.45257868e+02] [-6.48899718e-03 1.08472082e-04 -9.99978940e-01 -1.04661371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.890385723 meters 0.01676291993928913 Centerline is valid? [True, True] Translation: X:214.80, Y:-145.37, Z:-10.47 [[-9.39386218e-02 -9.95577900e-01 4.24847814e-04 2.14799998e+02] [-9.95562800e-01 9.39395373e-02 5.48407878e-03 -1.45368696e+02] [-5.49973764e-03 9.22041236e-05 -9.99984872e-01 -1.04679103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.950385723 meters 0.016274493877542314 Centerline is valid? [True, True] Translation: X:214.77, Y:-145.49, Z:-10.47 [[-1.46290530e-02 -9.99892990e-01 2.65676770e-06 2.14765992e+02] [-9.99871994e-01 1.46287630e-02 6.48035614e-03 -1.45489561e+02] [-6.47970154e-03 9.21450458e-05 -9.99979002e-01 -1.04679907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.010385723 meters 0.016236973871241848 Centerline is valid? [True, True] Translation: X:214.74, Y:-145.62, Z:-10.47 [[ 6.36325967e-02 -9.97973324e-01 -3.69419014e-04 2.14741084e+02] [-9.97961739e-01 -6.36336382e-02 4.80921393e-03 -1.45615142e+02] [-4.82297469e-03 6.26432712e-05 -9.99988367e-01 -1.04686185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.070385723 meters 0.015905756665438642 Centerline is valid? [True, True] Translation: X:214.73, Y:-145.75, Z:-10.47 [[ 1.40398733e-01 -9.90094657e-01 -8.75109313e-04 2.14725788e+02] [-9.90078593e-01 -1.40401440e-01 5.64051445e-03 -1.45745613e+02] [-5.70750983e-03 7.45059165e-05 -9.99983709e-01 -1.04684225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.130385723 meters 0.01597269014013113 Centerline is valid? [True, True] Translation: X:214.72, Y:-145.87, Z:-10.47 [[ 2.15812565e-01 -9.76433389e-01 -1.66527744e-03 2.14720992e+02] [-9.76407745e-01 -2.15818967e-01 7.07731198e-03 -1.45865081e+02] [-7.26992218e-03 9.86169436e-05 -9.99973569e-01 -1.04682881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.190385723 meters 0.0164401300620167 Centerline is valid? [True, True] Translation: X:214.73, Y:-145.99, Z:-10.47 [[ 2.88542402e-01 -9.57465385e-01 -1.82162308e-03 2.14727862e+02] [-9.57448289e-01 -2.88548137e-01 5.72238841e-03 -1.45994817e+02] [-6.00461477e-03 9.29581991e-05 -9.99981968e-01 -1.04690815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.250385723 meters 0.01654177866670049 Centerline is valid? [True, True] Translation: X:214.74, Y:-146.12, Z:-10.47 [[ 3.59361218e-01 -9.33195401e-01 -2.42061854e-03 2.14741283e+02] [-9.33176321e-01 -3.59369352e-01 5.96841805e-03 -1.46118069e+02] [-6.43959639e-03 1.14045925e-04 -9.99979259e-01 -1.04687103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.310385723 meters 0.0172831980183005 Centerline is valid? [True, True] Translation: X:214.76, Y:-146.24, Z:-10.47 [[ 4.28349963e-01 -9.03608341e-01 -2.87652412e-03 2.14763948e+02] [-9.03589919e-01 -4.28359603e-01 5.77148154e-03 -1.46236462e+02] [-6.44734559e-03 1.26984291e-04 -9.99979208e-01 -1.04681140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.370385723 meters 0.018236923958538577 Centerline is valid? [True, True] Translation: X:214.80, Y:-146.35, Z:-10.47 [[ 4.94030214e-01 -8.69439058e-01 -3.14185616e-03 2.14796120e+02] [-8.69423218e-01 -4.94040185e-01 5.25009040e-03 -1.46352386e+02] [-6.11683685e-03 1.37899412e-04 -9.99981282e-01 -1.04689218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.430385723 meters 0.0177468920062901 Centerline is valid? [True, True] Translation: X:214.83, Y:-146.47, Z:-10.47 [[ 5.56750416e-01 -8.30672437e-01 -3.50369115e-03 2.14829949e+02] [-8.30657704e-01 -5.56761419e-01 4.94984274e-03 -1.46466496e+02] [-6.06241799e-03 1.54541045e-04 -9.99981611e-01 -1.04682991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.490385723 meters 0.01808580923757699 Centerline is valid? [True, True] Translation: X:214.88, Y:-146.57, Z:-10.47 [[ 6.17516768e-01 -7.86545851e-01 -4.32041087e-03 2.14876031e+02] [-7.86528639e-01 -6.17531854e-01 5.20674318e-03 -1.46574418e+02] [-6.76333358e-03 1.82875662e-04 -9.99977112e-01 -1.04687001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.550385723 meters 0.017698049386691922 Centerline is valid? [True, True] Translation: X:214.93, Y:-146.68, Z:-10.47 [[ 6.75402469e-01 -7.37428552e-01 -5.53488384e-03 2.14929051e+02] [-7.37406409e-01 -6.75425112e-01 5.71887596e-03 -1.46682364e+02] [-7.95566196e-03 2.18915876e-04 -9.99968329e-01 -1.04680687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.610385723 meters 0.018537791261606998 Centerline is valid? [True, True] Translation: X:214.99, Y:-146.79, Z:-10.47 [[ 7.30207094e-01 -6.83199954e-01 -5.95178365e-03 2.14993633e+02] [-6.83179590e-01 -7.30231319e-01 5.27908962e-03 -1.46787118e+02] [-7.95285261e-03 2.11308425e-04 -9.99968353e-01 -1.04663579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.670385723 meters 0.017140885916337285 Centerline is valid? [True, True] Translation: X:215.01, Y:-146.82, Z:-10.47 [[ 7.83074288e-01 -6.21906365e-01 -5.20888878e-03 2.15008664e+02] [-6.21893913e-01 -7.83091597e-01 3.93851090e-03 -1.46817796e+02] [-6.52842203e-03 1.55229611e-04 -9.99978678e-01 -1.04694342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.730385723 meters 0.016537263849666143 Centerline is valid? [True, True] Translation: X:215.02, Y:-146.85, Z:-10.47 [[ 8.31940783e-01 -5.54844092e-01 -4.75037467e-03 2.15023802e+02] [-5.54835778e-01 -8.31954339e-01 3.03934915e-03 -1.46847093e+02] [-5.63845974e-03 1.07119316e-04 -9.99984098e-01 -1.04693918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.790385723 meters 0.015586440693425789 Centerline is valid? [True, True] Translation: X:215.04, Y:-146.87, Z:-10.47 [[ 8.74353169e-01 -4.85275228e-01 -3.80635027e-03 2.15043653e+02] [-4.85270965e-01 -8.74361452e-01 2.03518978e-03 -1.46874948e+02] [-4.31575313e-03 6.76366373e-05 -9.99990685e-01 -1.04708283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.850385723 meters 0.015247130767008088 Centerline is valid? [True, True] Translation: X:215.07, Y:-146.90, Z:-10.47 [[ 9.09900586e-01 -4.14809387e-01 -3.75433098e-03 2.15065441e+02] [-4.14806133e-01 -9.09908330e-01 1.64419061e-03 -1.46901895e+02] [-4.09812273e-03 6.12695146e-05 -9.99991601e-01 -1.04709641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.910385723 meters 0.015023405193831626 Centerline is valid? [True, True] Translation: X:215.09, Y:-146.93, Z:-10.47 [[ 9.39936765e-01 -3.41310511e-01 -5.10031136e-03 2.15089967e+02] [-3.41305918e-01 -9.39950599e-01 1.77236160e-03 -1.46927134e+02] [-5.39896636e-03 7.48586164e-05 -9.99985423e-01 -1.04686899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9703857229999 meters 0.016971274070156462 Centerline is valid? [True, True] Translation: X:215.12, Y:-146.95, Z:-10.47 [[ 9.63384649e-01 -2.68018257e-01 -7.49875191e-03 2.15115241e+02] [-2.68011092e-01 -9.63413826e-01 1.96333408e-03 -1.46952731e+02] [-7.75061065e-03 1.18302771e-04 -9.99969957e-01 -1.04654385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.030385723 meters 0.014979118114394197 Centerline is valid? [True, True] Translation: X:215.14, Y:-146.97, Z:-10.47 [[ 9.81196262e-01 -1.92903833e-01 -6.48125153e-03 2.15142125e+02] [-1.92900353e-01 -9.81217662e-01 1.16376999e-03 -1.46972553e+02] [-6.58401416e-03 1.08348946e-04 -9.99978319e-01 -1.04679311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0903857229999 meters 0.016234253355110605 Centerline is valid? [True, True] Translation: X:215.17, Y:-146.99, Z:-10.47 [[ 9.92836505e-01 -1.19243161e-01 -7.53283460e-03 2.15168096e+02] [-1.19240899e-01 -9.92865069e-01 7.50252468e-04 -1.46988486e+02] [-7.56855082e-03 1.53343935e-04 -9.99971346e-01 -1.04656603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.150385723 meters 0.01664434613752467 Centerline is valid? [True, True] Translation: X:215.20, Y:-147.00, Z:-10.47 [[ 9.99021588e-01 -4.36364292e-02 -7.19225449e-03 2.15196029e+02] [-4.36364782e-02 -9.99047464e-01 1.50189908e-04 -1.47001911e+02] [-7.19195736e-03 1.63801695e-04 -9.99974124e-01 -1.04676500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.210385723 meters 0.01702732163800608 Centerline is valid? [True, True] Translation: X:215.22, Y:-147.01, Z:-10.47 [[ 9.99396794e-01 3.40991596e-02 -6.58000736e-03 2.15224857e+02] [ 3.40974055e-02 -9.99418443e-01 -3.78603482e-04 -1.47014483e+02] [-6.58909077e-03 1.54013927e-04 -9.99978280e-01 -1.04666925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.270385723 meters 0.01680403124899524 Centerline is valid? [True, True] Translation: X:215.26, Y:-147.03, Z:-10.47 [[ 9.93782489e-01 1.11155002e-01 -6.39767760e-03 2.15255474e+02] [ 1.11151674e-01 -9.93803069e-01 -8.74502066e-04 -1.47026640e+02] [-6.45523692e-03 1.57952262e-04 -9.99979152e-01 -1.04672181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.330385723 meters 0.016416717949133585 Centerline is valid? [True, True] Translation: X:215.29, Y:-147.04, Z:-10.47 [[ 9.82148908e-01 1.88022114e-01 -5.58626887e-03 2.15287906e+02] [ 1.88018243e-01 -9.82164785e-01 -1.21504122e-03 -1.47039195e+02] [-5.71509118e-03 1.43030952e-04 -9.99983659e-01 -1.04687713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.390385723 meters 0.017067309584131156 Centerline is valid? [True, True] Translation: X:215.32, Y:-147.05, Z:-10.47 [[ 9.64362667e-01 2.64511577e-01 -6.18643886e-03 2.15319348e+02] [ 2.64505062e-01 -9.64382497e-01 -1.86334323e-03 -1.47045706e+02] [-6.45896921e-03 1.60594251e-04 -9.99979128e-01 -1.04681205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.450385723 meters 0.018836901576288752 Centerline is valid? [True, True] Translation: X:215.35, Y:-147.05, Z:-10.46 [[ 9.39345002e-01 3.42888427e-01 -7.64808713e-03 2.15354078e+02] [ 3.42875563e-01 -9.39376121e-01 -2.97517944e-03 -1.47053230e+02] [-8.20458501e-03 1.72377757e-04 -9.99966327e-01 -1.04644781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.510385723 meters 0.015319610304052966 Centerline is valid? [True, True] Translation: X:215.39, Y:-147.06, Z:-10.47 [[ 9.08518118e-01 4.17781685e-01 -7.30019847e-03 2.15389695e+02] [ 4.17766877e-01 -9.08547435e-01 -3.52066071e-03 -1.47057319e+02] [-8.10344416e-03 1.48802925e-04 -9.99967156e-01 -1.04669463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.570385723 meters 0.015151222377067928 Centerline is valid? [True, True] Translation: X:215.42, Y:-147.05, Z:-10.47 [[ 8.72184217e-01 4.89150328e-01 -5.16218838e-03 2.15422380e+02] [ 4.89141087e-01 -8.72199488e-01 -3.00825440e-03 -1.47054467e+02] [-5.97394669e-03 9.87135688e-05 -9.99982151e-01 -1.04699127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.630385723 meters 0.014925638844719074 Centerline is valid? [True, True] Translation: X:215.46, Y:-147.05, Z:-10.47 [[ 8.31157386e-01 5.56023503e-01 -3.90683329e-03 2.15458158e+02] [ 5.56016920e-01 -8.31166565e-01 -2.70677175e-03 -1.47051620e+02] [-4.75225791e-03 7.74879193e-05 -9.99988705e-01 -1.04702074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.690385723 meters 0.015041543637336174 Centerline is valid? [True, True] Translation: X:215.49, Y:-147.04, Z:-10.47 [[ 7.84930726e-01 6.19575136e-01 -3.22592510e-03 2.15489356e+02] [ 6.19569552e-01 -7.84937352e-01 -2.63122296e-03 -1.47042679e+02] [-4.16238943e-03 6.66427747e-05 -9.99991335e-01 -1.04705863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.750385723 meters 0.014874948097789647 Centerline is valid? [True, True] Translation: X:215.52, Y:-147.03, Z:-10.47 [[ 7.32536252e-01 6.80716051e-01 -4.03693381e-03 2.15521093e+02] [ 6.80705124e-01 -7.32547372e-01 -3.85775030e-03 -1.47031854e+02] [-5.58327780e-03 7.79804174e-05 -9.99984410e-01 -1.04703118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.810385723 meters 0.014830474811406083 Centerline is valid? [True, True] Translation: X:215.55, Y:-147.02, Z:-10.47 [[ 6.76230416e-01 7.36675009e-01 -4.72808863e-03 2.15550789e+02] [ 7.36656044e-01 -6.76246939e-01 -5.28691408e-03 -1.47017250e+02] [-7.09209294e-03 9.21970438e-05 -9.99974847e-01 -1.04680555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.870385723 meters 0.01518121925717363 Centerline is valid? [True, True] Translation: X:215.57, Y:-147.00, Z:-10.47 [[ 6.17240192e-01 7.86764466e-01 -4.02752490e-03 2.15573053e+02] [ 7.86746727e-01 -6.17253325e-01 -5.28399067e-03 -1.46996718e+02] [-6.64325924e-03 9.28493824e-05 -9.99977929e-01 -1.04685368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.930385723 meters 0.0148308327724854 Centerline is valid? [True, True] Translation: X:215.60, Y:-146.98, Z:-10.47 [[ 5.53006920e-01 8.33170622e-01 -3.17182055e-03 2.15599842e+02] [ 8.33156118e-01 -5.53016011e-01 -4.91668394e-03 -1.46978248e+02] [-5.85050416e-03 7.63385437e-05 -9.99982883e-01 -1.04694063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.990385723 meters 0.01688343947239823 Centerline is valid? [True, True] Translation: X:215.62, Y:-146.96, Z:-10.47 [[ 4.84909598e-01 8.74557304e-01 -3.49333220e-03 2.15621136e+02] [ 8.74533313e-01 -4.84922173e-01 -6.47845551e-03 -1.46955457e+02] [-7.35977483e-03 8.64298774e-05 -9.99972913e-01 -1.04667041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.050385723 meters 0.01445008218684225 Centerline is valid? [True, True] Translation: X:215.64, Y:-146.93, Z:-10.47 [[ 4.13507337e-01 9.10496917e-01 -2.65460430e-03 2.15643261e+02] [ 9.10477112e-01 -4.13515853e-01 -6.00560077e-03 -1.46932821e+02] [-6.56580194e-03 6.64035243e-05 -9.99978443e-01 -1.04692363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.110385723 meters 0.014541537616148516 Centerline is valid? [True, True] Translation: X:215.66, Y:-146.91, Z:-10.47 [[ 3.42339076e-01 9.39574384e-01 -1.98330061e-03 2.15661288e+02] [ 9.39557426e-01 -3.42344814e-01 -5.64554367e-03 -1.46908015e+02] [-5.98338089e-03 6.92653926e-05 -9.99982097e-01 -1.04693354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.170385723 meters 0.015176936933748676 Centerline is valid? [True, True] Translation: X:215.67, Y:-146.88, Z:-10.47 [[ 2.70271782e-01 9.62782309e-01 -1.84120954e-03 2.15671107e+02] [ 9.62757308e-01 -2.70278034e-01 -6.93899161e-03 -1.46880578e+02] [-7.17837685e-03 1.02775691e-04 -9.99974230e-01 -1.04702254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.230385723 meters 0.015733092092793687 Centerline is valid? [True, True] Translation: X:215.68, Y:-146.85, Z:-10.47 [[ 1.96723462e-01 9.80458456e-01 -1.04719246e-03 2.15682135e+02] [ 9.80441763e-01 -1.96726224e-01 -5.72212834e-03 -1.46853976e+02] [-5.81631933e-03 9.89656717e-05 -9.99983080e-01 -1.04715030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.290385723 meters 0.015742014159978068 Centerline is valid? [True, True] Translation: X:215.70, Y:-146.83, Z:-10.47 [[ 1.20971674e-01 9.92655742e-01 -6.57504651e-04 2.15695454e+02] [ 9.92635204e-01 -1.20973401e-01 -6.38650892e-03 -1.46827926e+02] [-6.41914532e-03 1.19924408e-04 -9.99979390e-01 -1.04703371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.350385723 meters 0.01671541633795336 Centerline is valid? [True, True] Translation: X:215.70, Y:-146.80, Z:-10.47 [[ 4.55436800e-02 9.98962336e-01 -1.56506428e-04 2.15699235e+02] [ 9.98941330e-01 -4.55437374e-02 -6.47979985e-03 -1.46802408e+02] [-6.48020388e-03 1.38773191e-04 -9.99978994e-01 -1.04711855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.410385723 meters 0.017026006044600174 Centerline is valid? [True, True] Translation: X:215.70, Y:-146.78, Z:-10.47 [[-3.26803756e-02 9.99465779e-01 3.86561394e-04 2.15704219e+02] [ 9.99440470e-01 3.26822997e-02 -7.11439165e-03 -1.46776087e+02] [-7.12322471e-03 1.53844109e-04 -9.99974618e-01 -1.04700081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4703857229999 meters 0.016491569056550984 Centerline is valid? [True, True] Translation: X:215.71, Y:-146.75, Z:-10.47 [[-1.15259145e-01 9.93334883e-01 1.06764774e-03 2.15708271e+02] [ 9.93302701e-01 1.15264006e-01 -7.99703979e-03 -1.46750394e+02] [-8.06679994e-03 1.38765414e-04 -9.99967453e-01 -1.04681053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.530385723 meters 0.015544684975388336 Centerline is valid? [True, True] Translation: X:215.71, Y:-146.72, Z:-10.47 [[-1.95730042e-01 9.80656432e-01 1.64718089e-03 2.15712718e+02] [ 9.80626318e-01 1.95736941e-01 -7.68604263e-03 -1.46722768e+02] [-7.85978129e-03 1.10879484e-04 -9.99969105e-01 -1.04701084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5903857229999 meters 0.015643902939453235 Centerline is valid? [True, True] Translation: X:215.71, Y:-146.70, Z:-10.47 [[-2.73586241e-01 9.61845358e-01 2.01875364e-03 2.15713882e+02] [ 9.61821480e-01 2.73593675e-01 -6.77801217e-03 -1.46696983e+02] [-7.07171777e-03 8.73097410e-05 -9.99974991e-01 -1.04688924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.650385723 meters 0.015384701352172354 Centerline is valid? [True, True] Translation: X:215.71, Y:-146.67, Z:-10.47 [[-3.51274461e-01 9.36268943e-01 2.59216232e-03 2.15707966e+02] [ 9.36244793e-01 3.51284019e-01 -6.72506466e-03 -1.46673650e+02] [-7.20705438e-03 6.45550132e-05 -9.99974027e-01 -1.04689094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.710385723 meters 0.014974681327585202 Centerline is valid? [True, True] Translation: X:215.70, Y:-146.65, Z:-10.47 [[-4.28071385e-01 9.03740172e-01 2.93095492e-03 2.15704887e+02] [ 9.03719412e-01 4.28081418e-01 -6.12570491e-03 -1.46648011e+02] [-6.79073295e-03 2.65218722e-05 -9.99976942e-01 -1.04704105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.770385723 meters 0.014842863367044408 Centerline is valid? [True, True] Translation: X:215.70, Y:-146.62, Z:-10.47 [[-5.00085330e-01 8.65969133e-01 3.48174802e-03 2.15698681e+02] [ 8.65948241e-01 5.00097450e-01 -6.01529092e-03 -1.46623461e+02] [-6.95026957e-03 6.85482831e-06 -9.99975847e-01 -1.04681793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.830385723 meters 0.015040287449627045 Centerline is valid? [True, True] Translation: X:215.69, Y:-146.60, Z:-10.47 [[-5.65767978e-01 8.24555116e-01 3.93149207e-03 2.15686120e+02] [ 8.24535357e-01 5.65781638e-01 -5.70826413e-03 -1.46603503e+02] [-6.93114441e-03 1.21011601e-05 -9.99975979e-01 -1.04696697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.890385723 meters 0.015051350345738625 Centerline is valid? [True, True] Translation: X:215.68, Y:-146.58, Z:-10.47 [[-6.31686127e-01 7.75214133e-01 3.96050525e-03 2.15682415e+02] [ 7.75198757e-01 6.31698542e-01 -4.88246040e-03 -1.46576857e+02] [-6.28679770e-03 -1.40037560e-05 -9.99980238e-01 -1.04695542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.950385723 meters 0.015160292690034187 Centerline is valid? [True, True] Translation: X:215.67, Y:-146.55, Z:-10.47 [[-6.90899081e-01 7.22934082e-01 4.97727206e-03 2.15673655e+02] [ 7.22915110e-01 6.90917009e-01 -5.23747341e-03 -1.46552581e+02] [-7.22522995e-03 -2.04203934e-05 -9.99973898e-01 -1.04681669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.010385723 meters 0.015220398335752807 Centerline is valid? [True, True] Translation: X:215.66, Y:-146.53, Z:-10.47 [[-7.43168789e-01 6.69078340e-01 5.85892174e-03 2.15660151e+02] [ 6.69057594e-01 7.43191883e-01 -5.26881443e-03 -1.46533082e+02] [-7.87955269e-03 4.33764477e-06 -9.99968956e-01 -1.04675366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.070385723 meters 0.015807502488082138 Centerline is valid? [True, True] Translation: X:216.20, Y:-145.94, Z:-11.45 [[-7.03253391e-01 -7.10926061e-01 4.33633673e-03 2.16198342e+02] [ 7.10911803e-01 -7.03266755e-01 -4.50337596e-03 -1.45935663e+02] [ 6.25116879e-03 -8.42614540e-05 9.99980458e-01 -1.14511324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.130385723 meters 0.01662618894089217 Centerline is valid? [True, True] Translation: X:216.16, Y:-145.89, Z:-11.45 [[-7.09614211e-01 -7.04581262e-01 3.59399357e-03 2.16159592e+02] [ 7.04571581e-01 -7.09623307e-01 -3.69463230e-03 -1.45892991e+02] [ 5.15355029e-03 -8.95378573e-05 9.99986716e-01 -1.14499195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.190385723 meters 0.01810533939149254 Centerline is valid? [True, True] Translation: X:216.12, Y:-145.85, Z:-11.45 [[-7.13892153e-01 -7.00245365e-01 3.79786073e-03 2.16121184e+02] [ 7.00234505e-01 -7.13902244e-01 -3.90192513e-03 -1.45850657e+02] [ 5.44360629e-03 -1.26160601e-04 9.99985176e-01 -1.14500957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.250385723 meters 0.018813757695043065 Centerline is valid? [True, True] Translation: X:216.08, Y:-145.81, Z:-11.45 [[-7.15911577e-01 -6.98181747e-01 3.58640483e-03 2.16080609e+02] [ 6.98172047e-01 -7.15920548e-01 -3.68268405e-03 -1.45809266e+02] [ 5.13876369e-03 -1.32548541e-04 9.99986788e-01 -1.14505449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.310385723 meters 0.01919611456810255 Centerline is valid? [True, True] Translation: X:216.04, Y:-145.77, Z:-11.45 [[-7.16884875e-01 -6.97180907e-01 3.85466001e-03 2.16038606e+02] [ 6.97169699e-01 -7.16895223e-01 -3.95600422e-03 -1.45768586e+02] [ 5.52143796e-03 -1.48647432e-04 9.99984746e-01 -1.14508469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.370385723 meters 0.01905955890871725 Centerline is valid? [True, True] Translation: X:216.00, Y:-145.73, Z:-11.45 [[-7.16445359e-01 -6.97634780e-01 3.42955407e-03 2.15996636e+02] [ 6.97625923e-01 -7.16453556e-01 -3.51759172e-03 -1.45729025e+02] [ 4.91111054e-03 -1.27616434e-04 9.99987932e-01 -1.14503213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.430385723 meters 0.018677270013558518 Centerline is valid? [True, True] Translation: X:215.95, Y:-145.69, Z:-11.45 [[-7.15332858e-01 -6.98774076e-01 3.70037899e-03 2.15953510e+02] [ 6.98763791e-01 -7.15342418e-01 -3.79346523e-03 -1.45689385e+02] [ 5.29781322e-03 -1.27899477e-04 9.99985958e-01 -1.14508375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.490385723 meters 0.017666736064189545 Centerline is valid? [True, True] Translation: X:215.91, Y:-145.65, Z:-11.45 [[-7.14778794e-01 -6.99344301e-01 2.97072713e-03 2.15910962e+02] [ 6.99337684e-01 -7.14784960e-01 -3.04377522e-03 -1.45650158e+02] [ 4.25207792e-03 -9.80845491e-05 9.99990955e-01 -1.14484502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.550385723 meters 0.01732248060309994 Centerline is valid? [True, True] Translation: X:215.87, Y:-145.61, Z:-11.45 [[-7.14388592e-01 -6.99743994e-01 2.69874954e-03 2.15868039e+02] [ 6.99738542e-01 -7.14393684e-01 -2.76357302e-03 -1.45611003e+02] [ 3.86176325e-03 -8.58459718e-05 9.99992540e-01 -1.14485650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.610385723 meters 0.017354549629480322 Centerline is valid? [True, True] Translation: X:215.83, Y:-145.57, Z:-11.45 [[-7.13263223e-01 -7.00890742e-01 2.78253598e-03 2.15826041e+02] [ 7.00884961e-01 -7.13268646e-01 -2.84780595e-03 -1.45571247e+02] [ 3.98069649e-03 -8.09976289e-05 9.99992074e-01 -1.14477449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.670385723 meters 0.01651196152884741 Centerline is valid? [True, True] Translation: X:215.78, Y:-145.53, Z:-11.45 [[-7.11230378e-01 -7.02954197e-01 2.59724205e-03 2.15782947e+02] [ 7.02949180e-01 -7.11235118e-01 -2.65677591e-03 -1.45531580e+02] [ 3.71484154e-03 -6.38505675e-05 9.99993098e-01 -1.14467773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.730385723 meters 0.01607670534282114 Centerline is valid? [True, True] Translation: X:215.74, Y:-145.49, Z:-11.45 [[-7.08772070e-01 -7.05432993e-01 2.53890857e-03 2.15739329e+02] [ 7.05428219e-01 -7.08776615e-01 -2.59566545e-03 -1.45492728e+02] [ 3.63058707e-03 -4.87174183e-05 9.99993408e-01 -1.14463462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.790385723 meters 0.015855402650188973 Centerline is valid? [True, True] Translation: X:215.70, Y:-145.45, Z:-11.45 [[-7.07724794e-01 -7.06482918e-01 2.73888941e-03 2.15696805e+02] [ 7.06477377e-01 -7.07730093e-01 -2.79855101e-03 -1.45452832e+02] [ 3.91552294e-03 -4.56405357e-05 9.99992333e-01 -1.14465204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.850385723 meters 0.015786214179735147 Centerline is valid? [True, True] Translation: X:215.66, Y:-145.41, Z:-11.45 [[-7.06440103e-01 -7.07763044e-01 3.72229461e-03 2.15656097e+02] [ 7.07752839e-01 -7.06449907e-01 -3.80102010e-03 -1.45413231e+02] [ 5.31983624e-03 -5.07284488e-05 9.99985848e-01 -1.14473931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.910385723 meters 0.015802515124122906 Centerline is valid? [True, True] Translation: X:215.61, Y:-145.37, Z:-11.45 [[-7.06241299e-01 -7.07956537e-01 4.55741505e-03 2.15614147e+02] [ 7.07941262e-01 -7.06256001e-01 -4.65094866e-03 -1.45374126e+02] [ 6.51137124e-03 -5.83098610e-05 9.99978799e-01 -1.14486723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9703857229999 meters 0.01608425618527595 Centerline is valid? [True, True] Translation: X:215.57, Y:-145.33, Z:-11.45 [[-7.08065036e-01 -7.06131350e-01 4.73514239e-03 2.15574499e+02] [ 7.06114837e-01 -7.08080865e-01 -4.82972110e-03 -1.45331253e+02] [ 6.76328120e-03 -7.62023483e-05 9.99977126e-01 -1.14487786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.030385723 meters 0.016539311721897227 Centerline is valid? [True, True] Translation: X:215.54, Y:-145.29, Z:-11.45 [[-7.11145922e-01 -7.03029908e-01 4.51952728e-03 2.15536138e+02] [ 7.03014819e-01 -7.11160277e-01 -4.60712987e-03 -1.45288145e+02] [ 6.45305835e-03 -9.90469713e-05 9.99979174e-01 -1.14476267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0903857229999 meters 0.01735822428971032 Centerline is valid? [True, True] Translation: X:215.50, Y:-145.25, Z:-11.45 [[-7.13992402e-01 -7.00138388e-01 4.59214829e-03 2.15495796e+02] [ 7.00122768e-01 -7.14007158e-01 -4.67848163e-03 -1.45247017e+02] [ 6.55441134e-03 -1.25332766e-04 9.99978512e-01 -1.14481925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.150385723 meters 0.017129447383866996 Centerline is valid? [True, True] Translation: X:215.45, Y:-145.21, Z:-11.45 [[-7.15668141e-01 -6.98421871e-01 5.09924902e-03 2.15453980e+02] [ 6.98402588e-01 -7.15686291e-01 -5.19221078e-03 -1.45206876e+02] [ 7.27581618e-03 -1.54571124e-04 9.99973519e-01 -1.14477912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.210385723 meters 0.017839048604939588 Centerline is valid? [True, True] Translation: X:215.41, Y:-145.17, Z:-11.45 [[-7.15688523e-01 -6.98388313e-01 6.61074950e-03 2.15413090e+02] [ 6.98355944e-01 -7.15719027e-01 -6.72686674e-03 -1.45168481e+02] [ 9.42940432e-03 -1.97685115e-04 9.99955523e-01 -1.14505579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.270385723 meters 0.01740883739140806 Centerline is valid? [True, True] Translation: X:215.37, Y:-145.13, Z:-11.45 [[-7.15029590e-01 -6.99053582e-01 7.53492425e-03 2.15371618e+02] [ 6.99011616e-01 -7.15069259e-01 -7.66262410e-03 -1.45128349e+02] [ 1.07445775e-02 -2.12003392e-04 9.99942253e-01 -1.14488771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.330385723 meters 0.016887812271692476 Centerline is valid? [True, True] Translation: X:215.33, Y:-145.09, Z:-11.45 [[-7.13296362e-01 -7.00831997e-01 6.54313320e-03 2.15326672e+02] [ 7.00800457e-01 -7.13326354e-01 -6.65070737e-03 -1.45090418e+02] [ 9.32841787e-03 -1.58494634e-04 9.99956477e-01 -1.14486735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.390385723 meters 0.0157794813692153 Centerline is valid? [True, True] Translation: X:215.28, Y:-145.05, Z:-11.45 [[-7.09876366e-01 -7.04295942e-01 6.53997697e-03 2.15281507e+02] [ 7.04264614e-01 -7.09906482e-01 -6.64383726e-03 -1.45053586e+02] [ 9.32199967e-03 -1.10428690e-04 9.99956543e-01 -1.14475720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.450385723 meters 0.015421646378120055 Centerline is valid? [True, True] Translation: X:215.24, Y:-145.01, Z:-11.45 [[-7.07945306e-01 -7.06242970e-01 5.85761608e-03 2.15239080e+02] [ 7.06217931e-01 -7.07969535e-01 -5.94743407e-03 -1.45014518e+02] [ 8.34734724e-03 -7.37045204e-05 9.99965158e-01 -1.14460325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.510385723 meters 0.015121190836416143 Centerline is valid? [True, True] Translation: X:215.20, Y:-144.98, Z:-11.45 [[-7.07666188e-01 -7.06520879e-01 6.06754967e-03 2.15195766e+02] [ 7.06494055e-01 -7.07692195e-01 -6.15687017e-03 -1.44976469e+02] [ 8.64391487e-03 -7.03210752e-05 9.99962638e-01 -1.14471409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.570385723 meters 0.015202467528731037 Centerline is valid? [True, True] Translation: X:215.16, Y:-144.94, Z:-11.45 [[-7.07671439e-01 -7.06508109e-01 6.88673720e-03 2.15156346e+02] [ 7.06473596e-01 -7.07704943e-01 -6.98373247e-03 -1.44935959e+02] [ 9.80784158e-03 -7.68900175e-05 9.99951899e-01 -1.14480798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.630385723 meters 0.014884101531242758 Centerline is valid? [True, True] Translation: X:215.11, Y:-144.90, Z:-11.45 [[-7.07636608e-01 -7.06547365e-01 6.42278235e-03 2.15114793e+02] [ 7.06517380e-01 -7.07665752e-01 -6.50962967e-03 -1.44895445e+02] [ 9.14454479e-03 -6.86449061e-05 9.99958185e-01 -1.14459175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.690385723 meters 0.014718675198421498 Centerline is valid? [True, True] Translation: X:215.07, Y:-144.85, Z:-11.45 [[-7.07194926e-01 -7.06987058e-01 6.68107688e-03 2.15072854e+02] [ 7.06954669e-01 -7.07226481e-01 -6.76761413e-03 -1.44854603e+02] [ 9.50965010e-03 -6.28038788e-05 9.99954780e-01 -1.14467386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.750385723 meters 0.014722936996381797 Centerline is valid? [True, True] Translation: X:215.04, Y:-144.81, Z:-11.45 [[-7.06858297e-01 -7.07313454e-01 7.68278567e-03 2.15035073e+02] [ 7.07270685e-01 -7.06900045e-01 -7.77852428e-03 -1.44813263e+02] [ 1.09328164e-02 -6.45053491e-05 9.99940233e-01 -1.14474086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.810385723 meters 0.01483926949134012 Centerline is valid? [True, True] Translation: X:215.00, Y:-144.77, Z:-11.45 [[-7.07612754e-01 -7.06562571e-01 7.31599424e-03 2.14996816e+02] [ 7.06523797e-01 -7.07650570e-01 -7.40238646e-03 -1.44771493e+02] [ 1.04074167e-02 -6.90990452e-05 9.99945839e-01 -1.14480458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.870385723 meters 0.01481903344823867 Centerline is valid? [True, True] Translation: X:214.96, Y:-144.73, Z:-11.45 [[-7.09130623e-01 -7.05036572e-01 7.56255475e-03 2.14958291e+02] [ 7.04995104e-01 -7.09170942e-01 -7.64710267e-03 -1.44728786e+02] [ 1.07546311e-02 -9.12306038e-05 9.99942163e-01 -1.14475582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.930385723 meters 0.015175012880826916 Centerline is valid? [True, True] Translation: X:214.92, Y:-144.69, Z:-11.45 [[-7.11118787e-01 -7.03034125e-01 7.28629518e-03 2.14919754e+02] [ 7.02995568e-01 -7.11156106e-01 -7.36369813e-03 -1.44685346e+02] [ 1.03586244e-02 -1.14230856e-04 9.99946342e-01 -1.14475444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.990385723 meters 0.01578008248074806 Centerline is valid? [True, True] Translation: X:214.88, Y:-144.64, Z:-11.45 [[-7.14579760e-01 -6.99512412e-01 7.62574994e-03 2.14882405e+02] [ 6.99470025e-01 -7.14620428e-01 -7.70249515e-03 -1.44640628e+02] [ 1.08375077e-02 -1.70063637e-04 9.99941258e-01 -1.14478187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.050385723 meters 0.016483705556260872 Centerline is valid? [True, True] Translation: X:214.84, Y:-144.60, Z:-11.45 [[-7.17056128e-01 -6.96965536e-01 8.33974204e-03 2.14844378e+02] [ 6.96914721e-01 -7.17104589e-01 -8.41906541e-03 -1.44596648e+02] [ 1.18482657e-02 -2.24853445e-04 9.99929782e-01 -1.14491792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.110385723 meters 0.017115083704133994 Centerline is valid? [True, True] Translation: X:214.81, Y:-144.55, Z:-11.45 [[-7.16819712e-01 -6.97196137e-01 9.32994973e-03 2.14807167e+02] [ 6.97132637e-01 -7.16880386e-01 -9.41266854e-03 -1.44554875e+02] [ 1.32509341e-02 -2.42973890e-04 9.99912173e-01 -1.14504355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.170385723 meters 0.01619441874864871 Centerline is valid? [True, True] Translation: X:214.77, Y:-144.51, Z:-11.45 [[-7.16564982e-01 -6.97467654e-01 8.57310249e-03 2.14766087e+02] [ 6.97414120e-01 -7.16616233e-01 -8.64405783e-03 -1.44514314e+02] [ 1.21725752e-02 -2.15026417e-04 9.99925888e-01 -1.14485960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.230385723 meters 0.016396953418385946 Centerline is valid? [True, True] Translation: X:214.73, Y:-144.47, Z:-11.45 [[-7.14617100e-01 -6.99466194e-01 8.33332996e-03 2.14727528e+02] [ 6.99415800e-01 -7.14665666e-01 -8.39786950e-03 -1.44471684e+02] [ 1.18295706e-02 -1.72798509e-04 9.99930013e-01 -1.14492558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.290385723 meters 0.015151212377379741 Centerline is valid? [True, True] Translation: X:214.69, Y:-144.43, Z:-11.45 [[-7.12879059e-01 -7.01242153e-01 7.93026343e-03 2.14685201e+02] [ 7.01196676e-01 -7.12923155e-01 -7.98728181e-03 -1.44432396e+02] [ 1.12546871e-02 -1.33291588e-04 9.99936655e-01 -1.14469719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.350385723 meters 0.01496804812682748 Centerline is valid? [True, True] Translation: X:214.64, Y:-144.39, Z:-11.45 [[-7.10967763e-01 -7.03184087e-01 7.54850668e-03 2.14644266e+02] [ 7.03143037e-01 -7.11007827e-01 -7.59863237e-03 -1.44393116e+02] [ 1.07102847e-02 -9.47027459e-05 9.99942639e-01 -1.14479826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.410385723 meters 0.014727651063771259 Centerline is valid? [True, True] Translation: X:214.61, Y:-144.35, Z:-11.45 [[-7.10859021e-01 -7.03294479e-01 7.50519175e-03 2.14607002e+02] [ 7.03253949e-01 -7.10898634e-01 -7.55082183e-03 -1.44348919e+02] [ 1.06458819e-02 -8.95140830e-05 9.99943327e-01 -1.14457625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4703857229999 meters 0.015276339696642735 Centerline is valid? [True, True] Translation: X:214.57, Y:-144.31, Z:-11.45 [[-7.12920247e-01 -7.01203408e-01 7.64868048e-03 2.14569226e+02] [ 7.01161242e-01 -7.12961266e-01 -7.69070212e-03 -1.44305794e+02] [ 1.08459594e-02 -1.19898952e-04 9.99941174e-01 -1.14466891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.530385723 meters 0.015406258350092412 Centerline is valid? [True, True] Translation: X:214.53, Y:-144.26, Z:-11.45 [[-7.14380446e-01 -6.99717549e-01 7.47861001e-03 2.14530363e+02] [ 6.99677200e-01 -7.14419577e-01 -7.51555252e-03 -1.44261995e+02] [ 1.06016294e-02 -1.36350851e-04 9.99943792e-01 -1.14462150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5903857229999 meters 0.01584662405407231 Centerline is valid? [True, True] Translation: X:214.49, Y:-144.22, Z:-11.44 [[-7.16137460e-01 -6.97927436e-01 6.66576753e-03 2.14492723e+02] [ 6.97895338e-01 -7.16168467e-01 -6.69500864e-03 -1.44217727e+02] [ 9.44644273e-03 -1.42538398e-04 9.99955371e-01 -1.14445257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.650385723 meters 0.016309289738110997 Centerline is valid? [True, True] Translation: X:214.45, Y:-144.18, Z:-11.45 [[-7.17845443e-01 -6.96163671e-01 7.35285764e-03 2.14453383e+02] [ 6.96124564e-01 -7.17883076e-01 -7.38109286e-03 -1.44175017e+02] [ 1.04169408e-02 -1.79979059e-04 9.99945726e-01 -1.14460679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.710385723 meters 0.016803145346106736 Centerline is valid? [True, True] Translation: X:214.42, Y:-144.13, Z:-11.45 [[-7.18624698e-01 -6.95362074e-01 7.08026260e-03 2.14416096e+02] [ 6.95325819e-01 -7.18659553e-01 -7.10292717e-03 -1.44132305e+02] [ 1.00274045e-02 -1.81249495e-04 9.99949708e-01 -1.14456862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.770385723 meters 0.016504923912957572 Centerline is valid? [True, True] Translation: X:214.38, Y:-144.09, Z:-11.44 [[-7.19672094e-01 -6.94276835e-01 7.19400298e-03 2.14376197e+02] [ 6.94239393e-01 -7.19708022e-01 -7.21305044e-03 -1.44089777e+02] [ 1.01854355e-02 -1.96670852e-04 9.99948108e-01 -1.14447884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.830385723 meters 0.016208791081779136 Centerline is valid? [True, True] Translation: X:214.34, Y:-144.05, Z:-11.44 [[-7.19021812e-01 -6.94948073e-01 7.40339941e-03 2.14335336e+02] [ 6.94908498e-01 -7.19059900e-01 -7.41887327e-03 -1.44048417e+02] [ 1.04792193e-02 -1.89646536e-04 9.99945074e-01 -1.14449544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.890385723 meters 0.016016376558533354 Centerline is valid? [True, True] Translation: X:214.30, Y:-144.01, Z:-11.44 [[-7.17319721e-01 -6.96716924e-01 6.15992869e-03 2.14296355e+02] [ 6.96689614e-01 -7.17346157e-01 -6.17029739e-03 -1.44006951e+02] [ 8.71775180e-03 -1.34517663e-04 9.99961991e-01 -1.14441210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.950385723 meters 0.015596634984339388 Centerline is valid? [True, True] Translation: X:214.25, Y:-143.97, Z:-11.44 [[-7.14858709e-01 -6.99238775e-01 6.49320670e-03 2.14254121e+02] [ 6.99208564e-01 -7.14888190e-01 -6.50077792e-03 -1.43966460e+02] [ 9.18751278e-03 -1.07031981e-04 9.99957788e-01 -1.14442423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.010385723 meters 0.015116577912119957 Centerline is valid? [True, True] Translation: X:214.21, Y:-143.93, Z:-11.44 [[-7.11626737e-01 -7.02532180e-01 5.99364762e-03 2.14211889e+02] [ 7.02506582e-01 -7.11651975e-01 -5.99734632e-03 -1.43926440e+02] [ 8.47871995e-03 -5.72950867e-05 9.99964053e-01 -1.14426415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.070385723 meters 0.015015137493980023 Centerline is valid? [True, True] Translation: X:214.17, Y:-143.89, Z:-11.44 [[-7.09927615e-01 -7.04249911e-01 5.90295928e-03 2.14172605e+02] [ 7.04225173e-01 -7.09952155e-01 -5.90281431e-03 -1.43886461e+02] [ 8.34787511e-03 -3.35583632e-05 9.99965155e-01 -1.14414855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.130385723 meters 0.015167136330664894 Centerline is valid? [True, True] Translation: X:213.59, Y:-144.45, Z:-10.48 [[-7.53825984e-01 6.57044919e-01 6.19355706e-03 2.13593902e+02] [ 6.57022933e-01 7.53851427e-01 -5.37510482e-03 -1.44452555e+02] [-8.20070714e-03 1.74153439e-05 -9.99966374e-01 -1.04777019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.190385723 meters 0.015155242228006302 Centerline is valid? [True, True] Translation: X:213.62, Y:-144.44, Z:-10.48 [[-7.98467867e-01 6.01994082e-01 7.22435951e-03 2.13620489e+02] [ 6.01969649e-01 7.98500548e-01 -5.42372115e-03 -1.44439416e+02] [-9.03370306e-03 1.81780927e-05 -9.99959195e-01 -1.04767799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.250385723 meters 0.015466917839227348 Centerline is valid? [True, True] Translation: X:214.12, Y:-143.80, Z:-11.44 [[-7.61381670e-01 -6.48274556e-01 6.16861321e-03 2.14120533e+02] [ 6.48252592e-01 -7.61406656e-01 -5.33682882e-03 -1.43798042e+02] [ 8.15655349e-03 -6.45441459e-05 9.99966733e-01 -1.14405089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.310385723 meters 0.015863738653786402 Centerline is valid? [True, True] Translation: X:213.58, Y:-144.42, Z:-10.48 [[-7.96038778e-01 6.05209257e-01 6.63477304e-03 2.13582864e+02] [ 6.05189061e-01 7.96066423e-01 -4.94480854e-03 -1.44420127e+02] [-8.27436394e-03 7.90327214e-05 -9.99965764e-01 -1.04786258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.370385723 meters 0.016569265642240243 Centerline is valid? [True, True] Translation: X:213.61, Y:-144.41, Z:-10.48 [[-8.34827215e-01 5.50453679e-01 8.01672180e-03 2.13608641e+02] [ 5.50429748e-01 8.34865697e-01 -5.13433417e-03 -1.44407138e+02] [-9.51909917e-03 1.26360261e-04 -9.99954684e-01 -1.04782364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.430385723 meters 0.017225885959555445 Centerline is valid? [True, True] Translation: X:213.63, Y:-144.39, Z:-10.48 [[-8.69793907e-01 4.93340915e-01 8.56165975e-03 2.13628857e+02] [ 4.93318892e-01 8.69836027e-01 -4.66441367e-03 -1.44388444e+02] [-9.74838621e-03 1.66549909e-04 -9.99952470e-01 -1.04790863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.490385723 meters 0.01737667980011748 Centerline is valid? [True, True] Translation: X:214.03, Y:-143.66, Z:-11.44 [[-8.54150253e-01 -5.19967086e-01 7.84696779e-03 2.14029608e+02] [ 5.19943146e-01 -8.54186277e-01 -4.99296929e-03 -1.43664197e+02] [ 9.29895190e-03 -1.84768861e-04 9.99956747e-01 -1.14405075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.550385723 meters 0.016961654882219172 Centerline is valid? [True, True] Translation: X:213.59, Y:-144.36, Z:-10.48 [[-8.71506794e-01 4.90335849e-01 6.83112369e-03 2.13586418e+02] [ 4.90321985e-01 8.71533555e-01 -3.68963649e-03 -1.44361221e+02] [-7.76271455e-03 1.33906862e-04 -9.99969861e-01 -1.04829655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.610385723 meters 0.01680623243646367 Centerline is valid? [True, True] Translation: X:213.98, Y:-143.65, Z:-11.44 [[-8.54350784e-01 -5.19664563e-01 5.78625769e-03 2.13983611e+02] [ 5.19651264e-01 -8.54370360e-01 -3.72172199e-03 -1.43647986e+02] [ 6.87765410e-03 -1.72819971e-04 9.99976334e-01 -1.14372430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.670385723 meters 0.016473884285014763 Centerline is valid? [True, True] Translation: X:213.56, Y:-144.33, Z:-10.48 [[-8.74910654e-01 4.84237102e-01 6.76588187e-03 2.13556269e+02] [ 4.84223547e-01 8.74936808e-01 -3.62471845e-03 -1.44334315e+02] [-7.67494225e-03 1.04894529e-04 -9.99970542e-01 -1.04816772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.730385723 meters 0.016959745412794814 Centerline is valid? [True, True] Translation: X:213.94, Y:-143.63, Z:-11.44 [[-8.54969910e-01 -5.18628666e-01 7.12454230e-03 2.13940031e+02] [ 5.18609951e-01 -8.54999592e-01 -4.40645043e-03 -1.43630827e+02] [ 8.37679226e-03 -7.25239925e-05 9.99964911e-01 -1.14368152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.790385723 meters 0.016740326381522327 Centerline is valid? [True, True] Translation: X:213.93, Y:-143.67, Z:-11.44 [[-8.18399963e-01 -5.74607252e-01 6.92864076e-03 2.13933480e+02] [ 5.74585380e-01 -8.18429282e-01 -5.01507362e-03 -1.43665755e+02] [ 8.55230016e-03 -1.23240378e-04 9.99963421e-01 -1.14367032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.850385723 meters 0.017010346577067438 Centerline is valid? [True, True] Translation: X:213.46, Y:-144.31, Z:-10.48 [[-8.41273203e-01 5.40561897e-01 7.22726330e-03 2.13463312e+02] [ 5.40543285e-01 8.41304237e-01 -4.48753249e-03 -1.44310964e+02] [-8.50611631e-03 1.31407817e-04 -9.99963814e-01 -1.04824389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.910385723 meters 0.01751258767371112 Centerline is valid? [True, True] Translation: X:213.89, Y:-143.64, Z:-11.44 [[-8.21494249e-01 -5.70182625e-01 6.24283649e-03 2.13892243e+02] [ 5.70164616e-01 -8.21517953e-01 -4.53475849e-03 -1.43643999e+02] [ 7.71424276e-03 -1.65833550e-04 9.99970231e-01 -1.14358250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9703857229999 meters 0.017474510266030734 Centerline is valid? [True, True] Translation: X:213.88, Y:-143.68, Z:-11.44 [[-7.81900445e-01 -6.23378892e-01 5.51836713e-03 2.13876280e+02] [ 6.23362246e-01 -7.81919908e-01 -4.55718461e-03 -1.43676154e+02] [ 7.15577381e-03 -1.23322947e-04 9.99974390e-01 -1.14353424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.030385723 meters 0.017739309397692516 Centerline is valid? [True, True] Translation: X:213.37, Y:-144.28, Z:-10.49 [[-8.03863233e-01 5.94789463e-01 5.42184423e-03 2.13374270e+02] [ 5.94776908e-01 8.03881509e-01 -3.86634587e-03 -1.44282265e+02] [-6.65818211e-03 1.16774452e-04 -9.99977827e-01 -1.04858049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0903857229999 meters 0.01770370833830808 Centerline is valid? [True, True] Translation: X:213.40, Y:-144.26, Z:-10.49 [[-8.44530880e-01 5.35477076e-01 5.64744959e-03 2.13399463e+02] [ 5.35465958e-01 8.44549756e-01 -3.45223888e-03 -1.44259527e+02] [-6.61814695e-03 1.08494669e-04 -9.99978094e-01 -1.04853156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.150385723 meters 0.017846187204783898 Centerline is valid? [True, True] Translation: X:213.42, Y:-144.23, Z:-10.48 [[-8.80598838e-01 4.73814815e-01 6.72365589e-03 2.13418508e+02] [ 4.73802033e-01 8.80624498e-01 -3.48229263e-03 -1.44229890e+02] [-7.57097793e-03 1.19178989e-04 -9.99971333e-01 -1.04827253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.210385723 meters 0.017561263759552786 Centerline is valid? [True, True] Translation: X:213.43, Y:-144.20, Z:-10.48 [[-9.10930029e-01 4.12494458e-01 7.40295512e-03 2.13426523e+02] [ 4.12482142e-01 9.10960098e-01 -3.19092676e-03 -1.44197809e+02] [-8.06003633e-03 1.46875776e-04 -9.99967507e-01 -1.04840859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.270385723 meters 0.017986673433887806 Centerline is valid? [True, True] Translation: X:213.44, Y:-144.17, Z:-10.48 [[-9.36948139e-01 3.49364156e-01 8.53650897e-03 2.13443639e+02] [ 3.49351482e-01 9.36987007e-01 -2.98185916e-03 -1.44169093e+02] [-9.04035270e-03 1.88394668e-04 -9.99959117e-01 -1.04828373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.330385723 meters 0.01835807262921831 Centerline is valid? [True, True] Translation: X:213.46, Y:-144.14, Z:-10.48 [[-9.58810353e-01 2.83926955e-01 8.25772861e-03 2.13461643e+02] [ 2.83918171e-01 9.58845893e-01 -2.24193841e-03 -1.44140198e+02] [-8.55443591e-03 1.94925447e-04 -9.99963391e-01 -1.04826086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.390385723 meters 0.018130078156944427 Centerline is valid? [True, True] Translation: X:213.66, Y:-143.44, Z:-11.44 [[-9.52676724e-01 -3.03903022e-01 7.07197905e-03 2.13655345e+02] [ 3.03892801e-01 -9.52702943e-01 -2.50361533e-03 -1.43437242e+02] [ 7.49835152e-03 -2.36012526e-04 9.99971859e-01 -1.14365622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.450385723 meters 0.017997594673171958 Centerline is valid? [True, True] Translation: X:213.41, Y:-144.11, Z:-10.48 [[-9.60012338e-01 2.79872855e-01 6.89174233e-03 2.13413426e+02] [ 2.79866831e-01 9.60037062e-01 -1.84319178e-03 -1.44114927e+02] [-7.13218740e-03 1.59283236e-04 -9.99974553e-01 -1.04825965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.510385723 meters 0.017827024708932836 Centerline is valid? [True, True] Translation: X:213.60, Y:-143.44, Z:-11.44 [[-9.53037702e-01 -3.02778296e-01 6.66644369e-03 2.13601444e+02] [ 3.02769689e-01 -9.53061004e-01 -2.28874811e-03 -1.43435878e+02] [ 7.04651077e-03 -1.62866162e-04 9.99975160e-01 -1.14370807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.570385723 meters 0.017177694653064072 Centerline is valid? [True, True] Translation: X:213.37, Y:-144.09, Z:-10.48 [[-9.62019281e-01 2.72892897e-01 6.95488147e-03 2.13371217e+02] [ 2.72886783e-01 9.62044411e-01 -1.83170202e-03 -1.44089626e+02] [-7.19076332e-03 1.35762572e-04 -9.99974137e-01 -1.04811283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.630385723 meters 0.017308787293788905 Centerline is valid? [True, True] Translation: X:213.37, Y:-144.06, Z:-10.48 [[-9.79218372e-01 2.02679924e-01 7.22691306e-03 2.13370984e+02] [ 2.02675374e-01 9.79245032e-01 -1.36421274e-03 -1.44057058e+02] [-7.35341724e-03 1.28855122e-04 -9.99972955e-01 -1.04805825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.690385723 meters 0.01688264430435451 Centerline is valid? [True, True] Translation: X:213.50, Y:-143.40, Z:-11.44 [[-9.72223742e-01 -2.33971634e-01 6.18620831e-03 2.13499898e+02] [ 2.33965767e-01 -9.72243408e-01 -1.66587392e-03 -1.43399473e+02] [ 6.40426749e-03 -1.72241203e-04 9.99979478e-01 -1.14389697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.750385723 meters 0.01683524776873554 Centerline is valid? [True, True] Translation: X:213.33, Y:-144.04, Z:-10.48 [[-9.80137371e-01 1.98214979e-01 6.44638970e-03 2.13325039e+02] [ 1.98211432e-01 9.80158564e-01 -1.19095132e-03 -1.44041551e+02] [-6.55454846e-03 1.10452237e-04 -9.99978513e-01 -1.04799094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.810385723 meters 0.016378139276767217 Centerline is valid? [True, True] Translation: X:213.32, Y:-144.01, Z:-10.48 [[-9.91951829e-01 1.26421571e-01 7.01112709e-03 2.13321183e+02] [ 1.26419171e-01 9.91976600e-01 -7.86275958e-04 -1.44011335e+02] [-7.05427626e-03 1.06392998e-04 -9.99975113e-01 -1.04809012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.870385723 meters 0.01604378996914366 Centerline is valid? [True, True] Translation: X:213.32, Y:-143.98, Z:-10.48 [[-9.98456250e-01 5.50153006e-02 7.64419055e-03 2.13322743e+02] [ 5.50145344e-02 9.98485505e-01 -3.10635369e-04 -1.43980842e+02] [-7.64970316e-03 1.10385758e-04 -9.99970735e-01 -1.04803069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.930385723 meters 0.01562045789745619 Centerline is valid? [True, True] Translation: X:213.31, Y:-143.95, Z:-10.48 [[-9.99815890e-01 -1.79271563e-02 6.84124432e-03 2.13313692e+02] [-1.79261481e-02 9.99839292e-01 2.08661083e-04 -1.43950226e+02] [-6.84388558e-03 8.59855074e-05 -9.99976577e-01 -1.04801717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.990385723 meters 0.015342961500861202 Centerline is valid? [True, True] Translation: X:213.29, Y:-143.30, Z:-11.44 [[-9.99630056e-01 -2.64401480e-02 6.37729024e-03 2.13294191e+02] [ 2.64388993e-02 -9.99650392e-01 -2.80041133e-04 -1.43300680e+02] [ 6.38246502e-03 -1.11328999e-04 9.99979626e-01 -1.14383323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.050385723 meters 0.01518824908154255 Centerline is valid? [True, True] Translation: X:213.24, Y:-143.95, Z:-10.48 [[-9.99596684e-01 -2.74936919e-02 7.11105239e-03 2.13243038e+02] [-2.74926135e-02 9.99621976e-01 2.49376073e-04 -1.43952874e+02] [-7.11522051e-03 5.37740798e-05 -9.99974685e-01 -1.04803239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.110385723 meters 0.01496965319879325 Centerline is valid? [True, True] Translation: X:213.22, Y:-143.30, Z:-11.44 [[-9.99586027e-01 -2.77621077e-02 7.55245075e-03 2.13218557e+02] [ 2.77611114e-02 -9.99614558e-01 -2.36745119e-04 -1.43303930e+02] [ 7.55611226e-03 -2.69826867e-05 9.99971452e-01 -1.14395409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.170385723 meters 0.014900383355787953 Centerline is valid? [True, True] Translation: X:213.17, Y:-143.96, Z:-10.48 [[-9.99332180e-01 -3.58374017e-02 7.13262171e-03 2.13170471e+02] [-3.58362968e-02 9.99357634e-01 2.82689366e-04 -1.43959367e+02] [-7.13817080e-03 2.68938321e-05 -9.99974523e-01 -1.04809866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.230385723 meters 0.01493894523779361 Centerline is valid? [True, True] Translation: X:213.16, Y:-143.94, Z:-10.48 [[-9.94264228e-01 -1.06706546e-01 7.23594567e-03 2.13161334e+02] [-1.06703513e-01 9.94290557e-01 8.05056623e-04 -1.43935897e+02] [-7.28053726e-03 2.83381785e-05 -9.99973496e-01 -1.04806256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.290385723 meters 0.014906180464975851 Centerline is valid? [True, True] Translation: X:213.15, Y:-143.91, Z:-10.48 [[-9.84212343e-01 -1.76868190e-01 6.61118972e-03 2.13152182e+02] [-1.76864004e-01 9.84234547e-01 1.21723768e-03 -1.43912354e+02] [-6.72225194e-03 2.87388658e-05 -9.99977405e-01 -1.04808977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.350385723 meters 0.014976008632102094 Centerline is valid? [True, True] Translation: X:213.14, Y:-143.89, Z:-10.48 [[-9.69408135e-01 -2.45354955e-01 6.98666483e-03 2.13135888e+02] [-2.45348281e-01 9.69433311e-01 1.81017879e-03 -1.43894566e+02] [-7.21724195e-03 4.06358417e-05 -9.99973955e-01 -1.04817289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.410385723 meters 0.01509987207330526 Centerline is valid? [True, True] Translation: X:213.11, Y:-143.88, Z:-10.48 [[-9.49175173e-01 -3.14682973e-01 6.41237369e-03 2.13108011e+02] [-3.14675531e-01 9.49196832e-01 2.16451220e-03 -1.43879823e+02] [-6.76773992e-03 3.66841459e-05 -9.99977098e-01 -1.04808823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4703857229999 meters 0.014876716437172116 Centerline is valid? [True, True] Translation: X:213.06, Y:-143.87, Z:-10.48 [[-9.23446135e-01 -3.83664072e-01 7.00827604e-03 2.13062477e+02] [-3.83652749e-01 9.23472728e-01 2.94783088e-03 -1.43871531e+02] [-7.60292859e-03 3.34186704e-05 -9.99971097e-01 -1.04807508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.530385723 meters 0.014948026285361434 Centerline is valid? [True, True] Translation: X:213.00, Y:-143.87, Z:-10.48 [[-8.92924070e-01 -4.50138408e-01 7.87526297e-03 2.12999046e+02] [-4.50120477e-01 8.92958796e-01 4.01805595e-03 -1.43873421e+02] [-8.84096665e-03 4.30017544e-05 -9.99960917e-01 -1.04789725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5903857229999 meters 0.014970562836509457 Centerline is valid? [True, True] Translation: X:212.93, Y:-143.89, Z:-10.48 [[-8.58152408e-01 -5.13334897e-01 7.85672887e-03 2.12925917e+02] [-5.13312724e-01 8.58188371e-01 4.77151125e-03 -1.43888645e+02] [-9.19193659e-03 6.17249712e-05 -9.99957751e-01 -1.04785089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.650385723 meters 0.015072090867999648 Centerline is valid? [True, True] Translation: X:212.85, Y:-143.91, Z:-10.48 [[-8.18384551e-01 -5.74623950e-01 7.35134130e-03 2.12851796e+02] [-5.74599937e-01 8.18417565e-01 5.25375766e-03 -1.43908368e+02] [-9.03540182e-03 7.55138561e-05 -9.99959177e-01 -1.04783854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.710385723 meters 0.01510259589356999 Centerline is valid? [True, True] Translation: X:212.77, Y:-143.94, Z:-10.48 [[-7.73634518e-01 -6.33599022e-01 6.47394514e-03 2.12770605e+02] [-6.33575980e-01 7.73661601e-01 5.40405234e-03 -1.43944103e+02] [-8.43264504e-03 7.90252868e-05 -9.99964442e-01 -1.04783876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.770385723 meters 0.014906953182449938 Centerline is valid? [True, True] Translation: X:212.69, Y:-143.99, Z:-10.48 [[-7.22976454e-01 -6.90841203e-01 6.59392048e-03 2.12685548e+02] [-6.90811498e-01 7.23006519e-01 6.40684269e-03 -1.43991409e+02] [-9.19355840e-03 7.68403173e-05 -9.99957735e-01 -1.04784906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.830385723 meters 0.014846400672277407 Centerline is valid? [True, True] Translation: X:212.60, Y:-144.05, Z:-10.48 [[-6.68412324e-01 -7.43770025e-01 5.57814947e-03 2.12600348e+02] [-7.43743278e-01 6.68435596e-01 6.30800207e-03 -1.44047878e+02] [-8.42033652e-03 6.76351504e-05 -9.99964546e-01 -1.04777654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.890385723 meters 0.015100637733790955 Centerline is valid? [True, True] Translation: X:212.52, Y:-144.12, Z:-10.48 [[-6.11429496e-01 -7.91283154e-01 4.99415342e-03 2.12520564e+02] [-7.91255649e-01 6.11449886e-01 6.59813128e-03 -1.44115578e+02] [-8.27466468e-03 8.26399806e-05 -9.99965761e-01 -1.04786741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.950385723 meters 0.015188678375002188 Centerline is valid? [True, True] Translation: X:212.44, Y:-144.19, Z:-10.48 [[-5.50250721e-01 -8.34988757e-01 4.23322161e-03 2.12438541e+02] [-8.34962817e-01 5.50266997e-01 6.58220828e-03 -1.44193029e+02] [-7.82547205e-03 8.72822074e-05 -9.99969377e-01 -1.04782683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.010385723 meters 0.01537309247660312 Centerline is valid? [True, True] Translation: X:212.35, Y:-144.30, Z:-10.48 [[-4.85322029e-01 -8.74327948e-01 3.62887162e-03 2.12352636e+02] [-8.74302113e-01 4.85335587e-01 6.72177023e-03 -1.44295039e+02] [-7.63825210e-03 8.94930384e-05 -9.99970824e-01 -1.04771674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.070385723 meters 0.01530644352959322 Centerline is valid? [True, True] Translation: X:212.28, Y:-144.38, Z:-10.48 [[-4.16430785e-01 -9.09162363e-01 3.03287787e-03 2.12284458e+02] [-9.09136754e-01 4.16441821e-01 6.82435575e-03 -1.44383037e+02] [-7.46746459e-03 8.45710826e-05 -9.99972115e-01 -1.04786407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.130385723 meters 0.014648632576516059 Centerline is valid? [True, True] Translation: X:212.22, Y:-144.47, Z:-10.48 [[-3.42796200e-01 -9.39406040e-01 2.65663499e-03 2.12215966e+02] [-9.39376246e-01 3.42806487e-01 7.48207850e-03 -1.44469375e+02] [-7.93942144e-03 6.92482725e-05 -9.99968480e-01 -1.04777220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.190385723 meters 0.014667808555571975 Centerline is valid? [True, True] Translation: X:212.15, Y:-144.58, Z:-10.48 [[-2.69324238e-01 -9.63046838e-01 2.28973684e-03 2.12154653e+02] [-9.63009635e-01 2.69333961e-01 8.46521419e-03 -1.44576198e+02] [-8.76910165e-03 7.48487219e-05 -9.99961548e-01 -1.04772551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.250385723 meters 0.015038885645443999 Centerline is valid? [True, True] Translation: X:212.10, Y:-144.69, Z:-10.48 [[-1.95794339e-01 -9.80643447e-01 1.73421221e-03 2.12099774e+02] [-9.80600618e-01 1.95801997e-01 9.16552658e-03 -1.44687767e+02] [-9.32767579e-03 9.39886571e-05 -9.99956492e-01 -1.04757437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.310385723 meters 0.015289599076266933 Centerline is valid? [True, True] Translation: X:212.05, Y:-144.81, Z:-10.47 [[-1.20490251e-01 -9.92713921e-01 1.08189319e-03 2.12050565e+02] [-9.92665403e-01 1.20495059e-01 9.81522145e-03 -1.44805653e+02] [-9.87406976e-03 1.08680551e-04 -9.99951244e-01 -1.04744007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.370385723 meters 0.015256914516376304 Centerline is valid? [True, True] Translation: X:212.01, Y:-144.92, Z:-10.48 [[-4.61516276e-02 -9.98934404e-01 2.89079341e-04 2.12009885e+02] [-9.98895025e-01 4.61523753e-02 8.87058641e-03 -1.44923583e+02] [-8.87447564e-03 1.20632084e-04 -9.99960614e-01 -1.04756193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.430385723 meters 0.015443663055119272 Centerline is valid? [True, True] Translation: X:211.98, Y:-145.05, Z:-10.47 [[ 2.90166913e-02 -9.99578846e-01 -4.03432468e-04 2.11979309e+02] [-9.99538055e-01 -2.90191523e-02 9.03133528e-03 -1.45053258e+02] [-9.03923896e-03 1.41186636e-04 -9.99959135e-01 -1.04749859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.490385723 meters 0.015537735341359521 Centerline is valid? [True, True] Translation: X:211.96, Y:-145.18, Z:-10.47 [[ 1.06323154e-01 -9.94330895e-01 -1.20751032e-03 2.11958960e+02] [-9.94282034e-01 -1.06329901e-01 9.85844942e-03 -1.45178837e+02] [-9.93095529e-03 1.52424381e-04 -9.99950675e-01 -1.04745987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.550385723 meters 0.014861043854888617 Centerline is valid? [True, True] Translation: X:211.94, Y:-145.31, Z:-10.47 [[ 1.86555922e-01 -9.82441670e-01 -2.29209431e-03 2.11944792e+02] [-9.82375975e-01 -1.86569955e-01 1.13620182e-02 -1.45305946e+02] [-1.15901560e-02 1.32046609e-04 -9.99932823e-01 -1.04732581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.610385723 meters 0.014405790201529644 Centerline is valid? [True, True] Translation: X:211.94, Y:-145.43, Z:-10.47 [[ 2.65927121e-01 -9.63988603e-01 -2.95636617e-03 2.11943168e+02] [-9.63932160e-01 -2.65943543e-01 1.04318043e-02 -1.45430416e+02] [-1.08423669e-02 7.56367512e-05 -9.99941217e-01 -1.04737821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.670385723 meters 0.014189803925368895 Centerline is valid? [True, True] Translation: X:211.95, Y:-145.56, Z:-10.48 [[ 3.42531220e-01 -9.39502680e-01 -2.66040217e-03 2.11952868e+02] [-9.39474953e-01 -3.42541550e-01 7.21798749e-03 -1.45555374e+02] [-7.69261688e-03 2.69951431e-05 -9.99970411e-01 -1.04762263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.730385723 meters 0.014132179101472533 Centerline is valid? [True, True] Translation: X:211.97, Y:-145.69, Z:-10.48 [[ 4.17317373e-01 -9.08755165e-01 -3.20309382e-03 2.11973478e+02] [-9.08728343e-01 -4.17329665e-01 6.98206450e-03 -1.45688233e+02] [-7.68173325e-03 -2.99467439e-06 -9.99970495e-01 -1.04753679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.790385723 meters 0.014224128052012912 Centerline is valid? [True, True] Translation: X:212.01, Y:-145.81, Z:-10.48 [[ 4.88931354e-01 -8.72313746e-01 -3.85492214e-03 2.12005153e+02] [-8.72286136e-01 -4.88946549e-01 6.94033254e-03 -1.45812690e+02] [-7.93899835e-03 -3.07510436e-05 -9.99968485e-01 -1.04764943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.850385723 meters 0.014499866425915175 Centerline is valid? [True, True] Translation: X:212.04, Y:-145.92, Z:-10.47 [[ 5.56640078e-01 -8.30737990e-01 -5.12001255e-03 2.12037263e+02] [-8.30701844e-01 -5.56663622e-01 7.74974813e-03 -1.45922665e+02] [-9.28813492e-03 -6.06165446e-05 -9.99956863e-01 -1.04730035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.910385723 meters 0.014475212471074419 Centerline is valid? [True, True] Translation: X:212.08, Y:-146.03, Z:-10.47 [[ 6.18569132e-01 -7.85700673e-01 -6.83228043e-03 2.12080494e+02] [-7.85651463e-01 -6.18606859e-01 8.79383791e-03 -1.46027199e+02] [-1.11358199e-02 -7.18055703e-05 -9.99937992e-01 -1.04723386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9703857229999 meters 0.014341004707384667 Centerline is valid? [True, True] Translation: X:212.13, Y:-146.13, Z:-10.47 [[ 6.74115479e-01 -7.38583004e-01 -7.96660603e-03 2.12134185e+02] [-7.38530870e-01 -6.74162551e-01 8.77547922e-03 -1.46129043e+02] [-1.18522072e-02 -3.21018867e-05 -9.99929760e-01 -1.04710907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.030385723 meters 0.01436248044205232 Centerline is valid? [True, True] Translation: X:212.20, Y:-146.23, Z:-10.47 [[ 7.23599045e-01 -6.90170564e-01 -8.30744373e-03 2.12199877e+02] [-6.90125893e-01 -7.23646730e-01 7.85251810e-03 -1.46227154e+02] [-1.14312313e-02 5.11074215e-05 -9.99934660e-01 -1.04724369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0903857229999 meters 0.014652263973016208 Centerline is valid? [True, True] Translation: X:212.22, Y:-146.25, Z:-10.47 [[ 7.72651025e-01 -6.34781484e-01 -7.92852824e-03 2.12218352e+02] [-6.34749241e-01 -7.72691698e-01 6.39854670e-03 -1.46250944e+02] [-1.01879869e-02 8.87836231e-05 -9.99948097e-01 -1.04724816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.150385723 meters 0.014969407491089732 Centerline is valid? [True, True] Translation: X:212.24, Y:-146.27, Z:-10.47 [[ 8.18538380e-01 -5.74409683e-01 -6.95964855e-03 2.12237159e+02] [-5.74389888e-01 -8.18567961e-01 4.76960046e-03 -1.46272409e+02] [-8.43665001e-03 9.34507192e-05 -9.99964406e-01 -1.04731218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.210385723 meters 0.014995235175671282 Centerline is valid? [True, True] Translation: X:212.26, Y:-146.29, Z:-10.47 [[ 8.61087280e-01 -5.08416277e-01 -6.44868511e-03 2.12258536e+02] [-5.08402717e-01 -8.61111423e-01 3.71402393e-03 -1.46292660e+02] [-7.44130663e-03 8.04302659e-05 -9.99972310e-01 -1.04747294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.270385723 meters 0.014276392820151388 Centerline is valid? [True, True] Translation: X:212.28, Y:-146.32, Z:-10.47 [[ 9.00329690e-01 -4.35131089e-01 -8.20886074e-03 2.12277603e+02] [-4.35113545e-01 -9.00367110e-01 3.90774405e-03 -1.46319189e+02] [-9.09136915e-03 5.35285063e-05 -9.99958671e-01 -1.04740896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.330385723 meters 0.013944309177983847 Centerline is valid? [True, True] Translation: X:212.30, Y:-146.35, Z:-10.48 [[ 9.33366154e-01 -3.58828636e-01 -8.34459073e-03 2.12298917e+02] [-3.58814378e-01 -9.33403455e-01 3.19880384e-03 -1.46345740e+02] [-8.93669223e-03 8.50389091e-06 -9.99960067e-01 -1.04750491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.390385723 meters 0.013892316399608747 Centerline is valid? [True, True] Translation: X:212.32, Y:-146.37, Z:-10.48 [[ 9.58856493e-01 -2.83788301e-01 -7.64365207e-03 2.12322850e+02] [-2.83779280e-01 -9.58886959e-01 2.26274267e-03 -1.46365464e+02] [-7.97153819e-03 -5.35419405e-07 -9.99968227e-01 -1.04760627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.450385723 meters 0.013830166006839449 Centerline is valid? [True, True] Translation: X:212.35, Y:-146.38, Z:-10.48 [[ 9.78181133e-01 -2.07639329e-01 -6.89787427e-03 2.12348730e+02] [-2.07634145e-01 -9.78205453e-01 1.46728320e-03 -1.46384153e+02] [-7.05220392e-03 -3.03451521e-06 -9.99975133e-01 -1.04771023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.510385723 meters 0.013813388711423843 Centerline is valid? [True, True] Translation: X:212.37, Y:-146.40, Z:-10.48 [[ 9.91603613e-01 -1.29195861e-01 -5.54116071e-03 2.12372933e+02] [-1.29193792e-01 -9.91619095e-01 7.31352903e-04 -1.46402103e+02] [-5.58920854e-03 -9.32861837e-06 -9.99984380e-01 -1.04772926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.570385723 meters 0.013744354941457246 Centerline is valid? [True, True] Translation: X:212.40, Y:-146.42, Z:-10.48 [[ 9.98690477e-01 -5.08757098e-02 -5.38460070e-03 2.12398319e+02] [-5.08749128e-02 -9.98704993e-01 2.84978680e-04 -1.46415006e+02] [-5.39212610e-03 -1.06644029e-05 -9.99985462e-01 -1.04774568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.630385723 meters 0.013670590116071541 Centerline is valid? [True, True] Translation: X:212.42, Y:-146.43, Z:-10.48 [[ 9.99605615e-01 2.76067161e-02 -5.14622878e-03 2.12424929e+02] [ 2.76064071e-02 -9.99618862e-01 -1.31091875e-04 -1.46426384e+02] [-5.14788638e-03 -1.10287120e-05 -9.99986750e-01 -1.04773141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.690385723 meters 0.013687871088149997 Centerline is valid? [True, True] Translation: X:212.45, Y:-146.44, Z:-10.48 [[ 9.94298225e-01 1.06380452e-01 -7.36467022e-03 2.12452578e+02] [ 1.06377683e-01 -9.94325500e-01 -7.67875498e-04 -1.46437408e+02] [-7.40456634e-03 -1.99393081e-05 -9.99972586e-01 -1.04773128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.750385723 meters 0.0137834369491814 Centerline is valid? [True, True] Translation: X:212.48, Y:-146.45, Z:-10.48 [[ 9.82580999e-01 1.85666596e-01 -7.90538361e-03 2.12481951e+02] [ 1.85660886e-01 -9.82612800e-01 -1.45659593e-03 -1.46448483e+02] [-8.03837233e-03 -3.64970406e-05 -9.99967691e-01 -1.04764032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.810385723 meters 0.013951778003536695 Centerline is valid? [True, True] Translation: X:212.51, Y:-146.46, Z:-10.48 [[ 9.64719032e-01 2.63161359e-01 -7.95540158e-03 2.12510398e+02] [ 2.63152816e-01 -9.64751832e-01 -2.12103533e-03 -1.46456679e+02] [-8.23316279e-03 -4.72831773e-05 -9.99966106e-01 -1.04750313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.870385723 meters 0.013730949377351157 Centerline is valid? [True, True] Translation: X:212.54, Y:-146.46, Z:-10.48 [[ 9.41360364e-01 3.37339586e-01 -6.53219192e-03 2.12539868e+02] [ 3.37331727e-01 -9.41383027e-01 -2.30289882e-03 -1.46458321e+02] [-6.92615353e-03 -3.56579070e-05 -9.99976013e-01 -1.04783231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.930385723 meters 0.013808105829058523 Centerline is valid? [True, True] Translation: X:212.57, Y:-146.46, Z:-10.48 [[ 9.12262979e-01 4.09567013e-01 -5.57851198e-03 2.12569310e+02] [ 4.09559545e-01 -9.12280035e-01 -2.47342449e-03 -1.46458563e+02] [-6.10219818e-03 -2.83192362e-05 -9.99981381e-01 -1.04789134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.990385723 meters 0.013852846709679494 Centerline is valid? [True, True] Translation: X:212.60, Y:-146.46, Z:-10.48 [[ 8.77217188e-01 4.80034778e-01 -7.52436050e-03 2.12600450e+02] [ 4.80017540e-01 -8.77249457e-01 -4.06833698e-03 -1.46457780e+02] [-8.55368440e-03 -4.30098881e-05 -9.99963416e-01 -1.04784194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.050385723 meters 0.013867747859068314 Centerline is valid? [True, True] Translation: X:212.63, Y:-146.46, Z:-10.48 [[ 8.36606863e-01 5.47754811e-01 -7.32289636e-03 2.12631955e+02] [ 5.47734339e-01 -8.36638909e-01 -4.73595317e-03 -1.46456356e+02] [-8.72076116e-03 -4.88708750e-05 -9.99961972e-01 -1.04777176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.110385723 meters 0.013858871528602846 Centerline is valid? [True, True] Translation: X:212.66, Y:-146.45, Z:-10.48 [[ 7.91828830e-01 6.10707183e-01 -6.62115572e-03 2.12661633e+02] [ 6.10686227e-01 -7.91856511e-01 -5.05937746e-03 -1.46449225e+02] [-8.33280343e-03 -3.72876689e-05 -9.99965281e-01 -1.04789418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.170385723 meters 0.01374223668222262 Centerline is valid? [True, True] Translation: X:212.69, Y:-146.44, Z:-10.48 [[ 7.43911618e-01 6.68250562e-01 -6.05727667e-03 2.12690620e+02] [ 6.68228499e-01 -7.43936279e-01 -5.43019719e-03 -1.46439495e+02] [-8.13496019e-03 -8.05811800e-06 -9.99966911e-01 -1.04794153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.230385723 meters 0.013910413762218556 Centerline is valid? [True, True] Translation: X:212.72, Y:-146.43, Z:-10.48 [[ 6.92646649e-01 7.21251816e-01 -6.03634420e-03 2.12716269e+02] [ 7.21224029e-01 -6.92672951e-01 -6.33108068e-03 -1.46426712e+02] [-8.74751579e-03 3.16453323e-05 -9.99961739e-01 -1.04795822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.290385723 meters 0.01427161111957232 Centerline is valid? [True, True] Translation: X:212.74, Y:-146.41, Z:-10.48 [[ 6.37267253e-01 7.70625488e-01 -5.17741878e-03 2.12742656e+02] [ 7.70599243e-01 -6.37288282e-01 -6.36030556e-03 -1.46412790e+02] [-8.20092189e-03 6.34994584e-05 -9.99966370e-01 -1.04796386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.350385723 meters 0.014522368015593827 Centerline is valid? [True, True] Translation: X:212.77, Y:-146.40, Z:-10.48 [[ 5.76983896e-01 8.16746075e-01 -3.92855986e-03 2.12769340e+02] [ 8.16726306e-01 -5.76997266e-01 -5.68299829e-03 -1.46397489e+02] [-6.90833484e-03 7.04403122e-05 -9.99976135e-01 -1.04811706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.410385723 meters 0.015022259349592918 Centerline is valid? [True, True] Translation: X:212.79, Y:-146.38, Z:-10.48 [[ 5.13019788e-01 8.58368446e-01 -3.78256067e-03 2.12792489e+02] [ 8.58343775e-01 -5.13033725e-01 -6.50858286e-03 -1.46380526e+02] [-7.52734334e-03 9.22943996e-05 -9.99971665e-01 -1.04804340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4703857229999 meters 0.015287039977521384 Centerline is valid? [True, True] Translation: X:212.82, Y:-146.36, Z:-10.48 [[ 4.45976192e-01 8.95037740e-01 -3.56078041e-03 2.12815758e+02] [ 8.95007094e-01 -4.45990392e-01 -7.40756496e-03 -1.46361527e+02] [-8.21812406e-03 1.16673888e-04 -9.99966224e-01 -1.04806907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.530385723 meters 0.01601833374157475 Centerline is valid? [True, True] Translation: X:212.84, Y:-146.34, Z:-10.48 [[ 3.74937780e-01 9.27044408e-01 -3.21352505e-03 2.12835894e+02] [ 9.27007320e-01 -3.74951528e-01 -8.29337024e-03 -1.46341323e+02] [-8.89323863e-03 1.30536584e-04 -9.99960446e-01 -1.04793120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5903857229999 meters 0.015314250264115679 Centerline is valid? [True, True] Translation: X:212.86, Y:-146.32, Z:-10.48 [[ 3.00568023e-01 9.53756956e-01 -2.55592537e-03 2.12858726e+02] [ 9.53718855e-01 -3.00578864e-01 -8.52600623e-03 -1.46319772e+02] [-8.89999489e-03 1.25010617e-04 -9.99960386e-01 -1.04808348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.650385723 meters 0.01480623397937701 Centerline is valid? [True, True] Translation: X:212.88, Y:-146.30, Z:-10.48 [[ 2.22963067e-01 9.74825360e-01 -1.72859285e-03 2.12883530e+02] [ 9.74792565e-01 -2.22969746e-01 -7.99674062e-03 -1.46296596e+02] [-8.18084946e-03 9.79583597e-05 -9.99966532e-01 -1.04820445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.710385723 meters 0.015205858132466443 Centerline is valid? [True, True] Translation: X:212.90, Y:-146.27, Z:-10.48 [[ 1.42642921e-01 9.89773540e-01 -1.15627726e-03 2.12900616e+02] [ 9.89736651e-01 -1.42647587e-01 -8.54557633e-03 -1.46270993e+02] [-8.62312549e-03 7.45559770e-05 -9.99962817e-01 -1.04804559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.770385723 meters 0.014321308611088882 Centerline is valid? [True, True] Translation: X:212.92, Y:-146.24, Z:-10.48 [[ 6.17210363e-02 9.98093328e-01 -4.71221181e-04 2.12920588e+02] [ 9.98057981e-01 -6.17228163e-02 -8.40007042e-03 -1.46243972e+02] [-8.41313934e-03 4.81549913e-05 -9.99964608e-01 -1.04823477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.830385723 meters 0.014161257729101992 Centerline is valid? [True, True] Translation: X:212.94, Y:-146.21, Z:-10.48 [[-1.98965246e-02 9.99802029e-01 1.75563508e-04 2.12936228e+02] [ 9.99771185e-01 1.98972898e-02 -7.85334761e-03 -1.46214264e+02] [-7.85528612e-03 1.92690123e-05 -9.99969147e-01 -1.04833906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.890385723 meters 0.014177050588259082 Centerline is valid? [True, True] Translation: X:212.95, Y:-146.18, Z:-10.48 [[-1.01226925e-01 9.94863029e-01 8.14354763e-04 2.12951396e+02] [ 9.94830431e-01 1.01230201e-01 -8.05352953e-03 -1.46182902e+02] [-8.09459608e-03 -5.08913038e-06 -9.99967238e-01 -1.04822072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.950385723 meters 0.014279271003177232 Centerline is valid? [True, True] Translation: X:212.96, Y:-146.15, Z:-10.48 [[-1.81319719e-01 9.83422875e-01 1.61490093e-03 2.12960679e+02] [ 9.83382466e-01 1.81326908e-01 -8.91509382e-03 -1.46151220e+02] [-9.06013219e-03 -2.84170488e-05 -9.99958956e-01 -1.04812653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.010385723 meters 0.01439597976417776 Centerline is valid? [True, True] Translation: X:212.97, Y:-146.12, Z:-10.48 [[-2.60182862e-01 9.65556395e-01 2.39313413e-03 2.12965799e+02] [ 9.65513681e-01 2.60193862e-01 -9.08219805e-03 -1.46119159e+02] [-9.39205322e-03 -5.24285351e-05 -9.99955892e-01 -1.04819185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.070385723 meters 0.014754243081176231 Centerline is valid? [True, True] Translation: X:212.97, Y:-146.09, Z:-10.48 [[-3.37976233e-01 9.41148686e-01 3.34926333e-03 2.12968903e+02] [ 9.41099845e-01 3.37992816e-01 -9.58843400e-03 -1.46086584e+02] [-1.01561690e-02 -8.86716044e-05 -9.99948421e-01 -1.04812123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.130385723 meters 0.014931399524713021 Centerline is valid? [True, True] Translation: X:212.97, Y:-146.05, Z:-10.48 [[-4.12809350e-01 9.10806608e-01 4.44557706e-03 2.12967471e+02] [ 9.10750562e-01 4.12833269e-01 -1.01047248e-02 -1.46054255e+02] [-1.10387322e-02 -1.22513057e-04 -9.99939064e-01 -1.04825762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.190385723 meters 0.015016688546284181 Centerline is valid? [True, True] Translation: X:212.96, Y:-146.02, Z:-10.48 [[-4.81990307e-01 8.76154389e-01 6.23144040e-03 2.12961663e+02] [ 8.76077579e-01 4.82030569e-01 -1.16019859e-02 -1.46024247e+02] [-1.31688757e-02 -1.32819549e-04 -9.99913278e-01 -1.04805631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.250385723 meters 0.014548846687518508 Centerline is valid? [True, True] Translation: X:212.95, Y:-146.00, Z:-10.48 [[-5.45825030e-01 8.37877268e-01 6.05978567e-03 2.12946555e+02] [ 8.37824238e-01 5.45858663e-01 -9.42692823e-03 -1.45999244e+02] [-1.12063954e-02 -6.84180738e-05 -9.99937204e-01 -1.04844153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.310385723 meters 0.014407432877894309 Centerline is valid? [True, True] Translation: X:212.93, Y:-145.97, Z:-10.49 [[-6.08172551e-01 7.93781493e-01 6.09022431e-03 2.12934558e+02] [ 7.93741016e-01 6.08203042e-01 -8.01614857e-03 -1.45972042e+02] [-1.00671633e-02 -4.11406868e-05 -9.99949324e-01 -1.04859430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.370385723 meters 0.014434655281518896 Centerline is valid? [True, True] Translation: X:212.92, Y:-145.95, Z:-10.49 [[-6.66094873e-01 7.45832761e-01 7.14933202e-03 2.12918391e+02] [ 7.45789652e-01 6.66133239e-01 -8.01888068e-03 -1.45948396e+02] [-1.07431516e-02 -9.43746807e-06 -9.99942291e-01 -1.04854738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.430385723 meters 0.014643017938609088 Centerline is valid? [True, True] Translation: X:212.90, Y:-145.93, Z:-10.49 [[-7.21095112e-01 6.92792504e-01 7.77084787e-03 2.12900816e+02] [ 6.92752453e-01 7.21136982e-01 -7.44936403e-03 -1.45927008e+02] [-1.07647093e-02 1.15739316e-05 -9.99942059e-01 -1.04855606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.490385723 meters 0.014775055903547758 Centerline is valid? [True, True] Translation: X:212.92, Y:-145.91, Z:-10.49 [[-7.67020131e-01 6.41563654e-01 8.72910335e-03 2.12924556e+02] [ 6.41522620e-01 7.67069799e-01 -7.25611068e-03 -1.45914167e+02] [-1.13510884e-02 3.43342865e-05 -9.99935574e-01 -1.04850861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.550385723 meters 0.014855669805363158 Centerline is valid? [True, True] Translation: X:212.94, Y:-145.89, Z:-10.49 [[-8.08997971e-01 5.87726567e-01 9.98827841e-03 2.12936519e+02] [ 5.87682812e-01 8.09059626e-01 -7.17177930e-03 -1.45892941e+02] [-1.22961580e-02 6.79846404e-05 -9.99924397e-01 -1.04857252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.610385723 meters 0.015332878832961406 Centerline is valid? [True, True] Translation: X:212.96, Y:-145.88, Z:-10.49 [[-8.46796944e-01 5.31797270e-01 1.12516706e-02 2.12955992e+02] [ 5.31752164e-01 8.46871684e-01 -6.92723026e-03 -1.45880848e+02] [-1.32126034e-02 1.17142804e-04 -9.99912703e-01 -1.04863021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.670385723 meters 0.01569599680994959 Centerline is valid? [True, True] Translation: X:212.97, Y:-145.86, Z:-10.49 [[-8.81205630e-01 4.72615866e-01 1.05300019e-02 2.12971373e+02] [ 4.72583932e-01 8.81268532e-01 -5.49564106e-03 -1.45861103e+02] [-1.18770865e-02 1.33519888e-04 -9.99929456e-01 -1.04869736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.730385723 meters 0.01571514807401159 Centerline is valid? [True, True] Translation: X:212.97, Y:-145.83, Z:-10.49 [[-9.12887808e-01 4.08056318e-01 1.12200989e-02 2.12970011e+02] [ 4.08027167e-01 9.12956749e-01 -4.87909544e-03 -1.45834238e+02] [-1.22344107e-02 1.24038424e-04 -9.99925149e-01 -1.04880137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.790385723 meters 0.015500869496695838 Centerline is valid? [True, True] Translation: X:213.29, Y:-145.15, Z:-11.43 [[-8.91506362e-01 -4.52908330e-01 9.51059455e-03 2.13285530e+02] [ 4.52880125e-01 -8.91557067e-01 -5.05854893e-03 -1.45150874e+02] [ 1.07702967e-02 -2.02569302e-04 9.99941978e-01 -1.14304878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.850385723 meters 0.015394750323678182 Centerline is valid? [True, True] Translation: X:212.93, Y:-145.82, Z:-10.49 [[-9.16575680e-01 3.99745899e-01 9.60410350e-03 2.12929905e+02] [ 3.99724522e-01 9.16625994e-01 -4.13434452e-03 -1.45821023e+02] [-1.04560582e-02 4.95560387e-05 -9.99945333e-01 -1.04899661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.910385723 meters 0.015528173405580395 Centerline is valid? [True, True] Translation: X:212.94, Y:-145.80, Z:-10.49 [[-9.43348529e-01 3.31670196e-01 9.40389958e-03 2.12943148e+02] [ 3.31653973e-01 9.43395400e-01 -3.28048420e-03 -1.45797837e+02] [-9.95963444e-03 2.42007124e-05 -9.99950401e-01 -1.04900024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9703857229999 meters 0.015558715799968755 Centerline is valid? [True, True] Translation: X:212.95, Y:-145.77, Z:-10.49 [[-9.65278319e-01 2.61038091e-01 9.84287628e-03 2.12953073e+02] [ 2.61024455e-01 9.65328501e-01 -2.66814894e-03 -1.45772660e+02] [-1.01980975e-02 -6.27490716e-06 -9.99947998e-01 -1.04894260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.030385723 meters 0.015766265132289785 Centerline is valid? [True, True] Translation: X:212.94, Y:-145.74, Z:-10.49 [[-9.81889856e-01 1.89170736e-01 1.03316265e-02 2.12941250e+02] [ 1.89159875e-01 9.81944210e-01 -2.02739302e-03 -1.45742186e+02] [-1.05286043e-02 -3.63474567e-05 -9.99944572e-01 -1.04878773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0903857229999 meters 0.01599533213596256 Centerline is valid? [True, True] Translation: X:212.95, Y:-145.72, Z:-10.49 [[-9.93047062e-01 1.17252524e-01 1.04583806e-02 2.12945456e+02] [ 1.17245436e-01 9.93102131e-01 -1.29040240e-03 -1.45717543e+02] [-1.05375430e-02 -5.52329161e-05 -9.99944477e-01 -1.04867002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.150385723 meters 0.015907477597535007 Centerline is valid? [True, True] Translation: X:212.96, Y:-145.70, Z:-10.49 [[-9.98840035e-01 4.70799645e-02 1.01025431e-02 2.12963589e+02] [ 4.70770864e-02 9.98891123e-01 -5.22634644e-04 -1.45698417e+02] [-1.01159463e-02 -4.64301104e-05 -9.99948831e-01 -1.04884714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.210385723 meters 0.016124061224714954 Centerline is valid? [True, True] Translation: X:212.95, Y:-145.67, Z:-10.49 [[-9.99654432e-01 -2.44979895e-02 9.53235054e-03 2.12953828e+02] [-2.44973409e-02 9.99699878e-01 1.84812626e-04 -1.45672745e+02] [-9.53401721e-03 -4.87684799e-05 -9.99954549e-01 -1.04866884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.270385723 meters 0.016164575229568268 Centerline is valid? [True, True] Translation: X:212.96, Y:-145.65, Z:-10.49 [[-9.95169368e-01 -9.76229133e-02 1.03776228e-02 2.12963195e+02] [-9.76183986e-02 9.95223473e-01 9.41908025e-04 -1.45646509e+02] [-1.04200056e-02 -7.56889000e-05 -9.99945707e-01 -1.04861676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.330385723 meters 0.016106212880628745 Centerline is valid? [True, True] Translation: X:212.95, Y:-145.62, Z:-10.49 [[-9.85595206e-01 -1.68735865e-01 1.14148054e-02 2.12945293e+02] [-1.68725610e-01 9.85661301e-01 1.86246474e-03 -1.45624403e+02] [-1.15653965e-02 -9.03336769e-05 -9.99933115e-01 -1.04871614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.390385723 meters 0.016215214661771806 Centerline is valid? [True, True] Translation: X:212.93, Y:-145.60, Z:-10.49 [[-9.70961875e-01 -2.38949879e-01 1.16615718e-02 2.12934090e+02] [-2.38933850e-01 9.71031897e-01 2.76940005e-03 -1.45596718e+02] [-1.19855060e-02 -9.73623791e-05 -9.99928167e-01 -1.04854634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.450385723 meters 0.016201757765850748 Centerline is valid? [True, True] Translation: X:212.90, Y:-145.58, Z:-10.49 [[-9.51393410e-01 -3.07753940e-01 1.17512655e-02 2.12895575e+02] [-3.07731765e-01 9.51465975e-01 3.69570219e-03 -1.45576579e+02] [-1.23182962e-02 -1.00170954e-04 -9.99924122e-01 -1.04852314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.510385723 meters 0.016046550148258655 Centerline is valid? [True, True] Translation: X:212.87, Y:-145.56, Z:-10.49 [[-9.26611668e-01 -3.75838278e-01 1.16792749e-02 2.12865564e+02] [-3.75809611e-01 9.26685266e-01 4.64267739e-03 -1.45557825e+02] [-1.25679078e-02 -8.72247128e-05 -9.99921017e-01 -1.04858095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.570385723 meters 0.015795810093613433 Centerline is valid? [True, True] Translation: X:212.81, Y:-145.55, Z:-10.49 [[-8.97667595e-01 -4.40540975e-01 1.07952709e-02 2.12805484e+02] [-4.40509784e-01 8.97732503e-01 5.24246366e-03 -1.45553699e+02] [-1.20007856e-02 -4.94327164e-05 -9.99927987e-01 -1.04856906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.630385723 meters 0.01568009134721944 Centerline is valid? [True, True] Translation: X:212.73, Y:-145.56, Z:-10.49 [[-8.65011229e-01 -5.01660032e-01 9.63253788e-03 2.12733868e+02] [-5.01628808e-01 8.65064860e-01 5.59708971e-03 -1.45561853e+02] [-1.11406062e-02 9.58696144e-06 -9.99937942e-01 -1.04861045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.690385723 meters 0.01580578592078769 Centerline is valid? [True, True] Translation: X:212.65, Y:-145.58, Z:-10.49 [[-8.26871359e-01 -5.62322603e-01 8.77755726e-03 2.12651984e+02] [-5.62290390e-01 8.26917946e-01 6.01902500e-03 -1.45581233e+02] [-1.06429534e-02 4.14232911e-05 -9.99943361e-01 -1.04862211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.750385723 meters 0.01574819508831812 Centerline is valid? [True, True] Translation: X:212.57, Y:-145.61, Z:-10.49 [[-7.83984127e-01 -6.20743981e-01 6.76752373e-03 2.12573302e+02] [-6.20720208e-01 7.84013333e-01 5.43295295e-03 -1.45607464e+02] [-8.67830168e-03 5.86101403e-05 -9.99962341e-01 -1.04885455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.810385723 meters 0.015712983539699462 Centerline is valid? [True, True] Translation: X:212.48, Y:-145.65, Z:-10.49 [[-7.34376311e-01 -6.78721911e-01 5.29168084e-03 2.12483229e+02] [-6.78703866e-01 7.34395374e-01 4.94937311e-03 -1.45646842e+02] [-7.24543391e-03 4.32181151e-05 -9.99973751e-01 -1.04879318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.870385723 meters 0.015682540093700008 Centerline is valid? [True, True] Translation: X:212.39, Y:-145.70, Z:-10.49 [[-6.80523350e-01 -7.32713048e-01 4.42264655e-03 2.12391706e+02] [-7.32697233e-01 6.80537720e-01 4.81418979e-03 -1.45697681e+02] [-6.53719747e-03 3.57076691e-05 -9.99978632e-01 -1.04868311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.930385723 meters 0.015458454848855671 Centerline is valid? [True, True] Translation: X:212.30, Y:-145.76, Z:-10.49 [[-6.22179306e-01 -7.82864162e-01 4.07625893e-03 2.12304312e+02] [-7.82847035e-01 6.22192658e-01 5.17839363e-03 -1.45757973e+02] [-6.59019717e-03 3.08021401e-05 -9.99978284e-01 -1.04875875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.990385723 meters 0.015557542774604624 Centerline is valid? [True, True] Translation: X:212.22, Y:-145.83, Z:-10.49 [[-5.62094028e-01 -8.27064787e-01 3.76062110e-03 2.12219030e+02] [-8.27045757e-01 5.62106606e-01 5.61066676e-03 -1.45829892e+02] [-6.75425487e-03 4.35165570e-05 -9.99977189e-01 -1.04877369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.050385723 meters 0.015704890496622357 Centerline is valid? [True, True] Translation: X:212.14, Y:-145.91, Z:-10.49 [[-4.98500430e-01 -8.66881707e-01 3.66433890e-03 2.12136650e+02] [-8.66857408e-01 4.98513894e-01 6.49089825e-03 -1.45910702e+02] [-7.45356481e-03 5.92562482e-05 -9.99972220e-01 -1.04857981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.110385723 meters 0.015863068614347723 Centerline is valid? [True, True] Translation: X:212.06, Y:-146.00, Z:-10.49 [[-4.33043413e-01 -9.01366769e-01 3.36907134e-03 2.12059176e+02] [-9.01337944e-01 4.33056510e-01 7.20901686e-03 -1.46001998e+02] [-7.95696651e-03 8.51454307e-05 -9.99968339e-01 -1.04866483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.170385723 meters 0.015824637499440394 Centerline is valid? [True, True] Translation: X:211.99, Y:-146.10, Z:-10.49 [[-3.63809379e-01 -9.31469300e-01 2.77108572e-03 2.11986810e+02] [-9.31440261e-01 3.63819920e-01 7.35566412e-03 -1.46097077e+02] [-7.85975149e-03 9.49587871e-05 -9.99969107e-01 -1.04857912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.230385723 meters 0.015762264442270878 Centerline is valid? [True, True] Translation: X:211.92, Y:-146.20, Z:-10.49 [[-2.91356537e-01 -9.56611721e-01 2.32014771e-03 2.11923251e+02] [-9.56578530e-01 2.91365757e-01 7.96944819e-03 -1.46198122e+02] [-8.29967914e-03 1.02547336e-04 -9.99965552e-01 -1.04862090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.290385723 meters 0.015448211241061945 Centerline is valid? [True, True] Translation: X:211.86, Y:-146.31, Z:-10.49 [[-2.16576270e-01 -9.76264341e-01 1.62938147e-03 2.11863285e+02] [-9.76233286e-01 2.16582378e-01 7.78746477e-03 -1.46309534e+02] [-7.95551948e-03 9.59236449e-05 -9.99968350e-01 -1.04861143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.350385723 meters 0.015205744711445156 Centerline is valid? [True, True] Translation: X:211.81, Y:-146.42, Z:-10.49 [[-1.39565736e-01 -9.90212130e-01 1.15926493e-03 2.11813162e+02] [-9.90171894e-01 1.39570516e-01 8.92700201e-03 -1.46424615e+02] [-9.00142487e-03 9.80320510e-05 -9.99959482e-01 -1.04855308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.410385723 meters 0.015144502097384568 Centerline is valid? [True, True] Translation: X:211.77, Y:-146.55, Z:-10.49 [[-6.23983913e-02 -9.98051208e-01 4.75993102e-04 2.11772966e+02] [-9.98009228e-01 6.24001327e-02 9.15442620e-03 -1.46546458e+02] [-9.16628816e-03 9.61759597e-05 -9.99957984e-01 -1.04857086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4703857229999 meters 0.014983925456478036 Centerline is valid? [True, True] Translation: X:211.74, Y:-146.67, Z:-10.49 [[ 1.42490870e-02 -9.99898459e-01 -1.89959669e-04 2.11741338e+02] [-9.99869966e-01 -1.42501151e-02 7.54882583e-03 -1.46670747e+02] [-7.55076626e-03 8.23710916e-05 -9.99971489e-01 -1.04870768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.530385723 meters 0.014862654416785396 Centerline is valid? [True, True] Translation: X:211.72, Y:-146.80, Z:-10.49 [[ 9.14262492e-02 -9.95811580e-01 -7.33273924e-04 2.11719137e+02] [-9.95786004e-01 -9.14291567e-02 7.13744477e-03 -1.46795391e+02] [-7.17459277e-03 7.76341068e-05 -9.99974259e-01 -1.04881556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5903857229999 meters 0.014676652014999934 Centerline is valid? [True, True] Translation: X:211.71, Y:-146.92, Z:-10.49 [[ 1.67494247e-01 -9.85872247e-01 -1.26127598e-03 2.11705830e+02] [-9.85847750e-01 -1.67498977e-01 6.95032553e-03 -1.46918550e+02] [-7.06339548e-03 7.92865489e-05 -9.99975051e-01 -1.04884343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.650385723 meters 0.014873323303657033 Centerline is valid? [True, True] Translation: X:211.70, Y:-147.04, Z:-10.49 [[ 2.40285753e-01 -9.70700114e-01 -2.01154442e-03 2.11703327e+02] [-9.70669865e-01 -2.40294147e-01 7.66393414e-03 -1.47043979e+02] [-7.92274409e-03 1.11011361e-04 -9.99968608e-01 -1.04875552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.710385723 meters 0.014933452943207743 Centerline is valid? [True, True] Translation: X:211.71, Y:-147.17, Z:-10.49 [[ 3.13689864e-01 -9.49521380e-01 -2.79596680e-03 2.11711729e+02] [-9.49487155e-01 -3.13702299e-01 8.06291862e-03 -1.47172301e+02] [-8.53301484e-03 1.25478714e-04 -9.99963585e-01 -1.04878695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.770385723 meters 0.014156079670389997 Centerline is valid? [True, True] Translation: X:211.72, Y:-147.30, Z:-10.49 [[ 3.88613604e-01 -9.21395149e-01 -3.23197183e-03 2.11722186e+02] [-9.21365265e-01 -3.88627032e-01 7.42156184e-03 -1.47301045e+02] [-8.09422270e-03 9.37066899e-05 -9.99967237e-01 -1.04877482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.830385723 meters 0.0135397784202157 Centerline is valid? [True, True] Translation: X:211.74, Y:-147.42, Z:-10.49 [[ 4.60641072e-01 -8.87575780e-01 -4.36320652e-03 2.11744183e+02] [-8.87537643e-01 -4.60661729e-01 8.22826727e-03 -1.47421786e+02] [-9.31317300e-03 8.22321736e-05 -9.99956628e-01 -1.04881982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.890385723 meters 0.013231002684881645 Centerline is valid? [True, True] Translation: X:211.77, Y:-147.54, Z:-10.49 [[ 5.28583911e-01 -8.48869160e-01 -4.49414585e-03 2.11774735e+02] [-8.48839465e-01 -5.28603012e-01 7.10056142e-03 -1.47540336e+02] [-8.40306665e-03 6.15658337e-05 -9.99964692e-01 -1.04898410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.950385723 meters 0.014907181813545743 Centerline is valid? [True, True] Translation: X:211.81, Y:-147.66, Z:-10.49 [[ 5.91247744e-01 -8.06476694e-01 -4.63103788e-03 2.11813655e+02] [-8.06452797e-01 -5.91265877e-01 6.20872211e-03 -1.47655028e+02] [-7.74536436e-03 6.38205114e-05 -9.99970002e-01 -1.04878931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.010385723 meters 0.013031018854030572 Centerline is valid? [True, True] Translation: X:211.86, Y:-147.76, Z:-10.49 [[ 6.51498429e-01 -7.58634733e-01 -4.81040638e-03 2.11856138e+02] [-7.58614688e-01 -6.51516185e-01 5.51512492e-03 -1.47761341e+02] [-7.31802293e-03 5.61497137e-05 -9.99973221e-01 -1.04890936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.070385723 meters 0.013040000324948326 Centerline is valid? [True, True] Translation: X:211.90, Y:-147.86, Z:-10.49 [[ 7.06246360e-01 -7.07954537e-01 -4.05624503e-03 2.11903855e+02] [-7.07943288e-01 -7.06258006e-01 3.99134662e-03 -1.47863342e+02] [-5.69044747e-03 5.27174204e-05 -9.99983808e-01 -1.04894845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.130385723 meters 0.013298480167604413 Centerline is valid? [True, True] Translation: X:211.92, Y:-147.90, Z:-10.49 [[ 7.57920204e-01 -6.52336550e-01 -3.74034144e-03 2.11917286e+02] [-6.52328975e-01 -7.57929431e-01 3.14419368e-03 -1.47896940e+02] [-4.88598732e-03 5.68851813e-05 -9.99988062e-01 -1.04897143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.190385723 meters 0.013600235819548683 Centerline is valid? [True, True] Translation: X:211.93, Y:-147.93, Z:-10.49 [[ 8.05551831e-01 -5.92506587e-01 -4.71082995e-03 2.11932167e+02] [-5.92497017e-01 -8.05565602e-01 3.36851034e-03 -1.47931875e+02] [-5.79074713e-03 7.76430165e-05 -9.99983230e-01 -1.04873662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.250385723 meters 0.014099315306542504 Centerline is valid? [True, True] Translation: X:211.95, Y:-147.96, Z:-10.49 [[ 8.48879458e-01 -5.28564232e-01 -4.84957284e-03 2.11952470e+02] [-5.28556154e-01 -8.48893306e-01 2.92346061e-03 -1.47960010e+02] [-5.66200664e-03 8.16059092e-05 -9.99983967e-01 -1.04861826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.310385723 meters 0.014743550452761585 Centerline is valid? [True, True] Translation: X:211.98, Y:-147.99, Z:-10.48 [[ 8.86178167e-01 -4.63317689e-01 -4.99757502e-03 2.11976181e+02] [-4.63310941e-01 -8.86192253e-01 2.50240625e-03 -1.47987441e+02] [-5.58822134e-03 9.78534035e-05 -9.99984381e-01 -1.04848445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.370385723 meters 0.014429835922562962 Centerline is valid? [True, True] Translation: X:212.00, Y:-148.02, Z:-10.49 [[ 9.18709196e-01 -3.94904664e-01 -4.87034298e-03 2.12000248e+02] [-3.94899718e-01 -9.18722099e-01 1.97927068e-03 -1.48017202e+02] [-5.25611495e-03 1.04922895e-04 -9.99986181e-01 -1.04850641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.430385723 meters 0.015649864331234033 Centerline is valid? [True, True] Translation: X:212.03, Y:-148.04, Z:-10.48 [[ 9.45500483e-01 -3.25595240e-01 -4.07147652e-03 2.12026612e+02] [-3.25592685e-01 -9.45509243e-01 1.29388783e-03 -1.48041771e+02] [-4.27090240e-03 1.02271406e-04 -9.99990874e-01 -1.04849463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.490385723 meters 0.0157309784126839 Centerline is valid? [True, True] Translation: X:212.06, Y:-148.07, Z:-10.49 [[ 9.67477055e-01 -2.52947598e-01 -2.37915740e-03 2.12055849e+02] [-2.52946997e-01 -9.67479978e-01 5.55421870e-04 -1.48066166e+02] [-2.44227978e-03 6.44428034e-05 -9.99997016e-01 -1.04865076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.550385723 meters 0.016100827846228676 Centerline is valid? [True, True] Translation: X:212.09, Y:-148.09, Z:-10.49 [[ 9.84593207e-01 -1.74855510e-01 -1.32932796e-03 2.12086390e+02] [-1.74855397e-01 -9.84594104e-01 2.02149172e-04 -1.48090419e+02] [-1.34419536e-03 3.34054652e-05 -9.99999096e-01 -1.04859915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.610385723 meters 0.015213281047750712 Centerline is valid? [True, True] Translation: X:212.12, Y:-148.11, Z:-10.48 [[ 9.95763373e-01 -9.19320620e-02 -1.94965585e-03 2.12115411e+02] [-9.19319603e-02 -9.95765281e-01 1.41932024e-04 -1.48109619e+02] [-1.95444771e-03 3.79049739e-05 -9.99998089e-01 -1.04842339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.670385723 meters 0.01323541570239581 Centerline is valid? [True, True] Translation: X:212.15, Y:-148.13, Z:-10.48 [[ 9.99971239e-01 -7.39269515e-03 -1.69371166e-03 2.12147342e+02] [-7.39272223e-03 -9.99972673e-01 -9.72725314e-06 -1.48131244e+02] [-1.69359347e-03 2.22481132e-05 -9.99998566e-01 -1.04849299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.730385723 meters 0.012525505856698378 Centerline is valid? [True, True] Translation: X:212.18, Y:-148.15, Z:-10.49 [[ 9.97005063e-01 7.73332093e-02 -6.91757030e-04 2.12181945e+02] [ 7.73331872e-02 -9.97005303e-01 -5.86414732e-05 -1.48153172e+02] [-6.94220361e-04 4.97006974e-06 -9.99999759e-01 -1.04863174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.790385723 meters 0.012552341326412163 Centerline is valid? [True, True] Translation: X:212.22, Y:-148.16, Z:-10.49 [[ 9.87631377e-01 1.56793687e-01 5.48041704e-05 2.12218097e+02] [ 1.56793687e-01 -9.87631378e-01 8.42927143e-06 -1.48163428e+02] [ 5.54479748e-05 2.67934994e-07 -9.99999998e-01 -1.04879472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.850385723 meters 0.012623733894022634 Centerline is valid? [True, True] Translation: X:212.26, Y:-148.17, Z:-10.49 [[ 9.72264030e-01 2.33883000e-01 1.18238414e-03 2.12255641e+02] [ 2.33882820e-01 -9.72264749e-01 2.89497052e-04 -1.48172742e+02] [ 1.21729886e-03 -4.92823255e-06 -9.99999259e-01 -1.04888195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.910385723 meters 0.01289774477359988 Centerline is valid? [True, True] Translation: X:212.29, Y:-148.18, Z:-10.49 [[ 9.50403291e-01 3.11020200e-01 1.41633824e-04 2.12291579e+02] [ 3.11020197e-01 -9.50403301e-01 4.62121216e-05 -1.48177173e+02] [ 1.48982157e-04 1.30827381e-07 -9.99999989e-01 -1.04890012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9703857229999 meters 0.013156362506799623 Centerline is valid? [True, True] Translation: X:212.33, Y:-148.18, Z:-10.49 [[ 9.21518096e-01 3.88334881e-01 -6.46956981e-04 2.12328419e+02] [ 3.88334786e-01 -9.21518323e-01 -2.72036544e-04 -1.48177995e+02] [-7.01823992e-04 -5.49302073e-07 -9.99999754e-01 -1.04894961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.030385723 meters 0.013618757651537826 Centerline is valid? [True, True] Translation: X:212.37, Y:-148.18, Z:-10.49 [[ 8.85658477e-01 4.64333364e-01 -1.89456586e-03 2.12365200e+02] [ 4.64332338e-01 -8.85660503e-01 -9.76449053e-04 -1.48176997e+02] [-2.13134003e-03 -1.49078150e-05 -9.99997729e-01 -1.04882261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0903857229999 meters 0.014724785447334453 Centerline is valid? [True, True] Translation: X:212.40, Y:-148.17, Z:-10.49 [[ 8.43551949e-01 5.37033499e-01 -3.88970255e-03 2.12399176e+02] [ 5.37028109e-01 -8.43560915e-01 -2.40694878e-03 -1.48167662e+02] [-4.57381317e-03 -5.84932686e-05 -9.99989538e-01 -1.04873270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.150385723 meters 0.015386347044726547 Centerline is valid? [True, True] Translation: X:212.43, Y:-148.15, Z:-10.49 [[ 7.96668106e-01 6.04408363e-01 -3.23408050e-03 2.12432402e+02] [ 6.04403718e-01 -7.96674668e-01 -2.37055050e-03 -1.48154306e+02] [-4.00929055e-03 -6.61482971e-05 -9.99991961e-01 -1.04892308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.210385723 meters 0.017283587913655335 Centerline is valid? [True, True] Translation: X:212.47, Y:-148.14, Z:-10.49 [[ 7.44435069e-01 6.67685500e-01 -3.53571176e-03 2.12465124e+02] [ 6.67678566e-01 -7.44443459e-01 -3.04437293e-03 -1.48139588e+02] [-4.66482116e-03 -9.43809874e-05 -9.99989115e-01 -1.04889856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.270385723 meters 0.015983270722091728 Centerline is valid? [True, True] Translation: X:212.50, Y:-148.12, Z:-10.49 [[ 6.89459303e-01 7.24316612e-01 -3.36370241e-03 2.12495816e+02] [ 7.24308687e-01 -6.89467501e-01 -3.38968235e-03 -1.48120434e+02] [-4.77436673e-03 -9.93108436e-05 -9.99988598e-01 -1.04900665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.330385723 meters 0.017241489485602654 Centerline is valid? [True, True] Translation: X:212.52, Y:-148.10, Z:-10.49 [[ 6.30001933e-01 7.76588496e-01 -2.80579676e-03 2.12523388e+02] [ 7.76581448e-01 -6.30008174e-01 -3.30995842e-03 -1.48100064e+02] [-4.33815053e-03 -9.36495090e-05 -9.99990586e-01 -1.04919903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.390385723 meters 0.017618040326931237 Centerline is valid? [True, True] Translation: X:212.54, Y:-148.07, Z:-10.49 [[ 5.67514672e-01 8.23360899e-01 -1.98164727e-03 2.12544814e+02] [ 8.23356316e-01 -5.67518128e-01 -2.74804415e-03 -1.48074733e+02] [-3.38725284e-03 -7.20464199e-05 -9.99994261e-01 -1.04929754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.450385723 meters 0.017480115878871154 Centerline is valid? [True, True] Translation: X:212.56, Y:-148.04, Z:-10.49 [[ 5.02786166e-01 8.64407283e-01 -2.47389573e-03 2.12560117e+02] [ 8.64397718e-01 -5.02792244e-01 -4.06746739e-03 -1.48044787e+02] [-4.75980402e-03 -9.33634862e-05 -9.99988668e-01 -1.04917776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.510385723 meters 0.015516207610464667 Centerline is valid? [True, True] Translation: X:212.57, Y:-148.01, Z:-10.49 [[ 4.37344044e-01 8.99290263e-01 -2.68527089e-03 2.12573642e+02] [ 8.99274579e-01 -4.37352278e-01 -5.31197678e-03 -1.48014917e+02] [-5.95141833e-03 -9.16344369e-05 -9.99982286e-01 -1.04917535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.570385723 meters 0.015346324714188895 Centerline is valid? [True, True] Translation: X:212.59, Y:-147.99, Z:-10.49 [[ 3.66377392e-01 9.30462474e-01 -2.68169285e-03 2.12593142e+02] [ 9.30439566e-01 -3.66387192e-01 -6.52987407e-03 -1.47988565e+02] [-7.05834069e-03 -1.02754900e-04 -9.99975084e-01 -1.04910913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.630385723 meters 0.01532676119684211 Centerline is valid? [True, True] Translation: X:212.61, Y:-147.96, Z:-10.49 [[ 2.93489467e-01 9.55958851e-01 -2.57072625e-03 2.12606501e+02] [ 9.55925467e-01 -2.93500704e-01 -7.98994551e-03 -1.47960169e+02] [-8.39256909e-03 -1.12457846e-04 -9.99964775e-01 -1.04907193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.690385723 meters 0.01502912173987572 Centerline is valid? [True, True] Translation: X:212.62, Y:-147.93, Z:-10.49 [[ 2.19659369e-01 9.75574785e-01 -1.89756332e-03 2.12617871e+02] [ 9.75541983e-01 -2.19667546e-01 -8.00059699e-03 -1.47932063e+02] [-8.22201376e-03 -9.37465984e-05 -9.99966194e-01 -1.04907056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.750385723 meters 0.015014537801246203 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.90, Z:-10.49 [[ 1.44117739e-01 9.89559716e-01 -1.28313835e-03 2.12625331e+02] [ 9.89525402e-01 -1.44123427e-01 -8.24116352e-03 -1.47903833e+02] [-8.34005373e-03 -8.20001371e-05 -9.99965218e-01 -1.04908835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.810385723 meters 0.015031341452998281 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.88, Z:-10.49 [[ 6.56267100e-02 9.97844017e-01 -6.73069795e-04 2.12632723e+02] [ 9.97804987e-01 -6.56300964e-02 -8.82599733e-03 -1.47876314e+02] [-8.85114227e-03 -9.23712307e-05 -9.99960824e-01 -1.04917003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.870385723 meters 0.01507482407962533 Centerline is valid? [True, True] Translation: X:212.64, Y:-147.85, Z:-10.49 [[-1.38818932e-02 9.99903642e-01 2.15674264e-05 2.12642953e+02] [ 9.99860030e-01 1.38814892e-02 -9.33946306e-03 -1.47848859e+02] [-9.33886251e-03 -1.08085021e-04 -9.99956386e-01 -1.04911235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.930385723 meters 0.015508252820566474 Centerline is valid? [True, True] Translation: X:212.65, Y:-147.82, Z:-10.49 [[-9.12333204e-02 9.95829220e-01 8.03364666e-04 2.12648801e+02] [ 9.95779703e-01 9.12367957e-02 -9.93128258e-03 -1.47821581e+02] [-9.96315781e-03 -1.06089657e-04 -9.99950361e-01 -1.04893765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.990385723 meters 0.014833777547610984 Centerline is valid? [True, True] Translation: X:212.65, Y:-147.79, Z:-10.49 [[-1.65888532e-01 9.86143292e-01 1.55025679e-03 2.12645541e+02] [ 9.86095997e-01 1.65895760e-01 -9.65824927e-03 -1.47794440e+02] [-9.78159875e-03 -7.34907774e-05 -9.99952156e-01 -1.04914888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.050385723 meters 0.014742357248134797 Centerline is valid? [True, True] Translation: X:212.64, Y:-147.77, Z:-10.49 [[-2.39555971e-01 9.70879569e-01 2.40797255e-03 2.12642586e+02] [ 9.70828634e-01 2.39568069e-01 -9.94503712e-03 -1.47768518e+02] [-1.02323067e-02 -4.46643275e-05 -9.99947648e-01 -1.04907044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.110385723 meters 0.014897964740230432 Centerline is valid? [True, True] Translation: X:212.64, Y:-147.74, Z:-10.49 [[-3.13904646e-01 9.49448339e-01 3.42410756e-03 2.12638764e+02] [ 9.49390586e-01 3.13923319e-01 -1.04721264e-02 -1.47742288e+02] [-1.10176502e-02 -3.64336293e-05 -9.99939303e-01 -1.04885386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.170385723 meters 0.0149715478529702 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.72, Z:-10.49 [[-3.87603397e-01 9.21816064e-01 4.33017549e-03 2.12632877e+02] [ 9.21757355e-01 3.87627582e-01 -1.04036861e-02 -1.47717292e+02] [-1.12687805e-02 -4.11329866e-05 -9.99936504e-01 -1.04882207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.230385723 meters 0.015142169806340519 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.69, Z:-10.49 [[-4.57860787e-01 8.89007326e-01 5.42904121e-03 2.12626003e+02] [ 8.88943972e-01 4.57892972e-01 -1.06132687e-02 -1.47694618e+02] [-1.19211934e-02 -3.32860894e-05 -9.99928940e-01 -1.04857259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.290385723 meters 0.015091192391704769 Centerline is valid? [True, True] Translation: X:212.61, Y:-147.67, Z:-10.49 [[-5.24816083e-01 8.51195649e-01 5.83497244e-03 2.12613733e+02] [ 8.51142745e-01 5.24848519e-01 -9.49002108e-03 -1.47673472e+02] [-1.11403413e-02 -1.41212305e-05 -9.99937944e-01 -1.04875348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.350385723 meters 0.01508163562256241 Centerline is valid? [True, True] Translation: X:212.60, Y:-147.65, Z:-10.49 [[-5.88905282e-01 8.08182074e-01 5.68369823e-03 2.12600711e+02] [ 8.08144432e-01 5.88932709e-01 -7.80015478e-03 -1.47653253e+02] [-9.65126106e-03 -3.03273091e-07 -9.99953426e-01 -1.04886089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.410385723 meters 0.015038542313472155 Centerline is valid? [True, True] Translation: X:212.59, Y:-147.63, Z:-10.49 [[-6.49937816e-01 7.59967276e-01 5.52936431e-03 2.12588990e+02] [ 7.59939839e-01 6.49961337e-01 -6.45769777e-03 -1.47632995e+02] [-8.50151200e-03 4.88223242e-06 -9.99963862e-01 -1.04879637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4703857229999 meters 0.015050212800278228 Centerline is valid? [True, True] Translation: X:212.58, Y:-147.62, Z:-10.49 [[-7.07737622e-01 7.06443227e-01 6.73988634e-03 2.12576160e+02] [ 7.06411217e-01 7.07769714e-01 -6.72491896e-03 -1.47615285e+02] [-9.52106087e-03 1.65316248e-06 -9.99954674e-01 -1.04874902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.530385723 meters 0.015032786401570696 Centerline is valid? [True, True] Translation: X:212.60, Y:-147.60, Z:-10.49 [[-7.56093605e-01 6.54418175e-01 7.70145742e-03 2.12602474e+02] [ 6.54384204e-01 7.56132827e-01 -6.66795513e-03 -1.47603034e+02] [-1.01869558e-02 -1.88614808e-06 -9.99948112e-01 -1.04878719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5903857229999 meters 0.015026908132185471 Centerline is valid? [True, True] Translation: X:212.62, Y:-147.58, Z:-10.49 [[-8.01730966e-01 5.97637082e-01 7.57467646e-03 2.12621009e+02] [ 5.97610151e-01 8.01766748e-01 -5.67355929e-03 -1.47577915e+02] [-9.46385313e-03 -2.19646260e-05 -9.99955217e-01 -1.04874797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.650385723 meters 0.014773410794847707 Centerline is valid? [True, True] Translation: X:213.12, Y:-146.93, Z:-11.43 [[-7.57514125e-01 -6.52785284e-01 6.61235473e-03 2.13123587e+02] [ 6.52760177e-01 -7.57542984e-01 -5.72532584e-03 -1.46925042e+02] [ 8.74655139e-03 -2.07333495e-05 9.99961748e-01 -1.14307940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.710385723 meters 0.014775745435495457 Centerline is valid? [True, True] Translation: X:212.57, Y:-147.54, Z:-10.49 [[-8.00332436e-01 5.99524631e-01 6.18132134e-03 2.12570553e+02] [ 5.99507017e-01 8.00356305e-01 -4.59574442e-03 -1.47542019e+02] [-7.70252149e-03 2.76221962e-05 -9.99970335e-01 -1.04891217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.770385723 meters 0.01562352203752292 Centerline is valid? [True, True] Translation: X:212.62, Y:-147.54, Z:-10.49 [[-8.36339070e-01 5.48188430e-01 5.13862233e-03 2.12616705e+02] [ 5.48178605e-01 8.36354853e-01 -3.28285331e-03 -1.47542218e+02] [-6.09733392e-03 7.13043330e-05 -9.99981409e-01 -1.04886544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.830385723 meters 0.01691614286374968 Centerline is valid? [True, True] Translation: X:212.64, Y:-147.52, Z:-10.49 [[-8.70335065e-01 4.92428629e-01 5.56057373e-03 2.12637751e+02] [ 4.92419373e-01 8.70352822e-01 -3.02117618e-03 -1.47524563e+02] [-6.32737468e-03 1.08698660e-04 -9.99979976e-01 -1.04882041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.890385723 meters 0.016546686940404794 Centerline is valid? [True, True] Translation: X:212.66, Y:-147.50, Z:-10.49 [[-9.02406682e-01 4.30842998e-01 6.04080381e-03 2.12659270e+02] [ 4.30834255e-01 9.02426892e-01 -2.74759064e-03 -1.47500277e+02] [-6.63516399e-03 1.23141053e-04 -9.99977980e-01 -1.04876744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.950385723 meters 0.01667848256822351 Centerline is valid? [True, True] Translation: X:213.00, Y:-146.75, Z:-11.43 [[-8.87825539e-01 -4.60142413e-01 5.89681738e-03 2.13003731e+02] [ 4.60131361e-01 -8.87845113e-01 -3.19140595e-03 -1.46749953e+02] [ 6.70396173e-03 -1.20101097e-04 9.99977521e-01 -1.14331193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.010385723 meters 0.015577120708282788 Centerline is valid? [True, True] Translation: X:212.62, Y:-147.47, Z:-10.49 [[-9.06480935e-01 4.22209137e-01 5.63557361e-03 2.12617452e+02] [ 4.22201513e-01 9.06498449e-01 -2.53845722e-03 -1.47472026e+02] [-6.18039857e-03 7.82846328e-05 -9.99980898e-01 -1.04867268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.070385723 meters 0.014972724661079097 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.44, Z:-10.49 [[-9.35257947e-01 3.53932117e-01 4.96285975e-03 2.12626163e+02] [ 3.53927416e-01 9.35271113e-01 -1.82492987e-03 -1.47440634e+02] [-5.28752065e-03 4.97119683e-05 -9.99986020e-01 -1.04877795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.130385723 meters 0.014556468446258191 Centerline is valid? [True, True] Translation: X:212.63, Y:-147.41, Z:-10.49 [[-9.58834435e-01 2.83931096e-01 4.43383811e-03 2.12634056e+02] [ 2.83928204e-01 9.58844686e-01 -1.28195284e-03 -1.47410365e+02] [-4.61534838e-03 2.97111566e-05 -9.99989349e-01 -1.04880443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.190385723 meters 0.014621362897955337 Centerline is valid? [True, True] Translation: X:212.65, Y:-147.38, Z:-10.49 [[-9.76750627e-01 2.14325840e-01 4.75891308e-03 2.12645199e+02] [ 2.14323428e-01 9.76762220e-01 -1.01699940e-03 -1.47383600e+02] [-4.86629575e-03 2.65917601e-05 -9.99988159e-01 -1.04869524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.250385723 meters 0.01449250447882567 Centerline is valid? [True, True] Translation: X:212.82, Y:-146.61, Z:-11.43 [[-9.62607696e-01 -2.70862941e-01 4.43740815e-03 2.12815642e+02] [ 2.70859866e-01 -9.62617923e-01 -1.29120155e-03 -1.46609961e+02] [ 4.62126727e-03 -4.10047684e-05 9.99989321e-01 -1.14330681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.310385723 meters 0.014379653594089754 Centerline is valid? [True, True] Translation: X:212.60, Y:-147.37, Z:-10.49 [[-9.77753896e-01 2.09732492e-01 3.09860147e-03 2.12595400e+02] [ 2.09731487e-01 9.77758805e-01 -6.49507184e-04 -1.47369896e+02] [-3.16590763e-03 1.48161127e-05 -9.99994988e-01 -1.04884263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.370385723 meters 0.01435113494306469 Centerline is valid? [True, True] Translation: X:212.61, Y:-147.34, Z:-10.49 [[-9.89972562e-01 1.41227346e-01 3.02705614e-03 2.12612593e+02] [ 1.41226742e-01 9.89977190e-01 -4.13257616e-04 -1.47344113e+02] [-3.05507981e-03 1.83875773e-05 -9.99995333e-01 -1.04880456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.430385723 meters 0.014484493331655694 Centerline is valid? [True, True] Translation: X:212.61, Y:-147.31, Z:-10.49 [[-9.97471318e-01 7.09819297e-02 3.54051257e-03 2.12607617e+02] [ 7.09815628e-02 9.97477601e-01 -2.29350356e-04 -1.47314604e+02] [-3.54786172e-03 2.25407141e-05 -9.99993706e-01 -1.04867277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.490385723 meters 0.01570223710951111 Centerline is valid? [True, True] Translation: X:212.66, Y:-146.53, Z:-11.44 [[-9.92056301e-01 -1.25688251e-01 5.17297388e-03 2.12663183e+02] [ 1.25686929e-01 -9.92069785e-01 -5.81160388e-04 -1.46530247e+02] [ 5.20499612e-03 7.36313770e-05 9.99986451e-01 -1.14358932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.550385723 meters 0.014524537157130498 Centerline is valid? [True, True] Translation: X:212.55, Y:-147.31, Z:-10.48 [[-9.97680504e-01 6.78963533e-02 4.86805502e-03 2.12549679e+02] [ 6.78957292e-02 9.97692379e-01 -2.93543090e-04 -1.47310951e+02] [-4.87675190e-03 3.76579271e-05 -9.99988108e-01 -1.04849301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.610385723 meters 0.014633297864581727 Centerline is valid? [True, True] Translation: X:212.60, Y:-146.52, Z:-11.43 [[-9.93033078e-01 -1.17723938e-01 5.13628400e-03 2.12599984e+02] [ 1.17722252e-01 -9.93046361e-01 -6.30408169e-04 -1.46524561e+02] [ 5.17478226e-03 -2.13612474e-05 9.99986611e-01 -1.14335869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.670385723 meters 0.015027641552520798 Centerline is valid? [True, True] Translation: X:212.48, Y:-147.31, Z:-10.49 [[-9.97731721e-01 6.71595427e-02 4.58356403e-03 2.12481983e+02] [ 6.71590734e-02 9.97742248e-01 -2.56399128e-04 -1.47309740e+02] [-4.59043513e-03 5.20103700e-05 -9.99989463e-01 -1.04852804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.730385723 meters 0.01464915189856926 Centerline is valid? [True, True] Translation: X:212.48, Y:-147.28, Z:-10.49 [[-9.99979081e-01 -4.57232037e-03 4.57505044e-03 2.12482147e+02] [-4.57204986e-03 9.99989546e-01 6.95837233e-05 -1.47280101e+02] [-4.57532077e-03 4.86649090e-05 -9.99989532e-01 -1.04857741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.790385723 meters 0.014450941180760601 Centerline is valid? [True, True] Translation: X:212.47, Y:-146.49, Z:-11.43 [[-9.99062024e-01 -4.30552267e-02 4.61727269e-03 2.12474707e+02] [ 4.30545543e-02 -9.99072693e-01 -2.44984268e-04 -1.46493989e+02] [ 4.62353892e-03 -4.59598605e-05 9.99989310e-01 -1.14340453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8503857229999 meters 0.01436925533158394 Centerline is valid? [True, True] Translation: X:212.41, Y:-147.28, Z:-10.48 [[-9.99905469e-01 -1.21852290e-02 6.36966296e-03 2.12405487e+02] [-1.21846577e-02 9.99925756e-01 1.28496277e-04 -1.47277843e+02] [-6.37075581e-03 5.08719672e-05 -9.99979705e-01 -1.04838530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.910385723 meters 0.014395699390816294 Centerline is valid? [True, True] Translation: X:212.40, Y:-146.50, Z:-11.44 [[-9.99202977e-01 -3.94022983e-02 6.39296063e-03 2.12399279e+02] [ 3.94011769e-02 -9.99223427e-01 -3.01324662e-04 -1.46496982e+02] [ 6.39986891e-03 -4.91943264e-05 9.99979519e-01 -1.14364498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9703857229999 meters 0.01451906643959637 Centerline is valid? [True, True] Translation: X:212.33, Y:-147.28, Z:-10.49 [[-9.99863257e-01 -1.60026182e-02 4.16945605e-03 2.12330636e+02] [-1.60023273e-02 9.99871949e-01 1.03135046e-04 -1.47280340e+02] [-4.17057257e-03 3.63999433e-05 -9.99991302e-01 -1.04851208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.030385723 meters 0.014506796273838262 Centerline is valid? [True, True] Translation: X:212.32, Y:-146.50, Z:-11.43 [[-9.99427895e-01 -3.36692623e-02 3.20364749e-03 2.12323974e+02] [ 3.36687980e-02 -9.99433026e-01 -1.98778827e-04 -1.46497022e+02] [ 3.20852384e-03 -9.08021449e-05 9.99994849e-01 -1.14329633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0903857229999 meters 0.014647183171053797 Centerline is valid? [True, True] Translation: X:212.26, Y:-147.28, Z:-10.49 [[-9.99782009e-01 -2.07312192e-02 2.47996360e-03 2.12261004e+02] [-2.07310984e-02 9.99785085e-01 7.44236100e-05 -1.47284333e+02] [-2.48097351e-03 2.29950169e-05 -9.99996922e-01 -1.04861701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.150385723 meters 0.014770947085449824 Centerline is valid? [True, True] Translation: X:212.26, Y:-147.26, Z:-10.48 [[-9.95819243e-01 -9.12768719e-02 3.54501839e-03 2.12256513e+02] [-9.12761702e-02 9.95825553e-01 3.59581204e-04 -1.47256830e+02] [-3.56304134e-03 3.45021813e-05 -9.99993652e-01 -1.04845388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.210385723 meters 0.014634406049081353 Centerline is valid? [True, True] Translation: X:212.18, Y:-146.47, Z:-11.43 [[-9.99050862e-01 4.33043206e-02 4.70227029e-03 2.12183028e+02] [-4.33036981e-02 -9.99061927e-01 2.34176771e-04 -1.46471744e+02] [ 4.70800009e-03 3.03288119e-05 9.99988917e-01 -1.14338709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.270385723 meters 0.014629383837044334 Centerline is valid? [True, True] Translation: X:212.15, Y:-147.27, Z:-10.49 [[-9.95244348e-01 -9.73097158e-02 4.41678687e-03 2.12154889e+02] [-9.73085664e-02 9.95254147e-01 4.74890033e-04 -1.47266163e+02] [-4.44203687e-03 4.28404219e-05 -9.99990133e-01 -1.04851476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.330385723 meters 0.01455558040163395 Centerline is valid? [True, True] Translation: X:212.14, Y:-147.24, Z:-10.49 [[-9.85635461e-01 -1.68842998e-01 3.84437794e-03 2.12142502e+02] [-1.68841579e-01 9.85642958e-01 6.93109501e-04 -1.47239613e+02] [-3.90621073e-03 3.40624613e-05 -9.99992370e-01 -1.04853704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.390385723 meters 0.014578249639551486 Centerline is valid? [True, True] Translation: X:212.13, Y:-147.21, Z:-10.49 [[-9.71095691e-01 -2.38679935e-01 2.24678459e-03 2.12129668e+02] [-2.38679247e-01 9.71098290e-01 5.73720984e-04 -1.47213378e+02] [-2.31878436e-03 2.08771206e-05 -9.99997311e-01 -1.04863166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.450385723 meters 0.014647400403656067 Centerline is valid? [True, True] Translation: X:212.10, Y:-147.19, Z:-10.49 [[-9.51377466e-01 -3.08022857e-01 1.68398660e-03 2.12102279e+02] [-3.08022345e-01 9.51378957e-01 5.61925739e-04 -1.47192975e+02] [-1.77519539e-03 1.58979845e-05 -9.99998424e-01 -1.04867917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.510385723 meters 0.014540050419866713 Centerline is valid? [True, True] Translation: X:212.05, Y:-147.18, Z:-10.49 [[-9.25676028e-01 -3.78305143e-01 3.01834593e-03 2.12048749e+02] [-3.78303049e-01 9.25680949e-01 1.25867787e-03 -1.47182402e+02] [-3.27018964e-03 2.32784646e-05 -9.99994653e-01 -1.04858621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.570385723 meters 0.014289148489355918 Centerline is valid? [True, True] Translation: X:211.98, Y:-147.18, Z:-10.48 [[-8.94182255e-01 -4.47682581e-01 4.28973921e-03 2.11979052e+02] [-4.47677312e-01 8.94192544e-01 2.17223796e-03 -1.47179939e+02] [-4.80832591e-03 2.19577149e-05 -9.99988440e-01 -1.04833895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.630385723 meters 0.01425223420278183 Centerline is valid? [True, True] Translation: X:211.91, Y:-147.19, Z:-10.48 [[-8.57725752e-01 -5.14081468e-01 5.17468956e-03 2.11907394e+02] [-5.14071984e-01 8.57741362e-01 3.12284550e-03 -1.47187710e+02] [-6.04394226e-03 1.83820807e-05 -9.99981735e-01 -1.04829676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.690385723 meters 0.0142791226187509 Centerline is valid? [True, True] Translation: X:211.83, Y:-147.21, Z:-10.48 [[-8.16773756e-01 -5.76946524e-01 3.65234419e-03 2.11826931e+02] [-5.76940690e-01 8.16781922e-01 2.59456772e-03 -1.47206353e+02] [-4.48009553e-03 1.19888495e-05 -9.99989964e-01 -1.04847185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.750385723 meters 0.0142333993950907 Centerline is valid? [True, True] Translation: X:211.74, Y:-147.23, Z:-10.49 [[-7.71551280e-01 -6.36162658e-01 2.38652920e-03 2.11744242e+02] [-6.36159574e-01 7.71554971e-01 1.98067364e-03 -1.47234088e+02] [-3.10136907e-03 9.97787897e-06 -9.99995191e-01 -1.04868613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.810385723 meters 0.014279669859119049 Centerline is valid? [True, True] Translation: X:211.65, Y:-147.28, Z:-10.49 [[-7.22367097e-01 -6.91505516e-01 2.42871788e-03 2.11653336e+02] [-6.91501535e-01 7.22371179e-01 2.34646212e-03 -1.47279801e+02] [-3.37702730e-03 1.55448882e-05 -9.99994298e-01 -1.04865807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.870385723 meters 0.014486148631596817 Centerline is valid? [True, True] Translation: X:211.57, Y:-147.33, Z:-10.49 [[-6.69850077e-01 -7.42491200e-01 2.77341714e-03 2.11570702e+02] [-7.42484646e-01 6.69855818e-01 3.11984178e-03 -1.47327658e+02] [-4.17424468e-03 3.06066122e-05 -9.99991287e-01 -1.04855823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.930385723 meters 0.015080376127811497 Centerline is valid? [True, True] Translation: X:211.48, Y:-147.39, Z:-10.48 [[-6.15067122e-01 -7.88466100e-01 3.69391454e-03 2.11484627e+02] [-7.88451159e-01 6.15078209e-01 4.85454327e-03 -1.47391767e+02] [-6.09968914e-03 7.33987590e-05 -9.99981394e-01 -1.04839844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.990385723 meters 0.015195861791847677 Centerline is valid? [True, True] Translation: X:211.40, Y:-147.46, Z:-10.48 [[-5.54349839e-01 -8.32273489e-01 4.13463793e-03 2.11400587e+02] [-8.32248937e-01 5.54365248e-01 6.39362420e-03 -1.47464163e+02] [-7.61334350e-03 1.03256523e-04 -9.99971013e-01 -1.04838478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.050385723 meters 0.015163902415963689 Centerline is valid? [True, True] Translation: X:211.32, Y:-147.55, Z:-10.48 [[-4.89161996e-01 -8.72185067e-01 3.70809169e-03 2.11316488e+02] [-8.72158349e-01 4.89176039e-01 6.82762927e-03 -1.47548977e+02] [-7.76886590e-03 1.05773642e-04 -9.99969816e-01 -1.04830520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.110385723 meters 0.015159616550952573 Centerline is valid? [True, True] Translation: X:211.24, Y:-147.64, Z:-10.48 [[-4.20694358e-01 -9.07198203e-01 2.77088832e-03 2.11240305e+02] [-9.07177084e-01 4.20703473e-01 6.19075766e-03 -1.47638012e+02] [-6.78196656e-03 9.07304328e-05 -9.99976998e-01 -1.04836330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.170385723 meters 0.015160836870068854 Centerline is valid? [True, True] Translation: X:211.17, Y:-147.75, Z:-10.48 [[-3.49733518e-01 -9.36847279e-01 1.90840995e-03 2.11166078e+02] [-9.36832144e-01 3.49738716e-01 5.32587865e-03 -1.47748327e+02] [-5.65697976e-03 7.47784906e-05 -9.99983996e-01 -1.04846773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.230385723 meters 0.015220226228567831 Centerline is valid? [True, True] Translation: X:211.10, Y:-147.85, Z:-10.48 [[-2.76347639e-01 -9.61056586e-01 1.49066218e-03 2.11103984e+02] [-9.61041150e-01 2.76351649e-01 5.44733812e-03 -1.47847179e+02] [-5.64714712e-03 7.27713280e-05 -9.99984052e-01 -1.04840388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.290385723 meters 0.015361877846964614 Centerline is valid? [True, True] Translation: X:211.05, Y:-147.96, Z:-10.48 [[-2.01358154e-01 -9.79517356e-01 8.01351300e-04 2.11048504e+02] [-9.79508498e-01 2.01359741e-01 4.16610965e-03 -1.47958282e+02] [-4.24213660e-03 5.39497398e-05 -9.99991001e-01 -1.04842670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3503857229999 meters 0.015025186411201824 Centerline is valid? [True, True] Translation: X:210.25, Y:-147.93, Z:-11.44 [[-2.42239064e-01 9.70215820e-01 1.22420176e-03 2.10247647e+02] [-9.70203683e-01 -2.42242157e-01 4.85299427e-03 -1.47926630e+02] [ 5.00500509e-03 -1.21402611e-05 9.99987475e-01 -1.14366757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.410385723 meters 0.015229098874831983 Centerline is valid? [True, True] Translation: X:210.99, Y:-148.25, Z:-10.48 [[-1.93666449e-01 -9.81066855e-01 1.06430600e-03 2.10987719e+02] [-9.81049430e-01 1.93669354e-01 5.84787499e-03 -1.48250912e+02] [-5.94327978e-03 8.84003957e-05 -9.99982335e-01 -1.04832693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4703857229999 meters 0.015709366480930468 Centerline is valid? [True, True] Translation: X:210.94, Y:-148.37, Z:-10.48 [[-1.19770468e-01 -9.92801440e-01 5.79539030e-04 2.10941385e+02] [-9.92785603e-01 1.19771831e-01 5.60846110e-03 -1.48369135e+02] [-5.63750070e-03 9.63700043e-05 -9.99984105e-01 -1.04833884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.530385723 meters 0.01646686841045688 Centerline is valid? [True, True] Translation: X:210.91, Y:-148.49, Z:-10.48 [[-4.58995408e-02 -9.98946050e-01 1.47532868e-04 2.10906425e+02] [-9.98929724e-01 4.58996343e-02 5.71230580e-03 -1.48485076e+02] [-5.71305702e-03 1.14817246e-04 -9.99983674e-01 -1.04838326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5903857229999 meters 0.01743731664393626 Centerline is valid? [True, True] Translation: X:210.11, Y:-148.58, Z:-11.44 [[-7.05121045e-02 9.97510797e-01 5.03019308e-04 2.10110446e+02] [-9.97497626e-01 -7.05137594e-02 5.12796097e-03 -1.48578483e+02] [ 5.15066622e-03 -1.40177245e-04 9.99986725e-01 -1.14362424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.650385723 meters 0.017367160195312595 Centerline is valid? [True, True] Translation: X:210.90, Y:-148.79, Z:-10.48 [[-3.82230740e-02 -9.99269229e-01 6.64842857e-05 2.10895163e+02] [-9.99260545e-01 3.82230190e-02 4.16697660e-03 -1.48791313e+02] [-4.16647273e-03 9.28395313e-05 -9.99991316e-01 -1.04842516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.710385723 meters 0.015305881224439833 Centerline is valid? [True, True] Translation: X:210.86, Y:-148.91, Z:-10.48 [[ 4.22500569e-02 -9.99107008e-01 -3.44147396e-04 2.10861751e+02] [-9.99091231e-01 -4.22513241e-02 5.61587209e-03 -1.48913455e+02] [-5.62539785e-03 1.06563730e-04 -9.99984172e-01 -1.04836049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.770385723 meters 0.01487252055169999 Centerline is valid? [True, True] Translation: X:210.84, Y:-149.04, Z:-10.48 [[ 1.21902170e-01 -9.92541693e-01 -9.20958608e-04 2.10840030e+02] [-9.92519627e-01 -1.21905601e-01 6.61926004e-03 -1.49041526e+02] [-6.68216159e-03 1.07167333e-04 -9.99977668e-01 -1.04819314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.830385723 meters 0.015120591282894958 Centerline is valid? [True, True] Translation: X:210.83, Y:-149.17, Z:-10.48 [[ 1.96858351e-01 -9.80431108e-01 -1.27799840e-03 2.10830930e+02] [-9.80413687e-01 -1.96862472e-01 5.84548204e-03 -1.49168363e+02] [-5.98268235e-03 1.02235168e-04 -9.99982098e-01 -1.04818590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.890385723 meters 0.015611598913678955 Centerline is valid? [True, True] Translation: X:210.83, Y:-149.29, Z:-10.48 [[ 2.68740835e-01 -9.63211613e-01 -1.32366254e-03 2.10830638e+02] [-9.63201564e-01 -2.68744079e-01 4.40073490e-03 -1.49293747e+02] [-4.59456543e-03 9.22966570e-05 -9.99989441e-01 -1.04822862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.950385723 meters 0.01557838295888106 Centerline is valid? [True, True] Translation: X:210.84, Y:-149.41, Z:-10.48 [[ 3.39661997e-01 -9.40546884e-01 -1.13425847e-03 2.10838508e+02] [-9.40542311e-01 -3.39663884e-01 2.93369024e-03 -1.49414967e+02] [-3.14453985e-03 7.03549978e-05 -9.99995053e-01 -1.04833244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.010385723 meters 0.01585450590609516 Centerline is valid? [True, True] Translation: X:210.86, Y:-149.54, Z:-10.48 [[ 4.09083062e-01 -9.12496644e-01 -9.60996311e-04 2.10859724e+02] [-9.12494428e-01 -4.09084187e-01 2.01143135e-03 -1.49544028e+02] [-2.22855275e-03 5.40612822e-05 -9.99997515e-01 -1.04835906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.070385723 meters 0.016057661831192272 Centerline is valid? [True, True] Translation: X:210.88, Y:-149.65, Z:-10.48 [[ 4.77594978e-01 -8.78578834e-01 -1.50667570e-03 2.10880748e+02] [-8.78574940e-01 -4.77597349e-01 2.61654048e-03 -1.49654298e+02] [-3.01842141e-03 7.40809190e-05 -9.99995442e-01 -1.04829189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.130385723 meters 0.016771341761579926 Centerline is valid? [True, True] Translation: X:210.91, Y:-149.77, Z:-10.48 [[ 5.42518807e-01 -8.40041588e-01 -1.86422468e-03 2.10914735e+02] [-8.40037153e-01 -5.42522003e-01 2.73083764e-03 -1.49770404e+02] [-3.30540009e-03 8.44872143e-05 -9.99994534e-01 -1.04829141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.190385723 meters 0.017222352061485834 Centerline is valid? [True, True] Translation: X:210.95, Y:-149.88, Z:-10.48 [[ 6.02735855e-01 -7.97938918e-01 -1.72377035e-03 2.10953705e+02] [-7.97936020e-01 -6.02738315e-01 2.15215941e-03 -1.49879869e+02] [-2.75627418e-03 7.82748133e-05 -9.99996198e-01 -1.04830445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.250385723 meters 0.016960397838126706 Centerline is valid? [True, True] Translation: X:211.00, Y:-149.99, Z:-10.48 [[ 6.60846298e-01 -7.50516515e-01 -2.67036511e-03 2.11000858e+02] [-7.50511084e-01 -6.60851683e-01 2.85768883e-03 -1.49985553e+02] [-3.90945794e-03 1.15645526e-04 -9.99992351e-01 -1.04830726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.310385723 meters 0.017945512473082292 Centerline is valid? [True, True] Translation: X:211.05, Y:-150.08, Z:-10.48 [[ 7.16022667e-01 -6.98071869e-01 -2.68456548e-03 2.11051303e+02] [-6.98067515e-01 -7.16027691e-01 2.46780896e-03 -1.50082467e+02] [-3.64493124e-03 1.07000800e-04 -9.99993352e-01 -1.04825304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.370385723 meters 0.01649632480212367 Centerline is valid? [True, True] Translation: X:211.06, Y:-150.12, Z:-10.48 [[ 7.70014417e-01 -6.38019208e-01 -3.04752046e-03 2.11064272e+02] [-6.38014739e-01 -7.70020441e-01 2.39014885e-03 -1.50119185e+02] [-3.87161393e-03 1.03913902e-04 -9.99992500e-01 -1.04824683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.430385723 meters 0.01477366385459144 Centerline is valid? [True, True] Translation: X:211.08, Y:-150.16, Z:-10.48 [[ 8.20696045e-01 -5.71355069e-01 -3.37447788e-03 2.11079006e+02] [-5.71350669e-01 -8.20702978e-01 2.24398999e-03 -1.50157682e+02] [-4.05155910e-03 8.63764871e-05 -9.99991789e-01 -1.04821548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.490385723 meters 0.013665592340724134 Centerline is valid? [True, True] Translation: X:211.10, Y:-150.19, Z:-10.48 [[ 8.66679099e-01 -4.98849650e-01 -4.04552323e-03 2.11097874e+02] [-4.98844555e-01 -8.66688539e-01 2.25535654e-03 -1.50194382e+02] [-4.63129244e-03 6.34168616e-05 -9.99989274e-01 -1.04811768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.550385723 meters 0.013036592808579828 Centerline is valid? [True, True] Translation: X:211.12, Y:-150.23, Z:-10.48 [[ 9.05448005e-01 -4.24432080e-01 -4.61741152e-03 2.11121583e+02] [-4.24426791e-01 -9.05459777e-01 2.11935371e-03 -1.50225007e+02] [-5.08040211e-03 4.07885600e-05 -9.99987094e-01 -1.04814660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.610385723 meters 0.012865449796906252 Centerline is valid? [True, True] Translation: X:211.15, Y:-150.25, Z:-10.48 [[ 9.36490078e-01 -3.50661381e-01 -4.78853588e-03 2.11149261e+02] [-3.50656970e-01 -9.36502320e-01 1.75922017e-03 -1.50253748e+02] [-5.10136554e-03 3.16412510e-05 -9.99986987e-01 -1.04810123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.670385723 meters 0.013054745562152338 Centerline is valid? [True, True] Translation: X:211.18, Y:-150.28, Z:-10.48 [[ 9.60489888e-01 -2.78237274e-01 -6.57223895e-03 2.11179417e+02] [-2.78231158e-01 -9.60512372e-01 1.84569769e-03 -1.50275626e+02] [-6.82625871e-03 5.58276858e-05 -9.99976699e-01 -1.04804830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.730385723 meters 0.013789251061382984 Centerline is valid? [True, True] Translation: X:211.21, Y:-150.29, Z:-10.48 [[ 9.78254847e-01 -2.07321518e-01 -5.93652632e-03 2.11212582e+02] [-2.07318199e-01 -9.78272856e-01 1.17583666e-03 -1.50291859e+02] [-6.05131880e-03 8.04820385e-05 -9.99981687e-01 -1.04803339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.790385723 meters 0.015312981531199739 Centerline is valid? [True, True] Translation: X:211.24, Y:-150.30, Z:-10.48 [[ 9.90692925e-01 -1.35971136e-01 -6.27522659e-03 2.11242569e+02] [-1.35969185e-01 -9.90712792e-01 7.38509710e-04 -1.50300794e+02] [-6.31736326e-03 1.21601100e-04 -9.99980038e-01 -1.04802490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8503857229999 meters 0.01618040807649671 Centerline is valid? [True, True] Translation: X:211.27, Y:-150.31, Z:-10.48 [[ 9.98132616e-01 -6.05768775e-02 -7.85633162e-03 2.11273759e+02] [-6.05763529e-02 -9.98163520e-01 3.04943269e-04 -1.50308763e+02] [-7.86037613e-03 1.71534093e-04 -9.99969092e-01 -1.04796734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.910385723 meters 0.014849590456966712 Centerline is valid? [True, True] Translation: X:211.30, Y:-150.32, Z:-10.48 [[ 9.99778910e-01 1.91134431e-02 -8.76393156e-03 2.11304886e+02] [ 1.91111317e-02 -9.99817305e-01 -3.47420140e-04 -1.50323893e+02] [-8.76897083e-03 1.79854679e-04 -9.99961536e-01 -1.04799684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9703857229999 meters 0.015160568987138948 Centerline is valid? [True, True] Translation: X:211.34, Y:-150.33, Z:-10.48 [[ 9.95032478e-01 9.90940188e-02 -9.52592771e-03 2.11335904e+02] [ 9.90877498e-02 -9.95078059e-01 -1.12898897e-03 -1.50331094e+02] [-9.59091771e-03 1.79477952e-04 -9.99953990e-01 -1.04794723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.030385723 meters 0.014431595098855483 Centerline is valid? [True, True] Translation: X:211.37, Y:-150.34, Z:-10.48 [[ 9.83647988e-01 1.79866983e-01 -9.19263746e-03 2.11368396e+02] [ 1.79857748e-01 -9.83690931e-01 -1.82837085e-03 -1.50336522e+02] [-9.37157765e-03 1.45106237e-04 -9.99956075e-01 -1.04797961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0903857229999 meters 0.015281781127224794 Centerline is valid? [True, True] Translation: X:211.40, Y:-150.33, Z:-10.48 [[ 9.66023454e-01 2.58290162e-01 -9.21292049e-03 2.11398247e+02] [ 2.58277147e-01 -9.66067376e-01 -2.59608828e-03 -1.50332794e+02] [-9.57084599e-03 1.28395351e-04 -9.99954190e-01 -1.04786954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.150385723 meters 0.014092182739530668 Centerline is valid? [True, True] Translation: X:211.43, Y:-150.33, Z:-10.48 [[ 9.42457822e-01 3.34230873e-01 -7.93579972e-03 2.11429956e+02] [ 3.34218098e-01 -9.42491227e-01 -2.92405897e-03 -1.50331882e+02] [-8.45673240e-03 1.03514361e-04 -9.99964236e-01 -1.04810112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.210385723 meters 0.013662949586493717 Centerline is valid? [True, True] Translation: X:211.46, Y:-150.33, Z:-10.48 [[ 9.12567050e-01 4.08888006e-01 -5.65488519e-03 2.11461090e+02] [ 4.08879725e-01 -9.12584569e-01 -2.60293683e-03 -1.50326356e+02] [-6.22487061e-03 6.31864850e-05 -9.99980623e-01 -1.04826870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.270385723 meters 0.013299776025296405 Centerline is valid? [True, True] Translation: X:211.49, Y:-150.32, Z:-10.48 [[ 8.76968663e-01 4.80523166e-01 -4.84265996e-03 2.11492998e+02] [ 4.80515542e-01 -8.76982032e-01 -2.70728822e-03 -1.50320365e+02] [-5.54784048e-03 4.72335557e-05 -9.99984610e-01 -1.04834298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.330385723 meters 0.013604668322081955 Centerline is valid? [True, True] Translation: X:211.52, Y:-150.31, Z:-10.48 [[ 8.37349756e-01 5.46634947e-01 -5.96836619e-03 2.11520068e+02] [ 5.46620463e-01 -8.37371023e-01 -3.97981977e-03 -1.50308341e+02] [-7.17324547e-03 7.00700231e-05 -9.99974270e-01 -1.04824111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.390385723 meters 0.013913950120083651 Centerline is valid? [True, True] Translation: X:211.55, Y:-150.30, Z:-10.48 [[ 7.93638177e-01 6.08371916e-01 -4.69625793e-03 2.11548507e+02] [ 6.08360706e-01 -7.93652068e-01 -3.69401557e-03 -1.50296223e+02] [-5.97453016e-03 7.46929940e-05 -9.99982150e-01 -1.04840581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.450385723 meters 0.014323093009387257 Centerline is valid? [True, True] Translation: X:211.58, Y:-150.28, Z:-10.48 [[ 7.44063672e-01 6.68087550e-01 -5.31773019e-03 2.11575153e+02] [ 6.68069561e-01 -7.44082668e-01 -4.90355978e-03 -1.50281364e+02] [-7.23283810e-03 9.59470177e-05 -9.99973838e-01 -1.04827057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.510385723 meters 0.014209873794287871 Centerline is valid? [True, True] Translation: X:211.60, Y:-150.27, Z:-10.48 [[ 6.89730490e-01 7.24047600e-01 -5.18885187e-03 2.11603205e+02] [ 7.24025968e-01 -6.89750000e-01 -5.59771234e-03 -1.50268361e+02] [-7.63202076e-03 1.04049376e-04 -9.99970870e-01 -1.04827553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.570385723 meters 0.014800327196401255 Centerline is valid? [True, True] Translation: X:211.63, Y:-150.25, Z:-10.48 [[ 6.32127791e-01 7.74851557e-01 -4.41828691e-03 2.11626924e+02] [ 7.74831423e-01 -6.32143222e-01 -5.58674090e-03 -1.50251431e+02] [-7.12188500e-03 1.08106646e-04 -9.99974633e-01 -1.04828896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.630385723 meters 0.015009589037049683 Centerline is valid? [True, True] Translation: X:211.65, Y:-150.23, Z:-10.48 [[ 5.71544997e-01 8.20562003e-01 -3.78353564e-03 2.11650539e+02] [ 8.20542619e-01 -5.71557508e-01 -5.64148273e-03 -1.50233888e+02] [-6.79169457e-03 1.19808991e-04 -9.99976929e-01 -1.04841531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.690385723 meters 0.015169138418639554 Centerline is valid? [True, True] Translation: X:211.67, Y:-150.22, Z:-10.48 [[ 5.05071392e-01 8.63072422e-01 -2.98044163e-03 2.11672550e+02] [ 8.63056164e-01 -5.05080175e-01 -5.29859533e-03 -1.50215578e+02] [-6.07843348e-03 1.03880403e-04 -9.99981521e-01 -1.04836808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.750385723 meters 0.014675012200740079 Centerline is valid? [True, True] Translation: X:211.70, Y:-150.20, Z:-10.48 [[ 4.33359622e-01 9.01216042e-01 -3.01382287e-03 2.11695159e+02] [ 9.01192586e-01 -4.33370090e-01 -6.50293971e-03 -1.50195951e+02] [-7.16665428e-03 1.02076667e-04 -9.99974314e-01 -1.04827997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.810385723 meters 0.01452057291783177 Centerline is valid? [True, True] Translation: X:211.71, Y:-150.17, Z:-10.48 [[ 3.59684368e-01 9.33069589e-01 -2.88067703e-03 2.11714449e+02] [ 9.33037350e-01 -3.59695889e-01 -7.75700838e-03 -1.50173664e+02] [-8.27399630e-03 1.02295393e-04 -9.99965765e-01 -1.04815376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.870385723 meters 0.014596049111700708 Centerline is valid? [True, True] Translation: X:211.73, Y:-150.15, Z:-10.48 [[ 2.86915456e-01 9.57953143e-01 -2.30153391e-03 2.11732001e+02] [ 9.57918996e-01 -2.86924663e-01 -8.08917277e-03 -1.50150751e+02] [-8.40941532e-03 1.16225640e-04 -9.99964634e-01 -1.04825842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.930385723 meters 0.015058752383081568 Centerline is valid? [True, True] Translation: X:211.75, Y:-150.13, Z:-10.48 [[ 2.14556063e-01 9.76710390e-01 -1.58408800e-03 2.11749046e+02] [ 9.76678752e-01 -2.14561865e-01 -7.86266297e-03 -1.50126869e+02] [-8.01942949e-03 1.39836917e-04 -9.99967834e-01 -1.04821889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.990385723 meters 0.015827435729213572 Centerline is valid? [True, True] Translation: X:211.76, Y:-150.10, Z:-10.48 [[ 1.39699928e-01 9.90193418e-01 -9.62344547e-04 2.11761696e+02] [ 9.90161482e-01 -1.39703153e-01 -7.95416738e-03 -1.50101775e+02] [-8.01060675e-03 1.58320106e-04 -9.99967902e-01 -1.04824143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.050385723 meters 0.016044895361660882 Centerline is valid? [True, True] Translation: X:211.77, Y:-150.08, Z:-10.48 [[ 6.12208591e-02 9.98124167e-01 -3.92892628e-04 2.11774413e+02] [ 9.98080445e-01 -6.12218554e-02 -9.34398358e-03 -1.50076565e+02] [-9.35050944e-03 1.79908253e-04 -9.99956267e-01 -1.04808502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.110385723 meters 0.01528330815703373 Centerline is valid? [True, True] Translation: X:211.79, Y:-150.05, Z:-10.48 [[-1.91494634e-02 9.99816593e-01 2.80564697e-04 2.11788781e+02] [ 9.99786856e-01 1.91510580e-02 -7.71229148e-03 -1.50049622e+02] [-7.71625011e-03 1.32818653e-04 -9.99970221e-01 -1.04825241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.170385723 meters 0.015118792246881629 Centerline is valid? [True, True] Translation: X:211.80, Y:-150.02, Z:-10.48 [[-9.90904442e-02 9.95078162e-01 7.31267045e-04 2.11799197e+02] [ 9.95057963e-01 9.90930927e-02 -6.34109093e-03 -1.50022048e+02] [-6.38234462e-03 9.93115803e-05 -9.99979628e-01 -1.04828281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.230385723 meters 0.015025704743768024 Centerline is valid? [True, True] Translation: X:211.81, Y:-149.99, Z:-10.48 [[-1.77400975e-01 9.84137343e-01 1.60736291e-03 2.11805841e+02] [ 9.84103078e-01 1.77408212e-01 -8.21334437e-03 -1.49993758e+02] [-8.36821829e-03 1.24755487e-04 -9.99964978e-01 -1.04814592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.290385723 meters 0.014895239696377642 Centerline is valid? [True, True] Translation: X:211.81, Y:-149.96, Z:-10.48 [[-2.53882988e-01 9.67231332e-01 2.64170728e-03 2.11810974e+02] [ 9.67184857e-01 2.53896689e-01 -9.48283317e-03 -1.49964966e+02] [-9.84281409e-03 1.47489252e-04 -9.99951547e-01 -1.04807409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3503857229999 meters 0.015319968542306463 Centerline is valid? [True, True] Translation: X:211.81, Y:-149.94, Z:-10.48 [[-3.28002819e-01 9.44669933e-01 3.58735422e-03 2.11810423e+02] [ 9.44618855e-01 3.28022394e-01 -9.82482357e-03 -1.49938046e+02] [-1.04579479e-02 1.66112609e-04 -9.99945300e-01 -1.04798259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.410385723 meters 0.015644635437094236 Centerline is valid? [True, True] Translation: X:211.81, Y:-149.91, Z:-10.48 [[-3.99754348e-01 9.16614655e-01 3.74640952e-03 2.11805977e+02] [ 9.16577971e-01 3.99771873e-01 -8.20198880e-03 -1.49911015e+02] [-9.01577228e-03 1.55095758e-04 -9.99959345e-01 -1.04810096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4703857229999 meters 0.015920027025013463 Centerline is valid? [True, True] Translation: X:211.80, Y:-149.88, Z:-10.48 [[-4.70107384e-01 8.82595854e-01 4.85858420e-03 2.11801056e+02] [ 8.82552497e-01 4.70132458e-01 -8.74993990e-03 -1.49883863e+02] [-1.00068388e-02 1.74544267e-04 -9.99949915e-01 -1.04802971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.530385723 meters 0.016010382951165608 Centerline is valid? [True, True] Translation: X:211.79, Y:-149.86, Z:-10.48 [[-5.38324148e-01 8.42721282e-01 5.28711253e-03 2.11791883e+02] [ 8.42683537e-01 5.38350087e-01 -7.97754728e-03 -1.49858933e+02] [-9.56916635e-03 1.60856341e-04 -9.99954202e-01 -1.04815450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5903857229999 meters 0.015829507206430064 Centerline is valid? [True, True] Translation: X:211.78, Y:-149.83, Z:-10.48 [[-6.02933699e-01 7.97777191e-01 4.74426422e-03 2.11783418e+02] [ 7.97754132e-01 6.02952351e-01 -6.06695711e-03 -1.49833050e+02] [-7.70064526e-03 1.26783491e-04 -9.99970342e-01 -1.04824573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.650385723 meters 0.015960029781355366 Centerline is valid? [True, True] Translation: X:211.77, Y:-149.81, Z:-10.48 [[-6.63749011e-01 7.47935883e-01 5.40051585e-03 2.11770831e+02] [ 7.47912702e-01 6.63770969e-01 -5.88991135e-03 -1.49810152e+02] [-7.98998168e-03 1.29691570e-04 -9.99968071e-01 -1.04815832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.710385723 meters 0.01570771080027239 Centerline is valid? [True, True] Translation: X:211.76, Y:-149.79, Z:-10.48 [[-7.19874811e-01 6.94078983e-01 5.88404134e-03 2.11758698e+02] [ 6.94057322e-01 7.19898845e-01 -5.48517679e-03 -1.49785986e+02] [-8.04306049e-03 1.35221369e-04 -9.99967645e-01 -1.04823820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.770385723 meters 0.015570397773159437 Centerline is valid? [True, True] Translation: X:211.78, Y:-149.77, Z:-10.48 [[-7.67344985e-01 6.41207366e-01 5.89819360e-03 2.11778398e+02] [ 6.41189674e-01 7.67367642e-01 -4.76479471e-03 -1.49765681e+02] [-7.58130439e-03 1.25619510e-04 -9.99971254e-01 -1.04819984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.830385723 meters 0.01525168857714814 Centerline is valid? [True, True] Translation: X:211.79, Y:-149.74, Z:-10.48 [[-8.11843002e-01 5.83836996e-01 6.73070629e-03 2.11792734e+02] [ 5.83818159e-01 8.11870894e-01 -4.69140988e-03 -1.49742345e+02] [-8.20348318e-03 1.20820271e-04 -9.99966344e-01 -1.04817650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.890385723 meters 0.016085810541635416 Centerline is valid? [True, True] Translation: X:212.22, Y:-149.12, Z:-11.44 [[-7.88967288e-01 -6.14401055e-01 6.47779168e-03 2.12222127e+02] [ 6.14379128e-01 -7.88993872e-01 -5.19196395e-03 -1.49120188e+02] [ 8.30088606e-03 -1.16469714e-04 9.99965540e-01 -1.14395962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.950385723 meters 0.015337991444221542 Centerline is valid? [True, True] Translation: X:211.76, Y:-149.72, Z:-10.48 [[-8.14074891e-01 5.80732370e-01 5.65564414e-03 2.11758073e+02] [ 5.80719203e-01 8.14094531e-01 -3.91184876e-03 -1.49719015e+02] [-6.87596617e-03 9.98033060e-05 -9.99976355e-01 -1.04810274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.010385723 meters 0.015463138117845346 Centerline is valid? [True, True] Translation: X:212.20, Y:-149.10, Z:-11.44 [[-7.92745200e-01 -6.09544456e-01 3.25628886e-03 2.12195252e+02] [ 6.09538202e-01 -7.92751860e-01 -2.76922874e-03 -1.49103177e+02] [ 4.26939708e-03 -2.10460331e-04 9.99990864e-01 -1.14369680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.070385723 meters 0.01576233801842266 Centerline is valid? [True, True] Translation: X:211.73, Y:-149.70, Z:-10.48 [[-8.14088039e-01 5.80729868e-01 3.67207052e-03 2.11726836e+02] [ 5.80724401e-01 8.14096317e-01 -2.52121066e-03 -1.49700947e+02] [-4.45356142e-03 7.99735101e-05 -9.99990080e-01 -1.04816463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.130385723 meters 0.015592684272349862 Centerline is valid? [True, True] Translation: X:211.74, Y:-149.68, Z:-10.48 [[-8.53473867e-01 5.21113329e-01 4.82247079e-03 2.11744863e+02] [ 5.21105648e-01 8.53487486e-01 -2.83113579e-03 -1.49676788e+02] [-5.59126107e-03 9.67163498e-05 -9.99984364e-01 -1.04788170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.190385723 meters 0.015686986540521614 Centerline is valid? [True, True] Translation: X:212.13, Y:-149.03, Z:-11.44 [[-8.35415073e-01 -5.49600924e-01 4.52558206e-03 2.12133099e+02] [ 5.49592198e-01 -8.35427324e-01 -3.09860259e-03 -1.49028953e+02] [ 5.48378976e-03 -1.01394712e-04 9.99984959e-01 -1.14423730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.250385723 meters 0.015564634633245146 Centerline is valid? [True, True] Translation: X:211.69, Y:-149.65, Z:-10.48 [[-8.56013805e-01 5.16928441e-01 5.03501980e-03 2.11689720e+02] [ 5.16920134e-01 8.56028608e-01 -2.93200726e-03 -1.49647638e+02] [-5.82575893e-03 9.28644202e-05 -9.99983026e-01 -1.04769108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.310385723 meters 0.01547819412605791 Centerline is valid? [True, True] Translation: X:212.09, Y:-149.00, Z:-11.44 [[-8.36674877e-01 -5.47684563e-01 4.09514148e-03 2.12092897e+02] [ 5.47677229e-01 -8.36684889e-01 -2.83720483e-03 -1.49003700e+02] [ 4.98023627e-03 -1.31002265e-04 9.99987590e-01 -1.14426095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.370385723 meters 0.015378986591552126 Centerline is valid? [True, True] Translation: X:212.08, Y:-149.03, Z:-11.44 [[-7.97816488e-01 -6.02891785e-01 3.21687150e-03 2.12079918e+02] [ 6.02886575e-01 -7.97822971e-01 -2.50698854e-03 -1.49029501e+02] [ 4.07793677e-03 -6.07081527e-05 9.99991683e-01 -1.14419981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.430385723 meters 0.014989566409354439 Centerline is valid? [True, True] Translation: X:211.61, Y:-149.64, Z:-10.48 [[-8.23010931e-01 5.68018366e-01 2.85353944e-03 2.11608130e+02] [ 5.68015141e-01 8.23015877e-01 -1.91484548e-03 -1.49635580e+02] [-3.43617566e-03 4.49148454e-05 -9.99994095e-01 -1.04773914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.490385723 meters 0.014313607389506995 Centerline is valid? [True, True] Translation: X:211.62, Y:-149.61, Z:-10.48 [[-8.63656762e-01 5.04074347e-01 2.45956095e-03 2.11620197e+02] [ 5.04072379e-01 8.63660264e-01 -1.40870053e-03 -1.49609567e+02] [-2.83431487e-03 2.31629999e-05 -9.99995983e-01 -1.04763693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.550385723 meters 0.01427353208414891 Centerline is valid? [True, True] Translation: X:211.63, Y:-149.59, Z:-10.48 [[-8.97947406e-01 4.40088455e-01 3.55079341e-03 2.11630449e+02] [ 4.40085124e-01 8.97954426e-01 -1.71240331e-03 -1.49585107e+02] [-3.94205959e-03 2.50032501e-05 -9.99992230e-01 -1.04758692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.610385723 meters 0.014172393648916159 Centerline is valid? [True, True] Translation: X:211.65, Y:-149.57, Z:-10.47 [[-9.26919013e-01 3.75228508e-01 4.97104210e-03 2.11651754e+02] [ 3.75223296e-01 9.26932342e-01 -1.97791764e-03 -1.49565342e+02] [-5.34999078e-03 3.18813324e-05 -9.99985688e-01 -1.04745200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.670385723 meters 0.014461389853628036 Centerline is valid? [True, True] Translation: X:211.94, Y:-148.85, Z:-11.44 [[-9.05501565e-01 -4.24314171e-01 4.93968567e-03 2.11944853e+02] [ 4.24307703e-01 -9.05515038e-01 -2.34302356e-03 -1.48846932e+02] [ 5.46713776e-03 -2.56648156e-05 9.99985055e-01 -1.14449310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.730385723 meters 0.014550744579441645 Centerline is valid? [True, True] Translation: X:211.61, Y:-149.56, Z:-10.47 [[-9.26216905e-01 3.76963382e-01 4.56653020e-03 2.11609518e+02] [ 3.76959102e-01 9.26228160e-01 -1.79735398e-03 -1.49557719e+02] [-4.90718550e-03 5.66554760e-05 -9.99987958e-01 -1.04746029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.790385723 meters 0.01523184332329724 Centerline is valid? [True, True] Translation: X:211.62, Y:-149.54, Z:-10.47 [[-9.49316437e-01 3.14274239e-01 5.47764325e-03 2.11615670e+02] [ 3.14269549e-01 9.49332236e-01 -1.71922001e-03 -1.49535978e+02] [-5.74040988e-03 8.93726660e-05 -9.99983520e-01 -1.04736038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8503857229999 meters 0.01562586472553086 Centerline is valid? [True, True] Translation: X:211.61, Y:-149.51, Z:-10.47 [[-9.68528378e-01 2.48832843e-01 5.91581697e-03 2.11612320e+02] [ 2.48828900e-01 9.68546439e-01 -1.40518984e-03 -1.49510108e+02] [-6.07940084e-03 1.11059994e-04 -9.99981514e-01 -1.04747612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.910385723 meters 0.01647658114502139 Centerline is valid? [True, True] Translation: X:211.63, Y:-149.49, Z:-10.47 [[-9.83729578e-01 1.79544060e-01 6.32839130e-03 2.11634372e+02] [ 1.79541109e-01 9.83749926e-01 -1.03592381e-03 -1.49487449e+02] [-6.41154844e-03 1.17137502e-04 -9.99979439e-01 -1.04732861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9703857229999 meters 0.015490972831179272 Centerline is valid? [True, True] Translation: X:211.77, Y:-148.69, Z:-11.45 [[-9.77253051e-01 -2.11994957e-01 5.88328065e-03 2.11773299e+02] [ 2.11990287e-01 -9.77270751e-01 -1.41357571e-03 -1.48691952e+02] [ 6.04922902e-03 -1.34222827e-04 9.99981694e-01 -1.14458470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.030385723 meters 0.015131323230289111 Centerline is valid? [True, True] Translation: X:211.58, Y:-149.48, Z:-10.47 [[-9.85089988e-01 1.71923289e-01 6.33232785e-03 2.11584661e+02] [ 1.71920342e-01 9.85110336e-01 -1.01095927e-03 -1.49476404e+02] [-6.41184906e-03 9.27701159e-05 -9.99979440e-01 -1.04740625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0903857229999 meters 0.014832494205657276 Centerline is valid? [True, True] Translation: X:211.72, Y:-148.69, Z:-11.44 [[-9.77662001e-01 -2.10101245e-01 5.87184344e-03 2.11718354e+02] [ 2.10096769e-01 -9.77679628e-01 -1.37594256e-03 -1.48686590e+02] [ 6.02986895e-03 -1.11551422e-04 9.99981814e-01 -1.14443611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.150385723 meters 0.015405524931280338 Centerline is valid? [True, True] Translation: X:211.53, Y:-149.47, Z:-10.48 [[-9.85399770e-01 1.70162970e-01 5.64417569e-03 2.11533272e+02] [ 1.70160734e-01 9.85415930e-01 -8.77596524e-04 -1.49470632e+02] [-5.71119507e-03 9.56336664e-05 -9.99983686e-01 -1.04769051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.210385723 meters 0.01575977261201025 Centerline is valid? [True, True] Translation: X:211.54, Y:-149.44, Z:-10.48 [[-9.94771666e-01 1.01916072e-01 6.51512311e-03 2.11539631e+02] [ 1.01914696e-01 9.94792993e-01 -5.43709928e-04 -1.49441813e+02] [-6.53661160e-03 1.23119562e-04 -9.99978629e-01 -1.04755731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.270385723 meters 0.016196133379582162 Centerline is valid? [True, True] Translation: X:211.55, Y:-149.41, Z:-10.48 [[-9.99413190e-01 3.35136190e-02 7.07908955e-03 2.11546029e+02] [ 3.35138348e-02 9.99438250e-01 -8.81742813e-05 -1.49413664e+02] [-7.07806791e-03 1.49124898e-04 -9.99974939e-01 -1.04750800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.330385723 meters 0.01660955422726897 Centerline is valid? [True, True] Translation: X:211.55, Y:-149.39, Z:-10.48 [[-9.99315392e-01 -3.65282484e-02 5.86801137e-03 2.11546447e+02] [-3.65268542e-02 9.99332612e-01 3.44629709e-04 -1.49385104e+02] [-5.87668386e-03 1.30053777e-04 -9.99982724e-01 -1.04759947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.390385723 meters 0.016497101296004894 Centerline is valid? [True, True] Translation: X:211.50, Y:-148.59, Z:-11.44 [[-9.99916029e-01 1.19300415e-02 5.06062822e-03 2.11503095e+02] [-1.19307331e-02 -9.99928821e-01 -1.06491761e-04 -1.48585204e+02] [ 5.05899755e-03 -1.66859823e-04 9.99987189e-01 -1.14433980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.450385723 meters 0.016086349803340044 Centerline is valid? [True, True] Translation: X:211.45, Y:-149.38, Z:-10.48 [[-9.98943372e-01 -4.57808330e-02 4.03178000e-03 2.11451755e+02] [-4.57801545e-02 9.98951505e-01 2.60470061e-04 -1.49384442e+02] [-4.03947723e-03 7.56193300e-05 -9.99991838e-01 -1.04770985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.510385723 meters 0.015284616539941485 Centerline is valid? [True, True] Translation: X:211.45, Y:-149.35, Z:-10.48 [[-9.92948578e-01 -1.18491392e-01 3.59313371e-03 2.11445296e+02] [-1.18490390e-01 9.92955078e-01 4.91005356e-04 -1.49351568e+02] [-3.62600027e-03 6.17912541e-05 -9.99993424e-01 -1.04768318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.570385723 meters 0.015341726730066282 Centerline is valid? [True, True] Translation: X:211.34, Y:-148.58, Z:-11.44 [[-9.96397252e-01 8.47655458e-02 2.70534801e-03 2.11339398e+02] [-8.47655261e-02 -9.96400919e-01 1.22164486e-04 -1.48578252e+02] [ 2.70596658e-03 -1.07595889e-04 9.99996333e-01 -1.14418533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.630385723 meters 0.016005335750669685 Centerline is valid? [True, True] Translation: X:211.34, Y:-149.36, Z:-10.48 [[-9.92532696e-01 -1.21960227e-01 2.13311060e-03 2.11340365e+02] [-1.21959851e-01 9.92534987e-01 3.05974092e-04 -1.49361872e+02] [-2.15450358e-03 4.35354391e-05 -9.99997678e-01 -1.04777327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.690385723 meters 0.016859656714131553 Centerline is valid? [True, True] Translation: X:211.32, Y:-149.34, Z:-10.48 [[-9.81806828e-01 -1.89869273e-01 2.23857018e-03 2.11320740e+02] [-1.89868658e-01 9.81809379e-01 4.85946303e-04 -1.49336181e+02] [-2.29011547e-03 5.20710821e-05 -9.99997376e-01 -1.04770827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.750385723 meters 0.017474531440616045 Centerline is valid? [True, True] Translation: X:211.30, Y:-149.31, Z:-10.48 [[-9.66099251e-01 -2.58159404e-01 2.44117566e-03 2.11299493e+02] [-2.58158416e-01 9.66102333e-01 7.17044732e-04 -1.49310727e+02] [-2.54353734e-03 6.25263373e-05 -9.99996763e-01 -1.04760447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.810385723 meters 0.01674236985948703 Centerline is valid? [True, True] Translation: X:211.26, Y:-149.29, Z:-10.48 [[-9.45067010e-01 -3.26872458e-01 1.65644350e-03 2.11256652e+02] [-3.26871871e-01 9.45068460e-01 6.21206758e-04 -1.49291525e+02] [-1.76850789e-03 4.56372275e-05 -9.99998435e-01 -1.04764729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.870385723 meters 0.016818323815314295 Centerline is valid? [True, True] Translation: X:211.19, Y:-149.29, Z:-10.48 [[-9.18709759e-01 -3.94926876e-01 2.26756064e-03 2.11192810e+02] [-3.94925497e-01 9.18712555e-01 1.04552770e-03 -1.49285642e+02] [-2.49614342e-03 6.50189831e-05 -9.99996883e-01 -1.04760929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.930385723 meters 0.016806717385224094 Centerline is valid? [True, True] Translation: X:211.12, Y:-149.29, Z:-10.48 [[-8.86649081e-01 -4.62436955e-01 2.33881822e-03 2.11119222e+02] [-4.62435144e-01 8.86652163e-01 1.29594364e-03 -1.49286561e+02] [-2.67301047e-03 6.74954945e-05 -9.99996425e-01 -1.04754966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.990385723 meters 0.016549634008717645 Centerline is valid? [True, True] Translation: X:211.04, Y:-149.30, Z:-10.47 [[-8.48579395e-01 -5.29060577e-01 2.81361742e-03 2.11036594e+02] [-5.29057368e-01 8.48584056e-01 1.84443674e-03 -1.49296715e+02] [-3.36340964e-03 7.65859844e-05 -9.99994341e-01 -1.04744063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.050385723 meters 0.015776173953192106 Centerline is valid? [True, True] Translation: X:210.95, Y:-149.31, Z:-10.48 [[-8.05983556e-01 -5.91935397e-01 1.73021966e-03 2.10953915e+02] [-5.91933905e-01 8.05985412e-01 1.32982946e-03 -1.49314802e+02] [-2.18170494e-03 4.76450017e-05 -9.99997619e-01 -1.04758590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.110385723 meters 0.017684820714999615 Centerline is valid? [True, True] Translation: X:210.87, Y:-149.34, Z:-10.47 [[-7.59258706e-01 -6.50787917e-01 1.14173135e-03 2.10865561e+02] [-6.50787114e-01 7.59259564e-01 1.02311660e-03 -1.49344114e+02] [-1.53270237e-03 3.37861410e-05 -9.99998825e-01 -1.04739467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.170385723 meters 0.01529373187999588 Centerline is valid? [True, True] Translation: X:210.77, Y:-149.39, Z:-10.48 [[-7.06939515e-01 -7.07273989e-01 1.61056256e-04 2.10772098e+02] [-7.07273969e-01 7.06939534e-01 1.69915866e-04 -1.49385520e+02] [-2.34034107e-04 6.20934253e-06 -9.99999973e-01 -1.04761945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.230385723 meters 0.014727433587339982 Centerline is valid? [True, True] Translation: X:210.68, Y:-149.44, Z:-10.48 [[-6.50466103e-01 -7.59535136e-01 4.74735195e-04 2.10681777e+02] [-7.59534917e-01 6.50466277e-01 5.77500367e-04 -1.49436063e+02] [-7.47431055e-04 1.50664568e-05 -9.99999721e-01 -1.04757675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.290385723 meters 0.015008259433894486 Centerline is valid? [True, True] Translation: X:210.59, Y:-149.50, Z:-10.47 [[-5.91221240e-01 -8.06508702e-01 1.07658997e-03 2.10594100e+02] [-8.06507254e-01 5.91222220e-01 1.52846879e-03 -1.49499602e+02] [-1.86922729e-03 3.53855877e-05 -9.99998252e-01 -1.04743356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3503857229999 meters 0.01655769877088645 Centerline is valid? [True, True] Translation: X:210.51, Y:-149.57, Z:-10.47 [[-5.28835707e-01 -8.48723320e-01 1.23329396e-03 2.10509650e+02] [-8.48720803e-01 5.28837143e-01 2.06744499e-03 -1.49570236e+02] [-2.40690043e-03 4.66164853e-05 -9.99997102e-01 -1.04711359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.410385723 meters 0.014723382736936507 Centerline is valid? [True, True] Translation: X:210.43, Y:-149.65, Z:-10.47 [[-4.63358829e-01 -8.86170082e-01 1.08660209e-03 2.10429303e+02] [-8.86167393e-01 4.63360100e-01 2.18366025e-03 -1.49652540e+02] [-2.43858244e-03 4.89069102e-05 -9.99997025e-01 -1.04738669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4703857229999 meters 0.015331220810068345 Centerline is valid? [True, True] Translation: X:210.36, Y:-149.74, Z:-10.47 [[-3.95531150e-01 -9.18451969e-01 1.04398506e-03 2.10355877e+02] [-9.18448368e-01 3.95532523e-01 2.57271588e-03 -1.49742301e+02] [-2.77584601e-03 5.87428900e-05 -9.99996146e-01 -1.04729131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.530385723 meters 0.01561003633483371 Centerline is valid? [True, True] Translation: X:210.29, Y:-149.84, Z:-10.47 [[-3.26031374e-01 -9.45358777e-01 5.71420684e-04 2.10287087e+02] [-9.45357081e-01 3.26031872e-01 1.79107152e-03 -1.49841215e+02] [-1.87950654e-03 4.37489197e-05 -9.99998233e-01 -1.04730091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5903857229999 meters 0.015476823301669393 Centerline is valid? [True, True] Translation: X:210.23, Y:-149.94, Z:-10.47 [[-2.51749858e-01 -9.67792266e-01 3.72784488e-04 2.10227258e+02] [-9.67790982e-01 2.51750132e-01 1.57674712e-03 -1.49943598e+02] [-1.61981222e-03 3.61684001e-05 -9.99998687e-01 -1.04736101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.650385723 meters 0.015838951074245003 Centerline is valid? [True, True] Translation: X:210.17, Y:-150.05, Z:-10.47 [[-1.73915721e-01 -9.84760461e-01 3.95469311e-04 2.10170596e+02] [-9.84757254e-01 1.73916164e-01 2.51382709e-03 -1.50053344e+02] [-2.54429603e-03 4.77527787e-05 -9.99996762e-01 -1.04705750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.710385723 meters 0.014402995462257666 Centerline is valid? [True, True] Translation: X:210.13, Y:-150.17, Z:-10.47 [[-9.51408561e-02 -9.95463749e-01 3.76804063e-04 2.10125490e+02] [-9.95452611e-01 9.51415743e-02 4.70964987e-03 -1.50168709e+02] [-4.72413544e-03 7.29895322e-05 -9.99988839e-01 -1.04707164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.770385723 meters 0.01416051752260407 Centerline is valid? [True, True] Translation: X:210.09, Y:-150.29, Z:-10.47 [[-1.90535453e-02 -9.99818465e-01 1.37638549e-05 2.10091389e+02] [-9.99809254e-01 1.90534289e-02 4.29217363e-03 -1.50286530e+02] [-4.29165670e-03 6.80198953e-05 -9.99990789e-01 -1.04720097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.830385723 meters 0.01476682598436901 Centerline is valid? [True, True] Translation: X:210.07, Y:-150.41, Z:-10.47 [[ 5.58188337e-02 -9.98440879e-01 -2.64515545e-04 2.10067663e+02] [-9.98434419e-01 -5.58194242e-02 3.59196808e-03 -1.50406713e+02] [-3.60113287e-03 6.36019559e-05 -9.99993514e-01 -1.04722278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.890385723 meters 0.014653712724309329 Centerline is valid? [True, True] Translation: X:210.05, Y:-150.53, Z:-10.47 [[ 1.30446942e-01 -9.91455211e-01 -3.99792418e-04 2.10052823e+02] [-9.91451698e-01 -1.30447544e-01 2.63983358e-03 -1.50526951e+02] [-2.66942870e-03 5.20166545e-05 -9.99996436e-01 -1.04724756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.950385723 meters 0.014949081654962035 Centerline is valid? [True, True] Translation: X:210.05, Y:-150.65, Z:-10.47 [[ 2.05031767e-01 -9.78755212e-01 -4.57180286e-04 2.10050290e+02] [-9.78753214e-01 -2.05032272e-01 1.97825038e-03 -1.50652483e+02] [-2.02995958e-03 4.18625043e-05 -9.99997939e-01 -1.04729817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.010385723 meters 0.01502683411396168 Centerline is valid? [True, True] Translation: X:210.05, Y:-150.77, Z:-10.47 [[ 2.79980126e-01 -9.60005578e-01 -6.47269985e-04 2.10052165e+02] [-9.60003355e-01 -2.79980870e-01 2.06640291e-03 -1.50770197e+02] [-2.16498153e-03 4.28296126e-05 -9.99997656e-01 -1.04719682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.070385723 meters 0.014349045264479568 Centerline is valid? [True, True] Translation: X:210.07, Y:-150.89, Z:-10.47 [[ 3.55669312e-01 -9.34611750e-01 -4.66857948e-04 2.10065793e+02] [-9.34611022e-01 -3.55669618e-01 1.16670065e-03 -1.50894855e+02] [-1.25645932e-03 2.13709661e-05 -9.99999210e-01 -1.04728823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.130385723 meters 0.013860447578037012 Centerline is valid? [True, True] Translation: X:210.09, Y:-151.02, Z:-10.47 [[ 4.28813539e-01 -9.03392062e-01 -1.31552175e-03 2.10087065e+02] [-9.03388089e-01 -4.28815555e-01 2.67961670e-03 -1.51016058e+02] [-2.98486065e-03 3.93707566e-05 -9.99995545e-01 -1.04707825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.190385723 meters 0.014615796368269296 Centerline is valid? [True, True] Translation: X:210.12, Y:-151.13, Z:-10.47 [[ 4.97239992e-01 -8.67611667e-01 -1.54419338e-03 2.10117226e+02] [-8.67607715e-01 -4.97242389e-01 2.61910006e-03 -1.51130343e+02] [-3.04020018e-03 3.74327955e-05 -9.99995378e-01 -1.04688629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.250385723 meters 0.01379786416209393 Centerline is valid? [True, True] Translation: X:210.16, Y:-151.24, Z:-10.47 [[ 5.61523759e-01 -8.27459107e-01 -1.57940571e-03 2.10158042e+02] [-8.27456009e-01 -5.61525979e-01 2.26438797e-03 -1.51240224e+02] [-2.76056579e-03 3.53811005e-05 -9.99996189e-01 -1.04700071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.310385723 meters 0.014164788067489983 Centerline is valid? [True, True] Translation: X:210.20, Y:-151.34, Z:-10.47 [[ 6.21693626e-01 -7.83258957e-01 -1.56270847e-03 2.10204354e+02] [-7.83256625e-01 -6.21695589e-01 1.91135691e-03 -1.51342358e+02] [-2.46861639e-03 3.57233542e-05 -9.99996952e-01 -1.04694095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.370385723 meters 0.014056022701886547 Centerline is valid? [True, True] Translation: X:210.26, Y:-151.44, Z:-10.47 [[ 6.80061546e-01 -7.33152371e-01 -1.97324907e-03 2.10257262e+02] [-7.33149449e-01 -6.80064408e-01 2.07044515e-03 -1.51440804e+02] [-2.85988823e-03 3.86563392e-05 -9.99995910e-01 -1.04686496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.430385723 meters 0.013919671682618573 Centerline is valid? [True, True] Translation: X:210.32, Y:-151.54, Z:-10.47 [[ 7.35438155e-01 -6.77586907e-01 -2.58921259e-03 2.10322356e+02] [-6.77582889e-01 -7.35442712e-01 2.33386228e-03 -1.51541373e+02] [-3.48561205e-03 3.79947749e-05 -9.99993925e-01 -1.04675549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.490385723 meters 0.014063099358619767 Centerline is valid? [True, True] Translation: X:210.34, Y:-151.57, Z:-10.47 [[ 7.86734000e-01 -6.17287698e-01 -2.34750385e-03 2.10344033e+02] [-6.17285063e-01 -7.86737502e-01 1.80404543e-03 -1.51568748e+02] [-2.96048436e-03 2.97751854e-05 -9.99995617e-01 -1.04678345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.550385723 meters 0.014048714573497004 Centerline is valid? [True, True] Translation: X:210.37, Y:-151.59, Z:-10.47 [[ 8.32597277e-01 -5.53873084e-01 -2.52633086e-03 2.10366181e+02] [-5.53870643e-01 -8.32601109e-01 1.64437158e-03 -1.51594260e+02] [-3.01419903e-03 3.01611950e-05 -9.99995457e-01 -1.04674229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.610385723 meters 0.014107050628707842 Centerline is valid? [True, True] Translation: X:210.39, Y:-151.62, Z:-10.47 [[ 8.73224706e-01 -4.87311033e-01 -2.56320527e-03 2.10390378e+02] [-4.87309034e-01 -8.73228468e-01 1.39607706e-03 -1.51618657e+02] [-2.91858757e-03 2.99841050e-05 -9.99995740e-01 -1.04667977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.670385723 meters 0.01432579579099741 Centerline is valid? [True, True] Translation: X:210.42, Y:-151.64, Z:-10.47 [[ 9.08084640e-01 -4.18776406e-01 -2.93414007e-03 2.10416869e+02] [-4.18774351e-01 -9.08089379e-01 1.31221443e-03 -1.51639865e+02] [-3.21398588e-03 3.71408330e-05 -9.99994834e-01 -1.04673887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.730385723 meters 0.01481708205976365 Centerline is valid? [True, True] Translation: X:210.44, Y:-151.66, Z:-10.47 [[ 9.37230288e-01 -3.48693271e-01 -3.51985899e-03 2.10443894e+02] [-3.48691018e-01 -9.37236896e-01 1.25458020e-03 -1.51657385e+02] [-3.73640539e-03 5.15126576e-05 -9.99993018e-01 -1.04670043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.790385723 meters 0.015184334716422228 Centerline is valid? [True, True] Translation: X:210.47, Y:-151.67, Z:-10.47 [[ 9.60978549e-01 -2.76600905e-01 -3.48806891e-03 2.10472933e+02] [-2.76599303e-01 -9.60984878e-01 9.43302685e-04 -1.51674152e+02] [-3.61289985e-03 5.83037841e-05 -9.99993472e-01 -1.04669634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8503857229999 meters 0.01633206866090549 Centerline is valid? [True, True] Translation: X:210.50, Y:-151.69, Z:-10.47 [[ 9.79516237e-01 -2.01342540e-01 -3.02057742e-03 2.10502486e+02] [-2.01341746e-01 -9.79520893e-01 5.67698508e-04 -1.51685205e+02] [-3.07302055e-03 5.20984252e-05 -9.99995277e-01 -1.04668373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.910385723 meters 0.015292286140269463 Centerline is valid? [True, True] Translation: X:210.53, Y:-151.70, Z:-10.47 [[ 9.92290915e-01 -1.23845937e-01 -4.57435523e-03 2.10528770e+02] [-1.23844975e-01 -9.92301455e-01 4.94068173e-04 -1.51701352e+02] [-4.60032769e-03 7.62515508e-05 -9.99989416e-01 -1.04663995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9703857229999 meters 0.015174443427862937 Centerline is valid? [True, True] Translation: X:210.56, Y:-151.71, Z:-10.47 [[ 9.98929396e-01 -4.59713596e-02 -5.16686430e-03 2.10555757e+02] [-4.59711931e-02 -9.98942754e-01 1.51043887e-04 -1.51713568e+02] [-5.16834535e-03 8.66447379e-05 -9.99986640e-01 -1.04667214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.030385723 meters 0.015336197393811675 Centerline is valid? [True, True] Translation: X:210.58, Y:-151.72, Z:-10.47 [[ 9.99459117e-01 3.25197628e-02 -4.89262648e-03 2.10584340e+02] [ 3.25189748e-02 -9.99471089e-01 -2.40544023e-04 -1.51722787e+02] [-4.89786115e-03 8.13107197e-05 -9.99988002e-01 -1.04679341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0903857229999 meters 0.015646305887833226 Centerline is valid? [True, True] Translation: X:210.61, Y:-151.73, Z:-10.47 [[ 9.93803058e-01 1.11121493e-01 -2.73772416e-03 2.10611739e+02] [ 1.11120946e-01 -9.93806828e-01 -3.51546922e-04 -1.51729477e+02] [-2.75983338e-03 4.51499088e-05 -9.99996191e-01 -1.04684883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.150385723 meters 0.015583525896379092 Centerline is valid? [True, True] Translation: X:210.64, Y:-151.73, Z:-10.47 [[ 9.82281985e-01 1.87385319e-01 -2.97387919e-03 2.10640980e+02] [ 1.87384296e-01 -9.82286485e-01 -6.21615098e-04 -1.51733598e+02] [-3.03768288e-03 5.33430544e-05 -9.99995385e-01 -1.04689060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.210385723 meters 0.01575476433202128 Centerline is valid? [True, True] Translation: X:210.67, Y:-151.73, Z:-10.47 [[ 9.64955886e-01 2.62391376e-01 -3.30214931e-03 2.10669336e+02] [ 2.62389609e-01 -9.64961534e-01 -9.65112406e-04 -1.51734228e+02] [-3.43968424e-03 6.48412306e-05 -9.99994082e-01 -1.04694177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.270385723 meters 0.015434262711867205 Centerline is valid? [True, True] Translation: X:210.70, Y:-151.74, Z:-10.47 [[ 9.41374455e-01 3.37345884e-01 -3.44819517e-03 2.10699271e+02] [ 3.37343353e-01 -9.41380768e-01 -1.30842658e-03 -1.51737344e+02] [-3.68745694e-03 6.84936359e-05 -9.99993199e-01 -1.04703347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.330385723 meters 0.015691934925676162 Centerline is valid? [True, True] Translation: X:210.73, Y:-151.74, Z:-10.47 [[ 9.11666828e-01 4.10921606e-01 -2.65119155e-03 2.10727161e+02] [ 4.10919702e-01 -9.11670681e-01 -1.25189207e-03 -1.51735498e+02] [-2.93144311e-03 5.18816313e-05 -9.99995702e-01 -1.04706640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.390385723 meters 0.0156852150985027 Centerline is valid? [True, True] Translation: X:210.75, Y:-151.73, Z:-10.47 [[ 8.76226349e-01 4.81887179e-01 -3.48297344e-03 2.10754760e+02] [ 4.81883069e-01 -8.76233269e-01 -1.99150050e-03 -1.51729876e+02] [-4.01157576e-03 6.66192812e-05 -9.99991951e-01 -1.04696166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.450385723 meters 0.015879771796849032 Centerline is valid? [True, True] Translation: X:210.78, Y:-151.72, Z:-10.47 [[ 8.37072650e-01 5.47077336e-01 -3.97078548e-03 2.10781364e+02] [ 5.47070666e-01 -8.37082063e-01 -2.70298305e-03 -1.51721472e+02] [-4.80261407e-03 9.02929251e-05 -9.99988463e-01 -1.04707270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.510385723 meters 0.01705594067645974 Centerline is valid? [True, True] Translation: X:210.81, Y:-151.71, Z:-10.47 [[ 7.93905212e-01 6.08028569e-01 -3.97166500e-03 2.10805577e+02] [ 6.08020233e-01 -7.93915138e-01 -3.18583431e-03 -1.51711176e+02] [-5.09024324e-03 1.14397778e-04 -9.99987038e-01 -1.04707496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.570385723 meters 0.018240244772198187 Centerline is valid? [True, True] Translation: X:210.83, Y:-151.70, Z:-10.47 [[ 7.46518093e-01 6.65353831e-01 -3.87526780e-03 2.10827608e+02] [ 6.65343876e-01 -7.46528138e-01 -3.64227950e-03 -1.51697620e+02] [-5.31640108e-03 1.40641848e-04 -9.99985858e-01 -1.04708735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.630385723 meters 0.019532455379131067 Centerline is valid? [True, True] Translation: X:210.85, Y:-151.68, Z:-10.47 [[ 6.94879415e-01 7.19116412e-01 -3.76618649e-03 2.10847725e+02] [ 7.19104509e-01 -6.94889601e-01 -4.14091307e-03 -1.51682672e+02] [-5.59488238e-03 1.69153564e-04 -9.99984334e-01 -1.04716457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.690385723 meters 0.019402587840712686 Centerline is valid? [True, True] Translation: X:210.87, Y:-151.67, Z:-10.47 [[ 6.37242388e-01 7.70653827e-01 -3.84952439e-03 2.10872342e+02] [ 7.70637868e-01 -6.37253985e-01 -4.96341021e-03 -1.51670700e+02] [-6.27819583e-03 1.96306106e-04 -9.99980273e-01 -1.04715063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.750385723 meters 0.02005156101019041 Centerline is valid? [True, True] Translation: X:210.89, Y:-151.66, Z:-10.47 [[ 5.73511570e-01 8.19187036e-01 -4.13270935e-03 2.10893478e+02] [ 8.19162916e-01 -5.73526417e-01 -6.29012574e-03 -1.51656048e+02] [-7.52300745e-03 2.22097641e-04 -9.99971677e-01 -1.04697883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.810385723 meters 0.01987649513308111 Centerline is valid? [True, True] Translation: X:210.91, Y:-151.64, Z:-10.47 [[ 5.06202755e-01 8.62405606e-01 -3.91693619e-03 2.10911812e+02] [ 8.62376238e-01 -5.06217858e-01 -7.12064944e-03 -1.51638229e+02] [-8.12371105e-03 2.26619666e-04 -9.99966976e-01 -1.04700238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.870385723 meters 0.018636438553378227 Centerline is valid? [True, True] Translation: X:210.93, Y:-151.62, Z:-10.47 [[ 4.35397484e-01 9.00234410e-01 -2.65284900e-03 2.10932970e+02] [ 9.00215286e-01 -4.35405533e-01 -5.87025435e-03 -1.51621704e+02] [-6.43967010e-03 1.67758758e-04 -9.99979251e-01 -1.04722010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.930385723 meters 0.01901474849091236 Centerline is valid? [True, True] Translation: X:210.95, Y:-151.60, Z:-10.47 [[ 3.63911979e-01 9.31431111e-01 -2.03872965e-03 2.10949493e+02] [ 9.31413956e-01 -3.63917655e-01 -5.65541358e-03 -1.51601887e+02] [-6.00955787e-03 1.59171501e-04 -9.99981930e-01 -1.04731035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.990385723 meters 0.019916325658673146 Centerline is valid? [True, True] Translation: X:210.96, Y:-151.58, Z:-10.47 [[ 2.91068873e-01 9.56700788e-01 -1.58541608e-03 2.10961924e+02] [ 9.56683326e-01 -2.91073143e-01 -5.78274922e-03 -1.51581616e+02] [-5.99383277e-03 1.66437171e-04 -9.99982023e-01 -1.04727518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.050385723 meters 0.01871720429451672 Centerline is valid? [True, True] Translation: X:210.98, Y:-151.56, Z:-10.47 [[ 2.15754015e-01 9.76447030e-01 -1.18457083e-03 2.10981986e+02] [ 9.76427458e-01 -2.15757194e-01 -6.18490647e-03 -1.51560962e+02] [-6.29481323e-03 1.77770916e-04 -9.99980172e-01 -1.04730463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.110385723 meters 0.017605155681226455 Centerline is valid? [True, True] Translation: X:211.00, Y:-151.54, Z:-10.47 [[ 1.35833210e-01 9.90731504e-01 -6.52652386e-04 2.11002878e+02] [ 9.90714148e-01 -1.35834695e-01 -5.86624675e-03 -1.51538808e+02] [-5.90052830e-03 1.50239175e-04 -9.99982580e-01 -1.04732132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.170385723 meters 0.0167054580725332 Centerline is valid? [True, True] Translation: X:211.02, Y:-151.51, Z:-10.48 [[ 5.30131172e-02 9.98593808e-01 -1.27248984e-04 2.11019232e+02] [ 9.98586032e-01 -5.30132067e-02 -3.94156603e-03 -1.51514651e+02] [-3.94276931e-03 8.18856438e-05 -9.99992224e-01 -1.04752955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.230385723 meters 0.015842863435084367 Centerline is valid? [True, True] Translation: X:211.04, Y:-151.49, Z:-10.48 [[-3.05699915e-02 9.99532616e-01 1.61923215e-04 2.11035365e+02] [ 9.99526468e-01 3.05703714e-02 -3.50588551e-03 -1.51489060e+02] [-3.50919696e-03 5.46716487e-05 -9.99993841e-01 -1.04764654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.290385723 meters 0.015309107882028727 Centerline is valid? [True, True] Translation: X:211.05, Y:-151.46, Z:-10.47 [[-1.13570613e-01 9.93529755e-01 5.84487469e-04 2.11048631e+02] [ 9.93518762e-01 1.13572106e-01 -4.67396873e-03 -1.51461893e+02] [-4.71010848e-03 4.98737725e-05 -9.99988906e-01 -1.04741515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3503857229999 meters 0.014995615140189197 Centerline is valid? [True, True] Translation: X:211.06, Y:-151.43, Z:-10.47 [[-1.93685069e-01 9.81063124e-01 1.11418198e-03 2.11056271e+02] [ 9.81048159e-01 1.93688269e-01 -5.41893098e-03 -1.51434435e+02] [-5.53211733e-03 4.35001608e-05 -9.99984697e-01 -1.04729083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.410385723 meters 0.015171455647503416 Centerline is valid? [True, True] Translation: X:211.06, Y:-151.41, Z:-10.47 [[-2.71155204e-01 9.62534058e-01 1.74415223e-03 2.11056206e+02] [ 9.62515113e-01 2.71160811e-01 -6.03922152e-03 -1.51408451e+02] [-6.28590213e-03 4.12065330e-05 -9.99980243e-01 -1.04720454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4703857229999 meters 0.015198521812076258 Centerline is valid? [True, True] Translation: X:211.06, Y:-151.38, Z:-10.47 [[-3.44780322e-01 9.38681078e-01 2.08899388e-03 2.11056319e+02] [ 9.38664631e-01 3.44786648e-01 -5.55683546e-03 -1.51381036e+02] [-5.93635350e-03 4.49771468e-05 -9.99982379e-01 -1.04736592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.530385723 meters 0.01519250040473678 Centerline is valid? [True, True] Translation: X:211.05, Y:-151.35, Z:-10.47 [[-4.16448618e-01 9.09155174e-01 2.72354349e-03 2.11054929e+02] [ 9.09136572e-01 4.16457521e-01 -5.81610377e-03 -1.51353255e+02] [-6.42198101e-03 5.39646085e-05 -9.99979377e-01 -1.04725251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5903857229999 meters 0.015151321028985186 Centerline is valid? [True, True] Translation: X:211.05, Y:-151.33, Z:-10.47 [[-4.86126107e-01 8.73880380e-01 3.80645480e-03 2.11049493e+02] [ 8.73854657e-01 4.86141005e-01 -6.70533955e-03 -1.51326781e+02] [-7.71013844e-03 6.66476460e-05 -9.99970274e-01 -1.04714088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.650385723 meters 0.01539218826551624 Centerline is valid? [True, True] Translation: X:211.04, Y:-151.30, Z:-10.47 [[-5.51713971e-01 8.34023737e-01 4.01250209e-03 2.11041355e+02] [ 8.34002648e-01 5.51728557e-01 -5.93148334e-03 -1.51301073e+02] [-7.16080989e-03 7.39551499e-05 -9.99974358e-01 -1.04716673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.710385723 meters 0.015496606917435315 Centerline is valid? [True, True] Translation: X:211.03, Y:-151.27, Z:-10.47 [[-6.13320187e-01 7.89821195e-01 4.56379836e-03 2.11033794e+02] [ 7.89800467e-01 6.13337159e-01 -5.72281669e-03 -1.51274150e+02] [-7.31914904e-03 9.45710787e-05 -9.99973210e-01 -1.04718918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.770385723 meters 0.01660504780433633 Centerline is valid? [True, True] Translation: X:211.02, Y:-151.25, Z:-10.47 [[-6.71510711e-01 7.40975676e-01 5.33029464e-03 2.11023982e+02] [ 7.40953739e-01 6.71531855e-01 -5.70305264e-03 -1.51247905e+02] [-7.80528593e-03 1.19840803e-04 -9.99969531e-01 -1.04707799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.830385723 meters 0.01593433504866814 Centerline is valid? [True, True] Translation: X:211.01, Y:-151.22, Z:-10.47 [[-7.27776236e-01 6.85782455e-01 6.64641636e-03 2.11013231e+02] [ 6.85755527e-01 7.27806572e-01 -6.07874602e-03 -1.51223665e+02] [-9.00600288e-03 1.33849857e-04 -9.99959436e-01 -1.04710473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.890385723 meters 0.015781038889748387 Centerline is valid? [True, True] Translation: X:211.03, Y:-151.20, Z:-10.47 [[-7.75418977e-01 6.31409990e-01 6.84360880e-03 2.11034226e+02] [ 6.31386718e-01 7.75449167e-01 -5.42228227e-03 -1.51203159e+02] [-8.73055394e-03 1.16423129e-04 -9.99961881e-01 -1.04714787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.950385723 meters 0.015814911640314195 Centerline is valid? [True, True] Translation: X:211.05, Y:-151.18, Z:-10.47 [[-8.18169621e-01 5.74951334e-01 5.42537664e-03 2.11053512e+02] [ 5.74939401e-01 8.18187604e-01 -3.70536062e-03 -1.51182913e+02] [-6.56937795e-03 8.76493036e-05 -9.99978418e-01 -1.04730636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.010385723 meters 0.015536282638144147 Centerline is valid? [True, True] Translation: X:211.07, Y:-151.16, Z:-10.48 [[-8.57461532e-01 5.14534684e-01 3.71206989e-03 2.11068517e+02] [ 5.14530126e-01 8.57469566e-01 -2.16640578e-03 -1.51157108e+02] [-4.29767787e-03 5.23621630e-05 -9.99990764e-01 -1.04750233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.070385723 meters 0.015280673563859558 Centerline is valid? [True, True] Translation: X:211.09, Y:-151.13, Z:-10.48 [[-8.93007479e-01 4.50033168e-01 2.79099720e-03 2.11085313e+02] [ 4.50031073e-01 8.93011840e-01 -1.37364684e-03 -1.51131440e+02] [-3.11058019e-03 2.93585650e-05 -9.99995162e-01 -1.04755736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.130385723 meters 0.01534230489190004 Centerline is valid? [True, True] Translation: X:211.10, Y:-151.11, Z:-10.48 [[-9.22835551e-01 3.85180153e-01 3.28559122e-03 2.11098130e+02] [ 3.85177833e-01 9.22841400e-01 -1.33718872e-03 -1.51105657e+02] [-3.54713815e-03 3.15316130e-05 -9.99993708e-01 -1.04750164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.190385723 meters 0.015360912554401808 Centerline is valid? [True, True] Translation: X:211.39, Y:-150.42, Z:-11.44 [[-9.02875538e-01 -4.29887522e-01 3.53299329e-03 2.11386163e+02] [ 4.29884177e-01 -9.02882450e-01 -1.69594569e-03 -1.50416609e+02] [ 3.91894353e-03 -1.24499628e-05 9.99992321e-01 -1.14446454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.250385723 meters 0.01632480652482693 Centerline is valid? [True, True] Translation: X:211.06, Y:-151.09, Z:-10.47 [[-9.21096381e-01 3.89295347e-01 5.53091204e-03 2.11055826e+02] [ 3.89288980e-01 9.21112981e-01 -2.22858174e-03 -1.51093183e+02] [-5.96217137e-03 1.00384531e-04 -9.99982221e-01 -1.04740887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.310385723 meters 0.017173675137227038 Centerline is valid? [True, True] Translation: X:211.07, Y:-151.07, Z:-10.47 [[-9.45150686e-01 3.26586667e-01 5.59725553e-03 2.11072145e+02] [ 3.26581695e-01 9.45167252e-01 -1.80607368e-03 -1.51069923e+02] [-5.88018221e-03 1.20949421e-04 -9.99982704e-01 -1.04734579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.370385723 meters 0.01760274846066879 Centerline is valid? [True, True] Translation: X:211.08, Y:-151.04, Z:-10.47 [[-9.65218129e-01 2.61380971e-01 5.82678548e-03 2.11075324e+02] [ 2.61377079e-01 9.65235706e-01 -1.43322616e-03 -1.51040797e+02] [-5.99883945e-03 1.39612292e-04 -9.99981997e-01 -1.04741417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.430385723 meters 0.019916266588960646 Centerline is valid? [True, True] Translation: X:211.26, Y:-150.31, Z:-11.45 [[-9.59868435e-01 -2.80416512e-01 4.37809643e-03 2.11261465e+02] [ 2.80412675e-01 -9.59878400e-01 -1.47933603e-03 -1.50310947e+02] [ 4.61727045e-03 -1.92294225e-04 9.99989322e-01 -1.14470030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.490385723 meters 0.017560628854013993 Centerline is valid? [True, True] Translation: X:211.03, Y:-151.02, Z:-10.48 [[-9.66460837e-01 2.56804619e-01 2.19974864e-03 2.11031626e+02] [ 2.56804074e-01 9.66463339e-01 -5.31224883e-04 -1.51024262e+02] [-2.26239742e-03 5.14963691e-05 -9.99997439e-01 -1.04773383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.550385723 meters 0.016914588274488048 Centerline is valid? [True, True] Translation: X:211.21, Y:-150.31, Z:-11.44 [[-9.59692262e-01 -2.81050623e-01 1.14399516e-03 2.11211169e+02] [ 2.81050303e-01 -9.59692940e-01 -4.34895562e-04 -1.50310070e+02] [ 1.22011174e-03 -9.58457200e-05 9.99999251e-01 -1.14421665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.610385723 meters 0.017066922314241024 Centerline is valid? [True, True] Translation: X:210.99, Y:-151.01, Z:-10.48 [[-9.68136547e-01 2.50418093e-01 1.55095965e-03 2.10986876e+02] [ 2.50417826e-01 9.68137788e-01 -3.67459157e-04 -1.51006146e+02] [-1.59356106e-03 3.26373036e-05 -9.99998730e-01 -1.04763024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.670385723 meters 0.016907240055889998 Centerline is valid? [True, True] Translation: X:211.16, Y:-150.30, Z:-11.44 [[-9.60689118e-01 -2.77625139e-01 8.36777610e-04 2.11156386e+02] [ 2.77624976e-01 -9.60689481e-01 -3.07172291e-04 -1.50304947e+02] [ 8.89162198e-04 -6.27867132e-05 9.99999603e-01 -1.14421666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.730385723 meters 0.01676678021189591 Centerline is valid? [True, True] Translation: X:210.94, Y:-150.99, Z:-10.48 [[-9.68644051e-01 2.48452500e-01 -2.41482588e-04 2.10940899e+02] [ 2.48452493e-01 9.68644081e-01 5.87252909e-05 -1.50987535e+02] [ 2.48501124e-04 -3.11304724e-06 -9.99999969e-01 -1.04775815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.790385723 meters 0.017022312262905178 Centerline is valid? [True, True] Translation: X:210.95, Y:-150.95, Z:-10.48 [[-9.83483598e-01 1.80996173e-01 -6.30509566e-04 2.10946768e+02] [ 1.80996144e-01 9.83483800e-01 1.03284819e-04 -1.50953650e+02] [ 6.38790101e-04 -1.25408750e-05 -9.99999796e-01 -1.04760607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8503857229999 meters 0.01756155879384353 Centerline is valid? [True, True] Translation: X:211.06, Y:-150.27, Z:-11.44 [[-9.79664567e-01 -2.00640885e-01 -7.55830876e-04 2.11061178e+02] [ 2.00640820e-01 -9.79664859e-01 1.62234448e-04 -1.50269472e+02] [-7.73011812e-04 7.28481375e-06 9.99999701e-01 -1.14432523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.910385723 meters 0.017470531115100028 Centerline is valid? [True, True] Translation: X:210.90, Y:-150.94, Z:-10.48 [[-9.83809179e-01 1.79216606e-01 -9.52807498e-04 2.10898436e+02] [ 1.79216543e-01 9.83809640e-01 1.51279058e-04 -1.50939324e+02] [ 9.64492921e-04 -2.19291404e-05 -9.99999535e-01 -1.04756568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9703857229999 meters 0.017964202839745914 Centerline is valid? [True, True] Translation: X:210.90, Y:-150.90, Z:-10.48 [[-9.94116361e-01 1.08301568e-01 -1.85211151e-03 2.10896852e+02] [ 1.08301461e-01 9.94118086e-01 1.58441584e-04 -1.50903226e+02] [ 1.85837702e-03 -4.30770125e-05 -9.99998272e-01 -1.04758323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.030385723 meters 0.017558476602139793 Centerline is valid? [True, True] Translation: X:210.89, Y:-150.87, Z:-10.47 [[-9.99284447e-01 3.78161600e-02 -7.29741219e-04 2.10893338e+02] [ 3.78161615e-02 9.99284713e-01 1.17380987e-05 -1.50869639e+02] [ 7.29663134e-04 -1.58663124e-05 -9.99999734e-01 -1.04749897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0903857229999 meters 0.01847748147593009 Centerline is valid? [True, True] Translation: X:210.89, Y:-150.84, Z:-10.47 [[-9.99604532e-01 -2.81178381e-02 -4.07421273e-04 2.10891470e+02] [-2.81178317e-02 9.99604615e-01 -2.15259042e-05 -1.50835515e+02] [ 4.07865447e-04 -1.00615887e-05 -9.99999917e-01 -1.04747191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.150385723 meters 0.01911738453381768 Centerline is valid? [True, True] Translation: X:210.88, Y:-150.80, Z:-10.47 [[-9.95348409e-01 -9.63365072e-02 -9.07016154e-04 2.10882063e+02] [-9.63364417e-02 9.95348822e-01 -1.15735514e-04 -1.50804073e+02] [ 9.13947015e-04 -2.78184510e-05 -9.99999582e-01 -1.04744336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.210385723 meters 0.01968022500048581 Centerline is valid? [True, True] Translation: X:210.80, Y:-150.17, Z:-11.45 [[-9.95376342e-01 9.60448150e-02 -1.15398878e-03 2.10801251e+02] [-9.60447737e-02 -9.95377011e-01 -9.12727115e-05 -1.50173367e+02] [-1.15742017e-03 1.99838933e-05 9.99999330e-01 -1.14455475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.270385723 meters 0.019362404249549436 Centerline is valid? [True, True] Translation: X:210.80, Y:-150.80, Z:-10.47 [[-9.94894345e-01 -1.00905206e-01 -1.83917792e-03 2.10801087e+02] [-1.00904923e-01 9.94896043e-01 -2.46297954e-04 -1.50803545e+02] [ 1.85464358e-03 -5.94583353e-05 -9.99998278e-01 -1.04729092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.330385723 meters 0.019257479641540946 Centerline is valid? [True, True] Translation: X:210.78, Y:-150.77, Z:-10.47 [[-9.84525692e-01 -1.75234638e-01 -1.40808102e-03 2.10782140e+02] [-1.75234400e-01 9.84526698e-01 -2.91430470e-04 -1.50772283e+02] [ 1.43736207e-03 -4.01765523e-05 -9.99998966e-01 -1.04710162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.390385723 meters 0.017706969126454572 Centerline is valid? [True, True] Translation: X:210.75, Y:-150.74, Z:-10.47 [[-9.68340161e-01 -2.49634175e-01 -3.34174612e-04 2.10752974e+02] [-2.49634157e-01 9.68340219e-01 -9.27095006e-05 -1.50742467e+02] [ 3.46738176e-04 -6.35293512e-06 -9.99999940e-01 -1.04697439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.450385723 meters 0.016938012724221862 Centerline is valid? [True, True] Translation: X:210.58, Y:-150.18, Z:-11.45 [[-9.73650110e-01 2.28044046e-01 -1.17289412e-03 2.10581213e+02] [-2.28043839e-01 -9.73650816e-01 -3.09128166e-04 -1.50180052e+02] [-1.21248415e-03 -3.35113950e-05 9.99999264e-01 -1.14501550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.510385723 meters 0.01903085370339465 Centerline is valid? [True, True] Translation: X:210.64, Y:-150.76, Z:-10.47 [[-9.65214073e-01 -2.61459572e-01 -8.27971304e-04 2.10640059e+02] [-2.61459464e-01 9.65214428e-01 -2.38145671e-04 -1.50764548e+02] [ 8.61435314e-04 -1.33806201e-05 -9.99999629e-01 -1.04666666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.570385723 meters 0.015825906468569812 Centerline is valid? [True, True] Translation: X:210.47, Y:-150.22, Z:-11.45 [[-9.73246530e-01 2.29757893e-01 -1.58210712e-03 2.10469165e+02] [-2.29757547e-01 -9.73247815e-01 -3.99576261e-04 -1.50216536e+02] [-1.63158810e-03 -2.53851584e-05 9.99998669e-01 -1.14509021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.630385723 meters 0.01588690410587649 Centerline is valid? [True, True] Translation: X:210.53, Y:-150.79, Z:-10.47 [[-9.63167232e-01 -2.68901253e-01 -1.00004011e-03 2.10530446e+02] [-2.68901092e-01 9.63167751e-01 -2.94456036e-04 -1.50793458e+02] [ 1.04238598e-03 -1.46985274e-05 -9.99999457e-01 -1.04681521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.690385723 meters 0.016274942088449686 Centerline is valid? [True, True] Translation: X:210.50, Y:-150.78, Z:-10.47 [[-9.42435375e-01 -3.34383533e-01 -1.79380685e-03 2.10498735e+02] [-3.34382854e-01 9.42437081e-01 -6.74597141e-04 -1.50775325e+02] [ 1.91612426e-03 -3.59459557e-05 -9.99998164e-01 -1.04683867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.750385723 meters 0.016562015421688937 Centerline is valid? [True, True] Translation: X:210.46, Y:-150.76, Z:-10.47 [[-9.16524829e-01 -3.99969799e-01 -2.52940733e-03 2.10455796e+02] [-3.99968099e-01 9.16528318e-01 -1.16753188e-03 -1.50762603e+02] [ 2.78525093e-03 -5.83897192e-05 -9.99996120e-01 -1.04681833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.810385723 meters 0.016490697881091636 Centerline is valid? [True, True] Translation: X:210.40, Y:-150.76, Z:-10.47 [[-8.84417639e-01 -4.66691558e-01 -2.10467417e-03 2.10395013e+02] [-4.66690108e-01 8.84420142e-01 -1.16424636e-03 -1.50763261e+02] [ 2.40476017e-03 -4.74494054e-05 -9.99997107e-01 -1.04668210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.870385723 meters 0.018969585749155752 Centerline is valid? [True, True] Translation: X:210.33, Y:-150.77, Z:-10.46 [[-8.47055985e-01 -5.31503674e-01 -5.48262034e-05 2.10325402e+02] [-5.31503673e-01 8.47055987e-01 -3.25502211e-05 -1.50773970e+02] [ 6.37414258e-05 1.56846887e-06 -9.99999998e-01 -1.04633260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.930385723 meters 0.01662872910278266 Centerline is valid? [True, True] Translation: X:210.25, Y:-150.79, Z:-10.47 [[-8.05574312e-01 -5.92493997e-01 -9.44778882e-04 2.10252515e+02] [-5.92493558e-01 8.05574865e-01 -7.20893182e-04 -1.50794913e+02] [ 1.18821500e-03 -2.09576269e-05 -9.99999294e-01 -1.04655880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.990385723 meters 0.016102636759383 Centerline is valid? [True, True] Translation: X:210.18, Y:-150.83, Z:-10.47 [[-7.59752939e-01 -6.50211448e-01 -7.37711249e-04 2.10175752e+02] [-6.50211119e-01 7.59753297e-01 -6.54570920e-04 -1.50825860e+02] [ 9.86088059e-04 -1.76441241e-05 -9.99999514e-01 -1.04653534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.050385723 meters 0.01682262570684 Centerline is valid? [True, True] Translation: X:210.09, Y:-150.88, Z:-10.47 [[-7.10351359e-01 -7.03846237e-01 -1.19255775e-03 2.10090687e+02] [-7.03845160e-01 7.10352359e-01 -1.23198610e-03 -1.50877119e+02] [ 1.71426499e-03 -3.57669997e-05 -9.99998530e-01 -1.04656868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.110385723 meters 0.017918285782496417 Centerline is valid? [True, True] Translation: X:210.02, Y:-150.92, Z:-10.46 [[-6.56318562e-01 -7.54483881e-01 -1.38909569e-04 2.10015529e+02] [-7.54483863e-01 6.56318577e-01 -1.63090310e-04 -1.50922823e+02] [ 2.14217940e-04 -2.23416947e-06 -9.99999977e-01 -1.04634723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.170385723 meters 0.016752512885960018 Centerline is valid? [True, True] Translation: X:209.93, Y:-150.99, Z:-10.46 [[-5.96827946e-01 -8.02369148e-01 -3.91126679e-04 2.09933043e+02] [-8.02368962e-01 5.96828074e-01 -5.46685323e-04 -1.50987145e+02] [ 6.72078819e-04 -1.24491714e-05 -9.99999774e-01 -1.04642909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.230385723 meters 0.01692136575131764 Centerline is valid? [True, True] Translation: X:209.86, Y:-151.06, Z:-10.47 [[-5.34220321e-01 -8.45345281e-01 -6.39041534e-05 2.09856957e+02] [-8.45345275e-01 5.34220325e-01 -1.00795420e-04 -1.51060046e+02] [ 1.19345830e-04 1.74112616e-07 -9.99999993e-01 -1.04652394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.290385723 meters 0.01661600157196588 Centerline is valid? [True, True] Translation: X:209.78, Y:-151.14, Z:-10.46 [[-4.68369563e-01 -8.83532512e-01 5.02854015e-04 2.09781674e+02] [-8.83531937e-01 4.68369832e-01 1.00790800e-03 -1.51140326e+02] [-1.12604114e-03 2.77858477e-05 -9.99999366e-01 -1.04635979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3503857229999 meters 0.01640157737486011 Centerline is valid? [True, True] Translation: X:209.71, Y:-151.23, Z:-10.46 [[-3.99977613e-01 -9.16524604e-01 7.47947157e-04 2.09711253e+02] [-9.16522776e-01 3.99978310e-01 1.83089489e-03 -1.51234566e+02] [-1.97722285e-03 4.68063625e-05 -9.99998044e-01 -1.04635310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.410385723 meters 0.01708444660035054 Centerline is valid? [True, True] Translation: X:209.65, Y:-151.33, Z:-10.46 [[-3.29719563e-01 -9.44078671e-01 6.87541656e-04 2.09650069e+02] [-9.44076261e-01 3.29720275e-01 2.13369984e-03 -1.51329171e+02] [-2.24107694e-03 5.44308235e-05 -9.99997487e-01 -1.04619145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4703857229999 meters 0.017152596479640885 Centerline is valid? [True, True] Translation: X:209.59, Y:-151.43, Z:-10.46 [[-2.57870547e-01 -9.66179448e-01 2.36563574e-04 2.09594595e+02] [-9.66178938e-01 2.57870654e-01 9.93326030e-04 -1.51433485e+02] [-1.02073400e-03 2.75867841e-05 -9.99999479e-01 -1.04629835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.530385723 meters 0.016417198197298182 Centerline is valid? [True, True] Translation: X:209.55, Y:-151.54, Z:-10.46 [[-1.83597671e-01 -9.83001447e-01 2.24367030e-04 2.09545033e+02] [-9.83000440e-01 1.83597805e-01 1.40727285e-03 -1.51543506e+02] [-1.42454454e-03 3.78191286e-05 -9.99998985e-01 -1.04630697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5903857229999 meters 0.01623340225541645 Centerline is valid? [True, True] Translation: X:209.50, Y:-151.66, Z:-10.46 [[-1.05499270e-01 -9.94419374e-01 1.08985854e-04 2.09502836e+02] [-9.94418478e-01 1.05499321e-01 1.33554131e-03 -1.51658438e+02] [-1.33958608e-03 3.25210857e-05 -9.99999102e-01 -1.04615899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.650385723 meters 0.015291724821258061 Centerline is valid? [True, True] Translation: X:209.47, Y:-151.78, Z:-10.46 [[-2.48406038e-02 -9.99691425e-01 -5.71848530e-07 2.09469092e+02] [-9.99691373e-01 2.48406023e-02 3.22363494e-04 -1.51782849e+02] [-3.22249816e-04 8.57937587e-06 -9.99999948e-01 -1.04626159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.710385723 meters 0.014705655395859251 Centerline is valid? [True, True] Translation: X:209.45, Y:-151.90, Z:-10.46 [[ 5.43464908e-02 -9.98522133e-01 9.32267762e-05 2.09445721e+02] [-9.98521183e-01 -5.43465677e-02 -1.37727460e-03 -1.51902226e+02] [ 1.38030573e-03 -1.82388693e-05 -9.99999047e-01 -1.04637395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.770385723 meters 0.014802467885266655 Centerline is valid? [True, True] Translation: X:209.43, Y:-152.02, Z:-10.46 [[ 1.29469203e-01 -9.91583341e-01 4.50617499e-04 2.09431776e+02] [-9.91578569e-01 -1.29469978e-01 -3.07686230e-03 -1.52023408e+02] [ 3.10930683e-03 -4.84637447e-05 -9.99995165e-01 -1.04644205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.830385723 meters 0.015528294076677355 Centerline is valid? [True, True] Translation: X:209.43, Y:-152.14, Z:-10.46 [[ 2.02289240e-01 -9.79325691e-01 5.05064618e-04 2.09429789e+02] [-9.79323130e-01 -2.02289866e-01 -2.23994260e-03 -1.52144014e+02] [ 2.29580279e-03 -4.15051754e-05 -9.99997364e-01 -1.04640547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.890385723 meters 0.015100670381486285 Centerline is valid? [True, True] Translation: X:209.43, Y:-152.27, Z:-10.46 [[ 2.76626037e-01 -9.60977584e-01 3.45202858e-04 2.09434705e+02] [-9.60976924e-01 -2.76626252e-01 -1.12663503e-03 -1.52267750e+02] [ 1.17816318e-03 -2.00753973e-05 -9.99999306e-01 -1.04624844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.950385723 meters 0.014701140417185286 Centerline is valid? [True, True] Translation: X:209.45, Y:-152.40, Z:-10.46 [[ 3.53555515e-01 -9.35413429e-01 -4.63529025e-04 2.09449103e+02] [-9.35412703e-01 -3.53555818e-01 1.16554501e-03 -1.52398200e+02] [-1.25414984e-03 2.15060698e-05 -9.99999213e-01 -1.04593294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.010385723 meters 0.013488041949196327 Centerline is valid? [True, True] Translation: X:209.47, Y:-152.51, Z:-10.46 [[ 4.27048901e-01 -9.04227462e-01 -1.39026614e-03 2.09467470e+02] [-9.04222969e-01 -4.27051162e-01 2.85074128e-03 -1.52514914e+02] [-3.17143333e-03 3.97046408e-05 -9.99994970e-01 -1.04579193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.070385723 meters 0.013665254870215521 Centerline is valid? [True, True] Translation: X:209.50, Y:-152.63, Z:-10.46 [[ 4.94751131e-01 -8.69033868e-01 -1.20560291e-03 2.09501110e+02] [-8.69031439e-01 -4.94752599e-01 2.05507482e-03 -1.52630793e+02] [-2.38240479e-03 3.09562375e-05 -9.99997162e-01 -1.04586251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.130385723 meters 0.014041795541054105 Centerline is valid? [True, True] Translation: X:209.54, Y:-152.74, Z:-10.46 [[ 5.57901985e-01 -8.29905653e-01 -1.40808450e-03 2.09540756e+02] [-8.29903176e-01 -5.57903760e-01 2.02785696e-03 -1.52737428e+02] [-2.46850559e-03 3.72283713e-05 -9.99996953e-01 -1.04590282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.190385723 meters 0.014053091289590107 Centerline is valid? [True, True] Translation: X:209.59, Y:-152.84, Z:-10.46 [[ 6.18416566e-01 -7.85848821e-01 -1.60659304e-03 2.09586585e+02] [-7.85846343e-01 -6.18418651e-01 1.97392163e-03 -1.52843016e+02] [-2.54475108e-03 4.18294298e-05 -9.99996761e-01 -1.04587980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.250385723 meters 0.014001379101020494 Centerline is valid? [True, True] Translation: X:209.64, Y:-152.94, Z:-10.46 [[ 6.76714081e-01 -7.36242942e-01 -2.09346226e-03 2.09638336e+02] [-7.36239638e-01 -6.76717318e-01 2.20636556e-03 -1.52941579e+02] [-3.04110324e-03 4.82112501e-05 -9.99995375e-01 -1.04578367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.310385723 meters 0.01358387217222206 Centerline is valid? [True, True] Translation: X:209.70, Y:-153.03, Z:-10.46 [[ 7.31376417e-01 -6.81969303e-01 -2.53127462e-03 2.09695897e+02] [-6.81965454e-01 -7.31380795e-01 2.29178426e-03 -1.53034676e+02] [-3.41425216e-03 5.00848867e-05 -9.99994170e-01 -1.04569507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.370385723 meters 0.013557796484915124 Centerline is valid? [True, True] Translation: X:209.72, Y:-153.06, Z:-10.46 [[ 7.83148000e-01 -6.21824236e-01 -3.71892203e-03 2.09715767e+02] [-6.21817603e-01 -7.83156827e-01 2.87282227e-03 -1.53060088e+02] [-4.69888969e-03 6.26461641e-05 -9.99988958e-01 -1.04550845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.430385723 meters 0.013221432502230023 Centerline is valid? [True, True] Translation: X:209.74, Y:-153.09, Z:-10.46 [[ 8.29687688e-01 -5.58209392e-01 -4.54045388e-03 2.09735723e+02] [-5.58201486e-01 -8.29700109e-01 2.97170843e-03 -1.53088831e+02] [-5.42605063e-03 6.88982001e-05 -9.99985277e-01 -1.04551626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.490385723 meters 0.013168090497921026 Centerline is valid? [True, True] Translation: X:209.76, Y:-153.11, Z:-10.46 [[ 8.71321329e-01 -4.90683142e-01 -5.40339294e-03 2.09759746e+02] [-4.90674212e-01 -8.71338080e-01 2.96120414e-03 -1.53111027e+02] [-6.16119498e-03 7.11452463e-05 -9.99981017e-01 -1.04552369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.550385723 meters 0.013391286053714993 Centerline is valid? [True, True] Translation: X:209.79, Y:-153.13, Z:-10.45 [[ 9.06846382e-01 -4.21405657e-01 -6.84916586e-03 2.09786742e+02] [-4.21394375e-01 -9.06872243e-01 3.08481181e-03 -1.53129423e+02] [-7.51127555e-03 8.87495377e-05 -9.99971786e-01 -1.04538976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.610385723 meters 0.01371384246633028 Centerline is valid? [True, True] Translation: X:209.81, Y:-153.14, Z:-10.45 [[ 9.36665580e-01 -3.50150242e-01 -7.23873532e-03 2.09814236e+02] [-3.50140594e-01 -9.36693546e-01 2.60113485e-03 -1.53142575e+02] [-7.69126465e-03 9.81816086e-05 -9.99970417e-01 -1.04533987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.670385723 meters 0.013919970508017548 Centerline is valid? [True, True] Translation: X:209.84, Y:-153.15, Z:-10.45 [[ 9.60883617e-01 -2.76836987e-01 -7.99738981e-03 2.09843349e+02] [-2.76828385e-01 -9.60916890e-01 2.18525888e-03 -1.53154792e+02] [-8.28978743e-03 1.14125052e-04 -9.99965633e-01 -1.04524463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.730385723 meters 0.015423133162600505 Centerline is valid? [True, True] Translation: X:209.87, Y:-153.17, Z:-10.45 [[ 9.79557445e-01 -2.00997824e-01 -8.19064699e-03 2.09870720e+02] [-2.00991787e-01 -9.79591681e-01 1.56213947e-03 -1.53166981e+02] [-8.33747629e-03 1.16047433e-04 -9.99965236e-01 -1.04521033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.790385723 meters 0.013077313743272914 Centerline is valid? [True, True] Translation: X:209.90, Y:-153.18, Z:-10.45 [[ 9.92770318e-01 -1.19815343e-01 -7.16790785e-03 2.09895180e+02] [-1.19812747e-01 -9.92796192e-01 7.92033220e-04 -1.53182221e+02] [-7.21116934e-03 7.24996579e-05 -9.99973997e-01 -1.04542289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8503857229999 meters 0.012646374218184297 Centerline is valid? [True, True] Translation: X:209.92, Y:-153.20, Z:-10.45 [[ 9.99249649e-01 -3.80855285e-02 -7.04493081e-03 2.09921065e+02] [-3.80849009e-02 -9.99274482e-01 2.23255202e-04 -1.53196091e+02] [-7.04832238e-03 4.52178102e-05 -9.99975159e-01 -1.04531145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.910385723 meters 0.012683320893024572 Centerline is valid? [True, True] Translation: X:209.95, Y:-153.21, Z:-10.45 [[ 9.99153962e-01 4.04422920e-02 -7.46871392e-03 2.09947955e+02] [ 4.04408141e-02 -9.99181875e-01 -3.48860442e-04 -1.53205709e+02] [-7.47671229e-03 4.65244214e-05 -9.99972048e-01 -1.04525422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9703857229999 meters 0.013314238833681304 Centerline is valid? [True, True] Translation: X:209.97, Y:-153.21, Z:-10.45 [[ 9.93424566e-01 1.14235826e-01 -7.60316075e-03 2.09974104e+02] [ 1.14231861e-01 -9.93453657e-01 -9.55227807e-04 -1.53209310e+02] [-7.66250909e-03 8.04235681e-05 -9.99970639e-01 -1.04525523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.030385723 meters 0.013772830400344552 Centerline is valid? [True, True] Translation: X:210.00, Y:-153.22, Z:-10.45 [[ 9.82318880e-01 1.87076747e-01 -7.20472927e-03 2.10002133e+02] [ 1.87070879e-01 -9.82345295e-01 -1.48595243e-03 -1.53215646e+02] [-7.35551905e-03 1.11884096e-04 -9.99972942e-01 -1.04533047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0903857229999 meters 0.014565423258599304 Centerline is valid? [True, True] Translation: X:210.03, Y:-153.22, Z:-10.45 [[ 9.65808579e-01 2.59206855e-01 -5.05911127e-03 2.10030929e+02] [ 2.59202734e-01 -9.65821824e-01 -1.46534905e-03 -1.53221304e+02] [-5.26602860e-03 1.03911216e-04 -9.99986129e-01 -1.04539763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.150385723 meters 0.015425605719101529 Centerline is valid? [True, True] Translation: X:210.06, Y:-153.22, Z:-10.45 [[ 9.43181809e-01 3.32220666e-01 -6.12410401e-03 2.10060127e+02] [ 3.32212690e-01 -9.43201680e-01 -2.30644996e-03 -1.53222165e+02] [-6.54251553e-03 1.40896583e-04 -9.99978588e-01 -1.04522859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.210385723 meters 0.015422676782920286 Centerline is valid? [True, True] Translation: X:210.09, Y:-153.22, Z:-10.45 [[ 9.15046558e-01 4.03279520e-01 -7.44478588e-03 2.10090493e+02] [ 4.03264456e-01 -9.15076823e-01 -3.49097656e-03 -1.53224251e+02] [-8.22039036e-03 1.92188557e-04 -9.99966194e-01 -1.04510702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.270385723 meters 0.015023216009905777 Centerline is valid? [True, True] Translation: X:210.12, Y:-153.22, Z:-10.45 [[ 8.79956450e-01 4.75022316e-01 -5.51769940e-03 2.10121337e+02] [ 4.75011980e-01 -8.79973738e-01 -3.13676467e-03 -1.53224163e+02] [-6.34546379e-03 1.39242994e-04 -9.99979858e-01 -1.04526277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.330385723 meters 0.014356114372357039 Centerline is valid? [True, True] Translation: X:210.15, Y:-153.22, Z:-10.45 [[ 8.37368915e-01 5.46612813e-01 -5.26615273e-03 2.10151849e+02] [ 5.46601189e-01 -8.37385467e-01 -3.56646603e-03 -1.53222420e+02] [-6.35927579e-03 1.07962448e-04 -9.99979774e-01 -1.04522353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.390385723 meters 0.013176882477959641 Centerline is valid? [True, True] Translation: X:210.18, Y:-153.22, Z:-10.45 [[ 7.90224060e-01 6.12797712e-01 -4.98992610e-03 2.10184437e+02] [ 6.12784775e-01 -7.90239809e-01 -3.98291041e-03 -1.53219846e+02] [-6.38395664e-03 8.96408933e-05 -9.99979618e-01 -1.04527090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.450385723 meters 0.01334002976962523 Centerline is valid? [True, True] Translation: X:210.21, Y:-153.21, Z:-10.45 [[ 7.39366326e-01 6.73288939e-01 -4.40921006e-03 2.10212208e+02] [ 6.73276312e-01 -7.39379469e-01 -4.12414865e-03 -1.53209924e+02] [-6.03682306e-03 8.06399405e-05 -9.99981775e-01 -1.04532725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.510385723 meters 0.013839637336625035 Centerline is valid? [True, True] Translation: X:210.24, Y:-153.20, Z:-10.45 [[ 6.86710922e-01 7.26923234e-01 -3.27458957e-03 2.10239847e+02] [ 7.26914403e-01 -6.86718724e-01 -3.58394155e-03 -1.53197951e+02] [-4.85397235e-03 8.07854841e-05 -9.99988216e-01 -1.04532038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.570385723 meters 0.014477155242736881 Centerline is valid? [True, True] Translation: X:210.26, Y:-153.18, Z:-10.45 [[ 6.29615003e-01 7.76900665e-01 -3.21011571e-03 2.10264673e+02] [ 7.76889749e-01 -6.29623179e-01 -4.11957678e-03 -1.53183283e+02] [-5.22166520e-03 9.98413560e-05 -9.99986362e-01 -1.04528297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.630385723 meters 0.014599186512684648 Centerline is valid? [True, True] Translation: X:210.29, Y:-153.17, Z:-10.45 [[ 5.68086861e-01 8.22964755e-01 -2.51590094e-03 2.10290819e+02] [ 8.22955936e-01 -5.68092424e-01 -3.81122348e-03 -1.53168623e+02] [-4.56576686e-03 9.46303715e-05 -9.99989572e-01 -1.04521999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.690385723 meters 0.016405344131926576 Centerline is valid? [True, True] Translation: X:210.31, Y:-153.15, Z:-10.45 [[ 5.01711687e-01 8.65033073e-01 -1.77903556e-03 2.10313974e+02] [ 8.65027089e-01 -5.01714836e-01 -3.21860218e-03 -1.53151822e+02] [-3.67676587e-03 7.58963829e-05 -9.99993238e-01 -1.04506759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.750385723 meters 0.014616241625976602 Centerline is valid? [True, True] Translation: X:210.34, Y:-153.13, Z:-10.45 [[ 4.30385401e-01 9.02643732e-01 -1.64309443e-03 2.10336744e+02] [ 9.02636497e-01 -4.30388531e-01 -3.61467840e-03 -1.53132064e+02] [-3.96993580e-03 7.25878069e-05 -9.99992117e-01 -1.04509406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.810385723 meters 0.014288646295843923 Centerline is valid? [True, True] Translation: X:210.36, Y:-153.11, Z:-10.45 [[ 3.58062114e-01 9.33696972e-01 -1.21959195e-03 2.10359510e+02] [ 9.33690928e-01 -3.58064185e-01 -3.35995244e-03 -1.53111707e+02] [-3.57386961e-03 6.43497362e-05 -9.99993612e-01 -1.04515116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.870385723 meters 0.014166853897903441 Centerline is valid? [True, True] Translation: X:210.38, Y:-153.09, Z:-10.45 [[ 2.82721202e-01 9.59201807e-01 -7.84764785e-04 2.10379079e+02] [ 9.59197605e-01 -2.82722287e-01 -2.83957099e-03 -1.53088604e+02] [-2.94559212e-03 5.00624202e-05 -9.99995661e-01 -1.04513322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.930385723 meters 0.013938575354591266 Centerline is valid? [True, True] Translation: X:210.40, Y:-153.06, Z:-10.45 [[ 2.05466336e-01 9.78664041e-01 -5.29223297e-04 2.10396045e+02] [ 9.78660223e-01 -2.05467013e-01 -2.73406714e-03 -1.53063983e+02] [-2.78447112e-03 4.38289672e-05 -9.99996122e-01 -1.04512343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.990385723 meters 0.013959015438930238 Centerline is valid? [True, True] Translation: X:210.41, Y:-153.04, Z:-10.45 [[ 1.27775908e-01 9.91803045e-01 -1.91439862e-04 2.10410721e+02] [ 9.91801592e-01 -1.27776049e-01 -1.69815211e-03 -1.53039377e+02] [-1.70869386e-03 2.71125681e-05 -9.99998540e-01 -1.04512706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.050385723 meters 0.013406976677148293 Centerline is valid? [True, True] Translation: X:210.43, Y:-153.01, Z:-10.45 [[ 4.88314163e-02 9.98807034e-01 -3.20743692e-05 2.10425877e+02] [ 9.98806554e-01 -4.88314243e-02 -9.79593420e-04 -1.53012561e+02] [-9.79991036e-04 1.57988439e-05 -9.99999520e-01 -1.04515423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.110385723 meters 0.013508657296146072 Centerline is valid? [True, True] Translation: X:210.44, Y:-152.99, Z:-10.45 [[-3.23213522e-02 9.99477527e-01 5.24953334e-05 2.10436854e+02] [ 9.99476855e-01 3.23213913e-02 -1.15953612e-03 -1.52985531e+02] [-1.16062702e-03 1.49900952e-05 -9.99999326e-01 -1.04514222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.170385723 meters 0.01290537043707507 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.96, Z:-10.45 [[-1.13381947e-01 9.93551474e-01 4.83565484e-05 2.10447230e+02] [ 9.93551403e-01 1.13381957e-01 -3.75157080e-04 -1.52956381e+02] [-3.78220630e-04 5.50867630e-06 -9.99999928e-01 -1.04527252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.230385723 meters 0.013081793744044463 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.93, Z:-10.45 [[-1.90592860e-01 9.81669123e-01 3.07683886e-04 2.10447542e+02] [ 9.81667968e-01 1.90593108e-01 -1.50588853e-03 -1.52928335e+02] [-1.53692670e-03 1.50318128e-05 -9.99998819e-01 -1.04527288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.290385723 meters 0.013282627105221774 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.90, Z:-10.45 [[-2.65751685e-01 9.64041222e-01 7.51587164e-04 2.10452927e+02] [ 9.64037657e-01 2.65752747e-01 -2.62162859e-03 -1.52897369e+02] [-2.72709438e-03 2.78561138e-05 -9.99996281e-01 -1.04514234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3503857229999 meters 0.013414208093568615 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.87, Z:-10.45 [[-3.39957233e-01 9.40440371e-01 9.94012110e-04 2.10453665e+02] [ 9.40436609e-01 3.39958684e-01 -2.66021817e-03 -1.52867036e+02] [-2.83969961e-03 3.04449703e-05 -9.99995968e-01 -1.04513998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.410385723 meters 0.014060419642056555 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.84, Z:-10.45 [[-4.10031704e-01 9.12069926e-01 1.56562475e-03 2.10448786e+02] [ 9.12063730e-01 4.10034690e-01 -3.36234586e-03 -1.52838037e+02] [-3.70865500e-03 4.92811481e-05 -9.99993122e-01 -1.04508766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4703857229999 meters 0.014299384768680872 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.81, Z:-10.45 [[-4.77900294e-01 8.78413143e-01 1.28812097e-03 2.10445082e+02] [ 8.78410187e-01 4.77902028e-01 -2.27902296e-03 -1.52807984e+02] [-2.61751934e-03 4.23528350e-05 -9.99996573e-01 -1.04528373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.530385723 meters 0.014376805016369239 Centerline is valid? [True, True] Translation: X:210.44, Y:-152.78, Z:-10.45 [[-5.45226652e-01 8.38286817e-01 1.76358508e-03 2.10441111e+02] [ 8.38282728e-01 5.45229502e-01 -2.61876401e-03 -1.52777329e+02] [-3.15683396e-03 5.05629822e-05 -9.99995016e-01 -1.04528256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5903857229999 meters 0.01749053390482363 Centerline is valid? [True, True] Translation: X:210.43, Y:-152.75, Z:-10.45 [[-6.10036192e-01 7.92370301e-01 2.26959282e-03 2.10434656e+02] [ 7.92365145e-01 6.10040411e-01 -2.85895704e-03 -1.52748431e+02] [-3.64989599e-03 5.42789803e-05 -9.99993338e-01 -1.04499271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.650385723 meters 0.0148970970743318 Centerline is valid? [True, True] Translation: X:210.43, Y:-152.72, Z:-10.45 [[-6.72863563e-01 7.39756536e-01 3.85917703e-03 2.10427597e+02] [ 7.39744899e-01 6.72874627e-01 -4.14979598e-03 -1.52717081e+02] [-5.66658100e-03 6.25600175e-05 -9.99983943e-01 -1.04500849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.710385723 meters 0.014420375661088754 Centerline is valid? [True, True] Translation: X:210.41, Y:-152.69, Z:-10.45 [[-7.28284962e-01 6.85255866e-01 5.04109689e-03 2.10414564e+02] [ 6.85240202e-01 7.28302405e-01 -4.63398973e-03 -1.52690918e+02] [-6.84691163e-03 7.94972116e-05 -9.99976556e-01 -1.04499750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.770385723 meters 0.017712216957621388 Centerline is valid? [True, True] Translation: X:210.43, Y:-152.67, Z:-10.45 [[-7.73045805e-01 6.34319551e-01 6.23625123e-03 2.10433465e+02] [ 6.34300106e-01 7.73070951e-01 -4.96800731e-03 -1.52673163e+02] [-7.97236884e-03 1.15157603e-04 -9.99968214e-01 -1.04479619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.830385723 meters 0.015080945977821024 Centerline is valid? [True, True] Translation: X:210.45, Y:-152.65, Z:-10.45 [[-8.15770763e-01 5.78335068e-01 6.82725159e-03 2.10449931e+02] [ 5.78316068e-01 8.15799322e-01 -4.68953834e-03 -1.52651466e+02] [-8.28179169e-03 1.22721023e-04 -9.99965698e-01 -1.04500495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.890385723 meters 0.015293196380687553 Centerline is valid? [True, True] Translation: X:210.85, Y:-152.08, Z:-11.47 [[-7.93723729e-01 -6.08243606e-01 6.50827709e-03 2.10851975e+02] [ 6.08221890e-01 -7.93750402e-01 -5.14120954e-03 -1.52078286e+02] [ 8.29305539e-03 -1.22223417e-04 9.99965605e-01 -1.14686650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.950385723 meters 0.015513418981465616 Centerline is valid? [True, True] Translation: X:210.84, Y:-152.10, Z:-11.47 [[-7.51261458e-01 -6.59979020e-01 5.82361163e-03 2.10837243e+02] [ 6.59957902e-01 -7.51284020e-01 -5.28104318e-03 -1.52103534e+02] [ 7.86056405e-03 -1.24105690e-04 9.99969098e-01 -1.14680350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.010385723 meters 0.015197980774663167 Centerline is valid? [True, True] Translation: X:210.36, Y:-152.63, Z:-10.45 [[-7.76060291e-01 6.30634714e-01 5.50291350e-03 2.10359393e+02] [ 6.30619925e-01 7.76079792e-01 -4.32052587e-03 -1.52627911e+02] [-6.99537356e-03 1.17258332e-04 -9.99975525e-01 -1.04534722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.070385723 meters 0.015232559980421063 Centerline is valid? [True, True] Translation: X:210.80, Y:-152.08, Z:-11.47 [[-7.54247600e-01 -6.56571168e-01 4.98584446e-03 2.10801713e+02] [ 6.56555685e-01 -7.54264068e-01 -4.51085829e-03 -1.52075854e+02] [ 6.72234282e-03 -1.28819516e-04 9.99977397e-01 -1.14659961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.130385723 meters 0.015509792172306676 Centerline is valid? [True, True] Translation: X:210.33, Y:-152.60, Z:-10.45 [[-7.78133888e-01 6.28077877e-01 5.08265833e-03 2.10325037e+02] [ 6.28065395e-01 7.78150479e-01 -3.96127556e-03 -1.52601206e+02] [-6.44306256e-03 1.09839057e-04 -9.99979237e-01 -1.04523037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.190385723 meters 0.015510017940774735 Centerline is valid? [True, True] Translation: X:210.76, Y:-152.05, Z:-11.47 [[-7.56270224e-01 -6.54237089e-01 5.40180516e-03 2.10764281e+02] [ 6.54219670e-01 -7.56289511e-01 -4.77470862e-03 -1.52049850e+02] [ 7.20912005e-03 -7.70027694e-05 9.99974011e-01 -1.14672616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.250385723 meters 0.015350195677941053 Centerline is valid? [True, True] Translation: X:210.29, Y:-152.57, Z:-10.45 [[-7.80371568e-01 6.25293988e-01 5.25780301e-03 2.10291656e+02] [ 6.25280761e-01 7.80389272e-01 -4.06865190e-03 -1.52571719e+02] [-6.64723664e-03 1.12542807e-04 -9.99977901e-01 -1.04521443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.310385723 meters 0.016600491830856344 Centerline is valid? [True, True] Translation: X:210.31, Y:-152.55, Z:-10.45 [[-8.23093487e-01 5.67883259e-01 5.07117915e-03 2.10308479e+02] [ 5.67873215e-01 8.23109103e-01 -3.37882359e-03 -1.52546282e+02] [-6.09291107e-03 9.86991235e-05 -9.99981433e-01 -1.04506558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.370385723 meters 0.015377255394368936 Centerline is valid? [True, True] Translation: X:210.33, Y:-152.52, Z:-10.45 [[-8.61524982e-01 5.07683663e-01 5.65717035e-03 2.10325538e+02] [ 5.07673486e-01 8.61543550e-01 -3.21606742e-03 -1.52521137e+02] [-6.50664351e-03 1.01272964e-04 -9.99978826e-01 -1.04524831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.430385723 meters 0.015214301463136634 Centerline is valid? [True, True] Translation: X:210.34, Y:-152.49, Z:-10.45 [[-8.94694815e-01 4.46637084e-01 6.04183456e-03 2.10341145e+02] [ 4.46627754e-01 8.94715207e-01 -2.88912444e-03 -1.52494782e+02] [-6.69611138e-03 1.13566348e-04 -9.99977574e-01 -1.04526790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.490385723 meters 0.01562796171294329 Centerline is valid? [True, True] Translation: X:210.35, Y:-152.47, Z:-10.45 [[-9.23555875e-01 3.83416652e-01 6.01806137e-03 2.10350984e+02] [ 3.83409345e-01 9.23575474e-01 -2.36999624e-03 -1.52467473e+02] [-6.46682991e-03 1.18557020e-04 -9.99979083e-01 -1.04520823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.550385723 meters 0.017203160213578653 Centerline is valid? [True, True] Translation: X:210.36, Y:-152.44, Z:-10.45 [[-9.47937809e-01 3.18383843e-01 6.75565491e-03 2.10359339e+02] [ 3.18376807e-01 9.47961871e-01 -2.12127547e-03 -1.52439010e+02] [-7.07948310e-03 1.40006617e-04 -9.99974930e-01 -1.04499187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.610385723 meters 0.015869235387392936 Centerline is valid? [True, True] Translation: X:210.37, Y:-152.41, Z:-10.45 [[-9.68333261e-01 2.49558679e-01 7.15266871e-03 2.10367067e+02] [ 2.49552927e-01 9.68359668e-01 -1.70008079e-03 -1.52411585e+02] [-7.35062581e-03 1.38724637e-04 -9.99972974e-01 -1.04521390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.670385723 meters 0.016110474124768463 Centerline is valid? [True, True] Translation: X:210.52, Y:-151.75, Z:-11.47 [[-9.59954139e-01 -2.80057230e-01 7.48326997e-03 2.10523218e+02] [ 2.80047770e-01 -9.59983299e-01 -2.30485337e-03 -1.51747555e+02] [ 7.82930504e-03 -1.16880472e-04 9.99969344e-01 -1.14674664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.730385723 meters 0.018071797212908157 Centerline is valid? [True, True] Translation: X:210.32, Y:-152.40, Z:-10.45 [[-9.69915122e-01 2.43313536e-01 7.94859744e-03 2.10316968e+02] [ 2.43306477e-01 9.69947682e-01 -1.85808568e-03 -1.52398377e+02] [-8.16182106e-03 1.31759835e-04 -9.99966683e-01 -1.04489631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.790385723 meters 0.0192662467402118 Centerline is valid? [True, True] Translation: X:210.32, Y:-152.37, Z:-10.45 [[-9.84691939e-01 1.74131894e-01 7.73747665e-03 2.10321655e+02] [ 1.74127536e-01 9.84722330e-01 -1.23853700e-03 -1.52371110e+02] [-7.83493483e-03 1.27730342e-04 -9.99969298e-01 -1.04484576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8503857229999 meters 0.018311529905136972 Centerline is valid? [True, True] Translation: X:210.32, Y:-152.34, Z:-10.45 [[-9.94389883e-01 1.05511069e-01 7.49506067e-03 2.10319999e+02] [ 1.05509098e-01 9.94418119e-01 -6.58973646e-04 -1.52341941e+02] [-7.52275315e-03 1.35520362e-04 -9.99971695e-01 -1.04493586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.910385723 meters 0.01609446011195223 Centerline is valid? [True, True] Translation: X:210.32, Y:-152.32, Z:-10.45 [[-9.99326813e-01 3.60419886e-02 6.84805607e-03 2.10319501e+02] [ 3.60420549e-02 9.99350268e-01 -1.13766993e-04 -1.52315203e+02] [-6.84770706e-03 1.33127607e-04 -9.99976545e-01 -1.04523138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9703857229999 meters 0.01914585248290523 Centerline is valid? [True, True] Translation: X:210.31, Y:-152.29, Z:-10.45 [[-9.99437380e-01 -3.24512374e-02 8.47586976e-03 2.10314075e+02] [-3.24484839e-02 9.99473302e-01 4.62216297e-04 -1.52289287e+02] [-8.48640503e-03 1.86927122e-04 -9.99963972e-01 -1.04492051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.030385723 meters 0.01671545446455776 Centerline is valid? [True, True] Translation: X:210.28, Y:-151.60, Z:-11.47 [[-9.99926243e-01 8.55620449e-03 8.61977358e-03 2.10278471e+02] [-8.55744758e-03 -9.99963379e-01 -1.07341420e-04 -1.51602959e+02] [ 8.61853948e-03 -1.81096763e-04 9.99962843e-01 -1.14673838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0903857229999 meters 0.017234333025355045 Centerline is valid? [True, True] Translation: X:210.24, Y:-152.29, Z:-10.45 [[-9.99275765e-01 -3.68678097e-02 9.41863298e-03 2.10237173e+02] [-3.68641561e-02 9.99320128e-01 5.61284474e-04 -1.52293704e+02] [-9.43292284e-03 2.13668015e-04 -9.99955486e-01 -1.04513253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.150385723 meters 0.018858990410626084 Centerline is valid? [True, True] Translation: X:210.20, Y:-151.61, Z:-11.47 [[-9.99813354e-01 1.64700836e-02 1.00992035e-02 2.10195184e+02] [-1.64711241e-02 -9.99864342e-01 -1.98606971e-05 -1.51605205e+02] [ 1.00975064e-02 -1.86202225e-04 9.99949002e-01 -1.14710386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.210385723 meters 0.020592252422986144 Centerline is valid? [True, True] Translation: X:210.15, Y:-152.30, Z:-10.45 [[-9.99223029e-01 -3.79945812e-02 1.04761497e-02 2.10153522e+02] [-3.79895421e-02 9.99277906e-01 6.79660592e-04 -1.52301585e+02] [-1.04944084e-02 2.81148385e-04 -9.99944893e-01 -1.04463525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.270385723 meters 0.018736874272653064 Centerline is valid? [True, True] Translation: X:210.14, Y:-152.27, Z:-10.45 [[-9.94097388e-01 -1.08021088e-01 1.00909335e-02 2.10142952e+02] [-1.08012630e-01 9.94148563e-01 1.38111394e-03 -1.52273947e+02] [-1.01810765e-02 2.83013491e-04 -9.99948131e-01 -1.04492760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.330385723 meters 0.019748933769752692 Centerline is valid? [True, True] Translation: X:210.05, Y:-151.58, Z:-11.47 [[-9.95400022e-01 9.51825558e-02 1.09122272e-02 2.10048783e+02] [-9.51796189e-02 -9.95459802e-01 7.89332610e-04 -1.51581541e+02] [ 1.09378143e-02 -2.52919932e-04 9.99940148e-01 -1.14698662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.390385723 meters 0.020518678383261865 Centerline is valid? [True, True] Translation: X:210.04, Y:-152.29, Z:-10.45 [[-9.93149838e-01 -1.16316690e-01 1.11277873e-02 2.10039308e+02] [-1.16306141e-01 9.93212135e-01 1.59268114e-03 -1.52291254e+02] [-1.12375088e-02 2.87541014e-04 -9.99936816e-01 -1.04465687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.450385723 meters 0.018962485533984694 Centerline is valid? [True, True] Translation: X:210.02, Y:-152.26, Z:-10.45 [[-9.81959376e-01 -1.88795828e-01 1.05791762e-02 2.10022061e+02] [-1.88782071e-01 9.82016329e-01 2.29331364e-03 -1.52262651e+02] [-1.08218918e-02 2.54782038e-04 -9.99941409e-01 -1.04481280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.510385723 meters 0.0164939146418713 Centerline is valid? [True, True] Translation: X:210.00, Y:-152.24, Z:-10.45 [[-9.65039687e-01 -2.61900208e-01 1.03287934e-02 2.09995184e+02] [-2.61882793e-01 9.65094935e-01 3.02804892e-03 -1.52237890e+02] [-1.07613129e-02 2.17254120e-04 -9.99942072e-01 -1.04504555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.570385723 meters 0.016196627039272334 Centerline is valid? [True, True] Translation: X:209.96, Y:-152.22, Z:-10.45 [[-9.42783214e-01 -3.33300191e-01 8.41390970e-03 2.09959314e+02] [-3.33285428e-01 9.42820745e-01 3.14097380e-03 -1.52219789e+02] [-8.97969579e-03 1.57023878e-04 -9.99959669e-01 -1.04511540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.630385723 meters 0.015859496430028784 Centerline is valid? [True, True] Translation: X:209.90, Y:-152.21, Z:-10.45 [[-9.15314970e-01 -4.02677661e-01 7.01480702e-03 2.09901016e+02] [-4.02664795e-01 9.15341841e-01 3.22141036e-03 -1.52213931e+02] [-7.71813636e-03 1.23989296e-04 -9.99970207e-01 -1.04511841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.690385723 meters 0.015719528834339937 Centerline is valid? [True, True] Translation: X:209.83, Y:-152.22, Z:-10.45 [[-8.82667128e-01 -4.69946252e-01 7.01866036e-03 2.09828433e+02] [-4.69930315e-01 8.82695024e-01 3.87216768e-03 -1.52220137e+02] [-8.01504727e-03 1.19553851e-04 -9.99967872e-01 -1.04513305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.750385723 meters 0.015136043092380053 Centerline is valid? [True, True] Translation: X:209.76, Y:-152.23, Z:-10.45 [[-8.44025453e-01 -5.36272567e-01 5.72447298e-03 2.09758779e+02] [-5.36259548e-01 8.44044861e-01 3.73768229e-03 -1.52229130e+02] [-6.83612847e-03 8.48956909e-05 -9.99976630e-01 -1.04520537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.810385723 meters 0.014828404735122772 Centerline is valid? [True, True] Translation: X:209.68, Y:-152.25, Z:-10.45 [[-8.00517174e-01 -5.99284446e-01 5.51428198e-03 2.09677821e+02] [-5.99269604e-01 8.00536163e-01 4.21835084e-03 -1.52252414e+02] [-6.94237418e-03 7.23207145e-05 -9.99975899e-01 -1.04509403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.870385723 meters 0.01752889009839715 Centerline is valid? [True, True] Translation: X:209.60, Y:-152.29, Z:-10.45 [[-7.53915523e-01 -6.56942335e-01 6.17672126e-03 2.09595808e+02] [-6.56919268e-01 7.53940820e-01 5.50597055e-03 -1.52289835e+02] [-8.27398744e-03 9.34294610e-05 -9.99965766e-01 -1.04478803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.930385723 meters 0.015362646586290976 Centerline is valid? [True, True] Translation: X:209.51, Y:-152.34, Z:-10.45 [[-7.03108197e-01 -7.11064400e-01 5.12663995e-03 2.09511245e+02] [-7.11044541e-01 7.03126881e-01 5.31516281e-03 -1.52336078e+02] [-7.38410141e-03 9.18651928e-05 -9.99972733e-01 -1.04511266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.990385723 meters 0.015728702565353365 Centerline is valid? [True, True] Translation: X:209.42, Y:-152.40, Z:-10.45 [[-6.48580814e-01 -7.61128885e-01 5.07421272e-03 2.09424183e+02] [-7.61104233e-01 6.48600654e-01 6.12685983e-03 -1.52395341e+02] [-7.95446768e-03 1.11758959e-04 -9.99968357e-01 -1.04501071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.050385723 meters 0.0161748639996735 Centerline is valid? [True, True] Translation: X:209.34, Y:-152.46, Z:-10.45 [[-5.90226099e-01 -8.07224258e-01 4.70628386e-03 2.09343403e+02] [-8.07196856e-01 5.90244848e-01 6.65236447e-03 -1.52460573e+02] [-8.14780978e-03 1.27501591e-04 -9.99966798e-01 -1.04496241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.110385723 meters 0.016797358812148826 Centerline is valid? [True, True] Translation: X:209.26, Y:-152.54, Z:-10.45 [[-5.28607004e-01 -8.48853397e-01 4.74828156e-03 2.09262406e+02] [-8.48816365e-01 5.28628305e-01 7.93053287e-03 -1.52540286e+02] [-9.24193580e-03 1.61716131e-04 -9.99957279e-01 -1.04485385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.170385723 meters 0.016441356121866566 Centerline is valid? [True, True] Translation: X:209.19, Y:-152.63, Z:-10.45 [[-4.64264242e-01 -8.85686983e-01 4.15699329e-03 2.09185777e+02] [-8.85647861e-01 4.64282816e-01 8.32658439e-03 -1.52625621e+02] [-9.30476796e-03 1.84103176e-04 -9.99956693e-01 -1.04486501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.230385723 meters 0.016922500341336796 Centerline is valid? [True, True] Translation: X:209.12, Y:-152.72, Z:-10.45 [[-3.97018478e-01 -9.17804034e-01 3.47597885e-03 2.09118042e+02] [-9.17764287e-01 3.97033643e-01 8.54394896e-03 -1.52719789e+02] [-9.22175137e-03 2.01976360e-04 -9.99957458e-01 -1.04500766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.290385723 meters 0.017253536202839724 Centerline is valid? [True, True] Translation: X:209.05, Y:-152.82, Z:-10.45 [[-3.26360171e-01 -9.45240401e-01 3.10207483e-03 2.09051449e+02] [-9.45190706e-01 3.26374830e-01 9.69534361e-03 -1.52824350e+02] [-1.01768696e-02 2.32121695e-04 -9.99948187e-01 -1.04489019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3503857229999 meters 0.01741501384289275 Centerline is valid? [True, True] Translation: X:208.99, Y:-152.93, Z:-10.45 [[-2.55200619e-01 -9.66885165e-01 2.39219015e-03 2.08993791e+02] [-9.66832570e-01 2.55211696e-01 1.00881767e-02 -1.52927323e+02] [-1.03646233e-02 2.61661589e-04 -9.99946252e-01 -1.04481464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.410385723 meters 0.018836063926242954 Centerline is valid? [True, True] Translation: X:208.95, Y:-153.04, Z:-10.45 [[-1.81489208e-01 -9.83391595e-01 1.62411704e-03 2.08947354e+02] [-9.83337295e-01 1.81496260e-01 1.03378460e-02 -1.53042994e+02] [-1.04609220e-02 2.79152622e-04 -9.99945244e-01 -1.04482184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4703857229999 meters 0.01782696836598758 Centerline is valid? [True, True] Translation: X:208.90, Y:-153.16, Z:-10.45 [[-1.03925213e-01 -9.94584802e-01 7.88959672e-04 2.08899866e+02] [-9.94534739e-01 1.03927900e-01 9.98216467e-03 -1.53161590e+02] [-1.00101042e-02 2.52750789e-04 -9.99949866e-01 -1.04469839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.530385723 meters 0.017713924800520028 Centerline is valid? [True, True] Translation: X:208.86, Y:-153.29, Z:-10.45 [[-2.40809877e-02 -9.99710011e-01 1.78860682e-05 2.08863880e+02] [-9.99664737e-01 2.40800674e-02 9.51654676e-03 -1.53286612e+02] [-9.51421777e-03 2.11287774e-04 -9.99954717e-01 -1.04473050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5903857229999 meters 0.017826197676724248 Centerline is valid? [True, True] Translation: X:208.11, Y:-153.40, Z:-11.47 [[-4.89625730e-02 9.98800386e-01 6.74396598e-04 2.08108402e+02] [-9.98766685e-01 -4.89664640e-02 8.20944962e-03 -1.53398661e+02] [ 8.23262427e-03 -2.71609078e-04 9.99966075e-01 -1.14707661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.650385723 meters 0.01639278084999629 Centerline is valid? [True, True] Translation: X:208.85, Y:-153.59, Z:-10.45 [[-1.10888528e-02 -9.99938515e-01 -6.07993222e-05 2.08853671e+02] [-9.99908615e-01 1.10880510e-02 7.73409296e-03 -1.53592032e+02] [-7.73294328e-03 1.46555984e-04 -9.99970090e-01 -1.04487998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.710385723 meters 0.015722923869804756 Centerline is valid? [True, True] Translation: X:208.83, Y:-153.71, Z:-10.45 [[ 6.96265313e-02 -9.97572977e-01 -5.48879122e-04 2.08825775e+02] [-9.97552082e-01 -6.96286259e-02 6.45743245e-03 -1.53713226e+02] [-6.47997781e-03 9.79268887e-05 -9.99979000e-01 -1.04483575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.770385723 meters 0.014801586174444733 Centerline is valid? [True, True] Translation: X:208.81, Y:-153.84, Z:-10.45 [[ 1.50692342e-01 -9.88580395e-01 -7.88119891e-04 2.08806852e+02] [-9.88568593e-01 -1.50694394e-01 4.83077348e-03 -1.53837668e+02] [-4.89437320e-03 5.11500056e-05 -9.99988021e-01 -1.04501873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.830385723 meters 0.014520185446979191 Centerline is valid? [True, True] Translation: X:208.80, Y:-153.96, Z:-10.45 [[ 2.30327022e-01 -9.73112762e-01 -1.00727427e-03 2.08798929e+02] [-9.73103951e-01 -2.30329223e-01 4.14111703e-03 -1.53963780e+02] [-4.26177853e-03 2.63714121e-05 -9.99990918e-01 -1.04504436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.890385723 meters 0.014553153996489114 Centerline is valid? [True, True] Translation: X:208.81, Y:-154.10, Z:-10.45 [[ 3.04670242e-01 -9.52457010e-01 -1.29943555e-03 2.08805454e+02] [-9.52448683e-01 -3.04673012e-01 3.98275344e-03 -1.54095302e+02] [-4.18930437e-03 2.42192282e-05 -9.99991225e-01 -1.04505856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.950385723 meters 0.01605177815503588 Centerline is valid? [True, True] Translation: X:208.82, Y:-154.22, Z:-10.45 [[ 3.74848930e-01 -9.27084166e-01 -1.79679885e-03 2.08820787e+02] [-9.27073985e-01 -3.74853234e-01 4.34509480e-03 -1.54216450e+02] [-4.70180445e-03 3.70113364e-05 -9.99988946e-01 -1.04488560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.010385723 meters 0.015177472536365361 Centerline is valid? [True, True] Translation: X:208.84, Y:-154.33, Z:-10.45 [[ 4.41361570e-01 -8.97327546e-01 -1.80027292e-03 2.08841687e+02] [-8.97320510e-01 -4.41365239e-01 3.55356069e-03 -1.54326736e+02] [-3.98328578e-03 4.70166946e-05 -9.99992066e-01 -1.04519299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.070385723 meters 0.016178327167717728 Centerline is valid? [True, True] Translation: X:208.87, Y:-154.44, Z:-10.45 [[ 5.07482995e-01 -8.61659753e-01 -1.86563362e-03 2.08871765e+02] [-8.61654272e-01 -5.07486422e-01 3.07359682e-03 -1.54441974e+02] [-3.59517840e-03 4.77330640e-05 -9.99993536e-01 -1.04503410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.130385723 meters 0.015487628342265457 Centerline is valid? [True, True] Translation: X:208.91, Y:-154.56, Z:-10.45 [[ 5.72126524e-01 -8.20163044e-01 -1.95510930e-03 2.08911703e+02] [-8.20158512e-01 -5.72129863e-01 2.72673599e-03 -1.54555985e+02] [-3.35494450e-03 4.34615566e-05 -9.99994371e-01 -1.04514167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.190385723 meters 0.016154145657675454 Centerline is valid? [True, True] Translation: X:208.96, Y:-154.67, Z:-10.45 [[ 6.34724655e-01 -7.72734352e-01 -2.49667946e-03 2.08963947e+02] [-7.72728628e-01 -6.34729564e-01 2.97456855e-03 -1.54673822e+02] [-3.88326756e-03 4.12236991e-05 -9.99992459e-01 -1.04508887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.250385723 meters 0.014822368735334084 Centerline is valid? [True, True] Translation: X:209.01, Y:-154.77, Z:-10.45 [[ 6.94632247e-01 -7.19361457e-01 -2.26626213e-03 2.09006194e+02] [-7.19357728e-01 -6.94635944e-01 2.31623253e-03 -1.54769494e+02] [-3.24043555e-03 2.13233709e-05 -9.99994750e-01 -1.04517511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.310385723 meters 0.014622530347670698 Centerline is valid? [True, True] Translation: X:209.07, Y:-154.87, Z:-10.45 [[ 7.49150144e-01 -6.62395332e-01 -2.54675183e-03 2.09065025e+02] [-6.62391560e-01 -7.49154473e-01 2.23556842e-03 -1.54869106e+02] [-3.38874061e-03 1.21705102e-05 -9.99994258e-01 -1.04536886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.370385723 meters 0.014716515070621687 Centerline is valid? [True, True] Translation: X:209.08, Y:-154.90, Z:-10.45 [[ 7.99379280e-01 -6.00824571e-01 -1.61301191e-03 2.09081304e+02] [-6.00823362e-01 -7.99380907e-01 1.20528035e-03 -1.54902422e+02] [-2.01357297e-03 5.65910721e-06 -9.99997973e-01 -1.04544743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.430385723 meters 0.014819049168504074 Centerline is valid? [True, True] Translation: X:209.10, Y:-154.93, Z:-10.45 [[ 8.43706315e-01 -5.36802316e-01 -1.71105596e-03 2.09100272e+02] [-5.36801227e-01 -8.43708050e-01 1.08109572e-03 -1.54934706e+02] [-2.02396638e-03 6.36964983e-06 -9.99997952e-01 -1.04549907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.490385723 meters 0.014915433016837922 Centerline is valid? [True, True] Translation: X:209.12, Y:-154.96, Z:-10.46 [[ 8.81779569e-01 -4.71659020e-01 -1.59994548e-03 2.09122637e+02] [-4.71658266e-01 -8.81781021e-01 8.43512028e-04 -1.54964420e+02] [-1.80865161e-03 1.08358363e-05 -9.99998364e-01 -1.04554318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.550385723 meters 0.01644832169744946 Centerline is valid? [True, True] Translation: X:209.15, Y:-154.99, Z:-10.45 [[ 9.14924658e-01 -4.03608561e-01 -3.60555771e-03 2.09147288e+02] [-4.03605562e-01 -9.14931761e-01 1.55628153e-03 -1.54992384e+02] [-3.92696782e-03 3.13428073e-05 -9.99992289e-01 -1.04528161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.610385723 meters 0.016277621350712337 Centerline is valid? [True, True] Translation: X:209.17, Y:-155.02, Z:-10.45 [[ 9.43284674e-01 -3.31914296e-01 -6.85007016e-03 2.09173091e+02] [-3.31906037e-01 -9.43309544e-01 2.34239459e-03 -1.55021053e+02] [-7.23921081e-03 6.40347258e-05 -9.99973795e-01 -1.04502730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.670385723 meters 0.016233560074567534 Centerline is valid? [True, True] Translation: X:209.20, Y:-155.05, Z:-10.45 [[ 9.66178798e-01 -2.57754105e-01 -7.83271682e-03 2.09202600e+02] [-2.57746278e-01 -9.66210544e-01 2.01013453e-03 -1.55045875e+02] [-8.08617401e-03 7.67042460e-05 -9.99967303e-01 -1.04507115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.730385723 meters 0.015805560530911797 Centerline is valid? [True, True] Translation: X:209.23, Y:-155.07, Z:-10.45 [[ 9.82839580e-01 -1.84359605e-01 -6.15594740e-03 2.09233700e+02] [-1.84356488e-01 -9.82858856e-01 1.07488435e-03 -1.55066602e+02] [-6.24859267e-03 7.84499614e-05 -9.99980474e-01 -1.04526246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.790385723 meters 0.01724138527009105 Centerline is valid? [True, True] Translation: X:209.26, Y:-155.08, Z:-10.45 [[ 9.93779507e-01 -1.11144230e-01 -7.01797373e-03 2.09263260e+02] [-1.11142299e-01 -9.93804280e-01 6.65679494e-04 -1.55084378e+02] [-7.04847876e-03 1.18455098e-04 -9.99975152e-01 -1.04521050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8503857229999 meters 0.016401850963873692 Centerline is valid? [True, True] Translation: X:209.29, Y:-155.10, Z:-10.45 [[ 9.99346693e-01 -3.48476850e-02 -9.58263594e-03 2.09294304e+02] [-3.48477929e-02 -9.99392619e-01 1.55752112e-04 -1.55104607e+02] [-9.58224323e-03 1.78283355e-04 -9.99954073e-01 -1.04520413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.910385723 meters 0.01966675104218304 Centerline is valid? [True, True] Translation: X:209.33, Y:-155.12, Z:-10.45 [[ 9.98985008e-01 4.39925024e-02 -9.67536122e-03 2.09326551e+02] [ 4.39887390e-02 -9.99031846e-01 -6.01533882e-04 -1.55118966e+02] [-9.69245696e-03 1.75316391e-04 -9.99953012e-01 -1.04487927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9703857229999 meters 0.01643316546177326 Centerline is valid? [True, True] Translation: X:209.36, Y:-155.13, Z:-10.45 [[ 9.92227347e-01 1.24096509e-01 -9.21670760e-03 2.09360601e+02] [ 1.24089755e-01 -9.92270142e-01 -1.30329318e-03 -1.55129453e+02] [-9.30719789e-03 1.49464146e-04 -9.99956676e-01 -1.04519034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.030385723 meters 0.015990709146607867 Centerline is valid? [True, True] Translation: X:209.40, Y:-155.14, Z:-10.45 [[ 9.78895122e-01 2.04121712e-01 -9.93308390e-03 2.09395911e+02] [ 2.04109804e-01 -9.78945509e-01 -2.20896619e-03 -1.55138156e+02] [-1.01748458e-02 1.34906426e-04 -9.99948226e-01 -1.04521306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0903857229999 meters 0.019206308963026282 Centerline is valid? [True, True] Translation: X:209.43, Y:-155.14, Z:-10.45 [[ 9.59033963e-01 2.83006233e-01 -1.27015564e-02 2.09432745e+02] [ 2.82979534e-01 -9.59118060e-01 -3.88969311e-03 -1.55144504e+02] [-1.32830995e-02 1.36067283e-04 -9.99911767e-01 -1.04477470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.150385723 meters 0.01747792786996103 Centerline is valid? [True, True] Translation: X:209.47, Y:-155.15, Z:-10.45 [[ 9.33107460e-01 3.59407031e-01 -1.17070457e-02 2.09469442e+02] [ 3.59377403e-01 -9.33180891e-01 -4.61585911e-03 -1.55147800e+02] [-1.25837635e-02 9.98449081e-05 -9.99920816e-01 -1.04485615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.210385723 meters 0.015542589317567466 Centerline is valid? [True, True] Translation: X:209.51, Y:-155.14, Z:-10.45 [[ 9.01331098e-01 4.32961088e-01 -1.21221841e-02 2.09505288e+02] [ 4.32920705e-01 -9.01412608e-01 -5.91386928e-03 -1.55143425e+02] [-1.34875649e-02 8.24098017e-05 -9.99909035e-01 -1.04492519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.270385723 meters 0.01739224495416391 Centerline is valid? [True, True] Translation: X:209.54, Y:-155.14, Z:-10.45 [[ 8.64981464e-01 5.01644492e-01 -1.26439733e-02 2.09539748e+02] [ 5.01589228e-01 -8.65073866e-01 -7.44663530e-03 -1.55135644e+02] [-1.46735345e-02 9.91206723e-05 -9.99892333e-01 -1.04478230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.330385723 meters 0.014947777530519409 Centerline is valid? [True, True] Translation: X:209.57, Y:-155.12, Z:-10.45 [[ 8.23333895e-01 5.67448266e-01 -1.11248313e-02 2.09572735e+02] [ 5.67394853e-01 -8.23409045e-01 -7.78620777e-03 -1.55124422e+02] [-1.35785568e-02 9.84767379e-05 -9.99907802e-01 -1.04509421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.390385723 meters 0.016359767211580663 Centerline is valid? [True, True] Translation: X:209.60, Y:-155.11, Z:-10.45 [[ 7.76295670e-01 6.30272083e-01 -1.10514424e-02 2.09601388e+02] [ 6.30206346e-01 -7.76374324e-01 -9.10329681e-03 -1.55108271e+02] [-1.43176100e-02 1.02160754e-04 -9.99897493e-01 -1.04486928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.450385723 meters 0.01512739290248992 Centerline is valid? [True, True] Translation: X:209.63, Y:-155.09, Z:-10.45 [[ 7.24756773e-01 6.88945082e-01 -9.07156057e-03 2.09626291e+02] [ 6.88889505e-01 -7.24813538e-01 -8.75126172e-03 -1.55086093e+02] [-1.26043286e-02 9.32333293e-05 -9.99920558e-01 -1.04515838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.510385723 meters 0.014932409938873379 Centerline is valid? [True, True] Translation: X:209.65, Y:-155.07, Z:-10.45 [[ 6.69683859e-01 7.42606872e-01 -7.65265159e-03 2.09653706e+02] [ 7.42556632e-01 -6.69727574e-01 -8.63853449e-03 -1.55067126e+02] [-1.15402269e-02 1.02559913e-04 -9.99933404e-01 -1.04539905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.570385723 meters 0.01745931395998337 Centerline is valid? [True, True] Translation: X:209.68, Y:-155.04, Z:-10.45 [[ 6.11176992e-01 7.91461082e-01 -7.21394084e-03 2.09676324e+02] [ 7.91403394e-01 -6.11219550e-01 -9.55665205e-03 -1.55043593e+02] [-1.19730198e-02 1.31668590e-04 -9.99928312e-01 -1.04531026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.630385723 meters 0.015285820412420827 Centerline is valid? [True, True] Translation: X:209.70, Y:-155.02, Z:-10.46 [[ 5.48685001e-01 8.36010467e-01 -5.59173484e-03 2.09698070e+02] [ 8.35964606e-01 -5.48713478e-01 -8.75762642e-03 -1.55020473e+02] [-1.03897276e-02 1.30685849e-04 -9.99946017e-01 -1.04566349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.690385723 meters 0.017308217752881928 Centerline is valid? [True, True] Translation: X:209.72, Y:-155.00, Z:-10.45 [[ 4.83366889e-01 8.75397620e-01 -5.95462562e-03 2.09718875e+02] [ 8.75326414e-01 -4.83403530e-01 -1.11667110e-02 -1.54996786e+02] [-1.26537992e-02 1.85377241e-04 -9.99919920e-01 -1.04547222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.750385723 meters 0.015342613708435782 Centerline is valid? [True, True] Translation: X:209.74, Y:-154.97, Z:-10.46 [[ 4.13518933e-01 9.10482082e-01 -4.94679166e-03 2.09741905e+02] [ 9.10411535e-01 -4.13548479e-01 -1.13354165e-02 -1.54973388e+02] [-1.23664318e-02 1.83793127e-04 -9.99923516e-01 -1.04568506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.810385723 meters 0.015688473693801965 Centerline is valid? [True, True] Translation: X:209.76, Y:-154.95, Z:-10.46 [[ 3.41735713e-01 9.39787556e-01 -4.00647239e-03 2.09758426e+02] [ 9.39716224e-01 -3.41759143e-01 -1.15804058e-02 -1.54947313e+02] [-1.22523698e-02 1.92491111e-04 -9.99924918e-01 -1.04573963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.870385723 meters 0.0172045388000416 Centerline is valid? [True, True] Translation: X:209.77, Y:-154.92, Z:-10.45 [[ 2.66864739e-01 9.63726687e-01 -3.75297199e-03 2.09774822e+02] [ 9.63618899e-01 -2.66891028e-01 -1.44151570e-02 -1.54920758e+02] [-1.48939061e-02 2.30462375e-04 -9.99889053e-01 -1.04540129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.930385723 meters 0.015662062887627764 Centerline is valid? [True, True] Translation: X:209.79, Y:-154.89, Z:-10.46 [[ 1.88898371e-01 9.81993782e-01 -2.36992676e-03 2.09787939e+02] [ 9.81903646e-01 -1.88913145e-01 -1.33061342e-02 -1.54893859e+02] [-1.35142514e-02 1.86467354e-04 -9.99908661e-01 -1.04560231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.990385723 meters 0.015363112286548799 Centerline is valid? [True, True] Translation: X:209.80, Y:-154.87, Z:-10.46 [[ 1.11077950e-01 9.93810997e-01 -1.17966297e-03 2.09800101e+02] [ 9.93738382e-01 -1.11084095e-01 -1.20146794e-02 -1.54866334e+02] [-1.20713623e-02 1.62289589e-04 -9.99927125e-01 -1.04582767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.050385723 meters 0.017451482719759277 Centerline is valid? [True, True] Translation: X:209.81, Y:-154.84, Z:-10.46 [[ 3.34620405e-02 9.99439960e-01 -2.43211692e-04 2.09811571e+02] [ 9.99362238e-01 -3.34624717e-02 -1.24651295e-02 -1.54838139e+02] [-1.24662869e-02 1.74052086e-04 -9.99922278e-01 -1.04565990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.110385723 meters 0.01570039538914508 Centerline is valid? [True, True] Translation: X:209.82, Y:-154.81, Z:-10.46 [[-4.64123247e-02 9.98922123e-01 6.99275748e-04 2.09819989e+02] [ 9.98851636e-01 4.64173573e-02 -1.18675051e-02 -1.54809017e+02] [-1.18871719e-02 1.47674225e-04 -9.99929334e-01 -1.04574159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.170385723 meters 0.016809724589481146 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.78, Z:-10.46 [[-1.26102059e-01 9.92015536e-01 1.85672728e-03 2.09826094e+02] [ 9.91924433e-01 1.26115642e-01 -1.34448808e-02 -1.54779767e+02] [-1.35716929e-02 1.46306017e-04 -9.99907890e-01 -1.04558733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.230385723 meters 0.014791337597471085 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.75, Z:-10.46 [[-2.06119315e-01 9.78522462e-01 2.93600975e-03 2.09829177e+02] [ 9.78430679e-01 2.06140195e-01 -1.34025106e-02 -1.54751488e+02] [-1.37198873e-02 1.10165716e-04 -9.99905872e-01 -1.04566180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.290385723 meters 0.014440717580012134 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.72, Z:-10.46 [[-2.83313450e-01 9.59018370e-01 4.15395166e-03 2.09833053e+02] [ 9.58920266e-01 2.83343884e-01 -1.37174082e-02 -1.54721403e+02] [-1.43322432e-02 9.69821951e-05 -9.99897283e-01 -1.04576147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3503857229999 meters 0.015888612202415952 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.69, Z:-10.46 [[-3.56230497e-01 9.34382967e-01 5.32006494e-03 2.09829647e+02] [ 9.34283747e-01 3.56270201e-01 -1.36170671e-02 -1.54694444e+02] [-1.46189362e-02 1.19635608e-04 -9.99893131e-01 -1.04554312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.410385723 meters 0.014844673120442305 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.67, Z:-10.46 [[-4.26919667e-01 9.04270295e-01 5.90176715e-03 2.09827234e+02] [ 9.04188140e-01 4.26960438e-01 -1.21898543e-02 -1.54665531e+02] [-1.35427442e-02 1.32219334e-04 -9.99908284e-01 -1.04590933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4703857229999 meters 0.01533521660982905 Centerline is valid? [True, True] Translation: X:209.82, Y:-154.64, Z:-10.46 [[-4.92914272e-01 8.70054025e-01 6.44316199e-03 2.09819158e+02] [ 8.69984327e-01 4.92956350e-01 -1.10139655e-02 -1.54638943e+02] [-1.27589427e-02 1.76509144e-04 -9.99918586e-01 -1.04592931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.530385723 meters 0.015982238235566673 Centerline is valid? [True, True] Translation: X:209.81, Y:-154.61, Z:-10.46 [[-5.56584649e-01 8.30757546e-01 7.44498356e-03 2.09807331e+02] [ 8.30688620e-01 5.56634393e-01 -1.07036669e-02 -1.54614402e+02] [-1.30362859e-02 2.26966443e-04 -9.99914998e-01 -1.04598266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5903857229999 meters 0.016173204967875342 Centerline is valid? [True, True] Translation: X:209.80, Y:-154.59, Z:-10.46 [[-6.19370256e-01 7.85045891e-01 9.13430997e-03 2.09795984e+02] [ 7.84966674e-01 6.19437553e-01 -1.11552286e-02 -1.54590656e+02] [-1.44155010e-02 2.60912100e-04 -9.99896057e-01 -1.04583514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.650385723 meters 0.016031328194093898 Centerline is valid? [True, True] Translation: X:209.78, Y:-154.57, Z:-10.46 [[-6.81108680e-01 7.32094227e-01 1.13582039e-02 2.09783938e+02] [ 7.31998478e-01 6.81203333e-01 -1.18425704e-02 -1.54566726e+02] [-1.64071238e-02 2.48110418e-04 -9.99865363e-01 -1.04559543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.710385723 meters 0.015608923979153302 Centerline is valid? [True, True] Translation: X:209.77, Y:-154.55, Z:-10.46 [[-7.38927929e-01 6.73658720e-01 1.30170962e-02 2.09768442e+02] [ 6.73558883e-01 7.39042549e-01 -1.15992317e-02 -1.54545604e+02] [-1.74341116e-02 1.96784500e-04 -9.99847995e-01 -1.04557244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.770385723 meters 0.014847077459257348 Centerline is valid? [True, True] Translation: X:209.79, Y:-154.53, Z:-10.46 [[-7.85405884e-01 6.18851123e-01 1.26840603e-02 2.09792956e+02] [ 6.18773780e-01 7.85508282e-01 -9.78512932e-03 -1.54530998e+02] [-1.60189727e-02 1.63265777e-04 -9.99871675e-01 -1.04591610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.830385723 meters 0.014910447837429092 Centerline is valid? [True, True] Translation: X:209.82, Y:-154.51, Z:-10.46 [[-8.27418186e-01 5.61430573e-01 1.32233822e-02 2.09815736e+02] [ 5.61361895e-01 8.27523829e-01 -8.78267444e-03 -1.54514181e+02] [-1.58735258e-02 1.56158358e-04 -9.99873995e-01 -1.04594875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.890385723 meters 0.014990808528288898 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.49, Z:-10.46 [[-8.65543133e-01 5.00663628e-01 1.30773017e-02 2.09825748e+02] [ 5.00608833e-01 8.65641908e-01 -7.40826975e-03 -1.54491433e+02] [-1.50293116e-02 1.34435752e-04 -9.99887045e-01 -1.04600864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.950385723 meters 0.01588765222683093 Centerline is valid? [True, True] Translation: X:210.22, Y:-153.83, Z:-11.46 [[-8.38971883e-01 -5.44066013e-01 1.08790630e-02 2.10215835e+02] [ 5.44016628e-01 -8.39042382e-01 -7.33417148e-03 -1.53831213e+02] [ 1.31182684e-02 -2.34772462e-04 9.99913924e-01 -1.14577876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.010385723 meters 0.014662258855107085 Centerline is valid? [True, True] Translation: X:209.79, Y:-154.47, Z:-10.46 [[-8.68382254e-01 4.95761715e-01 1.15144514e-02 2.09792575e+02] [ 4.95719537e-01 8.68458585e-01 -6.46740513e-03 -1.54472220e+02] [-1.32061160e-02 9.17586642e-05 -9.99912791e-01 -1.04631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.070385723 meters 0.014714662434489316 Centerline is valid? [True, True] Translation: X:209.80, Y:-154.44, Z:-10.46 [[-9.00986836e-01 4.33673114e-01 1.22618004e-02 2.09795762e+02] [ 4.33634503e-01 9.01070263e-01 -5.78776145e-03 -1.54441099e+02] [-1.35587402e-02 1.02442836e-04 -9.99908071e-01 -1.04634812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.130385723 meters 0.01519004470948279 Centerline is valid? [True, True] Translation: X:209.83, Y:-154.42, Z:-10.46 [[-9.28495022e-01 3.71147403e-01 1.21078303e-02 2.09826227e+02] [ 3.71117698e-01 9.28573954e-01 -4.69754548e-03 -1.54421005e+02] [-1.29864977e-02 1.31782531e-04 -9.99915663e-01 -1.04627611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.190385723 meters 0.01623361198341424 Centerline is valid? [True, True] Translation: X:209.84, Y:-154.40, Z:-10.46 [[-9.50860026e-01 3.09344314e-01 1.30883859e-02 2.09837983e+02] [ 3.09318040e-01 9.50950078e-01 -4.03717091e-03 -1.54397950e+02] [-1.36952774e-02 2.09689429e-04 -9.99906193e-01 -1.04623574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.250385723 meters 0.01705743565210962 Centerline is valid? [True, True] Translation: X:209.84, Y:-154.37, Z:-10.46 [[-9.69497455e-01 2.44784018e-01 1.24686942e-02 2.09841762e+02] [ 2.44766998e-01 9.69577601e-01 -2.89679218e-03 -1.54372062e+02] [-1.27984550e-02 2.43492205e-04 -9.99918067e-01 -1.04629033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.310385723 meters 0.017029957458289245 Centerline is valid? [True, True] Translation: X:209.86, Y:-154.35, Z:-10.47 [[-9.83960991e-01 1.78003731e-01 1.16378952e-02 2.09856743e+02] [ 1.77994350e-01 9.84029779e-01 -1.84522697e-03 -1.54345825e+02] [-1.17804928e-02 2.55848243e-04 -9.99930575e-01 -1.04653113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.370385723 meters 0.01706542576406327 Centerline is valid? [True, True] Translation: X:209.86, Y:-154.32, Z:-10.47 [[-9.94268956e-01 1.06335630e-01 1.10443427e-02 2.09859758e+02] [ 1.06331582e-01 9.94330269e-01 -9.54815842e-04 -1.54315788e+02] [-1.10832552e-02 2.25018677e-04 -9.99938554e-01 -1.04651409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.430385723 meters 0.016479594596829766 Centerline is valid? [True, True] Translation: X:209.85, Y:-154.28, Z:-10.46 [[-9.99424933e-01 3.16112163e-02 1.22692721e-02 2.09854958e+02] [ 3.16113161e-02 9.99500220e-01 -1.85846871e-04 -1.54282936e+02] [-1.22690150e-02 2.02107842e-04 -9.99924712e-01 -1.04645239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.490385723 meters 0.015948266115030824 Centerline is valid? [True, True] Translation: X:209.87, Y:-153.53, Z:-11.45 [[-9.97563780e-01 -6.85047589e-02 1.31758533e-02 2.09869967e+02] [ 6.84967471e-02 -9.97650778e-01 -1.05891029e-03 -1.53531020e+02] [ 1.32174407e-02 -1.53827453e-04 9.99912634e-01 -1.14547132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.550385723 meters 0.01606982397947089 Centerline is valid? [True, True] Translation: X:209.79, Y:-154.28, Z:-10.47 [[-9.99599570e-01 2.60905783e-02 1.09535967e-02 2.09785795e+02] [ 2.60908798e-02 9.99659568e-01 -1.15403593e-04 -1.54276567e+02] [-1.09528786e-02 1.70431592e-04 -9.99940001e-01 -1.04656056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.610385723 meters 0.01630533321573866 Centerline is valid? [True, True] Translation: X:209.78, Y:-154.25, Z:-10.47 [[-9.98948818e-01 -4.46253082e-02 1.04805342e-02 2.09781226e+02] [-4.46210904e-02 9.99003781e-01 6.36039599e-04 -1.54245773e+02] [-1.04984768e-02 1.67718140e-04 -9.99944875e-01 -1.04650105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.670385723 meters 0.016154485914383204 Centerline is valid? [True, True] Translation: X:209.77, Y:-154.22, Z:-10.47 [[-9.93172043e-01 -1.16128576e-01 1.11106202e-02 2.09772545e+02] [-1.16119354e-01 9.93234174e-01 1.47374872e-03 -1.54215084e+02] [-1.12065920e-02 1.73527987e-04 -9.99937189e-01 -1.04650622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.730385723 meters 0.01568502456190582 Centerline is valid? [True, True] Translation: X:209.76, Y:-154.18, Z:-10.47 [[-9.82237896e-01 -1.87317071e-01 1.10013842e-02 2.09760038e+02] [-1.87303421e-01 9.82299490e-01 2.26741754e-03 -1.54184475e+02] [-1.12313801e-02 1.66546545e-04 -9.99936912e-01 -1.04651544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.790385723 meters 0.015614218172978969 Centerline is valid? [True, True] Translation: X:209.73, Y:-154.16, Z:-10.47 [[-9.65860890e-01 -2.58833520e-01 1.08604777e-02 2.09733816e+02] [-2.58815447e-01 9.65921936e-01 3.06217261e-03 -1.54159033e+02] [-1.12829666e-02 1.46773359e-04 -9.99936335e-01 -1.04650131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8503857229999 meters 0.015408212320406376 Centerline is valid? [True, True] Translation: X:209.70, Y:-154.14, Z:-10.47 [[-9.44206814e-01 -3.29204889e-01 9.88092629e-03 2.09700054e+02] [-3.29185506e-01 9.44258506e-01 3.57448216e-03 -1.54135584e+02] [-1.05068857e-02 1.22392695e-04 -9.99944794e-01 -1.04656620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.910385723 meters 0.015496925204427048 Centerline is valid? [True, True] Translation: X:209.64, Y:-154.13, Z:-10.47 [[-9.17944452e-01 -3.96643092e-01 7.22776881e-03 2.09643360e+02] [-3.96630018e-01 9.17972902e-01 3.22175904e-03 -1.54127254e+02] [-7.91278438e-03 9.06457676e-05 -9.99968689e-01 -1.04671663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9703857229999 meters 0.01553886776958263 Centerline is valid? [True, True] Translation: X:209.59, Y:-154.12, Z:-10.47 [[-8.86035688e-01 -4.63570745e-01 6.55166956e-03 2.09590533e+02] [-4.63557358e-01 8.86059906e-01 3.52404509e-03 -1.54121153e+02] [-7.43881592e-03 8.53550927e-05 -9.99972328e-01 -1.04677480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.030385723 meters 0.015354868925912413 Centerline is valid? [True, True] Translation: X:209.51, Y:-154.13, Z:-10.47 [[-8.49163630e-01 -5.28103936e-01 5.23089834e-03 2.09511544e+02] [-5.28093415e-01 8.49179738e-01 3.33431643e-03 -1.54129764e+02] [-6.20283851e-03 6.89772781e-05 -9.99980760e-01 -1.04683395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0903857229999 meters 0.015583296223005378 Centerline is valid? [True, True] Translation: X:209.44, Y:-154.15, Z:-10.47 [[-8.08041188e-01 -5.89115156e-01 3.57381304e-03 2.09435315e+02] [-5.89109095e-01 8.08049089e-01 2.67288416e-03 -1.54146980e+02] [-4.46245293e-03 5.44347267e-05 -9.99990042e-01 -1.04692639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.150385723 meters 0.015873560215408818 Centerline is valid? [True, True] Translation: X:209.35, Y:-154.18, Z:-10.47 [[-7.62495210e-01 -6.46985908e-01 3.20766287e-03 2.09351221e+02] [-6.46979864e-01 7.62501955e-01 2.79727351e-03 -1.54176433e+02] [-4.25564576e-03 5.76143663e-05 -9.99990943e-01 -1.04689596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.210385723 meters 0.01623725513617422 Centerline is valid? [True, True] Translation: X:209.26, Y:-154.22, Z:-10.47 [[-7.12508820e-01 -7.01652038e-01 3.94944428e-03 2.09261027e+02] [-7.01640621e-01 7.12519761e-01 4.00357832e-03 -1.54217851e+02] [-5.62317598e-03 8.14943273e-05 -9.99984187e-01 -1.04665779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.270385723 meters 0.016742955482277975 Centerline is valid? [True, True] Translation: X:209.17, Y:-154.27, Z:-10.47 [[-6.59744471e-01 -7.51473009e-01 5.05464208e-03 2.09174949e+02] [-7.51449364e-01 6.59763820e-01 5.96275542e-03 -1.54268555e+02] [-7.81571972e-03 1.35587340e-04 -9.99969448e-01 -1.04650853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.330385723 meters 0.016756402251957705 Centerline is valid? [True, True] Translation: X:209.09, Y:-154.33, Z:-10.47 [[-6.02957798e-01 -7.97758456e-01 4.83107315e-03 2.09087609e+02] [-7.97730651e-01 6.02977129e-01 6.66258410e-03 -1.54325797e+02] [-8.22815943e-03 1.63361912e-04 -9.99966135e-01 -1.04653379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.390385723 meters 0.017221787832830925 Centerline is valid? [True, True] Translation: X:209.00, Y:-154.40, Z:-10.46 [[-5.41382127e-01 -8.40764098e-01 4.59620727e-03 2.09001258e+02] [-8.40730912e-01 5.41401606e-01 7.47222594e-03 -1.54396245e+02] [-8.77077330e-03 1.81156043e-04 -9.99961520e-01 -1.04640261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.450385723 meters 0.017582561089696504 Centerline is valid? [True, True] Translation: X:208.92, Y:-154.47, Z:-10.46 [[-4.76721139e-01 -8.79045979e-01 3.88867119e-03 2.08919892e+02] [-8.79013536e-01 4.76736964e-01 7.55452213e-03 -1.54474019e+02] [-8.49464560e-03 1.83205781e-04 -9.99963903e-01 -1.04637152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.510385723 meters 0.017696509652132653 Centerline is valid? [True, True] Translation: X:208.84, Y:-154.56, Z:-10.47 [[-4.09113449e-01 -9.12479419e-01 2.73790740e-03 2.08843148e+02] [-9.12456344e-01 4.09122581e-01 6.49116691e-03 -1.54563049e+02] [-7.04319595e-03 1.57402711e-04 -9.99975184e-01 -1.04653155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.570385723 meters 0.018170947673430825 Centerline is valid? [True, True] Translation: X:208.77, Y:-154.66, Z:-10.47 [[-3.38849518e-01 -9.40839258e-01 1.57930999e-03 2.08771523e+02] [-9.40827421e-01 3.38853179e-01 4.72087962e-03 -1.54656224e+02] [-4.97674309e-03 1.13809641e-04 -9.99987609e-01 -1.04665294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.630385723 meters 0.017163733895214115 Centerline is valid? [True, True] Translation: X:208.70, Y:-154.75, Z:-10.47 [[-2.65732138e-01 -9.64046525e-01 8.53797410e-04 2.08704940e+02] [-9.64040553e-01 2.65733498e-01 3.39414381e-03 -1.54754901e+02] [-3.49899511e-03 7.88377620e-05 -9.99993875e-01 -1.04681486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.690385723 meters 0.017267437828812328 Centerline is valid? [True, True] Translation: X:208.65, Y:-154.86, Z:-10.47 [[-1.90356500e-01 -9.81714580e-01 9.41927536e-04 2.08648458e+02] [-9.81699315e-01 1.90358794e-01 5.47585262e-03 -1.54858991e+02] [-5.55502854e-03 1.17674523e-04 -9.99984564e-01 -1.04660551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.750385723 meters 0.016981378912150274 Centerline is valid? [True, True] Translation: X:208.60, Y:-154.97, Z:-10.46 [[-1.13864424e-01 -9.93496033e-01 7.25075456e-04 2.08598056e+02] [-9.93466399e-01 1.13866629e-01 7.67488674e-03 -1.54970436e+02] [-7.70753143e-03 1.53558456e-04 -9.99970285e-01 -1.04641919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.810385723 meters 0.016868411133814164 Centerline is valid? [True, True] Translation: X:208.56, Y:-155.09, Z:-10.47 [[-3.50920014e-02 -9.99384077e-01 1.31736747e-04 2.08558983e+02] [-9.99357016e-01 3.50920208e-02 7.35563561e-03 -1.55085831e+02] [-7.35572802e-03 1.26471932e-04 -9.99972938e-01 -1.04651030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.870385723 meters 0.01784099389987429 Centerline is valid? [True, True] Translation: X:208.53, Y:-155.20, Z:-10.46 [[ 4.37372119e-02 -9.99042990e-01 -3.99633342e-04 2.08526030e+02] [-9.99019093e-01 -4.37389301e-02 6.91074033e-03 -1.55197785e+02] [-6.92160622e-03 9.69848243e-05 -9.99976041e-01 -1.04644126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.930385723 meters 0.016552704844490333 Centerline is valid? [True, True] Translation: X:208.50, Y:-155.31, Z:-10.47 [[ 1.19976506e-01 -9.92776318e-01 -9.06185004e-04 2.08504571e+02] [-9.92753575e-01 -1.19979892e-01 6.72054460e-03 -1.55312772e+02] [-6.78072150e-03 9.33109402e-05 -9.99977006e-01 -1.04660202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.990385723 meters 0.016898380713052538 Centerline is valid? [True, True] Translation: X:208.50, Y:-155.43, Z:-10.47 [[ 1.93560850e-01 -9.81087257e-01 -1.41110652e-03 2.08495664e+02] [-9.81064984e-01 -1.93565965e-01 6.61168583e-03 -1.55432810e+02] [-6.75978291e-03 1.04623664e-04 -9.99977147e-01 -1.04661821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.050385723 meters 0.017047930628064836 Centerline is valid? [True, True] Translation: X:208.49, Y:-155.55, Z:-10.47 [[ 2.65350179e-01 -9.64149976e-01 -2.02633017e-03 2.08492898e+02] [-9.64125448e-01 -2.65357885e-01 6.87853180e-03 -1.55548010e+02] [-7.16963896e-03 1.28416834e-04 -9.99974290e-01 -1.04656349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.110385723 meters 0.017272081449549566 Centerline is valid? [True, True] Translation: X:208.50, Y:-155.67, Z:-10.47 [[ 3.37814699e-01 -9.41207651e-01 -3.06384249e-03 2.08502279e+02] [-9.41172998e-01 -3.37828557e-01 8.07801717e-03 -1.55666252e+02] [-8.63814505e-03 1.54732882e-04 -9.99962679e-01 -1.04651557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.170385723 meters 0.01840942358835902 Centerline is valid? [True, True] Translation: X:208.52, Y:-155.78, Z:-10.46 [[ 4.09877713e-01 -9.12128139e-01 -4.74541241e-03 2.08520162e+02] [-9.12072038e-01 -4.09905143e-01 1.01179116e-02 -1.55784053e+02] [-1.11740008e-02 1.81051501e-04 -9.99937553e-01 -1.04624360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.230385723 meters 0.016746816714349307 Centerline is valid? [True, True] Translation: X:208.55, Y:-155.90, Z:-10.46 [[ 4.81093954e-01 -8.76648790e-01 -5.95865380e-03 2.08547463e+02] [-8.76585444e-01 -4.81130830e-01 1.05396468e-02 -1.55898143e+02] [-1.21064607e-02 1.52708812e-04 -9.99926702e-01 -1.04640909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.290385723 meters 0.016067112009958674 Centerline is valid? [True, True] Translation: X:208.58, Y:-156.01, Z:-10.47 [[ 5.48815832e-01 -8.35916499e-01 -6.69249625e-03 2.08580916e+02] [-8.35856847e-01 -5.48856625e-01 9.98687107e-03 -1.56009688e+02] [-1.20214112e-02 1.13015854e-04 -9.99927734e-01 -1.04658241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3503857229999 meters 0.016430054230965295 Centerline is valid? [True, True] Translation: X:208.62, Y:-156.11, Z:-10.47 [[ 6.10800747e-01 -7.91750728e-01 -7.29602864e-03 2.08621834e+02] [-7.91696323e-01 -6.10844311e-01 9.28219740e-03 -1.56108409e+02] [-1.18059241e-02 1.06665943e-04 -9.99930302e-01 -1.04661900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.410385723 meters 0.016078603140568568 Centerline is valid? [True, True] Translation: X:208.67, Y:-156.21, Z:-10.47 [[ 6.68607954e-01 -7.43581509e-01 -7.06704796e-03 2.08670882e+02] [-7.43541529e-01 -6.68645294e-01 7.71140172e-03 -1.56205377e+02] [-1.04594041e-02 9.87391160e-05 -9.99945294e-01 -1.04676452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4703857229999 meters 0.016386576233783232 Centerline is valid? [True, True] Translation: X:208.73, Y:-156.29, Z:-10.47 [[ 7.21946135e-01 -6.91895364e-01 -8.63614729e-03 2.08725216e+02] [-6.91847957e-01 -7.21997776e-01 8.10029457e-03 -1.56292929e+02] [-1.18398354e-02 1.26924505e-04 -9.99929899e-01 -1.04676953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.530385723 meters 0.016557664985599407 Centerline is valid? [True, True] Translation: X:208.75, Y:-156.32, Z:-10.47 [[ 7.73070418e-01 -6.34245702e-01 -9.72204504e-03 2.08750875e+02] [-6.34197952e-01 -7.73131533e-01 7.78399081e-03 -1.56320002e+02] [-1.24533823e-02 1.48128027e-04 -9.99922443e-01 -1.04675813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5903857229999 meters 0.016946628812585324 Centerline is valid? [True, True] Translation: X:208.78, Y:-156.34, Z:-10.47 [[ 8.19076999e-01 -5.73600043e-01 -9.79088397e-03 2.08778377e+02] [-5.73561472e-01 -8.19135498e-01 6.65390458e-03 -1.56344499e+02] [-1.18367406e-02 1.65613628e-04 -9.99929930e-01 -1.04686458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.650385723 meters 0.017598042042569106 Centerline is valid? [True, True] Translation: X:208.81, Y:-156.36, Z:-10.47 [[ 8.60747057e-01 -5.08895128e-01 -1.18427751e-02 2.08807782e+02] [-5.08850264e-01 -8.60828499e-01 6.76040991e-03 -1.56363968e+02] [-1.36349380e-02 2.07196301e-04 -9.99907018e-01 -1.04670626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.710385723 meters 0.016819672912652045 Centerline is valid? [True, True] Translation: X:208.84, Y:-156.39, Z:-10.47 [[ 8.97901113e-01 -4.40024089e-01 -1.23447473e-02 2.08835742e+02] [-4.39985668e-01 -8.97985946e-01 5.81838227e-03 -1.56388121e+02] [-1.36456380e-02 2.07179987e-04 -9.99906873e-01 -1.04687073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.770385723 meters 0.016718594007489575 Centerline is valid? [True, True] Translation: X:208.87, Y:-156.41, Z:-10.47 [[ 9.29853961e-01 -3.67737701e-01 -1.18572431e-02 2.08865335e+02] [-3.67710295e-01 -9.29929541e-01 4.49317719e-03 -1.56409909e+02] [-1.26787113e-02 1.82031745e-04 -9.99919605e-01 -1.04694371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.830385723 meters 0.016419584918129948 Centerline is valid? [True, True] Translation: X:208.90, Y:-156.43, Z:-10.47 [[ 9.55918179e-01 -2.93384461e-01 -1.20827317e-02 2.08895086e+02] [-2.93363312e-01 -9.55994523e-01 3.52692703e-03 -1.56433267e+02] [-1.25857709e-02 1.73176513e-04 -9.99920781e-01 -1.04704664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.890385723 meters 0.01617599456292311 Centerline is valid? [True, True] Translation: X:208.93, Y:-156.45, Z:-10.47 [[ 9.76532458e-01 -2.15021264e-01 -1.22562501e-02 2.08927379e+02] [-2.15006094e-01 -9.76609358e-01 2.55776888e-03 -1.56450502e+02] [-1.25195433e-02 1.37424137e-04 -9.99921618e-01 -1.04714948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.950385723 meters 0.015943920966123095 Centerline is valid? [True, True] Translation: X:208.96, Y:-156.46, Z:-10.47 [[ 9.90608347e-01 -1.36149267e-01 -1.25888607e-02 2.08957108e+02] [-1.36139771e-01 -9.90688328e-01 1.61217464e-03 -1.56462702e+02] [-1.26911338e-02 1.16810964e-04 -9.99919458e-01 -1.04720162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.010385723 meters 0.016406875510352546 Centerline is valid? [True, True] Translation: X:208.99, Y:-156.47, Z:-10.47 [[ 9.98068091e-01 -6.08205711e-02 -1.26863290e-02 2.08987114e+02] [-6.08175742e-02 -9.98148704e-01 6.22242397e-04 -1.56468966e+02] [-1.27006880e-02 1.50511472e-04 -9.99919332e-01 -1.04730306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.070385723 meters 0.01650401686940308 Centerline is valid? [True, True] Translation: X:209.02, Y:-156.47, Z:-10.48 [[ 9.99828273e-01 1.43536395e-02 -1.17216676e-02 2.09017951e+02] [ 1.43505909e-02 -9.99896966e-01 -3.44156017e-04 -1.56474149e+02] [-1.17253998e-02 1.75884060e-04 -9.99931240e-01 -1.04753957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.130385723 meters 0.016778644273211088 Centerline is valid? [True, True] Translation: X:209.05, Y:-156.48, Z:-10.48 [[ 9.95723748e-01 9.16784767e-02 -1.13698658e-02 2.09048119e+02] [ 9.16704153e-02 -9.95788644e-01 -1.22924922e-03 -1.56479537e+02] [-1.14346790e-02 1.81712314e-04 -9.99934605e-01 -1.04764830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.190385723 meters 0.01668805379366094 Centerline is valid? [True, True] Translation: X:209.08, Y:-156.48, Z:-10.48 [[ 9.85386047e-01 1.69979064e-01 -1.10207671e-02 2.09078809e+02] [ 1.69966488e-01 -9.85447659e-01 -2.07469225e-03 -1.56482534e+02] [-1.12130433e-02 1.71211721e-04 -9.99937117e-01 -1.04770040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.250385723 meters 0.016416280228310865 Centerline is valid? [True, True] Translation: X:209.11, Y:-156.48, Z:-10.48 [[ 9.68790482e-01 2.47680529e-01 -9.96785984e-03 2.09109497e+02] [ 2.47665861e-01 -9.68841749e-01 -2.69955896e-03 -1.56483616e+02] [-1.03259070e-02 1.46608435e-04 -9.99946676e-01 -1.04788927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.310385723 meters 0.01879535300536599 Centerline is valid? [True, True] Translation: X:209.14, Y:-156.48, Z:-10.48 [[ 9.46595001e-01 3.22260042e-01 -1.03135462e-02 2.09137964e+02] [ 3.22239055e-01 -9.46651171e-01 -3.68131058e-03 -1.56480189e+02] [-1.09496699e-02 1.61282805e-04 -9.99940038e-01 -1.04762353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.370385723 meters 0.016665245550315642 Centerline is valid? [True, True] Translation: X:209.17, Y:-156.48, Z:-10.48 [[ 9.18705611e-01 3.94799859e-01 -1.06335139e-02 2.09168293e+02] [ 3.94771153e-01 -9.18767130e-01 -4.76417121e-03 -1.56476736e+02] [-1.16506172e-02 1.79066266e-04 -9.99932113e-01 -1.04794636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.430385723 meters 0.01689410570362381 Centerline is valid? [True, True] Translation: X:209.20, Y:-156.47, Z:-10.48 [[ 8.85395598e-01 4.64749394e-01 -9.09041427e-03 2.09197350e+02] [ 4.64722939e-01 -8.85442247e-01 -4.96154332e-03 -1.56471151e+02] [-1.03549111e-02 1.68404571e-04 -9.99946372e-01 -1.04798005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.490385723 meters 0.01714631800197908 Centerline is valid? [True, True] Translation: X:209.22, Y:-156.46, Z:-10.48 [[ 8.46354199e-01 5.32551749e-01 -8.55593832e-03 2.09223829e+02] [ 5.32522533e-01 -8.46397428e-01 -5.58080281e-03 -1.56461692e+02] [-1.02137905e-02 1.67105949e-04 -9.99947824e-01 -1.04813873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.550385723 meters 0.017059188312998578 Centerline is valid? [True, True] Translation: X:209.25, Y:-156.45, Z:-10.48 [[ 8.02553236e-01 5.96540395e-01 -6.91806911e-03 2.09252847e+02] [ 5.96516611e-01 -8.02583039e-01 -5.32903249e-03 -1.56453427e+02] [-8.73130808e-03 1.50089131e-04 -9.99961870e-01 -1.04818345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.610385723 meters 0.017962978785137036 Centerline is valid? [True, True] Translation: X:209.28, Y:-156.44, Z:-10.48 [[ 7.54837455e-01 6.55881691e-01 -6.29479511e-03 2.09276456e+02] [ 6.55857049e-01 -7.54863683e-01 -5.68774974e-03 -1.56440288e+02] [-8.48220314e-03 1.64840793e-04 -9.99964012e-01 -1.04814851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.670385723 meters 0.017874305721756748 Centerline is valid? [True, True] Translation: X:209.30, Y:-156.43, Z:-10.48 [[ 7.01877834e-01 7.12267260e-01 -6.54645326e-03 2.09302584e+02] [ 7.12233668e-01 -7.01908336e-01 -6.92022851e-03 -1.56427900e+02] [-9.52406231e-03 1.94550578e-04 -9.99954626e-01 -1.04811272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.730385723 meters 0.019974178303124108 Centerline is valid? [True, True] Translation: X:209.32, Y:-156.41, Z:-10.48 [[ 6.47224768e-01 7.62275214e-01 -6.04961023e-03 2.09323252e+02] [ 7.62238432e-01 -6.47252997e-01 -7.49209804e-03 -1.56411154e+02] [-9.62666899e-03 2.37826003e-04 -9.99953634e-01 -1.04789401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.790385723 meters 0.02062809024049951 Centerline is valid? [True, True] Translation: X:209.34, Y:-156.39, Z:-10.48 [[ 5.86314684e-01 8.10067026e-01 -5.14835367e-03 2.09341120e+02] [ 8.10032243e-01 -5.86337240e-01 -7.51043897e-03 -1.56390736e+02] [-9.10263044e-03 2.33148182e-04 -9.99958543e-01 -1.04790917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8503857229999 meters 0.021001508566381423 Centerline is valid? [True, True] Translation: X:209.36, Y:-156.37, Z:-10.48 [[ 5.20613410e-01 8.53779834e-01 -4.65527796e-03 2.09355615e+02] [ 8.53741606e-01 -5.20634171e-01 -8.08268220e-03 -1.56369760e+02] [-9.32452786e-03 2.33548261e-04 -9.99956498e-01 -1.04789383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.910385723 meters 0.02092536032566128 Centerline is valid? [True, True] Translation: X:209.37, Y:-156.35, Z:-10.48 [[ 4.51083769e-01 8.92474665e-01 -3.52207574e-03 2.09368297e+02] [ 8.92443992e-01 -4.51097477e-01 -7.40184211e-03 -1.56348524e+02] [-8.19475604e-03 1.95595499e-04 -9.99966403e-01 -1.04781412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9703857229999 meters 0.018294094116928623 Centerline is valid? [True, True] Translation: X:209.39, Y:-156.33, Z:-10.48 [[ 3.79611809e-01 9.25143192e-01 -2.22443621e-03 2.09392454e+02] [ 9.25124961e-01 -3.79618298e-01 -5.80977571e-03 -1.56329416e+02] [-6.21931114e-03 1.47578003e-04 -9.99980649e-01 -1.04816792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.030385723 meters 0.01850812594970019 Centerline is valid? [True, True] Translation: X:209.41, Y:-156.31, Z:-10.48 [[ 3.07921964e-01 9.51410039e-01 -1.73267503e-03 2.09410783e+02] [ 9.51391976e-01 -3.07926798e-01 -5.86472972e-03 -1.56307790e+02] [-6.11329980e-03 1.57425970e-04 -9.99981301e-01 -1.04823903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0903857229999 meters 0.019341339663479718 Centerline is valid? [True, True] Translation: X:209.43, Y:-156.28, Z:-10.48 [[ 2.35968771e-01 9.71759661e-01 -1.37878168e-03 2.09428291e+02] [ 9.71737917e-01 -2.35972719e-01 -6.50352966e-03 -1.56284588e+02] [-6.64522263e-03 1.94815467e-04 -9.99977901e-01 -1.04811950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.150385723 meters 0.01990669621180279 Centerline is valid? [True, True] Translation: X:209.44, Y:-156.26, Z:-10.48 [[ 1.62119568e-01 9.86770618e-01 -9.96420548e-04 2.09444110e+02] [ 9.86741463e-01 -1.62122441e-01 -7.58946269e-03 -1.56260702e+02] [-7.65060092e-03 2.47190942e-04 -9.99970703e-01 -1.04808864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.210385723 meters 0.020855292650865852 Centerline is valid? [True, True] Translation: X:209.46, Y:-156.24, Z:-10.48 [[ 8.47773252e-02 9.96399828e-01 -4.34486201e-04 2.09456905e+02] [ 9.96365137e-01 -8.47780011e-02 -8.31887591e-03 -1.56236317e+02] [-8.32576140e-03 2.72345145e-04 -9.99965303e-01 -1.04792083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.270385723 meters 0.020458579541552505 Centerline is valid? [True, True] Translation: X:209.47, Y:-156.21, Z:-10.48 [[ 4.86038436e-03 9.99988160e-01 2.38468907e-04 2.09468769e+02] [ 9.99946859e-01 -4.85801524e-03 -9.09282070e-03 -1.56210364e+02] [-9.09155455e-03 2.82650838e-04 -9.99958631e-01 -1.04789315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.330385723 meters 0.020658130737450923 Centerline is valid? [True, True] Translation: X:209.47, Y:-156.18, Z:-10.48 [[-7.45651631e-02 9.97215725e-01 9.12940636e-04 2.09473697e+02] [ 9.97177886e-01 7.45702904e-02 -8.69111103e-03 -1.56183639e+02] [-8.73499083e-03 2.62310102e-04 -9.99961815e-01 -1.04798659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.390385723 meters 0.019855329473743362 Centerline is valid? [True, True] Translation: X:209.48, Y:-156.16, Z:-10.48 [[-1.52472587e-01 9.88306452e-01 1.57044000e-03 2.09480633e+02] [ 9.88270097e-01 1.52480455e-01 -8.48088611e-03 -1.56156460e+02] [-8.62117587e-03 2.58916243e-04 -9.99962803e-01 -1.04822925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.450385723 meters 0.020006830569104506 Centerline is valid? [True, True] Translation: X:209.49, Y:-156.13, Z:-10.48 [[-2.28371053e-01 9.73572122e-01 1.99652303e-03 2.09485435e+02] [ 9.73543587e-01 2.28379653e-01 -7.45773833e-03 -1.56128510e+02] [-7.71661137e-03 2.40570638e-04 -9.99970198e-01 -1.04830147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.510385723 meters 0.020254826735623743 Centerline is valid? [True, True] Translation: X:209.49, Y:-156.10, Z:-10.48 [[-3.03591867e-01 9.52799488e-01 2.26129720e-03 2.09487215e+02] [ 9.52778064e-01 3.03600213e-01 -6.39312764e-03 -1.56100311e+02] [-6.77789905e-03 2.13612812e-04 -9.99977007e-01 -1.04832697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.570385723 meters 0.019890808968785593 Centerline is valid? [True, True] Translation: X:209.49, Y:-156.07, Z:-10.48 [[-3.76990183e-01 9.26214170e-01 2.39023670e-03 2.09488464e+02] [ 9.26198592e-01 3.76997714e-01 -5.37508014e-03 -1.56071554e+02] [-5.87958916e-03 1.87481417e-04 -9.99982698e-01 -1.04840710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.630385723 meters 0.01999310522360602 Centerline is valid? [True, True] Translation: X:209.49, Y:-156.04, Z:-10.48 [[-4.47845345e-01 8.94107500e-01 2.51488873e-03 2.09487011e+02] [ 8.94095487e-01 4.47852374e-01 -4.63812585e-03 -1.56042277e+02] [-5.27328200e-03 1.71387593e-04 -9.99986081e-01 -1.04848153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.690385723 meters 0.019810918653859633 Centerline is valid? [True, True] Translation: X:209.49, Y:-156.01, Z:-10.48 [[-5.15672031e-01 8.56781772e-01 2.71136003e-03 2.09485531e+02] [ 8.56771586e-01 5.15679132e-01 -4.18113225e-03 -1.56011776e+02] [-4.98050969e-03 1.66923274e-04 -9.99987583e-01 -1.04844950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.750385723 meters 0.020739847582110872 Centerline is valid? [True, True] Translation: X:209.48, Y:-155.98, Z:-10.48 [[-5.81073401e-01 8.13844748e-01 3.22932343e-03 2.09479568e+02] [ 8.13833850e-01 5.81082347e-01 -4.21560776e-03 -1.55984750e+02] [-5.30735307e-03 1.78555179e-04 -9.99985900e-01 -1.04831519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.810385723 meters 0.02022878707457024 Centerline is valid? [True, True] Translation: X:209.47, Y:-155.96, Z:-10.48 [[-6.44186175e-01 7.64858178e-01 4.01728156e-03 2.09471475e+02] [ 7.64845139e-01 6.44198673e-01 -4.47035367e-03 -1.55956073e+02] [-6.00711401e-03 1.92858243e-04 -9.99981939e-01 -1.04834293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.870385723 meters 0.020128872734385107 Centerline is valid? [True, True] Translation: X:209.46, Y:-155.93, Z:-10.48 [[-7.03610560e-01 7.10573459e-01 4.18804317e-03 2.09461215e+02] [ 7.10562316e-01 7.03623002e-01 -3.98311226e-03 -1.55928529e+02] [-5.77709737e-03 1.73305813e-04 -9.99983297e-01 -1.04830706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.930385723 meters 0.019766659377896293 Centerline is valid? [True, True] Translation: X:209.49, Y:-155.91, Z:-10.48 [[-7.53301283e-01 6.57669813e-01 2.75570821e-03 2.09486963e+02] [ 6.57665898e-01 7.53306317e-01 -2.27158762e-03 -1.55907821e+02] [-3.56984701e-03 1.01145447e-04 -9.99993623e-01 -1.04831654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.990385723 meters 0.01996556588586744 Centerline is valid? [True, True] Translation: X:209.50, Y:-155.89, Z:-10.48 [[-7.98136892e-01 6.02472443e-01 2.11120006e-03 2.09503731e+02] [ 6.02470575e-01 7.98139681e-01 -1.50203597e-03 -1.55885098e+02] [-2.58996783e-03 7.31055951e-05 -9.99996643e-01 -1.04846797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.050385723 meters 0.0208641896074048 Centerline is valid? [True, True] Translation: X:209.52, Y:-155.86, Z:-10.48 [[-8.38273461e-01 5.45245203e-01 2.29624598e-03 2.09519371e+02] [ 5.45243411e-01 8.38276603e-01 -1.40015569e-03 -1.55859693e+02] [-2.68831745e-03 7.82996315e-05 -9.99996383e-01 -1.04842130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.110385723 meters 0.020458108950608025 Centerline is valid? [True, True] Translation: X:209.89, Y:-155.26, Z:-11.44 [[-8.31414681e-01 -5.55646459e-01 2.57724279e-03 2.09894786e+02] [ 5.55643553e-01 -8.31418673e-01 -1.79804143e-03 -1.55256243e+02] [ 3.14184313e-03 -6.28897033e-05 9.99995062e-01 -1.14357503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.170385723 meters 0.01907734056198065 Centerline is valid? [True, True] Translation: X:209.48, Y:-155.82, Z:-10.48 [[-8.44329072e-01 5.35817801e-01 2.77539586e-03 2.09481326e+02] [ 5.35815175e-01 8.44333630e-01 -1.67910647e-03 -1.55823210e+02] [-3.24305520e-03 6.93808099e-05 -9.99994739e-01 -1.04814977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.230385723 meters 0.017543321411898873 Centerline is valid? [True, True] Translation: X:209.50, Y:-155.79, Z:-10.48 [[-8.83030491e-01 4.69307399e-01 2.77790233e-03 2.09497486e+02] [ 4.69305246e-01 8.83034860e-01 -1.42222027e-03 -1.55791731e+02] [-3.12044309e-03 4.78202756e-05 -9.99995130e-01 -1.04806582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.290385723 meters 0.017769692518272557 Centerline is valid? [True, True] Translation: X:209.51, Y:-155.76, Z:-10.48 [[-9.14662706e-01 4.04200047e-01 3.80226216e-03 2.09508653e+02] [ 4.04196810e-01 9.14670607e-01 -1.61847100e-03 -1.55759834e+02] [-4.13200349e-03 5.65071707e-05 -9.99991462e-01 -1.04787681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3503857229999 meters 0.016893229948624654 Centerline is valid? [True, True] Translation: X:209.52, Y:-155.73, Z:-10.48 [[-9.41517984e-01 3.36946551e-01 3.30267295e-03 2.09516458e+02] [ 3.36944638e-01 9.41523775e-01 -1.13647812e-03 -1.55734621e+02] [-3.49247749e-03 4.28033485e-05 -9.99993900e-01 -1.04810076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.410385723 meters 0.01572963724103663 Centerline is valid? [True, True] Translation: X:209.52, Y:-155.70, Z:-10.48 [[-9.63484605e-01 2.67740938e-01 3.49360988e-03 2.09521603e+02] [ 2.67739321e-01 9.63490939e-01 -9.31298323e-04 -1.55700997e+02] [-3.61540815e-03 3.80851414e-05 -9.99993464e-01 -1.04819175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4703857229999 meters 0.015517310207748408 Centerline is valid? [True, True] Translation: X:209.52, Y:-155.67, Z:-10.48 [[-9.80592195e-01 1.96020201e-01 3.87669686e-03 2.09521284e+02] [ 1.96018792e-01 9.80599857e-01 -7.43911042e-04 -1.55670656e+02] [-3.94730998e-03 3.04320739e-05 -9.99992209e-01 -1.04803841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.530385723 meters 0.015490135557856659 Centerline is valid? [True, True] Translation: X:209.64, Y:-155.02, Z:-11.44 [[-9.68577888e-01 -2.48650121e-01 5.47657306e-03 2.09642755e+02] [ 2.48646531e-01 -9.68593368e-01 -1.33781290e-03 -1.55021544e+02] [ 5.63721969e-03 6.59549049e-05 9.99984109e-01 -1.14387571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5903857229999 meters 0.015366498784953735 Centerline is valid? [True, True] Translation: X:209.47, Y:-155.66, Z:-10.48 [[-9.81572694e-01 1.91010499e-01 5.48045291e-03 2.09471524e+02] [ 1.91007720e-01 9.81587993e-01 -1.03087039e-03 -1.55664674e+02] [-5.57645384e-03 3.49345906e-05 -9.99984451e-01 -1.04793666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.650385723 meters 0.015295134452349365 Centerline is valid? [True, True] Translation: X:209.60, Y:-155.01, Z:-11.44 [[-9.69709329e-01 -2.44208545e-01 5.09941809e-03 2.09595717e+02] [ 2.44204885e-01 -9.69722736e-01 -1.33796443e-03 -1.55011240e+02] [ 5.27176400e-03 -5.21337810e-05 9.99986103e-01 -1.14386122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.710385723 meters 0.01542805982954195 Centerline is valid? [True, True] Translation: X:209.42, Y:-155.66, Z:-10.48 [[-9.81997846e-01 1.88790640e-01 6.19064477e-03 2.09419466e+02] [ 1.88787205e-01 9.82017358e-01 -1.13993140e-03 -1.55657676e+02] [-6.29452900e-03 4.93043400e-05 -9.99980188e-01 -1.04785240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.770385723 meters 0.015613699782715918 Centerline is valid? [True, True] Translation: X:209.54, Y:-155.00, Z:-11.44 [[-9.71194801e-01 -2.38203612e-01 6.30057554e-03 2.09540417e+02] [ 2.38198343e-01 -9.71215238e-01 -1.58480126e-03 -1.54996493e+02] [ 6.49672036e-03 -3.83640914e-05 9.99978895e-01 -1.14400264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.830385723 meters 0.015303225048171139 Centerline is valid? [True, True] Translation: X:209.37, Y:-155.65, Z:-10.48 [[-9.82162059e-01 1.87918350e-01 6.66203733e-03 2.09370925e+02] [ 1.87914529e-01 9.82184651e-01 -1.20060229e-03 -1.55654357e+02] [-6.76896601e-03 7.27075900e-05 -9.99977088e-01 -1.04791920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.890385723 meters 0.01518001775672939 Centerline is valid? [True, True] Translation: X:209.38, Y:-155.63, Z:-10.48 [[-9.93038379e-01 1.17639886e-01 5.96946589e-03 2.09376018e+02] [ 1.17638146e-01 9.93056319e-01 -6.43048720e-04 -1.55629142e+02] [-6.00366401e-03 6.36648411e-05 -9.99981976e-01 -1.04805062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.950385723 meters 0.015086526264602005 Centerline is valid? [True, True] Translation: X:209.45, Y:-154.95, Z:-11.44 [[-9.86336631e-01 -1.64651013e-01 5.48580650e-03 2.09445518e+02] [ 1.64647976e-01 -9.86351883e-01 -1.00384091e-03 -1.54947901e+02] [ 5.57621899e-03 -8.68981224e-05 9.99984449e-01 -1.14373249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.010385723 meters 0.014926571988467455 Centerline is valid? [True, True] Translation: X:209.32, Y:-155.63, Z:-10.48 [[-9.93638829e-01 1.12458524e-01 5.91246785e-03 2.09318343e+02] [ 1.12456867e-01 9.93656418e-01 -6.13023488e-04 -1.55625556e+02] [-5.94390135e-03 5.57736715e-05 -9.99982333e-01 -1.04802443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.070385723 meters 0.014733284563735129 Centerline is valid? [True, True] Translation: X:209.32, Y:-155.60, Z:-10.48 [[-9.99097749e-01 4.20940191e-02 5.63758015e-03 2.09315448e+02] [ 4.20936634e-02 9.99113652e-01 -1.81786893e-04 -1.55600217e+02] [-5.64023544e-03 5.56835257e-05 -9.99984092e-01 -1.04806918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.130385723 meters 0.014900139465675474 Centerline is valid? [True, True] Translation: X:209.34, Y:-154.90, Z:-11.44 [[-9.95976117e-01 -8.94552048e-02 5.41675005e-03 2.09343008e+02] [ 8.94535193e-02 -9.95990844e-01 -5.53140318e-04 -1.54904229e+02] [ 5.44451474e-03 -6.63671908e-05 9.99985176e-01 -1.14375363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.190385723 meters 0.014680424498816565 Centerline is valid? [True, True] Translation: X:209.25, Y:-155.60, Z:-10.48 [[-9.99253768e-01 3.81877451e-02 5.79687748e-03 2.09254519e+02] [ 3.81874471e-02 9.99270580e-01 -1.62114052e-04 -1.55603430e+02] [-5.79883989e-03 5.93748746e-05 -9.99983185e-01 -1.04812037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.250385723 meters 0.01699238318733402 Centerline is valid? [True, True] Translation: X:209.27, Y:-154.90, Z:-11.44 [[-9.96420438e-01 -8.43216201e-02 6.01460237e-03 2.09271565e+02] [ 8.43198025e-02 -9.96438589e-01 -5.55596100e-04 -1.54900031e+02] [ 6.04003067e-03 -4.64572247e-05 9.99981758e-01 -1.14400789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.310385723 meters 0.014797904620656267 Centerline is valid? [True, True] Translation: X:209.19, Y:-155.61, Z:-10.48 [[-9.99341992e-01 3.58303889e-02 5.63609747e-03 2.09188210e+02] [ 3.58302165e-02 9.99357883e-01 -1.31587268e-04 -1.55607456e+02] [-5.63719326e-03 7.04419104e-05 -9.99984108e-01 -1.04810863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.370385723 meters 0.014993835987164106 Centerline is valid? [True, True] Translation: X:209.19, Y:-155.58, Z:-10.48 [[-9.99423027e-01 -3.33141299e-02 6.61674993e-03 2.09185230e+02] [-3.33127646e-02 9.99444926e-01 3.16478149e-04 -1.55581440e+02] [-6.62362033e-03 9.58733170e-05 -9.99978059e-01 -1.04800045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.430385723 meters 0.015307949906134889 Centerline is valid? [True, True] Translation: X:209.15, Y:-154.86, Z:-11.44 [[-9.99972894e-01 -2.36359928e-03 6.97316918e-03 2.09151294e+02] [ 2.36299101e-03 -9.99997204e-01 -9.54680190e-05 -1.54860730e+02] [ 6.97337533e-03 -7.89878951e-05 9.99975683e-01 -1.14382807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.490385723 meters 0.015961094925758416 Centerline is valid? [True, True] Translation: X:209.10, Y:-155.59, Z:-10.48 [[-9.99447981e-01 -3.26059860e-02 6.37053106e-03 2.09103074e+02] [-3.26044893e-02 9.99468275e-01 3.38688945e-04 -1.55593149e+02] [-6.37818698e-03 1.30794070e-04 -9.99979651e-01 -1.04800670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.550385723 meters 0.017074923086241017 Centerline is valid? [True, True] Translation: X:209.06, Y:-154.85, Z:-11.44 [[-9.99947052e-01 8.21448723e-03 6.19797903e-03 2.09064442e+02] [-8.21518850e-03 -9.99966251e-01 -8.76935741e-05 -1.54854155e+02] [ 6.19704950e-03 -1.38606497e-04 9.99980789e-01 -1.14388165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.610385723 meters 0.01665600675510857 Centerline is valid? [True, True] Translation: X:209.02, Y:-155.61, Z:-10.48 [[-9.99336395e-01 -3.58157888e-02 6.63316991e-03 2.09015011e+02] [-3.58139936e-02 9.99358397e-01 3.89262260e-04 -1.55605475e+02] [-6.64285579e-03 1.51443639e-04 -9.99977925e-01 -1.04793002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.670385723 meters 0.016292789122910337 Centerline is valid? [True, True] Translation: X:208.97, Y:-154.86, Z:-11.44 [[-9.99890353e-01 1.29049215e-02 7.26262906e-03 2.08972309e+02] [-1.29054832e-02 -9.99916720e-01 -3.04893866e-05 -1.54857442e+02] [ 7.26163076e-03 -1.24213781e-04 9.99973626e-01 -1.14389603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.730385723 meters 0.01587326396865831 Centerline is valid? [True, True] Translation: X:208.93, Y:-155.61, Z:-10.48 [[-9.98968990e-01 -4.48247765e-02 7.18997059e-03 2.08925382e+02] [-4.48226282e-02 9.98994855e-01 4.59730943e-04 -1.55611010e+02] [-7.20335096e-03 1.36983578e-04 -9.99974046e-01 -1.04797266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.790385723 meters 0.015388623239435618 Centerline is valid? [True, True] Translation: X:208.88, Y:-154.86, Z:-11.44 [[-9.99908855e-01 1.21344001e-02 5.91924633e-03 2.08880069e+02] [-1.21353791e-02 -9.99926355e-01 -1.29507408e-04 -1.54861070e+02] [ 5.91723891e-03 -2.01327902e-04 9.99982473e-01 -1.14378002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8503857229999 meters 0.015186081712854531 Centerline is valid? [True, True] Translation: X:208.84, Y:-155.62, Z:-10.48 [[-9.98462070e-01 -5.51191887e-02 5.94722600e-03 2.08835740e+02] [-5.51177087e-02 9.98479778e-01 4.12594715e-04 -1.55617540e+02] [-5.96092679e-03 8.41627027e-05 -9.99982230e-01 -1.04797175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.910385723 meters 0.015331827896279945 Centerline is valid? [True, True] Translation: X:208.83, Y:-155.59, Z:-10.48 [[-9.91886658e-01 -1.26904590e-01 7.48882840e-03 2.08828917e+02] [-1.26900211e-01 9.91914923e-01 1.05893590e-03 -1.55592519e+02] [-7.56266447e-03 1.00010489e-04 -9.99971398e-01 -1.04773641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9703857229999 meters 0.015045196052862973 Centerline is valid? [True, True] Translation: X:208.73, Y:-154.84, Z:-11.44 [[-9.96297524e-01 8.54739037e-02 9.24420794e-03 2.08730215e+02] [-8.54702936e-02 -9.96340410e-01 7.85603596e-04 -1.54840139e+02] [ 9.27752653e-03 -7.41024918e-06 9.99956963e-01 -1.14423696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.030385723 meters 0.016789928369541414 Centerline is valid? [True, True] Translation: X:208.72, Y:-155.61, Z:-10.47 [[-9.91170867e-01 -1.32135414e-01 1.09793198e-02 2.08722441e+02] [-1.32125556e-01 9.91231662e-01 1.62157240e-03 -1.55611157e+02] [-1.10973165e-02 1.56606592e-04 -9.99938411e-01 -1.04739099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0903857229999 meters 0.016186939339725075 Centerline is valid? [True, True] Translation: X:208.71, Y:-155.59, Z:-10.48 [[-9.79721862e-01 -2.00154723e-01 9.11916661e-03 2.08713032e+02] [-2.00144576e-01 9.79764289e-01 2.02135281e-03 -1.55591745e+02] [-9.33921711e-03 1.55211804e-04 -9.99956377e-01 -1.04761250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.150385723 meters 0.016067807064374953 Centerline is valid? [True, True] Translation: X:208.69, Y:-155.57, Z:-10.48 [[-9.63413787e-01 -2.67862348e-01 9.14540934e-03 2.08691694e+02] [-2.67848484e-01 9.63457176e-01 2.73132625e-03 -1.55572438e+02] [-9.54282972e-03 1.81813337e-04 -9.99954450e-01 -1.04772009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.210385723 meters 0.01643170449633183 Centerline is valid? [True, True] Translation: X:208.64, Y:-155.56, Z:-10.48 [[-9.41508858e-01 -3.36883686e-01 8.39356676e-03 2.08642962e+02] [-3.36868627e-01 9.41546256e-01 3.19013725e-03 -1.55563448e+02] [-8.97763655e-03 1.76013170e-04 -9.99959685e-01 -1.04767207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.270385723 meters 0.015524290935350462 Centerline is valid? [True, True] Translation: X:208.58, Y:-155.56, Z:-10.48 [[-9.13730586e-01 -4.06228878e-01 8.63215982e-03 2.08579136e+02] [-4.06208920e-01 9.13771343e-01 4.03062651e-03 -1.55558661e+02] [-9.52517716e-03 1.76446409e-04 -9.99954619e-01 -1.04775159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.330385723 meters 0.015481581812076047 Centerline is valid? [True, True] Translation: X:208.51, Y:-155.57, Z:-10.48 [[-8.80236296e-01 -4.74440689e-01 9.49194721e-03 2.08505070e+02] [-4.74410870e-01 8.80287453e-01 5.32230637e-03 -1.55566417e+02] [-1.08807607e-02 1.81804312e-04 -9.99940786e-01 -1.04753806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.390385723 meters 0.015495617578447887 Centerline is valid? [True, True] Translation: X:208.42, Y:-155.58, Z:-10.48 [[-8.42425803e-01 -5.38730358e-01 9.40040502e-03 2.08424790e+02] [-5.38694294e-01 8.42478228e-01 6.23636020e-03 -1.55584133e+02] [-1.12793531e-02 1.89726199e-04 -9.99936368e-01 -1.04755544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.450385723 meters 0.015402292538025502 Centerline is valid? [True, True] Translation: X:208.34, Y:-155.61, Z:-10.48 [[-7.99979469e-01 -5.99963838e-01 8.73170570e-03 2.08335883e+02] [-5.99925464e-01 8.00027097e-01 6.78836759e-03 -1.55610665e+02] [-1.10583762e-02 1.92182105e-04 -9.99938836e-01 -1.04757783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.510385723 meters 0.016501618789954604 Centerline is valid? [True, True] Translation: X:208.25, Y:-155.65, Z:-10.47 [[-7.53319941e-01 -6.57599947e-01 8.44841747e-03 2.08246348e+02] [-6.57555392e-01 7.53367283e-01 7.65787864e-03 -1.55650537e+02] [-1.14005819e-02 2.13530228e-04 -9.99934988e-01 -1.04735282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.570385723 meters 0.016330895518923905 Centerline is valid? [True, True] Translation: X:208.16, Y:-155.70, Z:-10.47 [[-7.02239034e-01 -7.11897618e-01 7.88163063e-03 2.08155434e+02] [-7.11849087e-01 7.02283226e-01 8.31554946e-03 -1.55695087e+02] [-1.14549568e-02 2.28971854e-04 -9.99934364e-01 -1.04737029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.630385723 meters 0.016520740728916312 Centerline is valid? [True, True] Translation: X:208.06, Y:-155.76, Z:-10.47 [[-6.46466923e-01 -7.62906705e-01 7.34005466e-03 2.08056243e+02] [-7.62853338e-01 6.46508548e-01 9.02668886e-03 -1.55761278e+02] [-1.16319295e-02 2.36070569e-04 -9.99932319e-01 -1.04729802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.690385723 meters 0.016319053984069996 Centerline is valid? [True, True] Translation: X:207.97, Y:-155.82, Z:-10.47 [[-5.87965789e-01 -8.08866430e-01 5.59722857e-03 2.07974748e+02] [-8.08826193e-01 5.87992390e-01 8.07089836e-03 -1.55818270e+02] [-9.81940655e-03 2.18227050e-04 -9.99951765e-01 -1.04749424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.750385723 meters 0.016499249346505804 Centerline is valid? [True, True] Translation: X:207.89, Y:-155.90, Z:-10.48 [[-5.25477976e-01 -8.50793813e-01 4.77336331e-03 2.07888076e+02] [-8.50754826e-01 5.25499609e-01 8.14777208e-03 -1.55898001e+02] [-9.44047463e-03 2.20512907e-04 -9.99955413e-01 -1.04758361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.810385723 meters 0.0162739026354559 Centerline is valid? [True, True] Translation: X:207.80, Y:-155.99, Z:-10.47 [[-4.56664576e-01 -8.89630066e-01 3.97636831e-03 2.07803595e+02] [-8.89592653e-01 4.56681848e-01 8.16093719e-03 -1.55986411e+02] [-9.07615032e-03 1.89462890e-04 -9.99958793e-01 -1.04740786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.870385723 meters 0.015141863046096703 Centerline is valid? [True, True] Translation: X:207.73, Y:-156.08, Z:-10.47 [[-3.84385733e-01 -9.23167901e-01 2.93853351e-03 2.07727239e+02] [-9.23138030e-01 3.84396939e-01 7.42771831e-03 -1.56079457e+02] [-7.98659440e-03 1.42436911e-04 -9.99968097e-01 -1.04747471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.930385723 meters 0.01572395165538538 Centerline is valid? [True, True] Translation: X:207.66, Y:-156.18, Z:-10.47 [[-3.10975983e-01 -9.50414549e-01 2.47439267e-03 2.07662411e+02] [-9.50380878e-01 3.10985797e-01 8.00123741e-03 -1.56180447e+02] [-8.37399343e-03 1.36577189e-04 -9.99964928e-01 -1.04735079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.990385723 meters 0.014719636704058514 Centerline is valid? [True, True] Translation: X:207.60, Y:-156.29, Z:-10.48 [[-2.36518873e-01 -9.71625857e-01 1.42050492e-03 2.07600752e+02] [-9.71605675e-01 2.36523117e-01 6.26323576e-03 -1.56287261e+02] [-6.42150407e-03 1.01202821e-04 -9.99979377e-01 -1.04757673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.050385723 meters 0.014872180151964443 Centerline is valid? [True, True] Translation: X:207.55, Y:-156.40, Z:-10.48 [[-1.61926425e-01 -9.86802764e-01 3.70688295e-04 2.07550732e+02] [-9.86799542e-01 1.61926844e-01 2.52222445e-03 -1.56402305e+02] [-2.54896244e-03 4.26197491e-05 -9.99996751e-01 -1.04781922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.110385723 meters 0.015467529209898488 Centerline is valid? [True, True] Translation: X:207.51, Y:-156.52, Z:-10.48 [[-8.76921096e-02 -9.96147621e-01 1.05622037e-04 2.07510482e+02] [-9.96146440e-01 8.76921683e-02 1.53403345e-03 -1.56517525e+02] [-1.53738600e-03 2.93076133e-05 -9.99998818e-01 -1.04783471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.170385723 meters 0.018469451818022394 Centerline is valid? [True, True] Translation: X:207.48, Y:-156.64, Z:-10.48 [[-1.33121942e-02 -9.99911389e-01 -2.41731364e-05 2.07480154e+02] [-9.99906898e-01 1.33120619e-02 2.99730909e-03 -1.56639976e+02] [-2.99672170e-03 6.40716464e-05 -9.99995508e-01 -1.04750851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.230385723 meters 0.01735259794932051 Centerline is valid? [True, True] Translation: X:207.46, Y:-156.76, Z:-10.48 [[ 6.20663293e-02 -9.98072002e-01 -2.23895438e-04 2.07457057e+02] [-9.98068559e-01 -6.20667034e-02 2.62201232e-03 -1.56764571e+02] [-2.63085354e-03 6.07243170e-05 -9.99996537e-01 -1.04755320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.290385723 meters 0.016174444243390138 Centerline is valid? [True, True] Translation: X:206.70, Y:-156.94, Z:-11.44 [[ 4.14858231e-02 9.99139091e-01 -5.53554689e-05 2.06703552e+02] [-9.99135413e-01 4.14858206e-02 2.71184814e-03 -1.56942528e+02] [ 2.71180995e-03 -5.71956431e-05 9.99996321e-01 -1.14435379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3503857229999 meters 0.015991378432740486 Centerline is valid? [True, True] Translation: X:207.47, Y:-157.06, Z:-10.47 [[ 6.99819346e-02 -9.97548224e-01 -2.63874432e-04 2.07473565e+02] [-9.97544366e-01 -6.99823980e-02 2.77510602e-03 -1.57064917e+02] [-2.78676864e-03 6.90191654e-05 -9.99996115e-01 -1.04745569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.410385723 meters 0.015801767397115526 Centerline is valid? [True, True] Translation: X:207.46, Y:-157.19, Z:-10.48 [[ 1.47117438e-01 -9.89118968e-01 -3.56844134e-04 2.07457920e+02] [-9.89116833e-01 -1.47117862e-01 2.05569959e-03 -1.57190013e+02] [-2.08582960e-03 5.05312826e-05 -9.99997823e-01 -1.04750150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4703857229999 meters 0.015505427207287528 Centerline is valid? [True, True] Translation: X:207.45, Y:-157.32, Z:-10.48 [[ 2.22771012e-01 -9.74870776e-01 -2.13535023e-04 2.07452992e+02] [-9.74870416e-01 -2.22771113e-01 8.38912303e-04 -1.57316596e+02] [-8.65400523e-04 2.12836338e-05 -9.99999625e-01 -1.04760595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.530385723 meters 0.015958963963772256 Centerline is valid? [True, True] Translation: X:207.46, Y:-157.44, Z:-10.48 [[ 2.97735309e-01 -9.54648457e-01 1.00905261e-04 2.07458518e+02] [-9.54648409e-01 -2.97735326e-01 -3.01105534e-04 -1.57443495e+02] [ 3.17492994e-04 -6.67929754e-06 -9.99999950e-01 -1.04763195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5903857229999 meters 0.01747219215942193 Centerline is valid? [True, True] Translation: X:207.48, Y:-157.57, Z:-10.48 [[ 3.71440994e-01 -9.28456554e-01 1.27077842e-04 2.07477350e+02] [-9.28456505e-01 -3.71441016e-01 -3.00315443e-04 -1.57566264e+02] [ 3.26031764e-04 -6.43678278e-06 -9.99999947e-01 -1.04769880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.650385723 meters 0.015441764628658542 Centerline is valid? [True, True] Translation: X:207.50, Y:-157.69, Z:-10.48 [[ 4.43034258e-01 -8.96504676e-01 -1.07914765e-04 2.07498371e+02] [-8.96504652e-01 -4.43034272e-01 2.06381556e-04 -1.57690735e+02] [-2.32831969e-04 5.31198914e-06 -9.99999973e-01 -1.04765613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.710385723 meters 0.015007708846714223 Centerline is valid? [True, True] Translation: X:207.53, Y:-157.81, Z:-10.48 [[ 5.13259245e-01 -8.58233258e-01 -7.89158659e-04 2.07527103e+02] [-8.58232319e-01 -5.13259851e-01 1.26967292e-03 -1.57809704e+02] [-1.49471898e-03 2.56101020e-05 -9.99998883e-01 -1.04755237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.770385723 meters 0.014975798447176301 Centerline is valid? [True, True] Translation: X:207.57, Y:-157.92, Z:-10.47 [[ 5.77221231e-01 -8.16586822e-01 -1.27018503e-03 2.07566916e+02] [-8.16584983e-01 -5.77222627e-01 1.73324442e-03 -1.57924984e+02] [-2.14852409e-03 3.67485473e-05 -9.99997691e-01 -1.04748726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.830385723 meters 0.015942796496543413 Centerline is valid? [True, True] Translation: X:207.61, Y:-158.03, Z:-10.47 [[ 6.34710923e-01 -7.72748357e-01 -1.42131766e-03 2.07610711e+02] [-7.72746580e-01 -6.34712513e-01 1.65784543e-03 -1.58025589e+02] [-2.18322544e-03 4.60657552e-05 -9.99997616e-01 -1.04743828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.890385723 meters 0.016561846403689753 Centerline is valid? [True, True] Translation: X:207.66, Y:-158.12, Z:-10.47 [[ 6.88992582e-01 -7.24765963e-01 -1.87609796e-03 2.07662396e+02] [-7.24763533e-01 -6.88995134e-01 1.87813029e-03 -1.58124738e+02] [-2.65382727e-03 6.57095505e-05 -9.99996476e-01 -1.04734385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.950385723 meters 0.01664776123789092 Centerline is valid? [True, True] Translation: X:207.72, Y:-158.22, Z:-10.47 [[ 7.41678836e-01 -6.70751437e-01 -2.23919656e-03 2.07717807e+02] [-6.70748680e-01 -7.41682212e-01 1.92462675e-03 -1.58216106e+02] [-2.95171842e-03 7.44832094e-05 -9.99995641e-01 -1.04735888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.010385723 meters 0.01673547579434381 Centerline is valid? [True, True] Translation: X:207.74, Y:-158.25, Z:-10.47 [[ 7.92514267e-01 -6.09840478e-01 -3.96587235e-03 2.07735484e+02] [-6.09833582e-01 -7.92524181e-01 2.90259001e-03 -1.58246064e+02] [-4.91316661e-03 1.18178146e-04 -9.99987923e-01 -1.04714802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.070385723 meters 0.016182725804366815 Centerline is valid? [True, True] Translation: X:207.76, Y:-158.28, Z:-10.47 [[ 8.38567240e-01 -5.44787456e-01 -3.40755536e-03 2.07755194e+02] [-5.44783394e-01 -8.38574158e-01 2.10570404e-03 -1.58276235e+02] [-4.00464901e-03 9.06051514e-05 -9.99991977e-01 -1.04723788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.130385723 meters 0.015836174440582756 Centerline is valid? [True, True] Translation: X:207.78, Y:-158.30, Z:-10.47 [[ 8.78880422e-01 -4.77033964e-01 -2.79306901e-03 2.07776538e+02] [-4.77031805e-01 -8.78884857e-01 1.43712866e-03 -1.58304516e+02] [-3.14034524e-03 6.93185073e-05 -9.99995067e-01 -1.04747546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.190385723 meters 0.01629065887630208 Centerline is valid? [True, True] Translation: X:207.80, Y:-158.33, Z:-10.47 [[ 9.13503732e-01 -4.06815496e-01 -3.47621484e-03 2.07800799e+02] [-4.06812894e-01 -9.13510342e-01 1.45742723e-03 -1.58328594e+02] [-3.76846219e-03 8.28038038e-05 -9.99992896e-01 -1.04735501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.250385723 meters 0.0163453549664547 Centerline is valid? [True, True] Translation: X:207.83, Y:-158.35, Z:-10.47 [[ 9.42153942e-01 -3.35160668e-01 -3.64373710e-03 2.07827557e+02] [-3.35158522e-01 -9.42160984e-01 1.20239008e-03 -1.58351451e+02] [-3.83598079e-03 8.83929879e-05 -9.99992639e-01 -1.04737908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.310385723 meters 0.016937613218353256 Centerline is valid? [True, True] Translation: X:207.86, Y:-158.37, Z:-10.47 [[ 9.65186011e-01 -2.61521306e-01 -4.75095089e-03 2.07857377e+02] [-2.61518736e-01 -9.65197696e-01 1.16533794e-03 -1.58368948e+02] [-4.89036755e-03 1.17694790e-04 -9.99988035e-01 -1.04735110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.370385723 meters 0.017153578883867076 Centerline is valid? [True, True] Translation: X:207.89, Y:-158.39, Z:-10.47 [[ 9.82526988e-01 -1.86055250e-01 -4.91539336e-03 2.07886259e+02] [-1.86053553e-01 -9.82539276e-01 8.04154991e-04 -1.58386566e+02] [-4.97918429e-03 1.24422420e-04 -9.99987596e-01 -1.04726683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.430385723 meters 0.017712272547169512 Centerline is valid? [True, True] Translation: X:207.91, Y:-158.40, Z:-10.47 [[ 9.94015906e-01 -1.09163173e-01 -3.97241854e-03 2.07912934e+02] [-1.09162712e-01 -9.94023838e-01 3.33505815e-04 -1.58398296e+02] [-3.98508528e-03 1.02129896e-04 -9.99992054e-01 -1.04732617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.490385723 meters 0.01623741046594903 Centerline is valid? [True, True] Translation: X:207.94, Y:-158.42, Z:-10.47 [[ 9.99555849e-01 -2.94624967e-02 -4.47943799e-03 2.07941681e+02] [-2.94626829e-02 -9.99565881e-01 2.44280305e-05 -1.58416511e+02] [-4.47821309e-03 1.07559081e-04 -9.99989967e-01 -1.04735631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.550385723 meters 0.015882781918720612 Centerline is valid? [True, True] Translation: X:207.97, Y:-158.43, Z:-10.47 [[ 9.98589714e-01 5.29305864e-02 -4.11534032e-03 2.07970942e+02] [ 5.29297971e-02 -9.98598191e-01 -3.00546431e-04 -1.58429370e+02] [-4.12547950e-03 8.22984459e-05 -9.99991487e-01 -1.04745838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.610385723 meters 0.015698207913690757 Centerline is valid? [True, True] Translation: X:208.00, Y:-158.44, Z:-10.48 [[ 9.91017060e-01 1.33720478e-01 -2.00509972e-03 2.08000743e+02] [ 1.33720133e-01 -9.91019088e-01 -3.05916895e-04 -1.58438343e+02] [-2.02799945e-03 3.50466608e-05 -9.99997943e-01 -1.04758539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.670385723 meters 0.014929084077216366 Centerline is valid? [True, True] Translation: X:208.03, Y:-158.45, Z:-10.48 [[ 9.76833860e-01 2.13988293e-01 -2.14938975e-03 2.08033308e+02] [ 2.13987705e-01 -9.76836224e-01 -5.02657405e-04 -1.58446752e+02] [-2.20716457e-03 3.10697915e-05 -9.99997564e-01 -1.04771150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.730385723 meters 0.014821875362159096 Centerline is valid? [True, True] Translation: X:208.07, Y:-158.45, Z:-10.48 [[ 9.56374846e-01 2.92135194e-01 -2.04523801e-03 2.08066616e+02] [ 2.92134470e-01 -9.56377032e-01 -6.50849561e-04 -1.58451574e+02] [-2.14615472e-03 2.49716254e-05 -9.99997697e-01 -1.04766970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.790385723 meters 0.01466750686085008 Centerline is valid? [True, True] Translation: X:208.10, Y:-158.45, Z:-10.47 [[ 9.29584215e-01 3.68594192e-01 -3.39249253e-03 2.08100008e+02] [ 3.68591610e-01 -9.29590405e-01 -1.38005287e-03 -1.58454327e+02] [-3.66230798e-03 3.24310733e-05 -9.99993293e-01 -1.04747169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8503857229999 meters 0.01497365905043191 Centerline is valid? [True, True] Translation: X:208.13, Y:-158.45, Z:-10.47 [[ 8.99075831e-01 4.37775763e-01 -3.87710147e-03 2.08131381e+02] [ 4.37771452e-01 -8.99084189e-01 -1.94353584e-03 -1.58449395e+02] [-4.33667352e-03 5.01017630e-05 -9.99990595e-01 -1.04743492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.910385723 meters 0.015792057927270797 Centerline is valid? [True, True] Translation: X:208.16, Y:-158.44, Z:-10.48 [[ 8.65024441e-01 5.01724478e-01 -2.29465055e-03 2.08161232e+02] [ 5.01722567e-01 -8.65027483e-01 -1.38531614e-03 -1.58441902e+02] [-2.67998280e-03 4.70543528e-05 -9.99996408e-01 -1.04754209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9703857229999 meters 0.01678124440777872 Centerline is valid? [True, True] Translation: X:208.19, Y:-158.43, Z:-10.48 [[ 8.25816063e-01 5.63933012e-01 -2.71799311e-03 2.08189859e+02] [ 5.63929659e-01 -8.25820533e-01 -1.94635007e-03 -1.58430945e+02] [-3.34218558e-03 7.45702274e-05 -9.99994412e-01 -1.04757331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.030385723 meters 0.017528452315841728 Centerline is valid? [True, True] Translation: X:208.22, Y:-158.42, Z:-10.48 [[ 7.81135380e-01 6.24353723e-01 -3.15400681e-03 2.08218013e+02] [ 6.24348084e-01 -7.81141740e-01 -2.65552362e-03 -1.58419243e+02] [-4.12171243e-03 1.05125335e-04 -9.99991500e-01 -1.04751693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0903857229999 meters 0.01875945103133058 Centerline is valid? [True, True] Translation: X:208.24, Y:-158.40, Z:-10.47 [[ 7.32324819e-01 6.80947616e-01 -3.27174505e-03 2.08243183e+02] [ 6.80939993e-01 -7.32332115e-01 -3.22485843e-03 -1.58404818e+02] [-4.59196363e-03 1.33781817e-04 -9.99989448e-01 -1.04739389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.150385723 meters 0.018306818252849563 Centerline is valid? [True, True] Translation: X:208.27, Y:-158.39, Z:-10.47 [[ 6.75715835e-01 7.37152559e-01 -3.77031582e-03 2.08270887e+02] [ 7.37139748e-01 -6.75726335e-01 -4.34883442e-03 -1.58391980e+02] [-5.75345611e-03 1.59326621e-04 -9.99983436e-01 -1.04734459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.210385723 meters 0.01804716585563587 Centerline is valid? [True, True] Translation: X:208.30, Y:-158.38, Z:-10.47 [[ 6.14338855e-01 7.89033612e-01 -3.70555784e-03 2.08296266e+02] [ 7.89017657e-01 -6.14350009e-01 -5.02027570e-03 -1.58375691e+02] [-6.23767576e-03 1.60399857e-04 -9.99980533e-01 -1.04737795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.270385723 meters 0.018066330743139923 Centerline is valid? [True, True] Translation: X:208.32, Y:-158.36, Z:-10.47 [[ 5.50237356e-01 8.35001398e-01 -3.39365462e-03 2.08319041e+02] [ 8.34983671e-01 -5.50247797e-01 -5.44344637e-03 -1.58357800e+02] [-6.41263631e-03 1.61541343e-04 -9.99979426e-01 -1.04737615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.330385723 meters 0.017853391810082674 Centerline is valid? [True, True] Translation: X:208.34, Y:-158.34, Z:-10.47 [[ 4.81279782e-01 8.76563323e-01 -2.55191777e-03 2.08340475e+02] [ 8.76549563e-01 -4.81286531e-01 -4.91304931e-03 -1.58337649e+02] [-5.53480248e-03 1.27668894e-04 -9.99984675e-01 -1.04739790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.390385723 meters 0.017013861737607817 Centerline is valid? [True, True] Translation: X:208.36, Y:-158.32, Z:-10.47 [[ 4.09626297e-01 9.12251999e-01 -1.60838500e-03 2.08363633e+02] [ 9.12244100e-01 -4.09629445e-01 -3.79735912e-03 -1.58317874e+02] [-4.12299030e-03 8.82584232e-05 -9.99991497e-01 -1.04748696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.450385723 meters 0.01669823046219188 Centerline is valid? [True, True] Translation: X:208.39, Y:-158.30, Z:-10.47 [[ 3.36382434e-01 9.41724551e-01 -1.31459018e-03 2.08385003e+02] [ 9.41716322e-01 -3.36384992e-01 -3.93767042e-03 -1.58296517e+02] [-4.15040932e-03 8.65921328e-05 -9.99991383e-01 -1.04746188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.510385723 meters 0.016668211946412912 Centerline is valid? [True, True] Translation: X:208.40, Y:-158.27, Z:-10.47 [[ 2.60521629e-01 9.65467241e-01 -1.21981326e-03 2.08402325e+02] [ 9.65454800e-01 -2.60524465e-01 -4.90216368e-03 -1.58272630e+02] [-5.05066964e-03 9.94450952e-05 -9.99987240e-01 -1.04732252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.570385723 meters 0.01639843681359926 Centerline is valid? [True, True] Translation: X:208.42, Y:-158.25, Z:-10.47 [[ 1.84308125e-01 9.82868244e-01 -7.28318807e-04 2.08419113e+02] [ 9.82858568e-01 -1.84309543e-01 -4.36218065e-03 -1.58248037e+02] [-4.42168495e-03 8.81509573e-05 -9.99990220e-01 -1.04735374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.630385723 meters 0.017025883297826273 Centerline is valid? [True, True] Translation: X:208.43, Y:-158.22, Z:-10.47 [[ 1.06057587e-01 9.94359915e-01 -3.83420498e-04 2.08429695e+02] [ 9.94350203e-01 -1.06058246e-01 -4.39575206e-03 -1.58223623e+02] [-4.41162455e-03 8.49486037e-05 -9.99990265e-01 -1.04736290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.690385723 meters 0.01625958210290098 Centerline is valid? [True, True] Translation: X:208.44, Y:-158.20, Z:-10.47 [[ 2.62625223e-02 9.99655080e-01 -4.04252786e-05 2.08441717e+02] [ 9.99643972e-01 -2.62624211e-02 -4.71324401e-03 -1.58197565e+02] [-4.71267999e-03 8.33707899e-05 -9.99988892e-01 -1.04730462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.750385723 meters 0.016154697111008327 Centerline is valid? [True, True] Translation: X:208.45, Y:-158.17, Z:-10.47 [[-5.28369965e-02 9.98603102e-01 3.11540890e-04 2.08447525e+02] [ 9.98593168e-01 5.28378607e-02 -4.45489184e-03 -1.58171081e+02] [-4.46512996e-03 7.57195004e-05 -9.99990028e-01 -1.04721611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.810385723 meters 0.016291871277469665 Centerline is valid? [True, True] Translation: X:208.45, Y:-158.14, Z:-10.47 [[-1.29871161e-01 9.91530652e-01 6.68460287e-04 2.08450930e+02] [ 9.91520551e-01 1.29872856e-01 -4.47635292e-03 -1.58144307e+02] [-4.52525597e-03 8.14429626e-05 -9.99989758e-01 -1.04730780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.870385723 meters 0.016446302915887098 Centerline is valid? [True, True] Translation: X:208.45, Y:-158.12, Z:-10.47 [[-2.06073389e-01 9.78535792e-01 1.20899245e-03 2.08453496e+02] [ 9.78521749e-01 2.06076909e-01 -5.24351070e-03 -1.58118009e+02] [-5.38010832e-03 1.02477388e-04 -9.99985522e-01 -1.04719102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.930385723 meters 0.01623999304924939 Centerline is valid? [True, True] Translation: X:208.46, Y:-158.09, Z:-10.47 [[-2.82681061e-01 9.59212845e-01 1.46122086e-03 2.08456911e+02] [ 9.59201623e-01 2.82684823e-01 -4.64073256e-03 -1.58091002e+02] [-4.86451524e-03 8.97582168e-05 -9.99988164e-01 -1.04717642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.990385723 meters 0.01609690091341258 Centerline is valid? [True, True] Translation: X:208.46, Y:-158.07, Z:-10.47 [[-3.59362826e-01 9.33196535e-01 1.60838266e-03 2.08456703e+02] [ 9.33188021e-01 3.59366419e-01 -3.98668854e-03 -1.58065771e+02] [-4.29836264e-03 6.82557695e-05 -9.99990760e-01 -1.04716368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.050385723 meters 0.015654431216300144 Centerline is valid? [True, True] Translation: X:208.46, Y:-158.04, Z:-10.47 [[-4.33557290e-01 9.01123937e-01 1.93012254e-03 2.08455844e+02] [ 9.01115597e-01 4.33561583e-01 -3.87758460e-03 -1.58037929e+02] [-4.33101128e-03 5.81084575e-05 -9.99990619e-01 -1.04709390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.110385723 meters 0.01573666876850178 Centerline is valid? [True, True] Translation: X:208.45, Y:-158.01, Z:-10.47 [[-5.02920407e-01 8.64331174e-01 1.63869044e-03 2.08449911e+02] [ 8.64326858e-01 5.02923075e-01 -2.73174881e-03 -1.58012104e+02] [-3.18527090e-03 4.25119357e-05 -9.99994926e-01 -1.04721586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.170385723 meters 0.015790943848176798 Centerline is valid? [True, True] Translation: X:208.44, Y:-157.99, Z:-10.47 [[-5.67215597e-01 8.23567556e-01 1.71693198e-03 2.08444201e+02] [ 8.23564027e-01 5.67218193e-01 -2.41143576e-03 -1.57985962e+02] [-2.95985532e-03 4.61994427e-05 -9.99995619e-01 -1.04724082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.230385723 meters 0.01593865483763595 Centerline is valid? [True, True] Translation: X:208.44, Y:-157.96, Z:-10.47 [[-6.30665416e-01 7.76051417e-01 2.30910987e-03 2.08436297e+02] [ 7.76046518e-01 6.30669641e-01 -2.75777024e-03 -1.57961493e+02] [-3.59645699e-03 5.27463591e-05 -9.99993531e-01 -1.04702081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.290385723 meters 0.015697643744776207 Centerline is valid? [True, True] Translation: X:208.43, Y:-157.94, Z:-10.47 [[-6.90709017e-01 7.23128170e-01 2.58919351e-03 2.08425812e+02] [ 7.23123349e-01 6.90713868e-01 -2.64096930e-03 -1.57937501e+02] [-3.69815116e-03 4.81649758e-05 -9.99993161e-01 -1.04699041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3503857229999 meters 0.015676564538392508 Centerline is valid? [True, True] Translation: X:208.41, Y:-157.91, Z:-10.47 [[-7.46385867e-01 6.65509707e-01 2.22885738e-03 2.08413994e+02] [ 6.65506873e-01 7.46389194e-01 -1.94235962e-03 -1.57913183e+02] [-2.95625425e-03 3.35701353e-05 -9.99995630e-01 -1.04708661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.410385723 meters 0.015265386474696002 Centerline is valid? [True, True] Translation: X:208.44, Y:-157.90, Z:-10.47 [[-7.93225501e-01 6.08925460e-01 1.75739963e-03 2.08442224e+02] [ 6.08924019e-01 7.93227448e-01 -1.32485456e-03 -1.57897921e+02] [-2.20075530e-03 1.92144246e-05 -9.99997578e-01 -1.04716846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4703857229999 meters 0.01549170030375707 Centerline is valid? [True, True] Translation: X:208.46, Y:-157.88, Z:-10.47 [[-8.33984541e-01 5.51786343e-01 1.27204728e-03 2.08464738e+02] [ 5.51785727e-01 8.33985511e-01 -8.24667602e-04 -1.57880830e+02] [-1.51590932e-03 1.41375012e-05 -9.99998851e-01 -1.04720374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.530385723 meters 0.01584247277725565 Centerline is valid? [True, True] Translation: X:208.49, Y:-157.86, Z:-10.47 [[-8.69599769e-01 4.93751882e-01 2.30682457e-03 2.08485448e+02] [ 4.93750240e-01 8.69602828e-01 -1.27378078e-03 -1.57862194e+02] [-2.63495283e-03 3.13157131e-05 -9.99996528e-01 -1.04706337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5903857229999 meters 0.018926887573486467 Centerline is valid? [True, True] Translation: X:208.50, Y:-157.84, Z:-10.47 [[-9.01623173e-01 4.32513772e-01 2.73698711e-03 2.08501699e+02] [ 4.32511915e-01 9.01627326e-01 -1.26786460e-03 -1.57837246e+02] [-3.01611127e-03 4.06434360e-05 -9.99995451e-01 -1.04671211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.650385723 meters 0.01649880696008264 Centerline is valid? [True, True] Translation: X:208.51, Y:-157.81, Z:-10.47 [[-9.29732966e-01 3.68220610e-01 3.19287871e-03 2.08509631e+02] [ 3.68218617e-01 9.29738447e-01 -1.21255896e-03 -1.57808219e+02] [-3.41503130e-03 4.83213503e-05 -9.99994168e-01 -1.04704674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.710385723 meters 0.01651834973519236 Centerline is valid? [True, True] Translation: X:208.53, Y:-157.78, Z:-10.47 [[-9.52918957e-01 3.03198846e-01 3.99009034e-03 2.08529818e+02] [ 3.03196479e-01 9.52927309e-01 -1.19969408e-03 -1.57782957e+02] [-4.16601191e-03 6.65701113e-05 -9.99991320e-01 -1.04702566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.770385723 meters 0.017791710032659742 Centerline is valid? [True, True] Translation: X:208.54, Y:-157.76, Z:-10.47 [[-9.70914079e-01 2.39363091e-01 5.58223213e-03 2.08539699e+02] [ 2.39359831e-01 9.70930119e-01 -1.25481675e-03 -1.57756440e+02] [-5.72031412e-03 1.17842885e-04 -9.99983632e-01 -1.04677771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.830385723 meters 0.01795013018950004 Centerline is valid? [True, True] Translation: X:208.72, Y:-157.00, Z:-11.45 [[-9.65211711e-01 -2.61418982e-01 5.14485245e-03 2.08716393e+02] [ 2.61414539e-01 -9.65225413e-01 -1.52975421e-03 -1.57003876e+02] [ 5.36584912e-03 -1.31597446e-04 9.99985595e-01 -1.14494483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.890385723 meters 0.01842093496745323 Centerline is valid? [True, True] Translation: X:208.49, Y:-157.74, Z:-10.47 [[-9.70872745e-01 2.39546139e-01 4.87445793e-03 2.08494243e+02] [ 2.39543756e-01 9.70884974e-01 -1.07575610e-03 -1.57740253e+02] [-4.99023118e-03 1.23223680e-04 -9.99987541e-01 -1.04685639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.950385723 meters 0.018512462801646663 Centerline is valid? [True, True] Translation: X:208.66, Y:-157.00, Z:-11.45 [[-9.66077684e-01 -2.58219339e-01 4.08438217e-03 2.08658135e+02] [ 2.58216365e-01 -9.66086306e-01 -1.24854354e-03 -1.57000110e+02] [ 4.26826377e-03 -1.51535736e-04 9.99990879e-01 -1.14490611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.010385723 meters 0.01767427912036468 Centerline is valid? [True, True] Translation: X:208.45, Y:-157.72, Z:-10.47 [[-9.72427179e-01 2.33173909e-01 3.91273646e-03 2.08446076e+02] [ 2.33172386e-01 9.72435047e-01 -8.47292451e-04 -1.57718174e+02] [-4.00244856e-03 8.84118885e-05 -9.99991986e-01 -1.04681581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.070385723 meters 0.017271459130799558 Centerline is valid? [True, True] Translation: X:208.45, Y:-157.68, Z:-10.47 [[-9.86844010e-01 1.61609453e-01 4.61350294e-03 2.08449195e+02] [ 1.61608127e-01 9.86854790e-01 -6.61260733e-04 -1.57684349e+02] [-4.65972346e-03 9.30183745e-05 -9.99989139e-01 -1.04684709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.130385723 meters 0.016813135456846224 Centerline is valid? [True, True] Translation: X:208.56, Y:-156.97, Z:-11.45 [[-9.81596688e-01 -1.90902564e-01 4.91459237e-03 2.08557178e+02] [ 1.90899781e-01 -9.81608988e-01 -1.03363339e-03 -1.56970345e+02] [ 5.02153131e-03 -7.64165015e-05 9.99987389e-01 -1.14493950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.190385723 meters 0.017019297383444147 Centerline is valid? [True, True] Translation: X:208.40, Y:-157.67, Z:-10.47 [[-9.87958617e-01 1.54586478e-01 6.38680914e-03 2.08396410e+02] [ 1.54583950e-01 9.87979256e-01 -8.90554342e-04 -1.57667435e+02] [-6.44770260e-03 1.07467349e-04 -9.99979208e-01 -1.04667435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.250385723 meters 0.018947217880035574 Centerline is valid? [True, True] Translation: X:208.40, Y:-157.64, Z:-10.46 [[-9.96332503e-01 8.51777750e-02 8.14190764e-03 2.08398275e+02] [ 8.51761185e-02 9.96365759e-01 -5.50621401e-04 -1.57636174e+02] [-8.15921870e-03 1.44894091e-04 -9.99966703e-01 -1.04635384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.310385723 meters 0.016949310201492155 Centerline is valid? [True, True] Translation: X:208.40, Y:-157.61, Z:-10.47 [[-9.99866595e-01 1.46903130e-02 7.14053427e-03 2.08395074e+02] [ 1.46908692e-02 9.99892083e-01 2.54409509e-05 -1.57605154e+02] [-7.13938995e-03 1.30338212e-04 -9.99974506e-01 -1.04662733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.370385723 meters 0.01716150322042433 Centerline is valid? [True, True] Translation: X:208.39, Y:-157.58, Z:-10.47 [[-9.98453037e-01 -5.52072724e-02 6.60984789e-03 2.08385999e+02] [-5.52052072e-02 9.98474907e-01 4.94631516e-04 -1.57576655e+02] [-6.62707451e-03 1.28968317e-04 -9.99978032e-01 -1.04674886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.430385723 meters 0.017681025663498207 Centerline is valid? [True, True] Translation: X:208.34, Y:-156.88, Z:-11.45 [[-9.99590054e-01 2.81400494e-02 5.27832321e-03 2.08343217e+02] [-2.81406609e-02 -9.99603972e-01 -4.16058479e-05 -1.56884150e+02] [ 5.27506205e-03 -1.90124295e-04 9.99986069e-01 -1.14507228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.490385723 meters 0.017269277474285312 Centerline is valid? [True, True] Translation: X:208.31, Y:-157.58, Z:-10.47 [[-9.98288684e-01 -5.82904715e-02 4.68233775e-03 2.08311664e+02] [-5.82893560e-02 9.98299660e-01 3.74468009e-04 -1.57577208e+02] [-4.69620410e-03 1.00896724e-04 -9.99988968e-01 -1.04682567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.550385723 meters 0.01869104921536106 Centerline is valid? [True, True] Translation: X:208.30, Y:-157.55, Z:-10.46 [[-9.91704813e-01 -1.28374146e-01 6.45315111e-03 2.08301928e+02] [-1.28370472e-01 9.91725798e-01 9.82001268e-04 -1.57547028e+02] [-6.52582001e-03 1.45461327e-04 -9.99978696e-01 -1.04646917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.610385723 meters 0.01757381369888265 Centerline is valid? [True, True] Translation: X:208.20, Y:-156.88, Z:-11.45 [[-9.94392044e-01 1.05564874e-01 6.36553332e-03 2.08204737e+02] [-1.05563687e-01 -9.94412407e-01 5.23209346e-04 -1.56875082e+02] [ 6.38519784e-03 -1.51693955e-04 9.99979603e-01 -1.14517093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.670385723 meters 0.019511086004039196 Centerline is valid? [True, True] Translation: X:208.21, Y:-157.56, Z:-10.47 [[-9.91242870e-01 -1.31882350e-01 6.67976342e-03 2.08205643e+02] [-1.31878217e-01 9.91265362e-01 1.05748252e-03 -1.57558994e+02] [-6.76088139e-03 1.67306722e-04 -9.99977131e-01 -1.04651566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.730385723 meters 0.01845191182844367 Centerline is valid? [True, True] Translation: X:208.19, Y:-157.53, Z:-10.47 [[-9.79623783e-01 -2.00742257e-01 6.30794806e-03 2.08191321e+02] [-2.00736970e-01 9.79644077e-01 1.46688131e-03 -1.57532292e+02] [-6.47400902e-03 1.70753433e-04 -9.99979029e-01 -1.04669728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.790385723 meters 0.01853833237311349 Centerline is valid? [True, True] Translation: X:208.16, Y:-157.51, Z:-10.47 [[-9.63272179e-01 -2.68497619e-01 3.96701550e-03 2.08162988e+02] [-2.68494831e-01 9.63280341e-01 1.22932268e-03 -1.57507439e+02] [-4.15141825e-03 1.19049181e-04 -9.99991376e-01 -1.04684761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8503857229999 meters 0.019888914476089016 Centerline is valid? [True, True] Translation: X:208.12, Y:-157.49, Z:-10.47 [[-9.42518858e-01 -3.34145960e-01 2.16310429e-03 2.08121641e+02] [-3.34144896e-01 9.42521337e-01 8.46589829e-04 -1.57491565e+02] [-2.32165652e-03 7.51366203e-05 -9.99997302e-01 -1.04692732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.910385723 meters 0.020111653073757767 Centerline is valid? [True, True] Translation: X:208.06, Y:-157.49, Z:-10.47 [[-9.15779536e-01 -4.01674847e-01 2.27123592e-03 2.08058271e+02] [-4.01673383e-01 9.15782349e-01 1.08754622e-03 -1.57485120e+02] [-2.51679773e-03 8.36575559e-05 -9.99996829e-01 -1.04690041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9703857229999 meters 0.01975280164700541 Centerline is valid? [True, True] Translation: X:207.98, Y:-157.48, Z:-10.47 [[-8.82646395e-01 -4.70033890e-01 1.86654849e-03 2.07982665e+02] [-4.70032678e-01 8.82648366e-01 1.06950081e-03 -1.57484668e+02] [-2.15020760e-03 6.66522459e-05 -9.99997686e-01 -1.04679824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.030385723 meters 0.017811551677352076 Centerline is valid? [True, True] Translation: X:207.91, Y:-157.49, Z:-10.47 [[-8.43733587e-01 -5.36758865e-01 1.88567228e-03 2.07905995e+02] [-5.36757356e-01 8.43735692e-01 1.27415693e-03 -1.57489535e+02] [-2.27492403e-03 6.29005316e-05 -9.99997410e-01 -1.04676416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0903857229999 meters 0.017847333474624843 Centerline is valid? [True, True] Translation: X:207.82, Y:-157.51, Z:-10.47 [[-8.00559458e-01 -5.99249935e-01 2.01715174e-03 2.07822739e+02] [-5.99247821e-01 8.00561997e-01 1.59322164e-03 -1.57511351e+02] [-2.56959299e-03 6.66948711e-05 -9.99996696e-01 -1.04671153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.150385723 meters 0.017496342054516216 Centerline is valid? [True, True] Translation: X:207.74, Y:-157.54, Z:-10.47 [[-7.54984188e-01 -6.55740824e-01 1.68731968e-03 2.07740693e+02] [-6.55738994e-01 7.54986071e-01 1.55087013e-03 -1.57538943e+02] [-2.29087172e-03 6.44411134e-05 -9.99997374e-01 -1.04671944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.210385723 meters 0.018219802093229525 Centerline is valid? [True, True] Translation: X:207.66, Y:-157.58, Z:-10.47 [[-7.05441403e-01 -7.08768104e-01 4.48968727e-04 2.07655667e+02] [-7.08767942e-01 7.05441545e-01 4.80747868e-04 -1.57582100e+02] [-6.57459948e-04 2.09248093e-05 -9.99999784e-01 -1.04682128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.270385723 meters 0.01890057072591434 Centerline is valid? [True, True] Translation: X:207.57, Y:-157.64, Z:-10.47 [[-6.50848339e-01 -7.59207739e-01 2.22133463e-04 2.07567022e+02] [-7.59207688e-01 6.50848376e-01 2.77763919e-04 -1.57639510e+02] [-3.55455721e-04 1.21367523e-05 -9.99999937e-01 -1.04686704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.330385723 meters 0.018506755652259937 Centerline is valid? [True, True] Translation: X:207.49, Y:-157.69, Z:-10.47 [[-5.92097064e-01 -8.05865992e-01 1.03493455e-03 2.07486491e+02] [-8.05864584e-01 5.92097965e-01 1.50728041e-03 -1.57694190e+02] [-1.82744866e-03 5.84392090e-05 -9.99998329e-01 -1.04663084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.390385723 meters 0.017965467633864668 Centerline is valid? [True, True] Translation: X:207.41, Y:-157.77, Z:-10.47 [[-5.30060579e-01 -8.47959012e-01 1.13850855e-03 2.07405327e+02] [-8.47956749e-01 5.30061797e-01 1.96045505e-03 -1.57765125e+02] [-2.26586542e-03 7.37539264e-05 -9.99997430e-01 -1.04661220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.450385723 meters 0.017462491681191725 Centerline is valid? [True, True] Translation: X:207.33, Y:-157.85, Z:-10.46 [[-4.62799704e-01 -8.86461731e-01 1.42586515e-03 2.07325740e+02] [-8.86456836e-01 4.62801890e-01 2.94763974e-03 -1.57846149e+02] [-3.27286291e-03 1.00198889e-04 -9.99994639e-01 -1.04646492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.510385723 meters 0.017670084802797904 Centerline is valid? [True, True] Translation: X:207.26, Y:-157.94, Z:-10.47 [[-3.92412458e-01 -9.19789196e-01 5.45845079e-04 2.07255318e+02] [-9.19788147e-01 3.92412835e-01 1.38993290e-03 -1.57935908e+02] [-1.49264188e-03 4.33651502e-05 -9.99998885e-01 -1.04661463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.570385723 meters 0.01657754021173426 Centerline is valid? [True, True] Translation: X:207.19, Y:-158.04, Z:-10.47 [[-3.20691633e-01 -9.47183606e-01 3.04103270e-04 2.07187254e+02] [-9.47183089e-01 3.20691776e-01 9.90433561e-04 -1.58037032e+02] [-1.03564585e-03 2.95822820e-05 -9.99999463e-01 -1.04661829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.630385723 meters 0.017540032121292654 Centerline is valid? [True, True] Translation: X:207.13, Y:-158.14, Z:-10.46 [[-2.49625889e-01 -9.68342275e-01 3.92187205e-04 2.07132181e+02] [-9.68340720e-01 2.49626191e-01 1.73647946e-03 -1.58135180e+02] [-1.77940667e-03 5.36993895e-05 -9.99998415e-01 -1.04646376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.690385723 meters 0.01892104993059317 Centerline is valid? [True, True] Translation: X:207.09, Y:-158.24, Z:-10.47 [[-1.78775174e-01 -9.83889929e-01 2.09400925e-04 2.07086724e+02] [-9.83888896e-01 1.78775290e-01 1.42716487e-03 -1.58240464e+02] [-1.44160886e-03 4.91144036e-05 -9.99998960e-01 -1.04656087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.750385723 meters 0.018463984421327195 Centerline is valid? [True, True] Translation: X:207.05, Y:-158.35, Z:-10.47 [[-1.09101529e-01 -9.94030605e-01 1.14076581e-04 2.07045236e+02] [-9.94029254e-01 1.09101569e-01 1.64034424e-03 -1.58349603e+02] [-1.64299831e-03 6.55686065e-05 -9.99998648e-01 -1.04660155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.810385723 meters 0.019935046749241684 Centerline is valid? [True, True] Translation: X:207.01, Y:-158.47, Z:-10.46 [[-3.46710180e-02 -9.99398779e-01 -2.07484744e-05 2.07012043e+02] [-9.99393853e-01 3.46707819e-02 3.14078354e-03 -1.58468767e+02] [-3.13817587e-03 1.29630061e-04 -9.99995068e-01 -1.04647701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.870385723 meters 0.019496253569517136 Centerline is valid? [True, True] Translation: X:206.99, Y:-158.58, Z:-10.46 [[ 4.45331100e-02 -9.99007845e-01 -3.58710981e-04 2.06985162e+02] [-9.98998397e-01 -4.45342500e-02 4.34791809e-03 -1.58580461e+02] [-4.35957920e-03 1.64725380e-04 -9.99990483e-01 -1.04637827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.930385723 meters 0.017200055215367813 Centerline is valid? [True, True] Translation: X:206.96, Y:-158.71, Z:-10.46 [[ 1.27898667e-01 -9.91786669e-01 -1.06548349e-03 2.06962857e+02] [-9.91764278e-01 -1.27902942e-01 6.66735967e-03 -1.58705311e+02] [-6.74887691e-03 2.03962055e-04 -9.99977205e-01 -1.04619173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.990385723 meters 0.015863543341921756 Centerline is valid? [True, True] Translation: X:206.41, Y:-158.91, Z:-11.46 [[ 1.15304005e-01 9.93330113e-01 -5.22607251e-04 2.06406326e+02] [-9.93309555e-01 1.15304983e-01 6.39445527e-03 -1.58907771e+02] [ 6.41206419e-03 -2.18195529e-04 9.99979419e-01 -1.14550903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.050385723 meters 0.015233388728849669 Centerline is valid? [True, True] Translation: X:207.00, Y:-158.98, Z:-10.46 [[ 1.47438815e-01 -9.89070811e-01 -8.52615900e-04 2.06995794e+02] [-9.89057918e-01 -1.47441247e-01 5.05105519e-03 -1.58978943e+02] [-5.12156200e-03 9.85649152e-05 -9.99986880e-01 -1.04648457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.110385723 meters 0.016405867928010184 Centerline is valid? [True, True] Translation: X:206.99, Y:-159.10, Z:-10.46 [[ 2.22684772e-01 -9.74889570e-01 -1.34873855e-03 2.06989609e+02] [-9.74874448e-01 -2.22688831e-01 5.43085538e-03 -1.59096667e+02] [-5.59483327e-03 1.05481958e-04 -9.99984343e-01 -1.04639675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.170385723 meters 0.014837892494450666 Centerline is valid? [True, True] Translation: X:206.99, Y:-159.21, Z:-10.47 [[ 2.96333356e-01 -9.55083447e-01 -1.46685458e-03 2.06991772e+02] [-9.55073165e-01 -2.96336974e-01 4.43249018e-03 -1.59214519e+02] [-4.66808124e-03 8.74587550e-05 -9.99989101e-01 -1.04654503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.230385723 meters 0.014559368869487244 Centerline is valid? [True, True] Translation: X:207.00, Y:-159.33, Z:-10.47 [[ 3.68712294e-01 -9.29541531e-01 -1.94602814e-03 2.07004733e+02] [-9.29529858e-01 -3.68717419e-01 4.65919304e-03 -1.59332173e+02] [-5.04844791e-03 9.09895041e-05 -9.99987252e-01 -1.04658236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.290385723 meters 0.014180430322436379 Centerline is valid? [True, True] Translation: X:207.03, Y:-159.45, Z:-10.47 [[ 4.38937256e-01 -8.98513974e-01 -2.59307077e-03 2.07025884e+02] [-8.98499593e-01 -4.38944904e-01 5.08458938e-03 -1.59447875e+02] [-5.70678981e-03 9.80573267e-05 -9.99983711e-01 -1.04662865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3503857229999 meters 0.014475546770114929 Centerline is valid? [True, True] Translation: X:207.05, Y:-159.56, Z:-10.46 [[ 5.08856039e-01 -8.60843540e-01 -3.73242677e-03 2.07054072e+02] [-8.60821768e-01 -5.08869718e-01 6.12323129e-03 -1.59560863e+02] [-7.17046306e-03 9.71109896e-05 -9.99974287e-01 -1.04645422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.410385723 meters 0.013224679739154368 Centerline is valid? [True, True] Translation: X:207.09, Y:-159.67, Z:-10.47 [[ 5.74620302e-01 -8.18408706e-01 -4.32421690e-03 2.07089297e+02] [-8.18386591e-01 -5.74636566e-01 6.01695219e-03 -1.59665478e+02] [-7.40917921e-03 8.14182485e-05 -9.99972548e-01 -1.04652934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4703857229999 meters 0.013395152336710998 Centerline is valid? [True, True] Translation: X:207.14, Y:-159.76, Z:-10.46 [[ 6.35246684e-01 -7.72289468e-01 -5.53417886e-03 2.07136948e+02] [-7.72261390e-01 -6.35270784e-01 6.58610286e-03 -1.59764941e+02] [-8.60208002e-03 9.00326463e-05 -9.99962997e-01 -1.04648177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.530385723 meters 0.013311592492470133 Centerline is valid? [True, True] Translation: X:207.19, Y:-159.86, Z:-10.46 [[ 6.92577383e-01 -7.21316217e-01 -6.28349692e-03 2.07186989e+02] [-7.21287625e-01 -6.92605882e-01 6.42302293e-03 -1.59857895e+02] [-8.98501753e-03 8.37681539e-05 -9.99959630e-01 -1.04643762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5903857229999 meters 0.013273146643102111 Centerline is valid? [True, True] Translation: X:207.24, Y:-159.94, Z:-10.46 [[ 7.45684474e-01 -6.66262368e-01 -7.00877425e-03 2.07243072e+02] [-6.66233890e-01 -7.45717407e-01 6.16060086e-03 -1.59943880e+02] [-9.33114148e-03 7.56185199e-05 -9.99956461e-01 -1.04640674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.650385723 meters 0.01339496232000587 Centerline is valid? [True, True] Translation: X:207.27, Y:-159.97, Z:-10.46 [[ 7.95646148e-01 -6.05712652e-01 -7.70650049e-03 2.07268053e+02] [-6.05685155e-01 -7.95683466e-01 5.77196714e-03 -1.59971642e+02] [-9.62808854e-03 7.52695261e-05 -9.99953646e-01 -1.04636383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.710385723 meters 0.013547940997079698 Centerline is valid? [True, True] Translation: X:207.30, Y:-160.00, Z:-10.46 [[ 8.40262857e-01 -5.42104814e-01 -8.98341979e-03 2.07296292e+02] [-5.42074960e-01 -8.40310873e-01 5.68988732e-03 -1.59995592e+02] [-1.06333806e-02 8.86859590e-05 -9.99943460e-01 -1.04637426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.770385723 meters 0.013815354170675679 Centerline is valid? [True, True] Translation: X:207.33, Y:-160.02, Z:-10.46 [[ 8.79435276e-01 -4.75907110e-01 -1.02964800e-02 2.07326508e+02] [-4.75875985e-01 -8.79495543e-01 5.44395018e-03 -1.60016384e+02] [-1.16465229e-02 1.12245730e-04 -9.99932171e-01 -1.04630071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.830385723 meters 0.014013723442365674 Centerline is valid? [True, True] Translation: X:207.36, Y:-160.03, Z:-10.46 [[ 9.13734203e-01 -4.06173272e-01 -1.06338427e-02 2.07358657e+02] [-4.06147270e-01 -9.13796071e-01 4.59738827e-03 -1.60032529e+02] [-1.15844999e-02 1.18115261e-04 -9.99932890e-01 -1.04636877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.890385723 meters 0.013701530479890736 Centerline is valid? [True, True] Translation: X:207.39, Y:-160.05, Z:-10.46 [[ 9.43042854e-01 -3.32491715e-01 -1.09286614e-02 2.07389987e+02] [-3.32470684e-01 -9.43106170e-01 3.74109052e-03 -1.60049583e+02] [-1.15507696e-02 1.05450837e-04 -9.99933282e-01 -1.04647669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.950385723 meters 0.01416146279640189 Centerline is valid? [True, True] Translation: X:207.42, Y:-160.06, Z:-10.46 [[ 9.66089275e-01 -2.57929816e-01 -1.19884371e-02 2.07421647e+02] [-2.57911437e-01 -9.66163649e-01 3.08122942e-03 -1.60061395e+02] [-1.23775331e-02 1.15212355e-04 -9.99923389e-01 -1.04630455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.010385723 meters 0.014251862666936503 Centerline is valid? [True, True] Translation: X:207.46, Y:-160.07, Z:-10.47 [[ 9.82860827e-01 -1.83966094e-01 -1.18773235e-02 2.07455651e+02] [-1.83954397e-01 -9.82932580e-01 2.07927322e-03 -1.60069067e+02] [-1.20571240e-02 1.41249698e-04 -9.99927300e-01 -1.04653034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.070385723 meters 0.014611862401325445 Centerline is valid? [True, True] Translation: X:207.48, Y:-160.08, Z:-10.47 [[ 9.94083479e-01 -1.08019610e-01 -1.13930509e-02 2.07484987e+02] [-1.08014269e-01 -9.94148752e-01 1.08481841e-03 -1.60077689e+02] [-1.14435690e-02 1.52212013e-04 -9.99934509e-01 -1.04657717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.130385723 meters 0.015571985636256147 Centerline is valid? [True, True] Translation: X:207.51, Y:-160.08, Z:-10.46 [[ 9.99431693e-01 -3.18384512e-02 -1.10726930e-02 2.07513871e+02] [-3.18383712e-02 -9.99493014e-01 1.83541690e-04 -1.60078867e+02] [-1.10729230e-02 1.69099128e-04 -9.99938679e-01 -1.04642303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.190385723 meters 0.016748661636936918 Centerline is valid? [True, True] Translation: X:207.54, Y:-160.08, Z:-10.46 [[ 9.98957696e-01 4.45933172e-02 -9.74464459e-03 2.07542669e+02] [ 4.45895568e-02 -9.99005209e-01 -6.02920502e-04 -1.60076793e+02] [-9.76183693e-03 1.67782692e-04 -9.99952338e-01 -1.04643416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.250385723 meters 0.015206958362515963 Centerline is valid? [True, True] Translation: X:207.57, Y:-160.08, Z:-10.47 [[ 9.92386057e-01 1.22740985e-01 -1.02256805e-02 2.07571470e+02] [ 1.22732632e-01 -9.92438723e-01 -1.44274244e-03 -1.60079904e+02] [-1.03254450e-02 1.76732794e-04 -9.99946676e-01 -1.04666547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.310385723 meters 0.0153906229224034 Centerline is valid? [True, True] Translation: X:207.60, Y:-160.08, Z:-10.47 [[ 9.79879399e-01 1.99305631e-01 -1.06597211e-02 2.07600282e+02] [ 1.99291667e-01 -9.79937359e-01 -2.36730546e-03 -1.60082265e+02] [-1.09176763e-02 1.95280252e-04 -9.99940381e-01 -1.04650351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.370385723 meters 0.015770039044329182 Centerline is valid? [True, True] Translation: X:207.63, Y:-160.08, Z:-10.46 [[ 9.61364271e-01 2.75106558e-01 -9.75293344e-03 2.07627855e+02] [ 2.75090440e-01 -9.61413723e-01 -2.98370262e-03 -1.60080037e+02] [-1.01974402e-02 1.85486348e-04 -9.99947988e-01 -1.04649599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.430385723 meters 0.015624554982045262 Centerline is valid? [True, True] Translation: X:207.66, Y:-160.08, Z:-10.47 [[ 9.36896303e-01 3.49455465e-01 -1.03051554e-02 2.07656341e+02] [ 3.49431944e-01 -9.36952954e-01 -4.05942604e-03 -1.60079007e+02] [-1.10740344e-02 2.02310746e-04 -9.99938661e-01 -1.04650089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.490385723 meters 0.01572246404088022 Centerline is valid? [True, True] Translation: X:207.68, Y:-160.07, Z:-10.46 [[ 9.06452846e-01 4.22178634e-01 -1.04133826e-02 2.07683466e+02] [ 4.22148155e-01 -9.06512636e-01 -5.07708195e-03 -1.60074705e+02] [-1.15832984e-02 2.06145138e-04 -9.99932890e-01 -1.04647205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.550385723 meters 0.015274977626109635 Centerline is valid? [True, True] Translation: X:207.71, Y:-160.07, Z:-10.46 [[ 8.70318502e-01 4.92390817e-01 -9.84827839e-03 2.07711111e+02] [ 4.92356731e-01 -8.70374198e-01 -5.79700607e-03 -1.60070624e+02] [-1.14260800e-02 1.96375483e-04 -9.99934701e-01 -1.04648854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.610385723 meters 0.015078177251264747 Centerline is valid? [True, True] Translation: X:207.74, Y:-160.06, Z:-10.47 [[ 8.27984792e-01 5.60664930e-01 -9.79906019e-03 2.07738386e+02] [ 5.60623062e-01 -8.28042755e-01 -6.85406907e-03 -1.60063775e+02] [-1.19568769e-02 1.81485817e-04 -9.99928498e-01 -1.04651434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.670385723 meters 0.014834206556890946 Centerline is valid? [True, True] Translation: X:207.77, Y:-160.06, Z:-10.46 [[ 7.80435891e-01 6.25168802e-01 -9.15363163e-03 2.07765240e+02] [ 6.25123406e-01 -7.80489554e-01 -7.53542658e-03 -1.60056792e+02] [-1.18552275e-02 1.58767972e-04 -9.99929712e-01 -1.04645167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.730385723 meters 0.014818806737461181 Centerline is valid? [True, True] Translation: X:207.79, Y:-160.05, Z:-10.47 [[ 7.27763548e-01 6.85794364e-01 -6.80510102e-03 2.07790863e+02] [ 6.85762983e-01 -7.27795355e-01 -6.56139991e-03 -1.60048048e+02] [-9.45249199e-03 1.08461303e-04 -9.99955318e-01 -1.04658755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.790385723 meters 0.014726799203196075 Centerline is valid? [True, True] Translation: X:207.81, Y:-160.04, Z:-10.47 [[ 6.70832329e-01 7.41578189e-01 -6.76580886e-03 2.07814975e+02] [ 7.41538914e-01 -6.70866439e-01 -7.63284200e-03 -1.60036636e+02] [-1.01993032e-02 1.03246626e-04 -9.99947980e-01 -1.04659331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8503857229999 meters 0.01492847186677022 Centerline is valid? [True, True] Translation: X:207.84, Y:-160.02, Z:-10.47 [[ 6.11898172e-01 7.90914947e-01 -5.84576355e-03 2.07839655e+02] [ 7.90877086e-01 -6.11926085e-01 -7.73958917e-03 -1.60024571e+02] [-9.69853196e-03 1.12560025e-04 -9.99952962e-01 -1.04655847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.910385723 meters 0.015944892441666136 Centerline is valid? [True, True] Translation: X:207.86, Y:-160.01, Z:-10.46 [[ 5.52580759e-01 8.33439922e-01 -5.69226487e-03 2.07860436e+02] [ 8.33392315e-01 -5.52610047e-01 -8.90986333e-03 -1.60008766e+02] [-1.05714386e-02 1.79529241e-04 -9.99944105e-01 -1.04645482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9703857229999 meters 0.018217297283006997 Centerline is valid? [True, True] Translation: X:207.88, Y:-159.99, Z:-10.46 [[ 4.91688042e-01 8.70754158e-01 -5.48318499e-03 2.07875857e+02] [ 8.70693553e-01 -4.91718536e-01 -1.02770527e-02 -1.59990287e+02] [-1.16449701e-02 2.78930121e-04 -9.99932156e-01 -1.04633924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.030385723 meters 0.018292178593096654 Centerline is valid? [True, True] Translation: X:207.90, Y:-159.97, Z:-10.46 [[ 4.25617461e-01 9.04889742e-01 -4.93273667e-03 2.07896348e+02] [ 9.04819306e-01 -4.25645905e-01 -1.12954736e-02 -1.59972782e+02] [-1.23207574e-02 3.44315418e-04 -9.99924037e-01 -1.04644949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0903857229999 meters 0.02154399722185651 Centerline is valid? [True, True] Translation: X:207.91, Y:-159.95, Z:-10.46 [[ 3.58979167e-01 9.33339668e-01 -3.31980510e-03 2.07909531e+02] [ 9.33290476e-01 -3.58994353e-01 -9.58860484e-03 -1.59953103e+02] [-1.01412165e-02 3.43766896e-04 -9.99948517e-01 -1.04648900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.150385723 meters 0.020173283709661094 Centerline is valid? [True, True] Translation: X:207.93, Y:-159.93, Z:-10.47 [[ 2.88345168e-01 9.57523689e-01 -2.33448700e-03 2.07932820e+02] [ 9.57481845e-01 -2.88354408e-01 -8.95837336e-03 -1.59934290e+02] [-9.25101432e-03 3.47874753e-04 -9.99957148e-01 -1.04671602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.210385723 meters 0.022353769340862098 Centerline is valid? [True, True] Translation: X:207.95, Y:-159.91, Z:-10.47 [[ 2.13590206e-01 9.76922079e-01 -1.57330168e-03 2.07945350e+02] [ 9.76882333e-01 -2.13595719e-01 -8.81912742e-03 -1.59913505e+02] [-8.95165080e-03 3.46748628e-04 -9.99959873e-01 -1.04672001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.270385723 meters 0.022852593603044483 Centerline is valid? [True, True] Translation: X:207.96, Y:-159.89, Z:-10.47 [[ 1.40730095e-01 9.90047723e-01 -7.39184000e-04 2.07961270e+02] [ 9.90019279e-01 -1.40731661e-01 -7.51179158e-03 -1.59891147e+02] [-7.54105874e-03 3.25328735e-04 -9.99971513e-01 -1.04693292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.330385723 meters 0.02468534960198602 Centerline is valid? [True, True] Translation: X:207.97, Y:-159.87, Z:-10.47 [[ 6.63000379e-02 9.97799722e-01 -1.40552265e-04 2.07973688e+02] [ 9.97774117e-01 -6.62993446e-02 -7.15598137e-03 -1.59867399e+02] [-7.14955475e-03 3.34202424e-04 -9.99974386e-01 -1.04700112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.390385723 meters 0.026225009699187847 Centerline is valid? [True, True] Translation: X:207.99, Y:-159.84, Z:-10.47 [[-1.00356191e-02 9.99949469e-01 5.88311335e-04 2.07986815e+02] [ 9.99899514e-01 1.00410053e-02 -1.00070181e-02 -1.59842647e+02] [-1.00124197e-02 4.87825596e-04 -9.99949756e-01 -1.04664472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.450385723 meters 0.026747891454479856 Centerline is valid? [True, True] Translation: X:208.00, Y:-159.82, Z:-10.46 [[-8.71025955e-02 9.96197932e-01 1.67871080e-03 2.08004465e+02] [ 9.96123803e-01 8.71166188e-02 -1.21681322e-02 -1.59815599e+02] [-1.22681117e-02 6.12327889e-04 -9.99924556e-01 -1.04638848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.510385723 meters 0.02508642908607757 Centerline is valid? [True, True] Translation: X:208.01, Y:-159.79, Z:-10.47 [[-1.64692992e-01 9.86341399e-01 2.61958436e-03 2.08014733e+02] [ 9.86269022e-01 1.64712683e-01 -1.19644543e-02 -1.59788091e+02] [-1.22325154e-02 6.13153131e-04 -9.99924992e-01 -1.04665090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.570385723 meters 0.023057570021830145 Centerline is valid? [True, True] Translation: X:208.03, Y:-159.76, Z:-10.47 [[-2.40281029e-01 9.70696911e-01 3.54047525e-03 2.08032378e+02] [ 9.70626652e-01 2.40306296e-01 -1.16955585e-02 -1.59756396e+02] [-1.22036410e-02 6.26258801e-04 -9.99925337e-01 -1.04683416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.630385723 meters 0.02479859515823371 Centerline is valid? [True, True] Translation: X:208.04, Y:-159.72, Z:-10.47 [[-3.15735000e-01 9.48842719e-01 2.98389819e-03 2.08044296e+02] [ 9.48812070e-01 3.15748821e-01 -7.63786991e-03 -1.59724174e+02] [-8.18929959e-03 4.19615763e-04 -9.99966379e-01 -1.04696236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.690385723 meters 0.02249593529009901 Centerline is valid? [True, True] Translation: X:208.06, Y:-159.69, Z:-10.47 [[-3.92128276e-01 9.19907729e-01 2.27695498e-03 2.08056296e+02] [ 9.19895745e-01 3.92134807e-01 -4.70231392e-03 -1.59687974e+02] [-5.21856822e-03 2.50650942e-04 -9.99986352e-01 -1.04732011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.750385723 meters 0.022702502788167152 Centerline is valid? [True, True] Translation: X:208.07, Y:-159.65, Z:-10.47 [[-4.65545814e-01 8.85018489e-01 3.06077689e-03 2.08065503e+02] [ 8.85003067e-01 4.65555796e-01 -5.23196154e-03 -1.59649696e+02] [-6.05534512e-03 2.73079140e-04 -9.99981629e-01 -1.04707773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.810385723 meters 0.022467057130259566 Centerline is valid? [True, True] Translation: X:208.07, Y:-159.61, Z:-10.47 [[-5.33478960e-01 8.45804303e-01 3.90892790e-03 2.08068191e+02] [ 8.45785686e-01 5.33493192e-01 -5.62031294e-03 -1.59612158e+02] [-6.83907129e-03 3.07796559e-04 -9.99976566e-01 -1.04713716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.870385723 meters 0.02365731524284225 Centerline is valid? [True, True] Translation: X:208.06, Y:-159.58, Z:-10.47 [[-5.96941583e-01 8.02271892e-01 4.53399233e-03 2.08064912e+02] [ 8.02252848e-01 5.96958710e-01 -5.53771396e-03 -1.59575198e+02] [-7.14935847e-03 3.31716522e-04 -9.99974388e-01 -1.04706899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.930385723 meters 0.024961276744556123 Centerline is valid? [True, True] Translation: X:208.06, Y:-159.54, Z:-10.47 [[-6.56935838e-01 7.53921079e-01 6.18968039e-03 2.08055656e+02] [ 7.53893568e-01 6.56964859e-01 -6.45471823e-03 -1.59541391e+02] [-8.93275063e-03 4.26024505e-04 -9.99960011e-01 -1.04688848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.990385723 meters 0.022663742466816662 Centerline is valid? [True, True] Translation: X:208.05, Y:-159.50, Z:-10.47 [[-7.12543164e-01 7.01585289e-01 7.76667315e-03 2.08051872e+02] [ 7.01551322e-01 7.12585304e-01 -6.92286064e-03 -1.59497036e+02] [-1.03913943e-02 5.15882794e-04 -9.99945875e-01 -1.04681238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.050385723 meters 0.023406930088634384 Centerline is valid? [True, True] Translation: X:208.08, Y:-159.47, Z:-10.47 [[-7.58500552e-01 6.51631417e-01 7.30818070e-03 2.08076686e+02] [ 6.51607201e-01 7.58535603e-01 -5.63857304e-03 -1.59470037e+02] [-9.21778659e-03 4.85202408e-04 -9.99957398e-01 -1.04692217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.110385723 meters 0.025885940521755406 Centerline is valid? [True, True] Translation: X:208.09, Y:-159.44, Z:-10.47 [[-8.03148200e-01 5.95715167e-01 8.74119466e-03 2.08091958e+02] [ 5.95687127e-01 8.03195582e-01 -5.80544886e-03 -1.59435977e+02] [-1.04792829e-02 5.44381326e-04 -9.99944943e-01 -1.04674748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.170385723 meters 0.02315594305035985 Centerline is valid? [True, True] Translation: X:208.11, Y:-159.39, Z:-10.47 [[-8.44847476e-01 5.34955723e-01 7.42399452e-03 2.08107520e+02] [ 5.34939357e-01 8.44879991e-01 -4.20545573e-03 -1.59394523e+02] [-8.52211703e-03 4.18418188e-04 -9.99963599e-01 -1.04698170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.230385723 meters 0.02265653555199076 Centerline is valid? [True, True] Translation: X:208.12, Y:-159.35, Z:-10.47 [[-8.82800637e-01 4.69691211e-01 7.29394261e-03 2.08116327e+02] [ 4.69678501e-01 8.82830696e-01 -3.47386671e-03 -1.59354134e+02] [-8.07096109e-03 3.59076284e-04 -9.99967365e-01 -1.04702450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.290385723 meters 0.02200459755487419 Centerline is valid? [True, True] Translation: X:208.12, Y:-159.31, Z:-10.47 [[-9.15667361e-01 4.01839952e-01 8.82816417e-03 2.08118764e+02] [ 4.01825230e-01 9.15709839e-01 -3.46047774e-03 -1.59313394e+02] [-9.47459500e-03 3.78732578e-04 -9.99955043e-01 -1.04689479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3503857229999 meters 0.01981993907928879 Centerline is valid? [True, True] Translation: X:208.12, Y:-159.27, Z:-10.47 [[-9.43920823e-01 3.30034766e-01 9.51484660e-03 2.08117804e+02] [ 3.30021562e-01 9.43968718e-01 -2.97118909e-03 -1.59266051e+02] [-9.96231324e-03 3.35537291e-04 -9.99950319e-01 -1.04681830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.410385723 meters 0.01963849374683503 Centerline is valid? [True, True] Translation: X:208.11, Y:-159.23, Z:-10.47 [[-9.66231504e-01 2.57521381e-01 8.91172031e-03 2.08112686e+02] [ 2.57512938e-01 9.66272564e-01 -2.10187243e-03 -1.59225608e+02] [-9.15242793e-03 2.63987925e-04 -9.99958081e-01 -1.04682807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4703857229999 meters 0.018323111855497433 Centerline is valid? [True, True] Translation: X:208.11, Y:-159.19, Z:-10.47 [[-9.82735019e-01 1.84814516e-01 8.68777587e-03 2.08105420e+02] [ 1.84809292e-01 9.82773395e-01 -1.40730141e-03 -1.59186774e+02] [-8.79820471e-03 2.22577329e-04 -9.99961270e-01 -1.04695804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.530385723 meters 0.01702903441920145 Centerline is valid? [True, True] Translation: X:208.10, Y:-159.15, Z:-10.47 [[-9.93389284e-01 1.14636658e-01 6.01396346e-03 2.08095913e+02] [ 1.14635492e-01 9.93407476e-01 -5.39395712e-04 -1.59150141e+02] [-6.03615078e-03 1.53583738e-04 -9.99981771e-01 -1.04724592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5903857229999 meters 0.017552951376915794 Centerline is valid? [True, True] Translation: X:208.08, Y:-159.12, Z:-10.47 [[-9.99041205e-01 4.35233394e-02 4.73167585e-03 2.08081837e+02] [ 4.35234165e-02 9.99052403e-01 -8.67161333e-05 -1.59120148e+02] [-4.73096630e-03 1.19305708e-04 -9.99988802e-01 -1.04731683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.650385723 meters 0.017083216796763032 Centerline is valid? [True, True] Translation: X:208.08, Y:-158.73, Z:-11.45 [[-9.97849406e-01 -6.51976763e-02 6.76944595e-03 2.08075870e+02] [ 6.51959822e-02 -9.97872368e-01 -4.70863992e-04 -1.58732626e+02] [ 6.78574230e-03 -2.85106770e-05 9.99976976e-01 -1.14457888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.710385723 meters 0.015739682197569483 Centerline is valid? [True, True] Translation: X:208.02, Y:-159.11, Z:-10.47 [[-9.99424650e-01 3.32796962e-02 6.54449358e-03 2.08024688e+02] [ 3.32797797e-02 9.99446070e-01 -9.61706638e-05 -1.59107748e+02] [-6.54406892e-03 1.21683972e-04 -9.99978580e-01 -1.04729781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.770385723 meters 0.016148947321034585 Centerline is valid? [True, True] Translation: X:208.02, Y:-158.74, Z:-11.44 [[-9.97982504e-01 -6.31559186e-02 6.50018523e-03 2.08020555e+02] [ 6.31537775e-02 -9.98003665e-01 -5.34336973e-04 -1.58738211e+02] [ 6.52095523e-03 -1.22747698e-04 9.99978731e-01 -1.14444832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.830385723 meters 0.01633881705170738 Centerline is valid? [True, True] Translation: X:207.97, Y:-159.11, Z:-10.47 [[-9.99440268e-01 3.25637026e-02 7.66528514e-03 2.07972717e+02] [ 3.25640189e-02 9.99469648e-01 -8.35766924e-05 -1.59106915e+02] [-7.66394141e-03 1.66082578e-04 -9.99970618e-01 -1.04737646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.890385723 meters 0.01706774246606105 Centerline is valid? [True, True] Translation: X:207.97, Y:-158.74, Z:-11.44 [[-9.98603550e-01 -5.23513347e-02 7.09139198e-03 2.07971543e+02] [ 5.23486786e-02 -9.98628711e-01 -5.59775457e-04 -1.58739614e+02] [ 7.11097263e-03 -1.87768759e-04 9.99974699e-01 -1.14434191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.950385723 meters 0.017649176837805047 Centerline is valid? [True, True] Translation: X:207.93, Y:-159.11, Z:-10.48 [[-9.99242729e-01 3.80828552e-02 7.97906429e-03 2.07927765e+02] [ 3.80836146e-02 9.99274554e-01 -5.67952401e-05 -1.59109144e+02] [-7.97543884e-03 2.47119379e-04 -9.99968165e-01 -1.04750284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.010385723 meters 0.019877600027689908 Centerline is valid? [True, True] Translation: X:207.91, Y:-159.08, Z:-10.48 [[-9.99524385e-01 -3.02807907e-02 5.83761163e-03 2.07906310e+02] [-3.02791188e-02 9.99541412e-01 3.74596094e-04 -1.59082895e+02] [-5.84627763e-03 1.97660195e-04 -9.99982891e-01 -1.04764742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.070385723 meters 0.01873463559790987 Centerline is valid? [True, True] Translation: X:207.88, Y:-158.71, Z:-11.44 [[-9.99522812e-01 3.03672425e-02 5.65499927e-03 2.07879019e+02] [-3.03679099e-02 -9.99538788e-01 -3.21637707e-05 -1.58712360e+02] [ 5.65141439e-03 -2.03878931e-04 9.99984010e-01 -1.14412222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.130385723 meters 0.019059708940261034 Centerline is valid? [True, True] Translation: X:207.86, Y:-159.08, Z:-10.48 [[-9.99397964e-01 -3.39485981e-02 7.15563847e-03 2.07857737e+02] [-3.39459824e-02 9.99423551e-01 4.86719358e-04 -1.59083095e+02] [-7.16803705e-03 2.43521158e-04 -9.99974280e-01 -1.04765718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.190385723 meters 0.019188965148814175 Centerline is valid? [True, True] Translation: X:207.82, Y:-158.72, Z:-11.44 [[-9.99392006e-01 3.45916249e-02 4.36314265e-03 2.07823864e+02] [-3.45927423e-02 -9.99401476e-01 -1.80889932e-04 -1.58720980e+02] [ 4.35427393e-03 -3.31713022e-04 9.99990465e-01 -1.14395037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.250385723 meters 0.0189585480361818 Centerline is valid? [True, True] Translation: X:207.80, Y:-159.08, Z:-10.48 [[-9.99243224e-01 -3.87664472e-02 3.18450521e-03 2.07800951e+02] [-3.87659110e-02 9.99248293e-01 2.29954979e-04 -1.59082374e+02] [-3.19102593e-03 1.06330709e-04 -9.99994903e-01 -1.04787420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.310385723 meters 0.017624427822145794 Centerline is valid? [True, True] Translation: X:207.76, Y:-158.73, Z:-11.44 [[-9.99516408e-01 3.07389460e-02 4.69751683e-03 2.07760882e+02] [-3.07388314e-02 -9.99527446e-01 9.66008059e-05 -1.58734924e+02] [ 4.69826641e-03 -4.78420874e-05 9.99988962e-01 -1.14405848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.370385723 meters 0.015865586007399356 Centerline is valid? [True, True] Translation: X:207.74, Y:-159.07, Z:-10.48 [[-9.98444931e-01 -5.56965572e-02 2.36916312e-03 2.07736317e+02] [-5.56962865e-02 9.98447741e-01 1.80119396e-04 -1.59073012e+02] [-2.37551759e-03 4.78857104e-05 -9.99997177e-01 -1.04787634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.430385723 meters 0.01851691835037685 Centerline is valid? [True, True] Translation: X:207.71, Y:-159.04, Z:-10.48 [[-9.91623875e-01 -1.29146456e-01 1.81189866e-03 2.07708753e+02] [-1.29146181e-01 9.91625530e-01 2.68633124e-04 -1.59043876e+02] [-1.83141798e-03 3.23832269e-05 -9.99998322e-01 -1.04761015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.490385723 meters 0.017697880661104445 Centerline is valid? [True, True] Translation: X:207.65, Y:-158.73, Z:-11.44 [[-9.95485924e-01 9.48899905e-02 1.91424067e-03 2.07651472e+02] [-9.48898691e-02 -9.95487764e-01 1.54389560e-04 -1.58729157e+02] [ 1.92025319e-03 -2.79494128e-05 9.99998156e-01 -1.14415316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.550385723 meters 0.015419819459712146 Centerline is valid? [True, True] Translation: X:207.65, Y:-159.05, Z:-10.48 [[-9.90724176e-01 -1.35878638e-01 1.61327458e-03 2.07653077e+02] [-1.35878418e-01 9.90725489e-01 2.45669740e-04 -1.59054504e+02] [-1.63169352e-03 2.41817528e-05 -9.99998669e-01 -1.04780035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.610385723 meters 0.01440502139797177 Centerline is valid? [True, True] Translation: X:207.63, Y:-159.03, Z:-10.48 [[-9.77828696e-01 -2.09405880e-01 4.67487477e-04 2.07629453e+02] [-2.09405853e-01 9.77828808e-01 1.06485207e-04 -1.59028866e+02] [-4.79421351e-04 6.22967772e-06 -9.99999885e-01 -1.04787693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.670385723 meters 0.01497027135940275 Centerline is valid? [True, True] Translation: X:207.54, Y:-158.72, Z:-11.44 [[-9.87412294e-01 1.58167387e-01 -1.97793753e-04 2.07537804e+02] [-1.58167374e-01 -9.87412313e-01 -8.05411178e-05 -1.58718732e+02] [-2.08042965e-04 -4.82427714e-05 9.99999977e-01 -1.14408352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.730385723 meters 0.01384750818240801 Centerline is valid? [True, True] Translation: X:207.56, Y:-159.05, Z:-10.48 [[-9.74072874e-01 -2.26234031e-01 4.47322983e-04 2.07564789e+02] [-2.26234007e-01 9.74072976e-01 1.04044527e-04 -1.59046850e+02] [-4.59263642e-04 1.47280835e-07 -9.99999895e-01 -1.04780048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.790385723 meters 0.014088016915025914 Centerline is valid? [True, True] Translation: X:207.53, Y:-159.03, Z:-10.48 [[-9.54359247e-01 -2.98655312e-01 1.85277867e-03 2.07532475e+02] [-2.98654772e-01 9.54361045e-01 5.67975421e-04 -1.59027550e+02] [-1.93784866e-03 -1.12885957e-05 -9.99998122e-01 -1.04768298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8503857229999 meters 0.017573043351709793 Centerline is valid? [True, True] Translation: X:207.50, Y:-159.01, Z:-10.47 [[-9.29519882e-01 -3.68764568e-01 2.34151673e-03 2.07504053e+02] [-3.68763459e-01 9.29522831e-01 9.04468611e-04 -1.59010568e+02] [-2.51002924e-03 -2.27442525e-05 -9.99996850e-01 -1.04738926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.910385723 meters 0.014666812751168082 Centerline is valid? [True, True] Translation: X:207.48, Y:-159.00, Z:-10.48 [[-8.99971836e-01 -4.35947855e-01 4.02795933e-04 2.07475846e+02] [-4.35947813e-01 8.99971926e-01 1.90918585e-04 -1.59000726e+02] [-4.45735580e-04 -3.77665649e-06 -9.99999901e-01 -1.04775937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9703857229999 meters 0.014614611876082793 Centerline is valid? [True, True] Translation: X:207.44, Y:-159.00, Z:-10.48 [[-8.66415300e-01 -4.99323429e-01 8.01346925e-04 2.07441466e+02] [-4.99323225e-01 8.66415670e-01 4.51051691e-04 -1.58996756e+02] [-9.19520210e-04 -9.33304526e-06 -9.99999577e-01 -1.04764960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.030385723 meters 0.014577789301179488 Centerline is valid? [True, True] Translation: X:207.40, Y:-159.00, Z:-10.48 [[-8.28532687e-01 -5.59939597e-01 1.11102112e-03 2.07403822e+02] [-5.59939115e-01 8.28533432e-01 7.34630408e-04 -1.59000909e+02] [-1.33186680e-03 -1.34388768e-05 -9.99999113e-01 -1.04756985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0903857229999 meters 0.015127675535013162 Centerline is valid? [True, True] Translation: X:207.35, Y:-159.02, Z:-10.48 [[-7.84420042e-01 -6.20227251e-01 1.83176141e-03 2.07353248e+02] [-6.20225646e-01 7.84422180e-01 1.41127884e-03 -1.59015395e+02] [-2.31218787e-03 -2.90700004e-05 -9.99997326e-01 -1.04755067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.150385723 meters 0.015404224597727237 Centerline is valid? [True, True] Translation: X:207.29, Y:-159.04, Z:-10.48 [[-7.35638141e-01 -6.77371683e-01 2.03193874e-03 2.07287597e+02] [-6.77369247e-01 7.35640946e-01 1.81685517e-03 -1.59042348e+02] [-2.72546358e-03 -3.98248575e-05 -9.99996285e-01 -1.04753889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.210385723 meters 0.016104539162442293 Centerline is valid? [True, True] Translation: X:207.23, Y:-159.08, Z:-10.47 [[-6.83296228e-01 -7.30137885e-01 2.22136063e-03 2.07228142e+02] [-7.30134256e-01 6.83299837e-01 2.30252666e-03 -1.59080448e+02] [-3.19901730e-03 -4.85837084e-05 -9.99994882e-01 -1.04746347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.270385723 meters 0.015104194222001679 Centerline is valid? [True, True] Translation: X:207.16, Y:-159.13, Z:-10.47 [[-6.28696610e-01 -7.77646021e-01 2.69055683e-03 2.07164684e+02] [-7.77639277e-01 6.28702365e-01 3.23905011e-03 -1.59128531e+02] [-4.21039388e-03 -5.59028451e-05 -9.99991135e-01 -1.04740645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.330385723 meters 0.01458631345243804 Centerline is valid? [True, True] Translation: X:207.10, Y:-159.19, Z:-10.47 [[-5.72544975e-01 -8.19870320e-01 2.21572950e-03 2.07101102e+02] [-8.19864405e-01 5.72549262e-01 3.11464939e-03 -1.59189962e+02] [-3.82222288e-03 -3.33208839e-05 -9.99992695e-01 -1.04748298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.390385723 meters 0.014492401397909293 Centerline is valid? [True, True] Translation: X:207.04, Y:-159.26, Z:-10.48 [[-5.12857861e-01 -8.58472263e-01 1.47916869e-03 2.07038491e+02] [-8.58468765e-01 5.12859993e-01 2.45095894e-03 -1.59262297e+02] [-2.86268671e-03 -1.28265561e-05 -9.99995902e-01 -1.04759051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.450385723 meters 0.01450005636784513 Centerline is valid? [True, True] Translation: X:206.97, Y:-159.34, Z:-10.48 [[-4.48496844e-01 -8.93783018e-01 1.58075317e-03 2.06972175e+02] [-8.93777537e-01 4.48499629e-01 3.13003516e-03 -1.59341464e+02] [-3.50653948e-03 -9.03078557e-06 -9.99993852e-01 -1.04752765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.510385723 meters 0.01460037983043184 Centerline is valid? [True, True] Translation: X:206.91, Y:-159.43, Z:-10.47 [[-3.80345985e-01 -9.24842707e-01 1.70271694e-03 2.06914903e+02] [-9.24833531e-01 3.80349796e-01 4.11982496e-03 -1.59428584e+02] [-4.45781811e-03 -7.77083885e-06 -9.99990064e-01 -1.04744737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.570385723 meters 0.014764658430128471 Centerline is valid? [True, True] Translation: X:206.86, Y:-159.53, Z:-10.47 [[-3.07627871e-01 -9.51505809e-01 1.33734492e-03 2.06860041e+02] [-9.51497013e-01 3.07630777e-01 4.09145207e-03 -1.59526634e+02] [-4.30444887e-03 -1.38350100e-05 -9.99990736e-01 -1.04749085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.630385723 meters 0.015052734725763454 Centerline is valid? [True, True] Translation: X:206.81, Y:-159.63, Z:-10.48 [[-2.32391558e-01 -9.72621792e-01 1.00633703e-03 2.06811490e+02] [-9.72613076e-01 2.32393736e-01 4.11783575e-03 -1.59631179e+02] [-4.23896321e-03 -2.18262856e-05 -9.99991015e-01 -1.04751498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.690385723 meters 0.015162157702231192 Centerline is valid? [True, True] Translation: X:206.77, Y:-159.74, Z:-10.48 [[-1.58015258e-01 -9.87436575e-01 4.33465806e-04 2.06773269e+02] [-9.87433064e-01 1.58015853e-01 2.63341574e-03 -1.59738746e+02] [-2.66882549e-03 -1.18986005e-05 -9.99996439e-01 -1.04761610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.750385723 meters 0.015003846673141984 Centerline is valid? [True, True] Translation: X:206.74, Y:-159.85, Z:-10.48 [[-8.44823383e-02 -9.96424972e-01 1.01157597e-04 2.06743174e+02] [-9.96424278e-01 8.44823989e-02 1.17553428e-03 -1.59853471e+02] [-1.17987774e-03 -1.48400141e-06 -9.99999304e-01 -1.04776336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.810385723 meters 0.015078815177613818 Centerline is valid? [True, True] Translation: X:206.72, Y:-159.97, Z:-10.48 [[-9.11207769e-03 -9.99958484e-01 1.01721988e-05 2.06715993e+02] [-9.99957853e-01 9.11208337e-03 1.12369103e-03 -1.59974459e+02] [-1.12373707e-03 6.73898977e-08 -9.99999369e-01 -1.04772214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.870385723 meters 0.015181853657609554 Centerline is valid? [True, True] Translation: X:206.70, Y:-160.09, Z:-10.48 [[ 6.84013066e-02 -9.97657880e-01 -1.23929647e-04 2.06698357e+02] [-9.97656188e-01 -6.84014189e-02 1.83726074e-03 -1.60092956e+02] [-1.84143462e-03 -2.03185634e-06 -9.99998305e-01 -1.04765241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.930385723 meters 0.015383894072376893 Centerline is valid? [True, True] Translation: X:206.69, Y:-160.22, Z:-10.48 [[ 1.45813495e-01 -9.89312047e-01 -3.14147410e-04 2.06689344e+02] [-9.89309678e-01 -1.45813834e-01 2.16483854e-03 -1.60217900e+02] [-2.18750788e-03 -4.87360044e-06 -9.99997607e-01 -1.04759474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.990385723 meters 0.015405143454966014 Centerline is valid? [True, True] Translation: X:206.69, Y:-160.35, Z:-10.48 [[ 2.21825237e-01 -9.75086244e-01 -6.18150621e-04 2.06686489e+02] [-9.75082358e-01 -2.21826098e-01 2.75267281e-03 -1.60345190e+02] [-2.82121533e-03 -7.86453143e-06 -9.99996020e-01 -1.04757710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.050385723 meters 0.015965177185135536 Centerline is valid? [True, True] Translation: X:206.70, Y:-160.47, Z:-10.47 [[ 2.98329044e-01 -9.54461747e-01 -1.59869014e-03 2.06696689e+02] [-9.54447517e-01 -2.98333326e-01 5.21186415e-03 -1.60469185e+02] [-5.45146751e-03 -2.89846164e-05 -9.99985140e-01 -1.04728923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.110385723 meters 0.015975273559363238 Centerline is valid? [True, True] Translation: X:206.72, Y:-160.59, Z:-10.47 [[ 3.73318889e-01 -9.27700084e-01 -2.35812439e-03 2.06715726e+02] [-9.27680686e-01 -3.73326333e-01 5.99944004e-03 -1.60590762e+02] [-6.44603096e-03 -5.21178328e-05 -9.99979223e-01 -1.04721528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.170385723 meters 0.016616890850722373 Centerline is valid? [True, True] Translation: X:206.75, Y:-160.72, Z:-10.47 [[ 4.44506853e-01 -8.95772127e-01 -2.43993640e-03 2.06746658e+02] [-8.95757997e-01 -4.44513547e-01 5.03171497e-03 -1.60716621e+02] [-5.59185481e-03 -5.10392460e-05 -9.99984364e-01 -1.04726535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.230385723 meters 0.016252968187198187 Centerline is valid? [True, True] Translation: X:206.78, Y:-160.83, Z:-10.47 [[ 5.11399143e-01 -8.59338829e-01 -2.77390097e-03 2.06783438e+02] [-8.59325696e-01 -5.11406664e-01 4.75112480e-03 -1.60825057e+02] [-5.50141746e-03 -4.60367731e-05 -9.99984866e-01 -1.04736276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.290385723 meters 0.016166103856325106 Centerline is valid? [True, True] Translation: X:206.83, Y:-160.93, Z:-10.47 [[ 5.74844360e-01 -8.18255588e-01 -3.42844348e-03 2.06827684e+02] [-8.18240589e-01 -5.74854582e-01 4.95454076e-03 -1.60934954e+02] [-6.02493710e-03 -4.27981985e-05 -9.99981849e-01 -1.04735620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3503857229999 meters 0.01640107429562555 Centerline is valid? [True, True] Translation: X:206.87, Y:-161.04, Z:-10.47 [[ 6.36062593e-01 -7.71625164e-01 -4.35700910e-03 2.06872677e+02] [-7.71606513e-01 -6.36077514e-01 5.36526333e-03 -1.61041433e+02] [-6.91136771e-03 -5.07467088e-05 -9.99976115e-01 -1.04726751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.410385723 meters 0.016293374446341494 Centerline is valid? [True, True] Translation: X:206.94, Y:-161.16, Z:-10.47 [[ 6.93457525e-01 -7.20473423e-01 -5.89130383e-03 2.06937221e+02] [-7.20446610e-01 -6.93482547e-01 6.21603633e-03 -1.61160561e+02] [-8.56400535e-03 -6.61872944e-05 -9.99963326e-01 -1.04716381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4703857229999 meters 0.01619887321080409 Centerline is valid? [True, True] Translation: X:206.98, Y:-161.25, Z:-10.47 [[ 7.45731220e-01 -6.66216983e-01 -6.31500690e-03 2.06982710e+02] [-6.66192451e-01 -7.45757956e-01 5.71752931e-03 -1.61246624e+02] [-8.51858176e-03 -5.67301807e-05 -9.99963715e-01 -1.04715497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.530385723 meters 0.016021495204966422 Centerline is valid? [True, True] Translation: X:207.00, Y:-161.28, Z:-10.47 [[ 7.94302884e-01 -6.07481111e-01 -7.04470797e-03 2.06999592e+02] [-6.07456752e-01 -7.94334122e-01 5.44025127e-03 -1.61275541e+02] [-8.90070181e-03 -4.18518484e-05 -9.99960387e-01 -1.04719279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5903857229999 meters 0.016009004682224375 Centerline is valid? [True, True] Translation: X:207.02, Y:-161.30, Z:-10.47 [[ 8.38374700e-01 -5.45035787e-01 -7.99087708e-03 2.07018301e+02] [-5.45010713e-01 -8.38412780e-01 5.22800790e-03 -1.61301059e+02] [-9.54910487e-03 -2.79159344e-05 -9.99954406e-01 -1.04711403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.650385723 meters 0.016002895229814653 Centerline is valid? [True, True] Translation: X:207.04, Y:-161.32, Z:-10.47 [[ 8.76779506e-01 -4.80803194e-01 -9.27290726e-03 2.07039285e+02] [-4.80776364e-01 -8.76828540e-01 5.07929928e-03 -1.61321758e+02] [-1.05728930e-02 4.76912013e-06 -9.99944105e-01 -1.04699468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.710385723 meters 0.015970697574877003 Centerline is valid? [True, True] Translation: X:207.06, Y:-161.34, Z:-10.47 [[ 9.10834807e-01 -4.12636324e-01 -1.05460097e-02 2.07061728e+02] [-4.12609028e-01 -9.10895858e-01 4.74620701e-03 -1.61344098e+02] [-1.15647739e-02 2.83682483e-05 -9.99933125e-01 -1.04701541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.770385723 meters 0.016009436905234622 Centerline is valid? [True, True] Translation: X:207.09, Y:-161.36, Z:-10.47 [[ 9.39854413e-01 -3.41433106e-01 -9.85475062e-03 2.07085350e+02] [-3.41414779e-01 -9.39906076e-01 3.53782687e-03 -1.61364372e+02] [-1.04704712e-02 3.95153067e-05 -9.99945182e-01 -1.04702836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.830385723 meters 0.0175035379416196 Centerline is valid? [True, True] Translation: X:207.11, Y:-161.38, Z:-10.47 [[ 9.63626782e-01 -2.67089890e-01 -9.29597715e-03 2.07109668e+02] [-2.67077848e-01 -9.63671619e-01 2.53655853e-03 -1.61380241e+02] [-9.63575849e-03 3.84538402e-05 -9.99953574e-01 -1.04686170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.890385723 meters 0.01590505314347654 Centerline is valid? [True, True] Translation: X:207.14, Y:-161.39, Z:-10.47 [[ 9.81766582e-01 -1.89874588e-01 -9.05644462e-03 2.07136161e+02] [-1.89866763e-01 -9.81808352e-01 1.72396729e-03 -1.61393599e+02] [-9.21903055e-03 2.69843524e-05 -9.99957504e-01 -1.04722483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.950385723 meters 0.015867231184790467 Centerline is valid? [True, True] Translation: X:207.16, Y:-161.40, Z:-10.47 [[ 9.93518341e-01 -1.13306772e-01 -9.10388751e-03 2.07160185e+02] [-1.13302334e-01 -9.93560051e-01 1.00340482e-03 -1.61404864e+02] [-9.15895150e-03 3.45906087e-05 -9.99958055e-01 -1.04723310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.010385723 meters 0.015859445024688053 Centerline is valid? [True, True] Translation: X:207.19, Y:-161.41, Z:-10.47 [[ 9.99336879e-01 -3.53603277e-02 -8.68616941e-03 2.07185495e+02] [-3.53592900e-02 -9.99374628e-01 2.73051630e-04 -1.61413767e+02] [-8.69039251e-03 3.42662192e-05 -9.99962237e-01 -1.04725780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.070385723 meters 0.015866522608624624 Centerline is valid? [True, True] Translation: X:207.21, Y:-161.42, Z:-10.47 [[ 9.99100989e-01 4.16676797e-02 -7.81148000e-03 2.07210634e+02] [ 4.16660828e-02 -9.99131524e-01 -3.67130603e-04 -1.61421683e+02] [-7.81999340e-03 4.13267761e-05 -9.99969423e-01 -1.04722912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.130385723 meters 0.015903466703836175 Centerline is valid? [True, True] Translation: X:207.24, Y:-161.43, Z:-10.47 [[ 9.92877383e-01 1.18767332e-01 -9.42457367e-03 2.07237483e+02] [ 1.18761413e-01 -9.92922110e-01 -1.18727885e-03 -1.61430945e+02] [-9.49887752e-03 5.95466323e-05 -9.99954883e-01 -1.04724766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.190385723 meters 0.015948987693079453 Centerline is valid? [True, True] Translation: X:207.26, Y:-161.44, Z:-10.47 [[ 9.80723518e-01 1.95083521e-01 -1.11266062e-02 2.07264712e+02] [ 1.95070007e-01 -9.80786630e-01 -2.29771395e-03 -1.61438775e+02] [-1.13610728e-02 8.29549593e-05 -9.99935458e-01 -1.04700515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.250385723 meters 0.016159700862492878 Centerline is valid? [True, True] Translation: X:207.29, Y:-161.44, Z:-10.47 [[ 9.63074518e-01 2.68969310e-01 -1.19575426e-02 2.07292011e+02] [ 2.68947022e-01 -9.63148740e-01 -3.46461999e-03 -1.61442523e+02] [-1.24487686e-02 1.20741753e-04 -9.99922504e-01 -1.04700285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.310385723 meters 0.016516468542206078 Centerline is valid? [True, True] Translation: X:207.32, Y:-161.44, Z:-10.47 [[ 9.39825530e-01 3.41447072e-01 -1.19109379e-02 2.07319600e+02] [ 3.41417607e-01 -9.39900991e-01 -4.48818081e-03 -1.61442769e+02] [-1.27275785e-02 1.51503001e-04 -9.99918990e-01 -1.04700413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.370385723 meters 0.016553219565580923 Centerline is valid? [True, True] Translation: X:207.35, Y:-161.44, Z:-10.47 [[ 9.10933134e-01 4.12418106e-01 -1.05892477e-02 2.07346954e+02] [ 4.12388200e-01 -9.10994665e-01 -4.96909501e-03 -1.61441834e+02] [-1.16960930e-02 1.59632472e-04 -9.99931586e-01 -1.04720305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.430385723 meters 0.01679625948090648 Centerline is valid? [True, True] Translation: X:207.37, Y:-161.44, Z:-10.47 [[ 8.75512179e-01 4.83108825e-01 -9.18078389e-03 2.07373006e+02] [ 4.83080626e-01 -8.75560303e-01 -5.22150548e-03 -1.61438332e+02] [-1.05608853e-02 1.36432812e-04 -9.99944223e-01 -1.04729024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.490385723 meters 0.015781956899447478 Centerline is valid? [True, True] Translation: X:207.40, Y:-161.44, Z:-10.48 [[ 8.33259577e-01 5.52817830e-01 -8.42159899e-03 2.07404411e+02] [ 5.52788388e-01 -8.33302128e-01 -5.70624328e-03 -1.61439503e+02] [-1.01722494e-02 9.94197331e-05 -9.99948256e-01 -1.04750277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.550385723 meters 0.01550986814471867 Centerline is valid? [True, True] Translation: X:207.43, Y:-161.44, Z:-10.48 [[ 7.85399101e-01 6.18943036e-01 -7.60063964e-03 2.07434613e+02] [ 6.18913280e-01 -7.85435875e-01 -6.06939490e-03 -1.61435953e+02] [-9.72642476e-03 6.27604820e-05 -9.99952695e-01 -1.04759909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.610385723 meters 0.015298172775456165 Centerline is valid? [True, True] Translation: X:207.46, Y:-161.43, Z:-10.48 [[ 7.33318810e-01 6.79840570e-01 -7.76668900e-03 2.07460926e+02] [ 6.79801729e-01 -7.33359937e-01 -7.26722400e-03 -1.61427923e+02] [-1.06363323e-02 4.93834472e-05 -9.99943431e-01 -1.04756039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.670385723 meters 0.015418060502467345 Centerline is valid? [True, True] Translation: X:207.48, Y:-161.41, Z:-10.48 [[ 6.77975805e-01 7.35044530e-01 -7.63852544e-03 2.07483962e+02] [ 7.34996975e-01 -6.78018832e-01 -8.36120016e-03 -1.61414497e+02] [-1.13249185e-02 5.43983184e-05 -9.99935870e-01 -1.04751468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.730385723 meters 0.01553175734452857 Centerline is valid? [True, True] Translation: X:207.50, Y:-161.40, Z:-10.47 [[ 6.19202624e-01 7.85197370e-01 -7.29383292e-03 2.07503247e+02] [ 7.85141556e-01 -6.19245577e-01 -9.36227062e-03 -1.61396800e+02] [-1.18679040e-02 7.04511985e-05 -9.99929571e-01 -1.04748924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.790385723 meters 0.015366262787250952 Centerline is valid? [True, True] Translation: X:207.52, Y:-161.38, Z:-10.48 [[ 5.57348597e-01 8.30251762e-01 -6.67481585e-03 2.07524828e+02] [ 8.30190190e-01 -5.57388556e-01 -1.01116801e-02 -1.61380650e+02] [-1.21157062e-02 9.43640870e-05 -9.99926598e-01 -1.04769641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8503857229999 meters 0.01536679586976163 Centerline is valid? [True, True] Translation: X:207.55, Y:-161.36, Z:-10.48 [[ 4.91301657e-01 8.70971775e-01 -5.55415086e-03 2.07547373e+02] [ 8.70913851e-01 -4.91333041e-01 -1.00452995e-02 -1.61364112e+02] [-1.14781102e-02 9.80853948e-05 -9.99934120e-01 -1.04770838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.910385723 meters 0.015235114137935006 Centerline is valid? [True, True] Translation: X:207.57, Y:-161.35, Z:-10.48 [[ 4.20770573e-01 9.07155006e-01 -4.68190227e-03 2.07569020e+02] [ 9.07096543e-01 -4.20796611e-01 -1.02991945e-02 -1.61346257e+02] [-1.13130945e-02 8.66606167e-05 -9.99936001e-01 -1.04780521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9703857229999 meters 0.015134270591975918 Centerline is valid? [True, True] Translation: X:207.59, Y:-161.33, Z:-10.48 [[ 3.48461237e-01 9.37315102e-01 -3.89440912e-03 2.07589086e+02] [ 9.37253721e-01 -3.48482987e-01 -1.07270737e-02 -1.61325908e+02] [-1.14117835e-02 8.79199154e-05 -9.99934880e-01 -1.04787343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.030385723 meters 0.015040995196850744 Centerline is valid? [True, True] Translation: X:207.61, Y:-161.31, Z:-10.48 [[ 2.73553983e-01 9.61851643e-01 -3.10407926e-03 2.07610428e+02] [ 9.61786187e-01 -2.73571581e-01 -1.12214673e-02 -1.61305700e+02] [-1.16425746e-02 8.42165133e-05 -9.99932219e-01 -1.04792543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0903857229999 meters 0.015051043665067626 Centerline is valid? [True, True] Translation: X:207.63, Y:-161.28, Z:-10.48 [[ 1.97059580e-01 9.80388772e-01 -2.31920803e-03 2.07630820e+02] [ 9.80315774e-01 -1.97073209e-01 -1.19638190e-02 -1.61283869e+02] [-1.21862476e-02 8.40289299e-05 -9.99925741e-01 -1.04784806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.150385723 meters 0.01592295102438716 Centerline is valid? [True, True] Translation: X:207.65, Y:-161.26, Z:-10.48 [[ 1.20018581e-01 9.92770575e-01 -1.45766476e-03 2.07645791e+02] [ 9.92687583e-01 -1.20027396e-01 -1.28369163e-02 -1.61259900e+02] [-1.29190725e-02 9.36627643e-05 -9.99916541e-01 -1.04771273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.210385723 meters 0.0164457545860835 Centerline is valid? [True, True] Translation: X:207.66, Y:-161.23, Z:-10.48 [[ 4.29435101e-02 9.99077408e-01 -4.32363880e-04 2.07658269e+02] [ 9.98999765e-01 -4.29455631e-02 -1.24558433e-02 -1.61234356e+02] [-1.24629198e-02 1.02966218e-04 -9.99922330e-01 -1.04782917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.270385723 meters 0.015123338988986377 Centerline is valid? [True, True] Translation: X:207.67, Y:-161.21, Z:-10.48 [[-3.68145332e-02 9.99321958e-01 5.60370567e-04 2.07673154e+02] [ 9.99239661e-01 3.68186931e-02 -1.28251465e-02 -1.61207890e+02] [-1.28370826e-02 8.77927130e-05 -9.99917597e-01 -1.04782922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.330385723 meters 0.015211843409922841 Centerline is valid? [True, True] Translation: X:207.68, Y:-161.18, Z:-10.48 [[-1.15012308e-01 9.93362990e-01 1.46253940e-03 2.07681036e+02] [ 9.93291471e-01 1.15021578e-01 -1.19201924e-02 -1.61181546e+02] [-1.20093016e-02 8.17590647e-05 -9.99927882e-01 -1.04789895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.390385723 meters 0.015580862366575753 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.15, Z:-10.48 [[-1.88161673e-01 9.82135873e-01 2.07646557e-03 2.07686562e+02] [ 9.82082736e-01 1.88173093e-01 -1.02169845e-02 -1.61154224e+02] [-1.04252020e-02 1.16816086e-04 -9.99945649e-01 -1.04802045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.450385723 meters 0.016034797736552843 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.13, Z:-10.48 [[-2.61474917e-01 9.65206563e-01 2.67557906e-03 2.07689206e+02] [ 9.65161358e-01 2.61488569e-01 -9.34240169e-03 -1.61126891e+02] [-9.71698077e-03 1.39561805e-04 -9.99952779e-01 -1.04813012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.510385723 meters 0.01651515217910322 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.10, Z:-10.48 [[-3.33463754e-01 9.42758698e-01 2.82162165e-03 2.07690904e+02] [ 9.42728424e-01 3.33475662e-01 -7.55651194e-03 -1.61098764e+02] [-8.06490951e-03 1.40200090e-04 -9.99967468e-01 -1.04822740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.570385723 meters 0.0166129064187243 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.07, Z:-10.48 [[-4.06313423e-01 9.13728171e-01 3.19881655e-03 2.07690897e+02] [ 9.13702356e-01 4.06325993e-01 -6.86963785e-03 -1.61071195e+02] [-7.57674394e-03 1.31540153e-04 -9.99971287e-01 -1.04822095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.630385723 meters 0.01627752141310937 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.04, Z:-10.48 [[-4.78388050e-01 8.78140976e-01 3.64683116e-03 2.07691304e+02] [ 8.78117254e-01 4.78401937e-01 -6.45566044e-03 -1.61041927e+02] [-7.41363106e-03 1.14034553e-04 -9.99972512e-01 -1.04812846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.690385723 meters 0.015769992632704597 Centerline is valid? [True, True] Translation: X:207.69, Y:-161.01, Z:-10.48 [[-5.47997117e-01 8.36468990e-01 4.33463314e-03 2.07689382e+02] [ 8.36444226e-01 5.48014251e-01 -6.43723654e-03 -1.61012342e+02] [-7.75998948e-03 9.80918007e-05 -9.99969886e-01 -1.04805271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.750385723 meters 0.015518437239066712 Centerline is valid? [True, True] Translation: X:207.68, Y:-160.98, Z:-10.48 [[-6.13250797e-01 7.89872798e-01 4.94189808e-03 2.07681649e+02] [ 7.89848277e-01 6.13270703e-01 -6.22445827e-03 -1.60984686e+02] [-7.94725158e-03 8.61956854e-05 -9.99968416e-01 -1.04799210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.810385723 meters 0.015342816246864933 Centerline is valid? [True, True] Translation: X:207.67, Y:-160.96, Z:-10.48 [[-6.72975553e-01 7.39650785e-01 4.54119331e-03 2.07673505e+02] [ 7.39634693e-01 6.72990870e-01 -4.87951710e-03 -1.60956166e+02] [-6.66532029e-03 7.50284042e-05 -9.99977784e-01 -1.04803780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.870385723 meters 0.015340649442308008 Centerline is valid? [True, True] Translation: X:207.66, Y:-160.93, Z:-10.48 [[-7.27931554e-01 6.85636873e-01 4.21076922e-03 2.07661790e+02] [ 6.85625973e-01 7.27943729e-01 -3.86692955e-03 -1.60930422e+02] [-5.71651253e-03 7.21527113e-05 -9.99983658e-01 -1.04803107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.930385723 meters 0.015299102348687591 Centerline is valid? [True, True] Translation: X:208.16, Y:-160.40, Z:-11.44 [[-6.97858557e-01 -7.16227143e-01 3.48067333e-03 2.08157818e+02] [ 7.16217503e-01 -6.97867229e-01 -3.71725953e-03 -1.60395010e+02] [ 5.09145002e-03 -1.01202209e-04 9.99987033e-01 -1.14362007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.990385723 meters 0.015490666646876991 Centerline is valid? [True, True] Translation: X:208.12, Y:-160.35, Z:-11.44 [[-6.98792657e-01 -7.15320497e-01 2.32580971e-03 2.08117773e+02] [ 7.15316325e-01 -6.98796526e-01 -2.44348268e-03 -1.60353631e+02] [ 3.37314099e-03 -4.37980963e-05 9.99994310e-01 -1.14350009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.050385723 meters 0.01554251263626166 Centerline is valid? [True, True] Translation: X:208.08, Y:-160.31, Z:-11.43 [[-7.01329734e-01 -7.12831119e-01 2.89825865e-03 2.08078104e+02] [ 7.12824627e-01 -7.01335719e-01 -3.04319081e-03 -1.60310919e+02] [ 4.20193343e-03 -6.83300561e-05 9.99991170e-01 -1.14349072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.110385723 meters 0.015958962692056874 Centerline is valid? [True, True] Translation: X:208.04, Y:-160.27, Z:-11.43 [[-7.02626756e-01 -7.11554494e-01 2.41751397e-03 2.08039007e+02] [ 7.11549974e-01 -7.02630912e-01 -2.53701148e-03 -1.60268211e+02] [ 3.50384197e-03 -6.23901478e-05 9.99993860e-01 -1.14347260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.170385723 meters 0.015949270879506375 Centerline is valid? [True, True] Translation: X:208.00, Y:-160.23, Z:-11.43 [[-7.03277950e-01 -7.10911356e-01 2.27338982e-03 2.07997811e+02] [ 7.10907360e-01 -7.03281622e-01 -2.38444483e-03 -1.60227476e+02] [ 3.29396219e-03 -6.07579159e-05 9.99994573e-01 -1.14348371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.230385723 meters 0.015956537709123645 Centerline is valid? [True, True] Translation: X:207.96, Y:-160.19, Z:-11.44 [[-7.03369954e-01 -7.10820887e-01 2.09176586e-03 2.07957810e+02] [ 7.10817507e-01 -7.03373062e-01 -2.19260077e-03 -1.60186056e+02] [ 3.02983818e-03 -5.53457099e-05 9.99995409e-01 -1.14350928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.290385723 meters 0.016071262786927616 Centerline is valid? [True, True] Translation: X:207.92, Y:-160.15, Z:-11.43 [[-7.02693988e-01 -7.11490066e-01 1.74501259e-03 2.07919000e+02] [ 7.11487719e-01 -7.02696154e-01 -1.82796410e-03 -1.60145119e+02] [ 2.52679193e-03 -4.29443585e-05 9.99996807e-01 -1.14343830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3503857229999 meters 0.015308965220681035 Centerline is valid? [True, True] Translation: X:207.88, Y:-160.11, Z:-11.44 [[-7.02252247e-01 -7.11924137e-01 2.40930051e-03 2.07876469e+02] [ 7.11919671e-01 -7.02256377e-01 -2.52241074e-03 -1.60105887e+02] [ 3.48771174e-03 -5.61401802e-05 9.99993916e-01 -1.14354231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.410385723 meters 0.01499441715141013 Centerline is valid? [True, True] Translation: X:207.83, Y:-160.06, Z:-11.44 [[-7.00669377e-01 -7.13479674e-01 3.02973804e-03 2.07834836e+02] [ 7.13472634e-01 -7.00675924e-01 -3.17019936e-03 -1.60064860e+02] [ 4.38473731e-03 -5.96264285e-05 9.99990385e-01 -1.14365508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4703857229999 meters 0.014802670013021161 Centerline is valid? [True, True] Translation: X:207.79, Y:-160.02, Z:-11.44 [[-6.99340497e-01 -7.14786034e-01 1.94826300e-03 2.07794072e+02] [ 7.14783131e-01 -6.99343210e-01 -2.03745814e-03 -1.60023885e+02] [ 2.81885112e-03 -3.22914594e-05 9.99996027e-01 -1.14351366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.530385723 meters 0.014480653859277964 Centerline is valid? [True, True] Translation: X:207.75, Y:-159.98, Z:-11.43 [[-6.97966060e-01 -7.16128714e-01 1.74445868e-03 2.07752184e+02] [ 7.16126394e-01 -6.97968240e-01 -1.82329793e-03 -1.59983649e+02] [ 2.52329276e-03 -2.33471747e-05 9.99996816e-01 -1.14344234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5903857229999 meters 0.014469262392294426 Centerline is valid? [True, True] Translation: X:207.71, Y:-159.94, Z:-11.43 [[-6.96298963e-01 -7.17750347e-01 1.48095003e-03 2.07711388e+02] [ 7.17748680e-01 -6.96300538e-01 -1.54699658e-03 -1.59943229e+02] [ 2.14154363e-03 -1.42221813e-05 9.99997707e-01 -1.14340870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.650385723 meters 0.014239158394999125 Centerline is valid? [True, True] Translation: X:207.67, Y:-159.90, Z:-11.43 [[-6.94385062e-01 -7.19601967e-01 1.54770793e-03 2.07670732e+02] [ 7.19600153e-01 -6.94386787e-01 -1.61573169e-03 -1.59903497e+02] [ 2.23739164e-03 -8.20908165e-06 9.99997497e-01 -1.14341630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.710385723 meters 0.014109967676161198 Centerline is valid? [True, True] Translation: X:207.63, Y:-159.86, Z:-11.44 [[-6.92864468e-01 -7.21064343e-01 2.24550864e-03 2.07630047e+02] [ 7.21060537e-01 -6.92868107e-01 -2.34275585e-03 -1.59863411e+02] [ 3.24511903e-03 -4.06461965e-06 9.99994735e-01 -1.14355438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.770385723 meters 0.014019651756593924 Centerline is valid? [True, True] Translation: X:207.59, Y:-159.82, Z:-11.44 [[-6.92661583e-01 -7.21258698e-01 2.41310430e-03 2.07591109e+02] [ 7.21254308e-01 -6.92665786e-01 -2.51620975e-03 -1.59820098e+02] [ 3.48631295e-03 -2.41994779e-06 9.99993923e-01 -1.14356253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.830385723 meters 0.014054846705564136 Centerline is valid? [True, True] Translation: X:207.55, Y:-159.78, Z:-11.44 [[-6.93178779e-01 -7.20760891e-01 2.63030039e-03 2.07553177e+02] [ 7.20755679e-01 -6.93183769e-01 -2.74090395e-03 -1.59778271e+02] [ 3.79881791e-03 -4.13250710e-06 9.99992784e-01 -1.14363096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.890385723 meters 0.014096973268979797 Centerline is valid? [True, True] Translation: X:207.52, Y:-159.73, Z:-11.44 [[-6.93914279e-01 -7.20048881e-01 3.54705986e-03 2.07516724e+02] [ 7.20039406e-01 -6.93923345e-01 -3.69400802e-03 -1.59734144e+02] [ 5.12125399e-03 -9.30203654e-06 9.99986886e-01 -1.14375682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.950385723 meters 0.014086644440425983 Centerline is valid? [True, True] Translation: X:207.48, Y:-159.69, Z:-11.44 [[-6.94124482e-01 -7.19843749e-01 4.02252313e-03 2.07480610e+02] [ 7.19831575e-01 -6.94136137e-01 -4.18657153e-03 -1.59691002e+02] [ 5.80585601e-03 -1.04626303e-05 9.99983146e-01 -1.14381948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.010385723 meters 0.014023875133874422 Centerline is valid? [True, True] Translation: X:207.44, Y:-159.65, Z:-11.44 [[-6.94423536e-01 -7.19554194e-01 4.20893387e-03 2.07443395e+02] [ 7.19540874e-01 -6.94436291e-01 -4.37813135e-03 -1.59646070e+02] [ 6.07313920e-03 -1.17774972e-05 9.99981558e-01 -1.14377241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.070385723 meters 0.014228922844565636 Centerline is valid? [True, True] Translation: X:207.41, Y:-159.60, Z:-11.44 [[-6.94848726e-01 -7.19141800e-01 4.50767407e-03 2.07408314e+02] [ 7.19126534e-01 -6.94863347e-01 -4.68581495e-03 -1.59602243e+02] [ 6.50198289e-03 -1.43445170e-05 9.99978862e-01 -1.14390577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.130385723 meters 0.014261104774325538 Centerline is valid? [True, True] Translation: X:207.37, Y:-159.56, Z:-11.44 [[-6.95858108e-01 -7.18168913e-01 3.86094738e-03 2.07372038e+02] [ 7.18157712e-01 -6.95868818e-01 -4.01104018e-03 -1.59557631e+02] [ 5.56731726e-03 -1.83456951e-05 9.99984502e-01 -1.14379086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.190385723 meters 0.014335337126776246 Centerline is valid? [True, True] Translation: X:207.33, Y:-159.51, Z:-11.44 [[-6.96799062e-01 -7.17251512e-01 4.61899807e-03 2.07334752e+02] [ 7.17235479e-01 -6.96814371e-01 -4.79587936e-03 -1.59512604e+02] [ 6.65843596e-03 -2.88549506e-05 9.99977832e-01 -1.14381156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.250385723 meters 0.014677617902573492 Centerline is valid? [True, True] Translation: X:207.30, Y:-159.47, Z:-11.44 [[-6.97563436e-01 -7.16495058e-01 6.33122375e-03 2.07301192e+02] [ 7.16464938e-01 -6.97592165e-01 -6.56982679e-03 -1.59466125e+02] [ 9.12386052e-03 -4.67711112e-05 9.99958376e-01 -1.14399195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.310385723 meters 0.014814592185326506 Centerline is valid? [True, True] Translation: X:207.26, Y:-159.42, Z:-11.44 [[-6.97861701e-01 -7.16203564e-01 6.44210857e-03 2.07263281e+02] [ 7.16172406e-01 -6.97891433e-01 -6.68078271e-03 -1.59423256e+02] [ 9.28069277e-03 -4.86019947e-05 9.99956932e-01 -1.14403754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.370385723 meters 0.015057936234798008 Centerline is valid? [True, True] Translation: X:207.23, Y:-159.38, Z:-11.44 [[-6.98855119e-01 -7.15231259e-01 6.76526433e-03 2.07228266e+02] [ 7.15196894e-01 -6.98887861e-01 -7.01143934e-03 -1.59378259e+02] [ 9.74296170e-03 -6.14842450e-05 9.99952534e-01 -1.14414734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.430385723 meters 0.015340853699176284 Centerline is valid? [True, True] Translation: X:207.19, Y:-159.33, Z:-11.44 [[-7.00125545e-01 -7.13990503e-01 6.46398669e-03 2.07194111e+02] [ 7.13959117e-01 -7.00155380e-01 -6.69501611e-03 -1.59333124e+02] [ 9.30597298e-03 -7.23295708e-05 9.99956696e-01 -1.14402579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.490385723 meters 0.01521769777662506 Centerline is valid? [True, True] Translation: X:207.16, Y:-159.29, Z:-11.44 [[-7.00305699e-01 -7.13820423e-01 5.68612875e-03 2.07155226e+02] [ 7.13796160e-01 -7.00328780e-01 -5.88581243e-03 -1.59291629e+02] [ 8.18357273e-03 -6.31311260e-05 9.99966512e-01 -1.14384623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.550385723 meters 0.015117365088364138 Centerline is valid? [True, True] Translation: X:207.12, Y:-159.25, Z:-11.44 [[-6.98697712e-01 -7.15398169e-01 5.19296891e-03 2.07115205e+02] [ 7.15378000e-01 -6.98717009e-01 -5.37197375e-03 -1.59252044e+02] [ 7.47151588e-03 -3.84500549e-05 9.99972087e-01 -1.14385741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.610385723 meters 0.014818217673543169 Centerline is valid? [True, True] Translation: X:207.07, Y:-159.21, Z:-11.44 [[-6.97632103e-01 -7.16432481e-01 5.82652167e-03 2.07073659e+02] [ 7.16407159e-01 -6.97656434e-01 -6.02361097e-03 -1.59212128e+02] [ 8.38042088e-03 -2.81025573e-05 9.99964883e-01 -1.14380336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.670385723 meters 0.01488234989337789 Centerline is valid? [True, True] Translation: X:207.03, Y:-159.17, Z:-11.44 [[-6.98087416e-01 -7.15966858e-01 8.08812896e-03 2.07032465e+02] [ 7.15918083e-01 -6.98134268e-01 -8.35715918e-03 -1.59171100e+02] [ 1.16300490e-02 -4.35898773e-05 9.99932368e-01 -1.14423242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.730385723 meters 0.01530744523543647 Centerline is valid? [True, True] Translation: X:206.99, Y:-159.13, Z:-11.44 [[-7.00044671e-01 -7.14046503e-01 8.66320694e-03 2.06993299e+02] [ 7.13990461e-01 -7.00098269e-01 -8.94625358e-03 -1.59129414e+02] [ 1.24531373e-02 -7.73300274e-05 9.99922454e-01 -1.14436140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.790385723 meters 0.01531375737880323 Centerline is valid? [True, True] Translation: X:206.95, Y:-159.09, Z:-11.44 [[-7.02304031e-01 -7.11839345e-01 7.33444480e-03 2.06953393e+02] [ 7.11799106e-01 -7.02342322e-01 -7.56935956e-03 -1.59088368e+02] [ 1.05394589e-02 -9.53404774e-05 9.99944454e-01 -1.14417234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8503857229999 meters 0.01646838182719904 Centerline is valid? [True, True] Translation: X:206.91, Y:-159.05, Z:-11.44 [[-7.04518936e-01 -7.09652739e-01 6.78668756e-03 2.06912341e+02] [ 7.09618222e-01 -7.04551614e-01 -7.00020448e-03 -1.59047190e+02] [ 9.74928596e-03 -1.15819450e-04 9.99952468e-01 -1.14426238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.910385723 meters 0.015773769150420124 Centerline is valid? [True, True] Translation: X:206.87, Y:-159.01, Z:-11.44 [[-7.05234824e-01 -7.08943850e-01 6.51614334e-03 2.06871069e+02] [ 7.08912038e-01 -7.05264917e-01 -6.71702564e-03 -1.59006868e+02] [ 9.35760131e-03 -1.17707943e-04 9.99956210e-01 -1.14421996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9703857229999 meters 0.016065018894479328 Centerline is valid? [True, True] Translation: X:206.83, Y:-158.97, Z:-11.44 [[-7.05922519e-01 -7.08263766e-01 5.98618884e-03 2.06831594e+02] [ 7.08236924e-01 -7.05947891e-01 -6.16732581e-03 -1.58967467e+02] [ 8.59403079e-03 -1.14014206e-04 9.99963064e-01 -1.14426695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.030385723 meters 0.015414440189522559 Centerline is valid? [True, True] Translation: X:206.79, Y:-158.93, Z:-11.44 [[-7.05695527e-01 -7.08494346e-01 5.43923586e-03 2.06789275e+02] [ 7.08472218e-01 -7.05716481e-01 -5.60037036e-03 -1.58929296e+02] [ 7.80638913e-03 -9.86088202e-05 9.99969525e-01 -1.14415970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0903857229999 meters 0.015312616326834616 Centerline is valid? [True, True] Translation: X:206.75, Y:-158.89, Z:-11.44 [[-7.05136677e-01 -7.09056316e-01 4.62686678e-03 2.06748514e+02] [ 7.09040337e-01 -7.05151852e-01 -4.76088244e-03 -1.58890304e+02] [ 6.63837745e-03 -7.64376442e-05 9.99977963e-01 -1.14419416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.150385723 meters 0.01540531596559745 Centerline is valid? [True, True] Translation: X:206.71, Y:-158.85, Z:-11.44 [[-7.05785065e-01 -7.08411988e-01 4.46062731e-03 2.06708574e+02] [ 7.08397141e-01 -7.05799157e-01 -4.58708642e-03 -1.58848960e+02] [ 6.39785400e-03 -7.76014582e-05 9.99979531e-01 -1.14421914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.210385723 meters 0.015906671064223235 Centerline is valid? [True, True] Translation: X:206.67, Y:-158.81, Z:-11.44 [[-7.06988758e-01 -7.07211327e-01 4.36282233e-03 2.06669080e+02] [ 7.07197117e-01 -7.07002214e-01 -4.48401566e-03 -1.58807975e+02] [ 6.25567172e-03 -8.47732880e-05 9.99980430e-01 -1.14429626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.270385723 meters 0.015557334368732878 Centerline is valid? [True, True] Translation: X:206.63, Y:-158.77, Z:-11.44 [[-7.08052043e-01 -7.06145726e-01 4.52980517e-03 2.06627120e+02] [ 7.06130402e-01 -7.08066526e-01 -4.65303759e-03 -1.58767631e+02] [ 6.49312601e-03 -9.59596281e-05 9.99978915e-01 -1.14429406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.330385723 meters 0.015494866886949376 Centerline is valid? [True, True] Translation: X:206.59, Y:-158.73, Z:-11.44 [[-7.09314517e-01 -7.04878678e-01 4.35494354e-03 2.06587445e+02] [ 7.04864506e-01 -7.09327879e-01 -4.47091568e-03 -1.58725268e+02] [ 6.24053599e-03 -1.01640274e-04 9.99980523e-01 -1.14428697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.390385723 meters 0.015556500488328514 Centerline is valid? [True, True] Translation: X:206.55, Y:-158.68, Z:-11.44 [[-7.09480223e-01 -7.04710939e-01 4.50608157e-03 2.06547709e+02] [ 7.04695780e-01 -7.09494525e-01 -4.62349749e-03 -1.58683197e+02] [ 6.45526946e-03 -1.04863366e-04 9.99979159e-01 -1.14426075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.450385723 meters 0.015591150659927276 Centerline is valid? [True, True] Translation: X:206.51, Y:-158.64, Z:-11.44 [[-7.09005998e-01 -7.05190946e-01 4.02806012e-03 2.06507644e+02] [ 7.05178855e-01 -7.09017434e-01 -4.13047276e-03 -1.58642608e+02] [ 5.76873684e-03 -8.80271401e-05 9.99983357e-01 -1.14431980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.510385723 meters 0.015193075539446045 Centerline is valid? [True, True] Translation: X:206.47, Y:-158.60, Z:-11.44 [[-7.06878193e-01 -7.07323803e-01 4.03200644e-03 2.06465497e+02] [ 7.07311736e-01 -7.06889689e-01 -4.13224023e-03 -1.58602858e+02] [ 5.77301565e-03 -6.91050368e-05 9.99983334e-01 -1.14433981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.570385723 meters 0.014825786207766221 Centerline is valid? [True, True] Translation: X:206.42, Y:-158.56, Z:-11.44 [[-7.05246993e-01 -7.08947877e-01 4.42553283e-03 2.06423044e+02] [ 7.08933388e-01 -7.05260876e-01 -4.53301907e-03 -1.58563339e+02] [ 6.33482941e-03 -5.94900885e-05 9.99979933e-01 -1.14445794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.630385723 meters 0.014618022353111536 Centerline is valid? [True, True] Translation: X:206.38, Y:-158.52, Z:-11.44 [[-7.03118238e-01 -7.11060767e-01 4.16270783e-03 2.06380314e+02] [ 7.11047999e-01 -7.03130560e-01 -4.26141639e-03 -1.58524041e+02] [ 5.95705309e-03 -3.63945117e-05 9.99982256e-01 -1.14444044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.690385723 meters 0.014569333090024705 Centerline is valid? [True, True] Translation: X:206.34, Y:-158.48, Z:-11.44 [[-7.02461832e-01 -7.11711186e-01 3.81600612e-03 2.06340107e+02] [ 7.11700479e-01 -7.02472196e-01 -3.90405971e-03 -1.58483450e+02] [ 5.45920117e-03 -2.65995524e-05 9.99985098e-01 -1.14439402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.750385723 meters 0.014568088779682988 Centerline is valid? [True, True] Translation: X:206.30, Y:-158.44, Z:-11.44 [[-7.01895674e-01 -7.12273213e-01 3.05503160e-03 2.06299990e+02] [ 7.12266364e-01 -7.01902323e-01 -3.12360599e-03 -1.58443037e+02] [ 4.36919465e-03 -1.64492804e-05 9.99990455e-01 -1.14432963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.810385723 meters 0.01442686994069176 Centerline is valid? [True, True] Translation: X:206.26, Y:-158.40, Z:-11.44 [[-6.99942259e-01 -7.14193316e-01 2.95678496e-03 2.06257828e+02] [ 7.14186925e-01 -6.99948504e-01 -3.02131263e-03 -1.58404735e+02] [ 4.22739849e-03 -3.04722866e-06 9.99991065e-01 -1.14438811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.870385723 meters 0.01710783228199253 Centerline is valid? [True, True] Translation: X:206.22, Y:-158.36, Z:-11.45 [[-6.99640926e-01 -7.14486110e-01 3.48899948e-03 2.06216820e+02] [ 7.14477226e-01 -6.99649625e-01 -3.56297158e-03 -1.58364738e+02] [ 4.98677088e-03 9.93627883e-09 9.99987566e-01 -1.14474095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.930385723 meters 0.01446252232490291 Centerline is valid? [True, True] Translation: X:206.18, Y:-158.32, Z:-11.44 [[-6.98548920e-01 -7.15552684e-01 3.70991854e-03 2.06176153e+02] [ 7.15542666e-01 -6.98558771e-01 -3.78643916e-03 -1.58323295e+02] [ 5.30099284e-03 9.59201763e-06 9.99985950e-01 -1.14438600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.990385723 meters 0.014462488797156555 Centerline is valid? [True, True] Translation: X:206.14, Y:-158.28, Z:-11.44 [[-6.99120379e-01 -7.14995206e-01 3.54280805e-03 2.06136526e+02] [ 7.14986075e-01 -6.99129355e-01 -3.61349803e-03 -1.58283138e+02] [ 5.06051487e-03 6.78830997e-06 9.99987196e-01 -1.14438219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.050385723 meters 0.014604321330242252 Centerline is valid? [True, True] Translation: X:206.10, Y:-158.24, Z:-11.44 [[-7.00579186e-01 -7.13566491e-01 3.41570168e-03 2.06096252e+02] [ 7.13557997e-01 -7.00587513e-01 -3.48166702e-03 -1.58242337e+02] [ 4.87739887e-03 -1.88219712e-06 9.99988105e-01 -1.14432537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.110385723 meters 0.01464942801818609 Centerline is valid? [True, True] Translation: X:206.06, Y:-158.20, Z:-11.44 [[-7.02318507e-01 -7.11855263e-01 3.28621319e-03 2.06056206e+02] [ 7.11847391e-01 -7.02326195e-01 -3.34774905e-03 -1.58200615e+02] [ 4.69110639e-03 -1.19038276e-05 9.99988997e-01 -1.14415415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.170385723 meters 0.014773963417414776 Centerline is valid? [True, True] Translation: X:206.02, Y:-158.16, Z:-11.44 [[-7.03450093e-01 -7.10734816e-01 3.74006104e-03 2.06015673e+02] [ 7.10724616e-01 -7.03460035e-01 -3.80781796e-03 -1.58159746e+02] [ 5.33733227e-03 -2.04564501e-05 9.99985756e-01 -1.14427122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.230385723 meters 0.015119041682189194 Centerline is valid? [True, True] Translation: X:205.98, Y:-158.12, Z:-11.44 [[-7.06000645e-01 -7.08198929e-01 4.16729550e-03 2.05975015e+02] [ 7.08186235e-01 -7.06012943e-01 -4.24043389e-03 -1.58118672e+02] [ 5.94523530e-03 -4.25277535e-05 9.99982326e-01 -1.14424570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.290385723 meters 0.01533095905701705 Centerline is valid? [True, True] Translation: X:205.93, Y:-158.08, Z:-11.44 [[-7.07267678e-01 -7.06934286e-01 4.04317614e-03 2.05934603e+02] [ 7.06922331e-01 -7.07279232e-01 -4.11159775e-03 -1.58078194e+02] [ 5.76628394e-03 -4.97886869e-05 9.99983374e-01 -1.14420262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3503857229999 meters 0.015469955734987504 Centerline is valid? [True, True] Translation: X:205.89, Y:-158.04, Z:-11.44 [[-7.08382761e-01 -7.05819368e-01 3.58938205e-03 2.05892727e+02] [ 7.05809943e-01 -7.08391853e-01 -3.64796639e-03 -1.58038599e+02] [ 5.11749433e-03 -5.07349575e-05 9.99986904e-01 -1.14413082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.410385723 meters 0.015556239700230425 Centerline is valid? [True, True] Translation: X:205.85, Y:-158.00, Z:-11.44 [[-7.08145426e-01 -7.06056497e-01 3.77877006e-03 2.05849901e+02] [ 7.06046067e-01 -7.08155506e-01 -3.83806937e-03 -1.58001034e+02] [ 5.38585064e-03 -4.99255305e-05 9.99985495e-01 -1.14419211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4703857229999 meters 0.015379635454238903 Centerline is valid? [True, True] Translation: X:205.81, Y:-157.96, Z:-11.44 [[-7.06811913e-01 -7.07393648e-01 3.33861046e-03 2.05805627e+02] [ 7.07385531e-01 -7.06819797e-01 -3.38891522e-03 -1.57964781e+02] [ 4.75709306e-03 -3.36409187e-05 9.99988684e-01 -1.14422111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.530385723 meters 0.015167717761175434 Centerline is valid? [True, True] Translation: X:205.76, Y:-157.93, Z:-11.44 [[-7.04618405e-01 -7.09580404e-01 2.92470380e-03 2.05760394e+02] [ 7.09574201e-01 -7.04624475e-01 -2.96692807e-03 -1.57929126e+02] [ 4.16609190e-03 -1.52577630e-05 9.99991322e-01 -1.14420411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5903857229999 meters 0.015317547406921954 Centerline is valid? [True, True] Translation: X:205.72, Y:-157.89, Z:-11.44 [[-7.03915451e-01 -7.10279655e-01 2.41880028e-03 2.05718358e+02] [ 7.10275422e-01 -7.03919606e-01 -2.45213672e-03 -1.57891515e+02] [ 3.44434376e-03 -8.08253749e-06 9.99994068e-01 -1.14413196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.650385723 meters 0.015536053516264641 Centerline is valid? [True, True] Translation: X:205.67, Y:-157.86, Z:-11.44 [[-7.03001200e-01 -7.11184431e-01 2.45296078e-03 2.05672539e+02] [ 7.11180089e-01 -7.03005480e-01 -2.48526551e-03 -1.57855923e+02] [ 3.49192701e-03 -2.64777082e-06 9.99993903e-01 -1.14417340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.710385723 meters 0.015608804866082297 Centerline is valid? [True, True] Translation: X:205.63, Y:-157.82, Z:-11.44 [[-7.02789384e-01 -7.11393911e-01 2.40526823e-03 2.05629917e+02] [ 7.11389742e-01 -7.02793500e-01 -2.43544262e-03 -1.57817631e+02] [ 3.42296593e-03 -5.20077018e-07 9.99994142e-01 -1.14410688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.770385723 meters 0.01568704076296393 Centerline is valid? [True, True] Translation: X:205.58, Y:-157.78, Z:-11.44 [[-7.03280121e-01 -7.10908254e-01 2.55467147e-03 2.05584988e+02] [ 7.10903553e-01 -7.03284761e-01 -2.58528087e-03 -1.57779870e+02] [ 3.63455902e-03 -2.05161872e-06 9.99993395e-01 -1.14410643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.830385723 meters 0.01573056217107909 Centerline is valid? [True, True] Translation: X:205.54, Y:-157.74, Z:-11.44 [[-7.04643449e-01 -7.09556186e-01 2.76201147e-03 2.05541829e+02] [ 7.09550687e-01 -7.04648862e-01 -2.79336799e-03 -1.57741922e+02] [ 3.92829978e-03 -8.54131580e-06 9.99992284e-01 -1.14414715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.890385723 meters 0.015933545661010916 Centerline is valid? [True, True] Translation: X:205.50, Y:-157.70, Z:-11.44 [[-7.06163489e-01 -7.08036787e-01 4.12736043e-03 2.05498402e+02] [ 7.08024498e-01 -7.06175551e-01 -4.17162621e-03 -1.57704763e+02] [ 5.86830584e-03 -2.35778254e-05 9.99982781e-01 -1.14432868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.950385723 meters 0.016035785544272582 Centerline is valid? [True, True] Translation: X:205.46, Y:-157.67, Z:-11.44 [[-7.07060562e-01 -7.07142958e-01 3.76810121e-03 2.05455534e+02] [ 7.07132715e-01 -7.07070602e-01 -3.80615849e-03 -1.57666834e+02] [ 5.35581176e-03 -2.66369228e-05 9.99985657e-01 -1.14429717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.010385723 meters 0.016103589451373912 Centerline is valid? [True, True] Translation: X:205.41, Y:-157.63, Z:-11.44 [[-7.06109894e-01 -7.08092211e-01 3.77334583e-03 2.05411684e+02] [ 7.08081966e-01 -7.06119976e-01 -3.80909811e-03 -1.57629640e+02] [ 5.36162757e-03 -1.78037333e-05 9.99985626e-01 -1.14427519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.070385723 meters 0.016132484434924203 Centerline is valid? [True, True] Translation: X:205.37, Y:-157.59, Z:-11.44 [[-7.04759583e-01 -7.09429446e-01 4.87762616e-03 2.05366706e+02] [ 7.09412378e-01 -7.04776462e-01 -4.92109520e-03 -1.57592373e+02] [ 6.92880595e-03 -7.94063450e-06 9.99975996e-01 -1.14447856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.130385723 meters 0.016226461952122472 Centerline is valid? [True, True] Translation: X:205.32, Y:-157.55, Z:-11.44 [[-7.03912152e-01 -7.10270614e-01 4.83086489e-03 2.05323224e+02] [ 7.10253910e-01 -7.03928728e-01 -4.87116990e-03 -1.57553333e+02] [ 6.86043342e-03 2.26499215e-06 9.99976467e-01 -1.14446750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.190385723 meters 0.01620199730320885 Centerline is valid? [True, True] Translation: X:205.28, Y:-157.52, Z:-11.44 [[-7.03433945e-01 -7.10747650e-01 4.29685244e-03 2.05280436e+02] [ 7.10734460e-01 -7.03447068e-01 -4.33015033e-03 -1.57515259e+02] [ 6.10025242e-03 7.94636667e-06 9.99981393e-01 -1.14435163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.250385723 meters 0.01638506680096258 Centerline is valid? [True, True] Translation: X:205.24, Y:-157.47, Z:-11.44 [[-7.02560723e-01 -7.11613286e-01 3.86801954e-03 2.05239264e+02] [ 7.11602622e-01 -7.02571371e-01 -3.89580565e-03 -1.57474961e+02] [ 5.48986685e-03 1.54528121e-05 9.99984930e-01 -1.14416171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.310385723 meters 0.016512625165609116 Centerline is valid? [True, True] Translation: X:205.20, Y:-157.44, Z:-11.44 [[-7.00418262e-01 -7.13722831e-01 3.73878307e-03 2.05196409e+02] [ 7.13712909e-01 -7.00428240e-01 -3.76353047e-03 -1.57436046e+02] [ 5.30486687e-03 3.23722724e-05 9.99985929e-01 -1.14416398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.370385723 meters 0.016595936970953667 Centerline is valid? [True, True] Translation: X:205.16, Y:-157.40, Z:-11.44 [[-7.00562568e-01 -7.13581061e-01 3.76252054e-03 2.05157106e+02] [ 7.13571024e-01 -7.00572671e-01 -3.78494390e-03 -1.57395330e+02] [ 5.33678335e-03 3.32356130e-05 9.99985759e-01 -1.14420448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.430385723 meters 0.01655210471564834 Centerline is valid? [True, True] Translation: X:205.12, Y:-157.35, Z:-11.44 [[-7.02001595e-01 -7.12163245e-01 4.15616180e-03 2.05118781e+02] [ 7.12150987e-01 -7.02013897e-01 -4.17858485e-03 -1.57351412e+02] [ 5.89351788e-03 2.64414980e-05 9.99982633e-01 -1.14416788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.490385723 meters 0.01645252394685637 Centerline is valid? [True, True] Translation: X:205.08, Y:-157.31, Z:-11.44 [[-7.03559817e-01 -7.10619486e-01 4.85089574e-03 2.05081024e+02] [ 7.10602772e-01 -7.03576539e-01 -4.87387133e-03 -1.57309087e+02] [ 6.87644437e-03 1.79999340e-05 9.99976357e-01 -1.14425067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.550385723 meters 0.016472305325772763 Centerline is valid? [True, True] Translation: X:205.04, Y:-157.26, Z:-11.44 [[-7.04566595e-01 -7.09625140e-01 4.25131719e-03 2.05044265e+02] [ 7.09612300e-01 -7.04579421e-01 -4.26886661e-03 -1.57264472e+02] [ 6.02468567e-03 9.08615521e-06 9.99981851e-01 -1.14413295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.610385723 meters 0.01650553097075806 Centerline is valid? [True, True] Translation: X:205.01, Y:-157.22, Z:-11.44 [[-7.05007431e-01 -7.09187926e-01 4.12400972e-03 2.05005604e+02] [ 7.09175851e-01 -7.05019493e-01 -4.13847629e-03 -1.57222479e+02] [ 5.84246466e-03 6.99156868e-06 9.99982933e-01 -1.14409986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.670385723 meters 0.016509361357799193 Centerline is valid? [True, True] Translation: X:204.97, Y:-157.18, Z:-11.44 [[-7.06326604e-01 -7.07874577e-01 4.03874651e-03 2.04969548e+02] [ 7.07862988e-01 -7.06338151e-01 -4.05043160e-03 -1.57177931e+02] [ 5.71991830e-03 -2.04841986e-06 9.99983641e-01 -1.14409776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.730385723 meters 0.016669310773200115 Centerline is valid? [True, True] Translation: X:204.93, Y:-157.13, Z:-11.44 [[-7.07486819e-01 -7.06718392e-01 3.39333013e-03 2.04932082e+02] [ 7.06710208e-01 -7.07494957e-01 -3.40109392e-03 -1.57134324e+02] [ 4.80437958e-03 -8.12807928e-06 9.99988459e-01 -1.14411400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.790385723 meters 0.016474476589426308 Centerline is valid? [True, True] Translation: X:204.90, Y:-157.09, Z:-11.44 [[-7.07841297e-01 -7.06363760e-01 3.30701834e-03 2.04895607e+02] [ 7.06355992e-01 -7.07849023e-01 -3.31274375e-03 -1.57088584e+02] [ 4.68087183e-03 -8.96461168e-06 9.99989045e-01 -1.14393535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8503857229999 meters 0.01656996500068968 Centerline is valid? [True, True] Translation: X:204.86, Y:-157.05, Z:-11.44 [[-7.08241838e-01 -7.05965253e-01 2.56154062e-03 2.04857737e+02] [ 7.05960595e-01 -7.08246470e-01 -2.56438547e-03 -1.57045066e+02] [ 3.62456914e-03 -7.85833634e-06 9.99993431e-01 -1.14389791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.910385723 meters 0.016512046812242363 Centerline is valid? [True, True] Translation: X:204.82, Y:-157.00, Z:-11.44 [[-7.09078543e-01 -7.05124900e-01 2.54846253e-03 2.04819694e+02] [ 7.05120290e-01 -7.09083123e-01 -2.54987862e-03 -1.57000281e+02] [ 3.60505468e-03 -1.10915854e-05 9.99993502e-01 -1.14389985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9703857229999 meters 0.016533770156580734 Centerline is valid? [True, True] Translation: X:204.78, Y:-156.96, Z:-11.44 [[-7.10468840e-01 -7.03718155e-01 3.84527872e-03 2.04782785e+02] [ 7.03707651e-01 -7.10479245e-01 -3.84504736e-03 -1.56956428e+02] [ 5.43782036e-03 -2.58342847e-05 9.99985215e-01 -1.14399657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.030385723 meters 0.016469362487184093 Centerline is valid? [True, True] Translation: X:204.27, Y:-157.47, Z:-10.48 [[-7.52122558e-01 6.59011119e-01 4.00034016e-03 2.04274819e+02] [ 6.59001993e-01 7.52133196e-01 -3.46820571e-03 -1.57466558e+02] [-5.29437475e-03 2.77163847e-05 -9.99985984e-01 -1.04781513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0903857229999 meters 0.016472078243359233 Centerline is valid? [True, True] Translation: X:204.29, Y:-157.45, Z:-10.48 [[-7.96656893e-01 6.04411352e-01 4.97122637e-03 2.04288609e+02] [ 6.04399851e-01 7.96672402e-01 -3.72879811e-03 -1.57447686e+02] [-6.21416676e-03 3.40357622e-05 -9.99980691e-01 -1.04779084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.150385723 meters 0.016394675552955963 Centerline is valid? [True, True] Translation: X:204.73, Y:-156.86, Z:-11.44 [[-7.61018057e-01 -6.48714428e-01 4.59425690e-03 2.04727146e+02] [ 6.48702276e-01 -7.61031924e-01 -3.97092626e-03 -1.56855602e+02] [ 6.07237333e-03 -4.16416777e-05 9.99981562e-01 -1.14403103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.210385723 meters 0.01641051037285542 Centerline is valid? [True, True] Translation: X:204.25, Y:-157.42, Z:-10.48 [[-7.99415387e-01 6.00760409e-01 4.68727475e-03 2.04245073e+02] [ 6.00750273e-01 7.99429128e-01 -3.48974637e-03 -1.57424630e+02] [-5.84364542e-03 2.61246392e-05 -9.99982925e-01 -1.04774758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.270385723 meters 0.016212643883687206 Centerline is valid? [True, True] Translation: X:204.25, Y:-157.40, Z:-10.48 [[-8.41099420e-01 5.40854291e-01 5.32926959e-03 2.04254211e+02] [ 5.40843542e-01 8.41116303e-01 -3.40998597e-03 -1.57400647e+02] [-6.32684108e-03 1.41638203e-05 -9.99979985e-01 -1.04769287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.330385723 meters 0.015991806934753477 Centerline is valid? [True, True] Translation: X:204.28, Y:-157.39, Z:-10.48 [[-8.77781958e-01 4.79025544e-01 5.77602072e-03 2.04280429e+02] [ 4.79015233e-01 8.77800961e-01 -3.14300954e-03 -1.57390221e+02] [-6.57577839e-03 7.92484320e-06 -9.99978379e-01 -1.04784708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.390385723 meters 0.01599832180145685 Centerline is valid? [True, True] Translation: X:204.28, Y:-157.36, Z:-10.48 [[-9.09167081e-01 4.16388158e-01 6.01009348e-03 2.04280548e+02] [ 4.16379154e-01 9.09186946e-01 -2.73828191e-03 -1.57363429e+02] [-6.60448669e-03 1.29218671e-05 -9.99978190e-01 -1.04773709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.450385723 meters 0.015912583451850666 Centerline is valid? [True, True] Translation: X:204.31, Y:-157.35, Z:-10.48 [[-9.36050882e-01 3.51770736e-01 8.12993361e-03 2.04305478e+02] [ 3.51757693e-01 9.36086187e-01 -3.02931006e-03 -1.57349319e+02] [-8.67594118e-03 2.41783382e-05 -9.99962363e-01 -1.04766237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.510385723 meters 0.015867959694945945 Centerline is valid? [True, True] Translation: X:204.30, Y:-157.32, Z:-10.48 [[-9.58535405e-01 2.84846113e-01 8.51873895e-03 2.04302613e+02] [ 2.84835115e-01 9.58573258e-01 -2.50326678e-03 -1.57321002e+02] [-8.87888116e-03 2.69661467e-05 -9.99960582e-01 -1.04770582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.570385723 meters 0.015779412118777637 Centerline is valid? [True, True] Translation: X:204.32, Y:-157.30, Z:-10.48 [[-9.76253696e-01 2.16436288e-01 9.16817873e-03 2.04324258e+02] [ 2.16427041e-01 9.76296744e-01 -2.00083083e-03 -1.57297570e+02] [-9.38391544e-03 3.09233043e-05 -9.99955970e-01 -1.04779153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.630385723 meters 0.015790772088457562 Centerline is valid? [True, True] Translation: X:204.33, Y:-157.27, Z:-10.48 [[-9.88942676e-01 1.47868067e-01 1.12879468e-02 2.04331404e+02] [ 1.47859029e-01 9.89007094e-01 -1.63562645e-03 -1.57268659e+02] [-1.14057164e-02 5.14840528e-05 -9.99934951e-01 -1.04765923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.690385723 meters 0.016088816797323713 Centerline is valid? [True, True] Translation: X:204.45, Y:-156.49, Z:-11.44 [[-9.79384873e-01 -2.01572952e-01 1.31763045e-02 2.04453160e+02] [ 2.01555549e-01 -9.79473502e-01 -2.64944438e-03 -1.56493177e+02] [ 1.34398974e-02 6.09315295e-05 9.99909679e-01 -1.14422663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.750385723 meters 0.017088082132597136 Centerline is valid? [True, True] Translation: X:204.28, Y:-157.26, Z:-10.48 [[-9.87869140e-01 1.54727087e-01 1.31943189e-02 2.04281510e+02] [ 1.54716062e-01 9.87957229e-01 -1.85843724e-03 -1.57264867e+02] [-1.33229733e-02 2.05480274e-04 -9.99911224e-01 -1.04750944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.810385723 meters 0.017938658893792717 Centerline is valid? [True, True] Translation: X:204.29, Y:-157.24, Z:-10.48 [[-9.96006219e-01 8.85367520e-02 1.15262751e-02 2.04286983e+02] [ 8.85334757e-02 9.96072885e-01 -7.95188471e-04 -1.57237355e+02] [-1.15514135e-02 2.28448532e-04 -9.99933254e-01 -1.04769521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.870385723 meters 0.017354318755422638 Centerline is valid? [True, True] Translation: X:204.35, Y:-156.45, Z:-11.44 [[-9.93487394e-01 -1.13528420e-01 9.70033303e-03 2.04346993e+02] [ 1.13520035e-01 -9.93534703e-01 -1.41241353e-03 -1.56452668e+02] [ 9.79796657e-03 -3.02032886e-04 9.99951953e-01 -1.14379398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.930385723 meters 0.018440877063136248 Centerline is valid? [True, True] Translation: X:204.23, Y:-157.23, Z:-10.48 [[-9.96097536e-01 8.78508060e-02 8.48140733e-03 2.04225090e+02] [ 8.78493409e-02 9.96133623e-01 -5.45853479e-04 -1.57228717e+02] [-8.49656868e-03 2.01362738e-04 -9.99963883e-01 -1.04784146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.990385723 meters 0.018923650713657966 Centerline is valid? [True, True] Translation: X:204.22, Y:-157.20, Z:-10.48 [[-9.99812426e-01 1.74249683e-02 8.45474564e-03 2.04220756e+02] [ 1.74260753e-02 9.99848153e-01 5.72745289e-05 -1.57199375e+02] [-8.45246380e-03 2.04596820e-04 -9.99964256e-01 -1.04780550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.050385723 meters 0.017838037571485527 Centerline is valid? [True, True] Translation: X:204.23, Y:-156.42, Z:-11.44 [[-9.99314529e-01 -3.59323799e-02 8.90706971e-03 2.04225270e+02] [ 3.59292972e-02 -9.99354206e-01 -5.05927698e-04 -1.56424396e+02] [ 8.91949677e-03 -1.85556145e-04 9.99960203e-01 -1.14381973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.110385723 meters 0.018234390393753457 Centerline is valid? [True, True] Translation: X:204.15, Y:-157.19, Z:-10.48 [[-9.99860869e-01 1.44107504e-02 8.40082474e-03 2.04148683e+02] [ 1.44120864e-02 9.99896136e-01 9.85113206e-05 -1.57194023e+02] [-8.39853257e-03 2.19571026e-04 -9.99964708e-01 -1.04792467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.170385723 meters 0.018548898803282546 Centerline is valid? [True, True] Translation: X:204.14, Y:-156.43, Z:-11.44 [[-9.99548827e-01 -2.87903152e-02 8.55925596e-03 2.04141539e+02] [ 2.87874343e-02 -9.99585450e-01 -4.59625324e-04 -1.56428840e+02] [ 8.56894048e-03 -2.13018935e-04 9.99963263e-01 -1.14391656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.230385723 meters 0.018978146705868847 Centerline is valid? [True, True] Translation: X:204.07, Y:-157.19, Z:-10.48 [[-9.99907195e-01 1.10838487e-02 7.92147497e-03 2.04069032e+02] [ 1.10852479e-02 9.99938548e-01 1.32746677e-04 -1.57192493e+02] [-7.91951684e-03 2.20545871e-04 -9.99968616e-01 -1.04788980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.290385723 meters 0.01781368424942473 Centerline is valid? [True, True] Translation: X:204.06, Y:-156.43, Z:-11.44 [[-9.99694868e-01 -2.37302634e-02 6.85894983e-03 2.04062461e+02] [ 2.37279122e-02 -9.99718364e-01 -4.23982834e-04 -1.56433938e+02] [ 6.86707932e-03 -2.61104904e-04 9.99976387e-01 -1.14373899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3503857229999 meters 0.01714336307953459 Centerline is valid? [True, True] Translation: X:204.00, Y:-157.19, Z:-10.48 [[-9.99982438e-01 2.75967401e-03 5.24473408e-03 2.03995764e+02] [ 2.76030790e-03 9.99996184e-01 1.13627239e-04 -1.57188305e+02] [-5.24440049e-03 1.28102324e-04 -9.99986240e-01 -1.04822167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.410385723 meters 0.01636002858375167 Centerline is valid? [True, True] Translation: X:203.97, Y:-156.44, Z:-11.44 [[-9.99647993e-01 -2.59203901e-02 5.65899373e-03 2.03972456e+02] [ 2.59193563e-02 -9.99664004e-01 -2.55967253e-04 -1.56442092e+02] [ 5.66372711e-03 -1.09199676e-04 9.99983955e-01 -1.14365939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4703857229999 meters 0.01607189112908145 Centerline is valid? [True, True] Translation: X:203.91, Y:-157.18, Z:-10.48 [[-9.99951313e-01 -7.87647484e-03 5.94422606e-03 2.03912833e+02] [-7.87566862e-03 9.99968974e-01 1.59026250e-04 -1.57183477e+02] [-5.94529420e-03 1.12203752e-04 -9.99982320e-01 -1.04794742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.530385723 meters 0.015647736694393656 Centerline is valid? [True, True] Translation: X:203.91, Y:-157.15, Z:-10.48 [[-9.96861124e-01 -7.89764831e-02 5.53297704e-03 2.03905331e+02] [-7.89746813e-02 9.96876474e-01 5.43713352e-04 -1.57154457e+02] [-5.55863521e-03 1.05041605e-04 -9.99984545e-01 -1.04795324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5903857229999 meters 0.016170897813609524 Centerline is valid? [True, True] Translation: X:203.88, Y:-157.13, Z:-10.48 [[-9.88808233e-01 -1.49127726e-01 4.38177334e-03 2.03879001e+02] [-1.49125872e-01 9.88817938e-01 7.48695112e-04 -1.57131051e+02] [-4.44442728e-03 8.68801211e-05 -9.99990120e-01 -1.04803395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.650385723 meters 0.016721656249046528 Centerline is valid? [True, True] Translation: X:203.87, Y:-157.11, Z:-10.48 [[-9.75957158e-01 -2.17932145e-01 3.63406219e-03 2.03869185e+02] [-2.17930331e-01 9.75963920e-01 8.92886405e-04 -1.57105278e+02] [-3.74130223e-03 7.94465025e-05 -9.99992998e-01 -1.04799344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.710385723 meters 0.016541123602078385 Centerline is valid? [True, True] Translation: X:203.84, Y:-157.08, Z:-10.48 [[-9.58047604e-01 -2.86578010e-01 4.22294241e-03 2.03844635e+02] [-2.86574764e-01 9.58056905e-01 1.36781785e-03 -1.57081540e+02] [-4.43780565e-03 1.00245888e-04 -9.99990148e-01 -1.04791820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.770385723 meters 0.017041673960760114 Centerline is valid? [True, True] Translation: X:203.79, Y:-157.07, Z:-10.48 [[-9.35153912e-01 -3.54199477e-01 5.46730450e-03 2.03792205e+02] [-3.54192532e-01 9.35169883e-01 2.22262287e-03 -1.57070986e+02] [-5.90011036e-03 1.42016048e-04 -9.99982584e-01 -1.04785374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.830385723 meters 0.01850121271803664 Centerline is valid? [True, True] Translation: X:203.73, Y:-157.07, Z:-10.48 [[-9.07630231e-01 -4.19746941e-01 4.45741817e-03 2.03726553e+02] [-4.19741159e-01 9.07641167e-01 2.20726510e-03 -1.57070601e+02] [-4.97222900e-03 1.32418670e-04 -9.99987630e-01 -1.04781251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.890385723 meters 0.017970495744068674 Centerline is valid? [True, True] Translation: X:203.65, Y:-157.08, Z:-10.48 [[-8.74550672e-01 -4.84918362e-01 3.91206139e-03 2.03649426e+02] [-4.84912864e-01 8.74559413e-01 2.31252249e-03 -1.57077042e+02] [-4.54271473e-03 1.25409209e-04 -9.99989674e-01 -1.04786460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.950385723 meters 0.018513081279496604 Centerline is valid? [True, True] Translation: X:203.57, Y:-157.09, Z:-10.48 [[-8.35800665e-01 -5.49019667e-01 3.82797716e-03 2.03572842e+02] [-5.49013201e-01 8.35809421e-01 2.66757061e-03 -1.57091694e+02] [-4.66400810e-03 1.27947300e-04 -9.99989115e-01 -1.04785926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.010385723 meters 0.018481090371255254 Centerline is valid? [True, True] Translation: X:203.48, Y:-157.12, Z:-10.48 [[-7.92100585e-01 -6.10385331e-01 2.53192807e-03 2.03480609e+02] [-6.10381854e-01 7.92104627e-01 2.06215637e-03 -1.57122868e+02] [-3.26426194e-03 8.79923163e-05 -9.99994668e-01 -1.04795868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.070385723 meters 0.016664092086236794 Centerline is valid? [True, True] Translation: X:203.39, Y:-157.15, Z:-10.48 [[-7.42130020e-01 -6.70253934e-01 1.64226968e-03 2.03393812e+02] [-6.70252127e-01 7.42131835e-01 1.55757319e-03 -1.57152734e+02] [-2.26275017e-03 5.51870754e-05 -9.99997438e-01 -1.04789568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.130385723 meters 0.016676947429215692 Centerline is valid? [True, True] Translation: X:203.30, Y:-157.20, Z:-10.48 [[-6.86965611e-01 -7.26686763e-01 2.14405596e-03 2.03302059e+02] [-7.26682919e-01 6.86968954e-01 2.36456367e-03 -1.57203953e+02] [-3.19119700e-03 6.63250834e-05 -9.99994906e-01 -1.04780658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.190385723 meters 0.015731166975017162 Centerline is valid? [True, True] Translation: X:203.21, Y:-157.26, Z:-10.48 [[-6.28290914e-01 -7.77973291e-01 2.84346663e-03 2.03213963e+02] [-7.77964701e-01 6.28297342e-01 3.65687753e-03 -1.57262291e+02] [-4.63149558e-03 8.54662591e-05 -9.99989271e-01 -1.04775719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.250385723 meters 0.01568580361989783 Centerline is valid? [True, True] Translation: X:203.13, Y:-157.34, Z:-10.48 [[-5.68021816e-01 -8.23010980e-01 2.03573568e-03 2.03127548e+02] [-8.23005239e-01 5.68025459e-01 3.07464178e-03 -1.57335170e+02] [-3.68681364e-03 7.10424823e-05 -9.99993201e-01 -1.04785486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.310385723 meters 0.016627348955293834 Centerline is valid? [True, True] Translation: X:203.05, Y:-157.41, Z:-10.48 [[-5.06766272e-01 -8.62082059e-01 1.57127125e-03 2.03052933e+02] [-8.62077452e-01 5.06768702e-01 2.81926618e-03 -1.57409700e+02] [-3.22670989e-03 7.41514913e-05 -9.99994791e-01 -1.04791918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.370385723 meters 0.01799806881598194 Centerline is valid? [True, True] Translation: X:202.98, Y:-157.50, Z:-10.48 [[-4.42943687e-01 -8.96547989e-01 1.61054301e-03 2.02977460e+02] [-8.96541194e-01 4.42946603e-01 3.49216254e-03 -1.57500250e+02] [-3.84427585e-03 1.02913198e-04 -9.99992605e-01 -1.04770770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.430385723 meters 0.018881976278910792 Centerline is valid? [True, True] Translation: X:202.91, Y:-157.59, Z:-10.48 [[-3.76921237e-01 -9.26244304e-01 1.36774542e-03 2.02909832e+02] [-9.26236986e-01 3.76923699e-01 3.68386489e-03 -1.57593322e+02] [-3.92769453e-03 1.21670515e-04 -9.99992279e-01 -1.04764233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.490385723 meters 0.02197955188087313 Centerline is valid? [True, True] Translation: X:202.85, Y:-157.70, Z:-10.47 [[-3.06205803e-01 -9.51964299e-01 1.40718695e-03 2.02848556e+02] [-9.51951641e-01 3.06208992e-01 4.91176506e-03 -1.57696234e+02] [-5.10671828e-03 1.64437043e-04 -9.99986947e-01 -1.04726571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.550385723 meters 0.019642672651567352 Centerline is valid? [True, True] Translation: X:202.79, Y:-157.82, Z:-10.47 [[-2.29126916e-01 -9.73395916e-01 1.11653307e-03 2.02787808e+02] [-9.73380710e-01 2.29129580e-01 5.44316151e-03 -1.57815758e+02] [-5.55418194e-03 1.60363062e-04 -9.99984563e-01 -1.04741819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.610385723 meters 0.018778539248160284 Centerline is valid? [True, True] Translation: X:202.74, Y:-157.92, Z:-10.47 [[-1.48571344e-01 -9.88901444e-01 6.99700002e-04 2.02736649e+02] [-9.88885901e-01 1.48572933e-01 5.54602367e-03 -1.57923014e+02] [-5.58842729e-03 1.32056722e-04 -9.99984376e-01 -1.04719821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.670385723 meters 0.016373667459071962 Centerline is valid? [True, True] Translation: X:202.69, Y:-158.05, Z:-10.47 [[-7.01180450e-02 -9.97538665e-01 2.67647374e-04 2.02692469e+02] [-9.97523574e-01 7.01184568e-02 5.48826728e-03 -1.58047130e+02] [-5.49352584e-03 1.17842008e-04 -9.99984904e-01 -1.04734522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.730385723 meters 0.016081369590604713 Centerline is valid? [True, True] Translation: X:202.66, Y:-158.16, Z:-10.48 [[ 7.70814701e-03 -9.99970286e-01 -1.07574622e-04 2.02663038e+02] [-9.99963043e-01 -7.70850069e-03 3.80671131e-03 -1.58163801e+02] [-3.80742744e-03 7.82279557e-05 -9.99992749e-01 -1.04750998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.790385723 meters 0.01612944614146555 Centerline is valid? [True, True] Translation: X:202.64, Y:-158.29, Z:-10.48 [[ 8.47854863e-02 -9.96399201e-01 -2.29861940e-04 2.02642721e+02] [-9.96396827e-01 -8.47857862e-02 2.17551775e-03 -1.58288863e+02] [-2.18717318e-03 4.45813776e-05 -9.99997607e-01 -1.04757216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8503857229999 meters 0.015700106534541753 Centerline is valid? [True, True] Translation: X:202.63, Y:-158.41, Z:-10.47 [[ 1.63252860e-01 -9.86583977e-01 -7.48350946e-04 2.02631268e+02] [-9.86575590e-01 -1.63254558e-01 4.06861697e-03 -1.58413820e+02] [-4.13620401e-03 7.40914200e-05 -9.99991443e-01 -1.04739509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.910385723 meters 0.015693956272310978 Centerline is valid? [True, True] Translation: X:202.63, Y:-158.54, Z:-10.47 [[ 2.37650590e-01 -9.71349953e-01 -1.21067774e-03 2.02629532e+02] [-9.71339179e-01 -2.37653658e-01 4.57581673e-03 -1.58537818e+02] [-4.73244135e-03 8.85331742e-05 -9.99988798e-01 -1.04726545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9703857229999 meters 0.019053722504831727 Centerline is valid? [True, True] Translation: X:202.64, Y:-158.66, Z:-10.47 [[ 3.08066936e-01 -9.51362761e-01 -1.91285761e-03 2.02641181e+02] [-9.51346948e-01 -3.08072847e-01 5.48679198e-03 -1.58661518e+02] [-5.80922906e-03 1.29492056e-04 -9.99983118e-01 -1.04697384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.030385723 meters 0.01761306046085281 Centerline is valid? [True, True] Translation: X:202.66, Y:-158.78, Z:-10.47 [[ 3.77325752e-01 -9.26077221e-01 -2.50149417e-03 2.02663557e+02] [-9.26059568e-01 -3.77334011e-01 5.72016650e-03 -1.58783668e+02] [-6.24121472e-03 1.58166483e-04 -9.99980511e-01 -1.04727105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0903857229999 meters 0.018501464037762615 Centerline is valid? [True, True] Translation: X:202.69, Y:-158.90, Z:-10.47 [[ 4.46181149e-01 -8.94934369e-01 -3.85455615e-03 2.02690519e+02] [-8.94905077e-01 -4.46197745e-01 7.24396214e-03 -1.58898868e+02] [-8.20276495e-03 2.17342519e-04 -9.99966333e-01 -1.04706736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.150385723 meters 0.017970523293103616 Centerline is valid? [True, True] Translation: X:202.73, Y:-159.01, Z:-10.47 [[ 5.13899538e-01 -8.57838598e-01 -4.49493819e-03 2.02725444e+02] [-8.57809407e-01 -5.13919150e-01 7.08014258e-03 -1.59013730e+02] [-8.38365440e-03 2.17318260e-04 -9.99964833e-01 -1.04708053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.210385723 meters 0.016927705522055796 Centerline is valid? [True, True] Translation: X:202.77, Y:-159.13, Z:-10.47 [[ 5.80465057e-01 -8.14270610e-01 -4.86730155e-03 2.02767228e+02] [-8.14244621e-01 -5.80485434e-01 6.50830525e-03 -1.59126831e+02] [-8.12491934e-03 1.85330328e-04 -9.99966975e-01 -1.04716492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.270385723 meters 0.01581564132369752 Centerline is valid? [True, True] Translation: X:202.82, Y:-159.24, Z:-10.47 [[ 6.43929899e-01 -7.65062665e-01 -5.77949544e-03 2.02815603e+02] [-7.65034125e-01 -6.43955814e-01 6.61032296e-03 -1.59235459e+02] [-8.77905100e-03 1.64926635e-04 -9.99961450e-01 -1.04719664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.330385723 meters 0.015464568998641496 Centerline is valid? [True, True] Translation: X:202.88, Y:-159.34, Z:-10.47 [[ 7.01895731e-01 -7.12258275e-01 -5.52564579e-03 2.02876138e+02] [-7.12237625e-01 -7.01917469e-01 5.42518664e-03 -1.59339348e+02] [-7.74268138e-03 1.27657492e-04 -9.99970017e-01 -1.04738683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.390385723 meters 0.015450523708088075 Centerline is valid? [True, True] Translation: X:202.89, Y:-159.37, Z:-10.47 [[ 7.56198751e-01 -6.54312248e-01 -6.23956826e-03 2.02892948e+02] [-6.54291323e-01 -7.56224482e-01 5.23424831e-03 -1.59367213e+02] [-8.14334705e-03 1.24363340e-04 -9.99966835e-01 -1.04741553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.450385723 meters 0.01544858320750201 Centerline is valid? [True, True] Translation: X:202.91, Y:-159.39, Z:-10.47 [[ 8.05837811e-01 -5.92082696e-01 -7.96884584e-03 2.02911410e+02] [-5.92055405e-01 -8.05877201e-01 5.68641015e-03 -1.59394163e+02] [-9.78873623e-03 1.35673940e-04 -9.99952080e-01 -1.04722970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.510385723 meters 0.0155594459633297 Centerline is valid? [True, True] Translation: X:202.93, Y:-159.42, Z:-10.47 [[ 8.50127566e-01 -5.26477244e-01 -1.02388193e-02 2.02934976e+02] [-5.26441239e-01 -8.50189207e-01 6.15906513e-03 -1.59415380e+02] [-1.19475413e-02 1.54145675e-04 -9.99928614e-01 -1.04705309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.570385723 meters 0.015661881331740957 Centerline is valid? [True, True] Translation: X:202.96, Y:-159.43, Z:-10.47 [[ 8.87905629e-01 -4.59884834e-01 -1.13812565e-02 2.02960465e+02] [-4.59849729e-01 -8.87978550e-01 5.68524883e-03 -1.59433043e+02] [-1.27208714e-02 1.85703276e-04 -9.99919069e-01 -1.04720646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.630385723 meters 0.016514223546989747 Centerline is valid? [True, True] Translation: X:202.99, Y:-159.45, Z:-10.47 [[ 9.19601726e-01 -3.92688043e-01 -1.13475494e-02 2.02987761e+02] [-3.92661179e-01 -9.19671708e-01 4.59877571e-03 -1.59446030e+02] [-1.22419044e-02 2.26700061e-04 -9.99925039e-01 -1.04728096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.690385723 meters 0.01614513510618542 Centerline is valid? [True, True] Translation: X:203.01, Y:-159.46, Z:-10.47 [[ 9.47124558e-01 -3.20631319e-01 -1.22731175e-02 2.03013009e+02] [-3.20607839e-01 -9.47204040e-01 3.88847527e-03 -1.59464481e+02] [-1.28719135e-02 2.51987266e-04 -9.99917122e-01 -1.04736852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.750385723 meters 0.016131174095236508 Centerline is valid? [True, True] Translation: X:203.04, Y:-159.48, Z:-10.47 [[ 9.69903740e-01 -2.43187890e-01 -1.20989710e-02 2.03038453e+02] [-2.43171689e-01 -9.69979178e-01 2.81500487e-03 -1.59479163e+02] [-1.24203250e-02 2.11843451e-04 -9.99922842e-01 -1.04739965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.810385723 meters 0.016498149513786947 Centerline is valid? [True, True] Translation: X:203.06, Y:-159.50, Z:-10.47 [[ 9.86301633e-01 -1.64499673e-01 -1.22043516e-02 2.03061501e+02] [-1.64489400e-01 -9.86377120e-01 1.84768695e-03 -1.59496625e+02] [-1.23420371e-02 1.85109824e-04 -9.99923817e-01 -1.04731651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.870385723 meters 0.015578424693120605 Centerline is valid? [True, True] Translation: X:203.09, Y:-159.51, Z:-10.47 [[ 9.96387477e-01 -8.40165184e-02 -1.23782169e-02 2.03085456e+02] [-8.40119236e-02 -9.96464350e-01 8.91630082e-04 -1.59514723e+02] [-1.24093635e-02 1.51508761e-04 -9.99922989e-01 -1.04727562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.930385723 meters 0.015646650462845715 Centerline is valid? [True, True] Translation: X:203.11, Y:-159.53, Z:-10.47 [[ 9.99908087e-01 -6.28745181e-03 -1.20119158e-02 2.03111495e+02] [-6.28883723e-03 -9.99980222e-01 -7.75685423e-05 -1.59529923e+02] [-1.20111905e-02 1.53102396e-04 -9.99927851e-01 -1.04716915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.990385723 meters 0.016258279392669342 Centerline is valid? [True, True] Translation: X:203.14, Y:-159.54, Z:-10.47 [[ 9.97480778e-01 6.97713675e-02 -1.28083524e-02 2.03137909e+02] [ 6.97631374e-02 -9.97562990e-01 -1.08876990e-03 -1.59538583e+02] [-1.28531033e-02 1.92476199e-04 -9.99917377e-01 -1.04701466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.050385723 meters 0.018611135250114215 Centerline is valid? [True, True] Translation: X:203.17, Y:-159.54, Z:-10.47 [[ 9.89554326e-01 1.43657384e-01 -1.20329352e-02 2.03165130e+02] [ 1.43643909e-01 -9.89627456e-01 -1.98128148e-03 -1.59543415e+02] [-1.21927488e-02 2.32127808e-04 -9.99925639e-01 -1.04693996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.110385723 meters 0.01775289666451328 Centerline is valid? [True, True] Translation: X:203.19, Y:-159.55, Z:-10.47 [[ 9.76039654e-01 2.17312031e-01 -1.10487972e-02 2.03193187e+02] [ 2.17295128e-01 -9.76102154e-01 -2.72250665e-03 -1.59546708e+02] [-1.13763882e-02 2.56424644e-04 -9.99935254e-01 -1.04718434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.170385723 meters 0.01810656212766683 Centerline is valid? [True, True] Translation: X:203.22, Y:-159.55, Z:-10.47 [[ 9.56705610e-01 2.90859981e-01 -1.07167242e-02 2.03221497e+02] [ 2.90838441e-01 -9.56765589e-01 -3.55076503e-03 -1.59551054e+02] [-1.12861684e-02 2.80201458e-04 -9.99936270e-01 -1.04723051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.230385723 meters 0.018321692103542096 Centerline is valid? [True, True] Translation: X:203.25, Y:-159.55, Z:-10.47 [[ 9.31473142e-01 3.63736427e-01 -7.32097468e-03 2.03250385e+02] [ 3.63723440e-01 -9.31501889e-01 -3.08073570e-03 -1.59551793e+02] [-7.94007754e-03 2.06812471e-04 -9.99968456e-01 -1.04738814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.290385723 meters 0.017599204166361175 Centerline is valid? [True, True] Translation: X:203.28, Y:-159.55, Z:-10.47 [[ 8.99496370e-01 4.36894041e-01 -5.46596155e-03 2.03281305e+02] [ 4.36884948e-01 -8.99512965e-01 -2.82273354e-03 -1.59554442e+02] [-6.14993874e-03 1.51042248e-04 -9.99981078e-01 -1.04743713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3503857229999 meters 0.017457890520818153 Centerline is valid? [True, True] Translation: X:203.31, Y:-159.55, Z:-10.48 [[ 8.61398780e-01 5.07917086e-01 -3.51790884e-03 2.03309110e+02] [ 5.07912408e-01 -8.61405958e-01 -2.18183934e-03 -1.59551376e+02] [-4.13854111e-03 9.26441977e-05 -9.99991432e-01 -1.04752725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.410385723 meters 0.0168466331137332 Centerline is valid? [True, True] Translation: X:203.34, Y:-159.55, Z:-10.47 [[ 8.16605582e-01 5.77185240e-01 -3.53872648e-03 2.03341349e+02] [ 5.77179393e-01 -8.16613246e-01 -2.59921964e-03 -1.59550735e+02] [-4.39000213e-03 8.00572727e-05 -9.99990361e-01 -1.04739409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4703857229999 meters 0.015405399034870332 Centerline is valid? [True, True] Translation: X:203.37, Y:-159.55, Z:-10.47 [[ 7.67008797e-01 6.41631360e-01 -2.58918931e-03 2.03373694e+02] [ 6.41627471e-01 -7.67013165e-01 -2.23437386e-03 -1.59547209e+02] [-3.41958663e-03 5.24894134e-05 -9.99994152e-01 -1.04742306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.530385723 meters 0.01539066145508631 Centerline is valid? [True, True] Translation: X:203.40, Y:-159.54, Z:-10.48 [[ 7.15335665e-01 6.98779303e-01 -1.54010756e-03 2.03403214e+02] [ 6.98777572e-01 -7.15337322e-01 -1.55582926e-03 -1.59537838e+02] [-2.18887770e-03 3.67475379e-05 -9.99997604e-01 -1.04758110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5903857229999 meters 0.016822729110765922 Centerline is valid? [True, True] Translation: X:203.43, Y:-159.52, Z:-10.48 [[ 6.61376104e-01 7.50054424e-01 -9.91288038e-05 2.03427306e+02] [ 7.50054415e-01 -6.61376111e-01 -1.18550384e-04 -1.59524607e+02] [-1.54480663e-04 4.05439395e-06 -9.99999988e-01 -1.04773928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.650385723 meters 0.01699757121078904 Centerline is valid? [True, True] Translation: X:203.46, Y:-159.51, Z:-10.48 [[ 6.04249889e-01 7.96794731e-01 4.77150415e-04 2.03456182e+02] [ 7.96794457e-01 -6.04250077e-01 6.61272072e-04 -1.59512300e+02] [ 8.15216278e-04 -1.93827707e-05 -9.99999668e-01 -1.04778050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.710385723 meters 0.018377547513353944 Centerline is valid? [True, True] Translation: X:203.48, Y:-159.50, Z:-10.47 [[ 5.41626423e-01 8.40618917e-01 -8.08388743e-04 2.03483359e+02] [ 8.40617861e-01 -5.41627025e-01 -1.33346645e-03 -1.59497268e+02] [-1.55878232e-03 4.26946495e-05 -9.99998784e-01 -1.04747440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.770385723 meters 0.017474626237527636 Centerline is valid? [True, True] Translation: X:203.51, Y:-159.48, Z:-10.48 [[ 4.74952209e-01 8.80011511e-01 -3.72417530e-04 2.03512142e+02] [ 8.80011200e-01 -4.74952355e-01 -7.40307348e-04 -1.59481408e+02] [-8.28359571e-04 2.38790135e-05 -9.99999657e-01 -1.04768717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.830385723 meters 0.017817210687851786 Centerline is valid? [True, True] Translation: X:203.54, Y:-159.46, Z:-10.48 [[ 4.04659274e-01 9.14467530e-01 -8.97365731e-05 2.03540166e+02] [ 9.14467504e-01 -4.04659284e-01 -2.21421262e-04 -1.59463211e+02] [-2.38795292e-04 7.53898728e-06 -9.99999971e-01 -1.04762611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.890385723 meters 0.017827293308034207 Centerline is valid? [True, True] Translation: X:203.57, Y:-159.44, Z:-10.48 [[ 3.30866442e-01 9.43677582e-01 -1.36012505e-04 2.03565482e+02] [ 9.43677486e-01 -3.30866469e-01 -4.26919922e-04 -1.59442840e+02] [-4.47876737e-04 1.29015367e-05 -9.99999900e-01 -1.04758579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.950385723 meters 0.017888304318461595 Centerline is valid? [True, True] Translation: X:203.59, Y:-159.42, Z:-10.47 [[ 2.54943869e-01 9.66955851e-01 -7.40618287e-05 2.03590196e+02] [ 9.66955799e-01 -2.54943880e-01 -3.17297471e-04 -1.59420418e+02] [-3.25694256e-04 9.27853017e-06 -9.99999947e-01 -1.04749425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.010385723 meters 0.01705329255174293 Centerline is valid? [True, True] Translation: X:203.62, Y:-159.40, Z:-10.47 [[ 1.78744564e-01 9.83895512e-01 -5.76558638e-05 2.03617415e+02] [ 9.83895439e-01 -1.78744573e-01 -3.78109140e-04 -1.59395853e+02] [-3.82325558e-04 1.08576118e-05 -9.99999927e-01 -1.04747981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.070385723 meters 0.01679357014147671 Centerline is valid? [True, True] Translation: X:203.64, Y:-159.37, Z:-10.47 [[ 1.00574686e-01 9.94929511e-01 2.94260272e-05 2.03641401e+02] [ 9.94929439e-01 -1.00574689e-01 3.78312010e-04 -1.59369038e+02] [ 3.79353296e-04 -8.77179067e-06 -9.99999928e-01 -1.04746252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.130385723 meters 0.017038558038739143 Centerline is valid? [True, True] Translation: X:203.66, Y:-159.34, Z:-10.47 [[ 2.00025092e-02 9.99799930e-01 5.16454170e-06 2.03661508e+02] [ 9.99798971e-01 -2.00024829e-02 -1.38525014e-03 -1.59340118e+02] [-1.38486969e-03 3.28719821e-05 -9.99999041e-01 -1.04733703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.190385723 meters 0.01863157388966711 Centerline is valid? [True, True] Translation: X:203.68, Y:-159.31, Z:-10.47 [[-6.04556234e-02 9.98170869e-01 1.82560406e-04 2.03676798e+02] [ 9.98168391e-01 6.04558802e-02 -2.22464971e-03 -1.59308673e+02] [-2.23161738e-03 4.77334421e-05 -9.99997509e-01 -1.04697437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.250385723 meters 0.01577389322425075 Centerline is valid? [True, True] Translation: X:203.69, Y:-159.28, Z:-10.47 [[-1.42023867e-01 9.89863144e-01 4.22116530e-04 2.03692184e+02] [ 9.89859700e-01 1.42024487e-01 -2.61153805e-03 -1.59275762e+02] [-2.64501615e-03 4.69354081e-05 -9.99996501e-01 -1.04729186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.310385723 meters 0.016141413918146014 Centerline is valid? [True, True] Translation: X:203.70, Y:-159.24, Z:-10.47 [[-2.19618309e-01 9.75585654e-01 6.55709580e-04 2.03697512e+02] [ 9.75581932e-01 2.19619283e-01 -2.69523431e-03 -1.59243855e+02] [-2.77343840e-03 4.77756168e-05 -9.99996153e-01 -1.04728265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.370385723 meters 0.015811349028372265 Centerline is valid? [True, True] Translation: X:203.70, Y:-159.21, Z:-10.47 [[-2.95869652e-01 9.55227905e-01 8.94061684e-04 2.03703756e+02] [ 9.55224019e-01 2.95870999e-01 -2.72503279e-03 -1.59209957e+02] [-2.86755429e-03 4.77746915e-05 -9.99995887e-01 -1.04720996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.430385723 meters 0.01723182158721141 Centerline is valid? [True, True] Translation: X:203.70, Y:-159.18, Z:-10.47 [[-3.68485969e-01 9.29631301e-01 1.93259318e-03 2.03704445e+02] [ 9.29619769e-01 3.68491026e-01 -4.63140752e-03 -1.59175674e+02] [-5.01764464e-03 8.99681338e-05 -9.99987408e-01 -1.04696113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.490385723 meters 0.018379645072760558 Centerline is valid? [True, True] Translation: X:203.70, Y:-159.14, Z:-10.47 [[-4.38245729e-01 8.98851566e-01 2.55792082e-03 2.03699817e+02] [ 8.98837725e-01 4.38253179e-01 -4.98952835e-03 -1.59144729e+02] [-5.60586231e-03 1.12516247e-04 -9.99984281e-01 -1.04689102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.550385723 meters 0.019168614532105933 Centerline is valid? [True, True] Translation: X:203.69, Y:-159.11, Z:-10.47 [[-5.05640969e-01 8.62738174e-01 3.17074779e-03 2.03694899e+02] [ 8.62722832e-01 5.05650893e-01 -5.14688158e-03 -1.59111262e+02] [-6.04370267e-03 1.33002328e-04 -9.99981728e-01 -1.04679459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.610385723 meters 0.0178917151398899 Centerline is valid? [True, True] Translation: X:203.68, Y:-159.08, Z:-10.47 [[-5.71050107e-01 8.20907053e-01 3.65846047e-03 2.03684462e+02] [ 8.20891765e-01 5.71061809e-01 -5.01195810e-03 -1.59080502e+02] [-6.20355882e-03 1.41120864e-04 -9.99980748e-01 -1.04704007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.670385723 meters 0.01753135976492982 Centerline is valid? [True, True] Translation: X:203.67, Y:-159.05, Z:-10.47 [[-6.31206101e-01 7.75607326e-01 3.48331041e-03 2.03672114e+02] [ 7.75596708e-01 6.31215697e-01 -4.06086429e-03 -1.59049866e+02] [-5.34835630e-03 1.38401771e-04 -9.99985688e-01 -1.04732880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.730385723 meters 0.018818222722226507 Centerline is valid? [True, True] Translation: X:203.66, Y:-159.02, Z:-10.47 [[-6.88830714e-01 7.24909264e-01 4.33661608e-03 2.03659327e+02] [ 7.24896412e-01 6.88844344e-01 -4.31992331e-03 -1.59019304e+02] [-6.11880589e-03 1.67901575e-04 -9.99981266e-01 -1.04710787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.790385723 meters 0.017463509778164066 Centerline is valid? [True, True] Translation: X:203.68, Y:-159.00, Z:-10.47 [[-7.38864823e-01 6.73838218e-01 4.56386551e-03 2.03675346e+02] [ 6.73826697e-01 7.38878901e-01 -3.94367806e-03 -1.58997263e+02] [-6.02954492e-03 1.61409430e-04 -9.99981809e-01 -1.04743683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8503857229999 meters 0.02034281101281103 Centerline is valid? [True, True] Translation: X:203.69, Y:-158.98, Z:-10.47 [[-7.83757742e-01 6.21054744e-01 3.84791986e-03 2.03691681e+02] [ 6.21048095e-01 7.83767176e-01 -2.87707279e-03 -1.58978976e+02] [-4.80269299e-03 1.34815227e-04 -9.99988458e-01 -1.04727326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.910385723 meters 0.018799368712704042 Centerline is valid? [True, True] Translation: X:204.08, Y:-158.46, Z:-11.44 [[-7.77586367e-01 -6.28767048e-01 3.38266280e-03 2.04082615e+02] [ 6.28760276e-01 -7.77593711e-01 -2.92172042e-03 -1.58462132e+02] [ 4.46741884e-03 -1.45005966e-04 9.99990011e-01 -1.14413818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9703857229999 meters 0.019184234902826277 Centerline is valid? [True, True] Translation: X:203.65, Y:-158.96, Z:-10.47 [[-7.85319183e-01 6.19062747e-01 5.92417254e-03 2.03653842e+02] [ 6.19047157e-01 7.85341499e-01 -4.39864893e-03 -1.58956114e+02] [-7.37553823e-03 2.12998776e-04 -9.99972778e-01 -1.04732244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.030385723 meters 0.018594082623575384 Centerline is valid? [True, True] Translation: X:203.67, Y:-158.93, Z:-10.47 [[-8.28384920e-01 5.60112753e-01 7.22002945e-03 2.03669820e+02] [ 5.60093859e-01 8.28416352e-01 -4.60625796e-03 -1.58932211e+02] [-8.56121428e-03 2.28139519e-04 -9.99963326e-01 -1.04726563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0903857229999 meters 0.019185857296605192 Centerline is valid? [True, True] Translation: X:203.68, Y:-158.91, Z:-10.48 [[-8.64824123e-01 5.02046200e-01 5.37112306e-03 2.03681048e+02] [ 5.02037780e-01 8.64840784e-01 -2.91302316e-03 -1.58910556e+02] [-6.10763849e-03 1.77253999e-04 -9.99981333e-01 -1.04752886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.150385723 meters 0.019584869541204884 Centerline is valid? [True, True] Translation: X:203.69, Y:-158.89, Z:-10.48 [[-8.97374815e-01 4.41231697e-01 5.74723104e-03 2.03691670e+02] [ 4.41224028e-01 8.97393198e-01 -2.60861891e-03 -1.58886270e+02] [-6.30853140e-03 1.94907517e-04 -9.99980082e-01 -1.04752778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.210385723 meters 0.02136234730650401 Centerline is valid? [True, True] Translation: X:203.97, Y:-158.28, Z:-11.44 [[-8.95517040e-01 -4.45000233e-01 4.90133271e-03 2.03969913e+02] [ 4.44992235e-01 -8.95530427e-01 -2.67676145e-03 -1.58280659e+02] [ 5.58045205e-03 -2.16030499e-04 9.99984406e-01 -1.14443111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.270385723 meters 0.019040250992112123 Centerline is valid? [True, True] Translation: X:203.65, Y:-158.87, Z:-10.48 [[-8.99194388e-01 4.37526022e-01 4.52018133e-03 2.03649174e+02] [ 4.37521332e-01 8.99205737e-01 -2.03145383e-03 -1.58866755e+02] [-4.95338689e-03 1.51003879e-04 -9.99987721e-01 -1.04754111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.330385723 meters 0.019013024286228725 Centerline is valid? [True, True] Translation: X:203.92, Y:-158.26, Z:-11.44 [[-8.95129024e-01 -4.45777700e-01 5.12571945e-03 2.03922557e+02] [ 4.45769600e-01 -8.95143691e-01 -2.69006170e-03 -1.58262723e+02] [ 5.78742494e-03 -1.23062390e-04 9.99983245e-01 -1.14425461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.390385723 meters 0.01912818960117012 Centerline is valid? [True, True] Translation: X:203.61, Y:-158.85, Z:-10.47 [[-9.01347512e-01 4.33028450e-01 7.68273845e-03 2.03606119e+02] [ 4.33015013e-01 9.01380220e-01 -3.42003077e-03 -1.58847713e+02] [-8.40603910e-03 2.44104873e-04 -9.99964639e-01 -1.04726193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.450385723 meters 0.02309677910466176 Centerline is valid? [True, True] Translation: X:203.61, Y:-158.82, Z:-10.47 [[-9.28008104e-01 3.72472586e-01 8.07034412e-03 2.03613393e+02] [ 3.72461199e-01 9.28043150e-01 -2.92695730e-03 -1.58823279e+02] [-8.57983893e-03 2.89649950e-04 -9.99963151e-01 -1.04697842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.510385723 meters 0.023591929075720133 Centerline is valid? [True, True] Translation: X:203.63, Y:-158.80, Z:-10.47 [[-9.50183322e-01 3.11601478e-01 7.49496389e-03 2.03625522e+02] [ 3.11594348e-01 9.50212830e-01 -2.13068532e-03 -1.58796983e+02] [-7.78573554e-03 3.10846726e-04 -9.99969642e-01 -1.04712783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.570385723 meters 0.024206199812006585 Centerline is valid? [True, True] Translation: X:203.63, Y:-158.77, Z:-10.47 [[-9.68849196e-01 2.47527865e-01 7.82248660e-03 2.03633812e+02] [ 2.47522718e-01 9.68880711e-01 -1.63473370e-03 -1.58771058e+02] [-7.98369852e-03 3.52432711e-04 -9.99968068e-01 -1.04721093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.630385723 meters 0.02394112103987509 Centerline is valid? [True, True] Translation: X:203.77, Y:-158.11, Z:-11.45 [[-9.73998546e-01 -2.26337453e-01 9.90907117e-03 2.03765570e+02] [ 2.26322477e-01 -9.74048901e-01 -2.62220021e-03 -1.58114510e+02] [ 1.02454220e-02 -3.11373662e-04 9.99947466e-01 -1.14457144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.690385723 meters 0.023042618323613723 Centerline is valid? [True, True] Translation: X:203.58, Y:-158.75, Z:-10.47 [[-9.69912453e-01 2.43136465e-01 1.24295360e-02 2.03581767e+02] [ 2.43123724e-01 9.69991937e-01 -2.54906235e-03 -1.58753974e+02] [-1.26763197e-02 5.49547759e-04 -9.99919501e-01 -1.04700628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.750385723 meters 0.021879401638079103 Centerline is valid? [True, True] Translation: X:203.58, Y:-158.72, Z:-10.47 [[-9.85631188e-01 1.68474791e-01 1.21410562e-02 2.03576542e+02] [ 1.68467807e-01 9.85705853e-01 -1.60305087e-03 -1.58719848e+02] [-1.22375838e-02 4.65360171e-04 -9.99925010e-01 -1.04709596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.810385723 meters 0.02053430727600686 Centerline is valid? [True, True] Translation: X:203.57, Y:-158.69, Z:-10.47 [[-9.95566580e-01 9.34123032e-02 1.10148568e-02 2.03574987e+02] [ 9.34106637e-02 9.95627444e-01 -6.64349408e-04 -1.58689017e+02] [-1.10287522e-02 3.67501020e-04 -9.99939114e-01 -1.04732438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.870385723 meters 0.0217218923973253 Centerline is valid? [True, True] Translation: X:203.61, Y:-158.04, Z:-11.44 [[-9.95342860e-01 -9.58665142e-02 1.01095331e-02 2.03611226e+02] [ 9.58575312e-02 -9.95394121e-01 -1.37052164e-03 -1.58043842e+02] [ 1.01943569e-02 -3.95064053e-04 9.99947958e-01 -1.14442793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.930385723 meters 0.019268787912624992 Centerline is valid? [True, True] Translation: X:203.51, Y:-158.68, Z:-10.48 [[-9.96299019e-01 8.55166796e-02 8.66963476e-03 2.03512927e+02] [ 8.55156734e-02 9.96336706e-01 -4.87369628e-04 -1.58681707e+02] [-8.67955357e-03 2.55823772e-04 -9.99962299e-01 -1.04757552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.990385723 meters 0.020471236428136547 Centerline is valid? [True, True] Translation: X:203.55, Y:-158.04, Z:-11.44 [[-9.95454569e-01 -9.50501469e-02 5.97255742e-03 2.03549656e+02] [ 9.50463097e-02 -9.95472423e-01 -9.23693369e-04 -1.58043324e+02] [ 6.03331340e-03 -3.51825242e-04 9.99981738e-01 -1.14407740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.050385723 meters 0.018724936339121128 Centerline is valid? [True, True] Translation: X:203.45, Y:-158.68, Z:-10.48 [[-9.96721519e-01 8.06533609e-02 6.42253148e-03 2.03452392e+02] [ 8.06528839e-02 9.96742194e-01 -3.33654440e-04 -1.58678303e+02] [-6.42851847e-03 1.85435126e-04 -9.99979320e-01 -1.04778136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.110385723 meters 0.018581860164676948 Centerline is valid? [True, True] Translation: X:203.49, Y:-158.04, Z:-11.44 [[-9.95794857e-01 -9.13030660e-02 7.50686254e-03 2.03487128e+02] [ 9.12993797e-02 -9.95823142e-01 -8.33007686e-04 -1.58043298e+02] [ 7.55156360e-03 -1.44132876e-04 9.99971476e-01 -1.14415574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.170385723 meters 0.01915507928105948 Centerline is valid? [True, True] Translation: X:203.40, Y:-158.68, Z:-10.47 [[-9.97116935e-01 7.53867966e-02 8.63997070e-03 2.03395453e+02] [ 7.53860432e-02 9.97154338e-01 -4.13305559e-04 -1.58677090e+02] [-8.64654205e-03 2.39219233e-04 -9.99962589e-01 -1.04745329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.230385723 meters 0.019740249416806084 Centerline is valid? [True, True] Translation: X:203.39, Y:-158.65, Z:-10.47 [[-9.99933344e-01 5.71017482e-03 1.00350140e-02 2.03389553e+02] [ 5.71280765e-03 9.99983655e-01 2.33719008e-04 -1.58653822e+02] [-1.00335154e-02 2.91031534e-04 -9.99949621e-01 -1.04739556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.290385723 meters 0.02157648580319516 Centerline is valid? [True, True] Translation: X:203.38, Y:-158.00, Z:-11.45 [[-9.99858148e-01 -1.16409528e-02 1.21725669e-02 2.03376336e+02] [ 1.16374118e-02 -9.99932218e-01 -3.61690615e-04 -1.58004164e+02] [ 1.21759523e-02 -2.19982134e-04 9.99925846e-01 -1.14464272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3503857229999 meters 0.020442712744538488 Centerline is valid? [True, True] Translation: X:203.32, Y:-158.66, Z:-10.47 [[-9.99903429e-01 8.94659107e-03 1.06344435e-02 2.03320055e+02] [ 8.95024810e-03 9.99959902e-01 2.96342433e-04 -1.58660543e+02] [-1.06313658e-02 3.91494723e-04 -9.99943409e-01 -1.04743993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.410385723 meters 0.024800952476485966 Centerline is valid? [True, True] Translation: X:203.32, Y:-158.64, Z:-10.48 [[-9.98777654e-01 -4.85131127e-02 9.46975425e-03 2.03323683e+02] [-4.85063536e-02 9.98822430e-01 9.42262171e-04 -1.58643719e+02] [-9.50431502e-03 4.81767151e-04 -9.99954717e-01 -1.04764762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4703857229999 meters 0.029598500556598493 Centerline is valid? [True, True] Translation: X:203.31, Y:-158.62, Z:-10.47 [[-9.94025588e-01 -1.08591841e-01 1.09973732e-02 2.03311775e+02] [-1.08577499e-01 9.94086182e-01 1.89470431e-03 -1.58622594e+02] [-1.11380861e-02 6.89317292e-04 -9.99937732e-01 -1.04744603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.530385723 meters 0.032973022206820045 Centerline is valid? [True, True] Translation: X:203.29, Y:-158.60, Z:-10.48 [[-9.84572362e-01 -1.74813986e-01 7.57193757e-03 2.03290214e+02] [-1.74804718e-01 9.84601340e-01 1.87410028e-03 -1.58598519e+02] [-7.78295882e-03 5.21576928e-04 -9.99969576e-01 -1.04768320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5903857229999 meters 0.032566843507227966 Centerline is valid? [True, True] Translation: X:203.09, Y:-157.93, Z:-11.44 [[-9.71224636e-01 2.38092678e-01 5.88071995e-03 2.03094334e+02] [-2.38091545e-01 -9.71242298e-01 9.02210415e-04 -1.57932110e+02] [ 5.92641365e-03 -5.23900719e-04 9.99982301e-01 -1.14386537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.650385723 meters 0.02482883656224491 Centerline is valid? [True, True] Translation: X:203.15, Y:-158.60, Z:-10.48 [[-9.81790585e-01 -1.89922115e-01 4.10336881e-03 2.03146068e+02] [-1.89919406e-01 9.81799129e-01 1.04363186e-03 -1.58604280e+02] [-4.22689270e-03 2.45318568e-04 -9.99991037e-01 -1.04790170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.710385723 meters 0.024179762475466167 Centerline is valid? [True, True] Translation: X:202.97, Y:-157.99, Z:-11.44 [[-9.72569591e-01 2.32588901e-01 3.28548992e-03 2.02970899e+02] [-2.32588460e-01 -9.72575106e-01 5.21205579e-04 -1.57993874e+02] [ 3.31661234e-03 -2.57258343e-04 9.99994467e-01 -1.14377623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.770385723 meters 0.026332196925498968 Centerline is valid? [True, True] Translation: X:203.01, Y:-158.63, Z:-10.48 [[-9.79144372e-01 -2.03158969e-01 1.65262333e-03 2.03014170e+02] [-2.03158529e-01 9.79145763e-01 4.31853855e-04 -1.58626048e+02] [-1.70589412e-03 8.71027465e-05 -9.99998541e-01 -1.04802986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.830385723 meters 0.023410265717940536 Centerline is valid? [True, True] Translation: X:202.85, Y:-158.04, Z:-11.44 [[-9.72625519e-01 2.32374267e-01 1.34159133e-03 2.02845631e+02] [-2.32374178e-01 -9.72626440e-01 2.24020912e-04 -1.58040848e+02] [ 1.35692390e-03 -9.38627274e-05 9.99999075e-01 -1.14374415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.890385723 meters 0.021296182436169993 Centerline is valid? [True, True] Translation: X:202.89, Y:-158.63, Z:-10.48 [[-9.77249640e-01 -2.12086443e-01 1.57552638e-03 2.02893397e+02] [-2.12086038e-01 9.77250907e-01 4.22056890e-04 -1.58633234e+02] [-1.62919712e-03 7.83077979e-05 -9.99998670e-01 -1.04793808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.950385723 meters 0.026191544740596085 Centerline is valid? [True, True] Translation: X:202.86, Y:-158.62, Z:-10.48 [[-9.60005973e-01 -2.79965043e-01 2.84707635e-03 2.02857914e+02] [-2.79963347e-01 9.60010183e-01 9.86078996e-04 -1.58617279e+02] [-3.00928994e-03 1.49564704e-04 -9.99995461e-01 -1.04764773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.010385723 meters 0.027090872390120986 Centerline is valid? [True, True] Translation: X:202.81, Y:-158.60, Z:-10.48 [[-9.38635705e-01 -3.44896587e-01 3.05903489e-03 2.02809651e+02] [-3.44894128e-01 9.38640673e-01 1.31447755e-03 -1.58600421e+02] [-3.32469339e-03 1.78772392e-04 -9.99994457e-01 -1.04762123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.070385723 meters 0.024768282297611455 Centerline is valid? [True, True] Translation: X:202.74, Y:-158.59, Z:-10.48 [[-9.11551469e-01 -4.11165828e-01 4.07194646e-03 2.02743785e+02] [-4.11160469e-01 9.11560529e-01 2.11446992e-03 -1.58590819e+02] [-4.58122344e-03 2.53224746e-04 -9.99989474e-01 -1.04753630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.130385723 meters 0.02473993646987895 Centerline is valid? [True, True] Translation: X:202.67, Y:-158.60, Z:-10.47 [[-8.77589677e-01 -4.79367763e-01 6.55036034e-03 2.02668096e+02] [-4.79350924e-01 8.77614030e-01 4.03814080e-03 -1.58595175e+02] [-7.68444266e-03 4.03909390e-04 -9.99970393e-01 -1.04725276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.190385723 meters 0.023379791408036667 Centerline is valid? [True, True] Translation: X:202.59, Y:-158.61, Z:-10.47 [[-8.37220370e-01 -5.46820538e-01 7.02505183e-03 2.02586035e+02] [-5.46797102e-01 8.37249742e-01 5.07934909e-03 -1.58608176e+02] [-8.65921524e-03 4.11256543e-04 -9.99962424e-01 -1.04712415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.250385723 meters 0.021699950495176548 Centerline is valid? [True, True] Translation: X:202.50, Y:-158.63, Z:-10.47 [[-7.90882875e-01 -6.11937256e-01 6.08869275e-03 2.02504680e+02] [-6.11915857e-01 7.90906243e-01 5.12810402e-03 -1.58627658e+02] [-7.95366302e-03 3.29962010e-04 -9.99968315e-01 -1.04716400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.310385723 meters 0.02064299271570392 Centerline is valid? [True, True] Translation: X:202.42, Y:-158.66, Z:-10.47 [[-7.39510690e-01 -6.73111940e-01 6.65249580e-03 2.02422661e+02] [-6.73080582e-01 7.39540536e-01 6.50579553e-03 -1.58661413e+02] [-9.29891897e-03 3.33439594e-04 -9.99956709e-01 -1.04721934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.370385723 meters 0.020381666363907758 Centerline is valid? [True, True] Translation: X:202.34, Y:-158.70, Z:-10.47 [[-6.84798880e-01 -7.28694652e-01 7.38910047e-03 2.02339618e+02] [-7.28646436e-01 6.84838648e-01 8.39030304e-03 -1.58704978e+02] [-1.11743105e-02 3.61628403e-04 -9.99937500e-01 -1.04709391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.430385723 meters 0.018431718212104604 Centerline is valid? [True, True] Translation: X:202.26, Y:-158.76, Z:-10.47 [[-6.29281568e-01 -7.77153309e-01 6.11900856e-03 2.02256481e+02] [-7.77111223e-01 6.29311226e-01 8.09494006e-03 -1.58758189e+02] [-1.01417702e-02 3.38846348e-04 -9.99948514e-01 -1.04728272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.490385723 meters 0.02030142669922347 Centerline is valid? [True, True] Translation: X:202.19, Y:-158.82, Z:-10.47 [[-5.71769616e-01 -8.20396468e-01 5.39830171e-03 2.02185491e+02] [-8.20353700e-01 5.71794983e-01 8.38481472e-03 -1.58823489e+02] [-9.96559421e-03 3.65665512e-04 -9.99950275e-01 -1.04727758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.550385723 meters 0.020248955526301314 Centerline is valid? [True, True] Translation: X:202.11, Y:-158.90, Z:-10.47 [[-5.09545257e-01 -8.60429994e-01 4.88420251e-03 2.02110376e+02] [-8.60382889e-01 5.09568516e-01 9.01173419e-03 -1.58899498e+02] [-1.02428022e-02 3.89602152e-04 -9.99947465e-01 -1.04724800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.610385723 meters 0.021905006045984398 Centerline is valid? [True, True] Translation: X:202.04, Y:-158.99, Z:-10.47 [[-4.44939220e-01 -8.95552112e-01 3.93757230e-03 2.02043671e+02] [-8.95509025e-01 4.44956475e-01 8.79320870e-03 -1.58985092e+02] [-9.62682492e-03 3.86311889e-04 -9.99953586e-01 -1.04726369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.670385723 meters 0.023027230876269136 Centerline is valid? [True, True] Translation: X:201.98, Y:-159.07, Z:-10.47 [[-3.80325621e-01 -9.24846657e-01 3.32911271e-03 2.01983499e+02] [-9.24800407e-01 3.80339934e-01 9.25973525e-03 -1.59073642e+02] [-9.83002970e-03 4.42949771e-04 -9.99951586e-01 -1.04736628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.730385723 meters 0.024122940596803723 Centerline is valid? [True, True] Translation: X:201.93, Y:-159.17, Z:-10.47 [[-3.14266551e-01 -9.49332105e-01 2.25584486e-03 2.01925945e+02] [-9.49296956e-01 3.14274354e-01 8.18047890e-03 -1.59167252e+02] [-8.47494544e-03 4.29384224e-04 -9.99963995e-01 -1.04736471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.790385723 meters 0.02616299298276739 Centerline is valid? [True, True] Translation: X:201.88, Y:-159.28, Z:-10.47 [[-2.44669752e-01 -9.69605419e-01 1.42944219e-03 2.01876750e+02] [-9.69577924e-01 2.44673595e-01 7.31308194e-03 -1.59275058e+02] [-7.44055064e-03 4.03334359e-04 -9.99972237e-01 -1.04747873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8503857229999 meters 0.027593701825680845 Centerline is valid? [True, True] Translation: X:201.83, Y:-159.38, Z:-10.47 [[-1.72094839e-01 -9.85079900e-01 9.77837040e-04 2.01832044e+02] [-9.85044787e-01 1.72096974e-01 8.33055911e-03 -1.59383451e+02] [-8.37454913e-03 4.70432951e-04 -9.99964822e-01 -1.04736487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.910385723 meters 0.02305336083211723 Centerline is valid? [True, True] Translation: X:201.79, Y:-159.50, Z:-10.47 [[-9.38843665e-02 -9.95583037e-01 3.77009109e-04 2.01785499e+02] [-9.95540171e-01 9.38838276e-02 9.25172751e-03 -1.59498560e+02] [-9.24625803e-03 4.93264863e-04 -9.99957131e-01 -1.04743602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9703857229999 meters 0.022598473636866824 Centerline is valid? [True, True] Translation: X:201.75, Y:-159.62, Z:-10.47 [[-1.13428264e-02 -9.99935622e-01 -3.02625840e-04 2.01751725e+02] [-9.99899140e-01 1.13398246e-02 8.55096167e-03 -1.59618932e+02] [-8.54697945e-03 3.99587390e-04 -9.99963394e-01 -1.04740717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.030385723 meters 0.021358246013660768 Centerline is valid? [True, True] Translation: X:201.73, Y:-159.74, Z:-10.48 [[ 7.19298032e-02 -9.97409457e-01 -6.91113779e-04 2.01725818e+02] [-9.97390367e-01 -7.19327058e-02 6.17584297e-03 -1.59737558e+02] [-6.20955787e-03 2.45083057e-04 -9.99980691e-01 -1.04754960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0903857229999 meters 0.019484504233603376 Centerline is valid? [True, True] Translation: X:201.70, Y:-159.85, Z:-10.48 [[ 1.51858016e-01 -9.88401967e-01 -8.32943742e-04 2.01704717e+02] [-9.88391929e-01 -1.51860230e-01 4.45710845e-03 -1.59849555e+02] [-4.53190579e-03 1.46427223e-04 -9.99989720e-01 -1.04758553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.150385723 meters 0.0187296436603804 Centerline is valid? [True, True] Translation: X:201.70, Y:-159.97, Z:-10.48 [[ 2.30118054e-01 -9.73162329e-01 -8.73252995e-04 2.01698893e+02] [-9.73156831e-01 -2.30119691e-01 3.27250185e-03 -1.59969386e+02] [-3.38562823e-03 9.67503594e-05 -9.99994264e-01 -1.04770244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.210385723 meters 0.017128526785696593 Centerline is valid? [True, True] Translation: X:201.70, Y:-160.09, Z:-10.48 [[ 3.06996994e-01 -9.51710238e-01 -6.84151418e-04 2.01700521e+02] [-9.51708235e-01 -3.06997752e-01 1.95348301e-03 -1.60091551e+02] [-2.06918273e-03 5.13991267e-05 -9.99997858e-01 -1.04782287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.270385723 meters 0.015613512370539418 Centerline is valid? [True, True] Translation: X:201.71, Y:-160.20, Z:-10.48 [[ 3.80180930e-01 -9.24911885e-01 -6.81881164e-04 2.01708439e+02] [-9.24910576e-01 -3.80181540e-01 1.55699896e-03 -1.60203229e+02] [-1.69932548e-03 3.87377850e-05 -9.99998555e-01 -1.04791400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.330385723 meters 0.01559050515520153 Centerline is valid? [True, True] Translation: X:201.73, Y:-160.31, Z:-10.48 [[ 4.49565300e-01 -8.93247315e-01 -5.25400077e-04 2.01728420e+02] [-8.93246769e-01 -4.49565606e-01 9.87901032e-04 -1.60314547e+02] [-1.11864175e-03 2.51858969e-05 -9.99999374e-01 -1.04792239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.390385723 meters 0.01719902280433664 Centerline is valid? [True, True] Translation: X:201.76, Y:-160.42, Z:-10.48 [[ 5.16968851e-01 -8.56002330e-01 -1.79363016e-03 2.01760534e+02] [-8.55997629e-01 -5.16971958e-01 2.83798646e-03 -1.60421148e+02] [-3.35657952e-03 6.81925635e-05 -9.99994364e-01 -1.04769846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.450385723 meters 0.01505612843935148 Centerline is valid? [True, True] Translation: X:201.79, Y:-160.53, Z:-10.48 [[ 5.80502408e-01 -8.14255903e-01 -2.06858445e-03 2.01793123e+02] [-8.14251148e-01 -5.80506089e-01 2.78359294e-03 -1.60525894e+02] [-3.46738285e-03 6.84648559e-05 -9.99993986e-01 -1.04769560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.510385723 meters 0.015978585637458118 Centerline is valid? [True, True] Translation: X:201.84, Y:-160.62, Z:-10.48 [[ 6.38789993e-01 -7.69377429e-01 -2.39108239e-03 2.01837733e+02] [-7.69372493e-01 -6.38794463e-01 2.75711908e-03 -1.60620145e+02] [-3.64867538e-03 7.84129432e-05 -9.99993341e-01 -1.04763754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.570385723 meters 0.015310284005675901 Centerline is valid? [True, True] Translation: X:201.89, Y:-160.71, Z:-10.48 [[ 6.94571724e-01 -7.19420316e-01 -2.12841705e-03 2.01886722e+02] [-7.19417224e-01 -6.94574982e-01 2.11023403e-03 -1.60712363e+02] [-2.99649046e-03 6.55109984e-05 -9.99995508e-01 -1.04772195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.630385723 meters 0.015332180561127512 Centerline is valid? [True, True] Translation: X:201.91, Y:-160.75, Z:-10.48 [[ 7.49130292e-01 -6.62413960e-01 -3.39877587e-03 2.01907511e+02] [-6.62407706e-01 -7.49137996e-01 2.88004973e-03 -1.60749483e+02] [-4.45393729e-03 9.38428304e-05 -9.99990077e-01 -1.04764347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.690385723 meters 0.015652157190630723 Centerline is valid? [True, True] Translation: X:201.93, Y:-160.78, Z:-10.48 [[ 7.99529895e-01 -6.00615244e-01 -3.64374213e-03 2.01932238e+02] [-6.00609503e-01 -7.99538193e-01 2.62745138e-03 -1.60780607e+02] [-4.49139835e-03 8.77402191e-05 -9.99989910e-01 -1.04765169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.750385723 meters 0.01466883313250474 Centerline is valid? [True, True] Translation: X:201.96, Y:-160.81, Z:-10.48 [[ 8.45396691e-01 -5.34122930e-01 -4.13889440e-03 2.01958435e+02] [-5.34117002e-01 -8.45406818e-01 2.51785787e-03 -1.60813041e+02] [-4.84389517e-03 8.20651562e-05 -9.99988265e-01 -1.04773478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.810385723 meters 0.014788373947328824 Centerline is valid? [True, True] Translation: X:201.99, Y:-160.84, Z:-10.48 [[ 8.85130517e-01 -4.65307475e-01 -5.73771803e-03 2.01987534e+02] [-4.65298431e-01 -8.85149108e-01 2.90269186e-03 -1.60840205e+02] [-6.42938021e-03 1.00490048e-04 -9.99979326e-01 -1.04751874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.870385723 meters 0.014106766246396707 Centerline is valid? [True, True] Translation: X:202.02, Y:-160.86, Z:-10.48 [[ 9.19539543e-01 -3.92947793e-01 -6.24991077e-03 2.02020184e+02] [-3.92939399e-01 -9.19560778e-01 2.57006272e-03 -1.60864574e+02] [-6.75707328e-03 9.25618825e-05 -9.99977166e-01 -1.04768423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.930385723 meters 0.013685558592377339 Centerline is valid? [True, True] Translation: X:202.05, Y:-160.89, Z:-10.48 [[ 9.47714353e-01 -3.19051297e-01 -6.61624466e-03 2.02053449e+02] [-3.19044176e-01 -9.47737444e-01 2.13354335e-03 -1.60887014e+02] [-6.95117258e-03 8.88846627e-05 -9.99975836e-01 -1.04772175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.990385723 meters 0.01388272545790609 Centerline is valid? [True, True] Translation: X:202.09, Y:-160.90, Z:-10.48 [[ 9.69770316e-01 -2.43964391e-01 -5.18742887e-03 2.02087711e+02] [-2.43961277e-01 -9.69784188e-01 1.23448501e-03 -1.60903131e+02] [-5.33185688e-03 6.83648504e-05 -9.99985783e-01 -1.04774155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.050385723 meters 0.013310455666735624 Centerline is valid? [True, True] Translation: X:202.12, Y:-160.92, Z:-10.48 [[ 9.86235862e-01 -1.65278735e-01 -4.66519027e-03 2.02124017e+02] [-1.65277127e-01 -9.86246895e-01 7.30722465e-04 -1.60918259e+02] [-4.72180230e-03 5.03845458e-05 -9.99988851e-01 -1.04775110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.110385723 meters 0.012898751408943875 Centerline is valid? [True, True] Translation: X:202.16, Y:-160.93, Z:-10.48 [[ 9.96199046e-01 -8.70064128e-02 -4.16482678e-03 2.02156937e+02] [-8.70058302e-02 -9.96207751e-01 3.21208006e-04 -1.60931918e+02] [-4.17697988e-03 4.23771023e-05 -9.99991276e-01 -1.04776907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.170385723 meters 0.013311165084204385 Centerline is valid? [True, True] Translation: X:202.19, Y:-160.94, Z:-10.48 [[ 9.99939031e-01 -1.05989895e-02 -3.09760377e-03 2.02189526e+02] [-1.05990548e-02 -9.99943828e-01 -4.67098621e-06 -1.60938022e+02] [-3.09738027e-03 3.75023736e-05 -9.99995202e-01 -1.04784083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.230385723 meters 0.013368013055340584 Centerline is valid? [True, True] Translation: X:202.22, Y:-160.94, Z:-10.48 [[ 9.97664519e-01 6.82125409e-02 -3.54360871e-03 2.02222175e+02] [ 6.82119645e-02 -9.97670811e-01 -2.83415465e-04 -1.60938836e+02] [-3.55468747e-03 4.10370419e-05 -9.99993681e-01 -1.04778025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.290385723 meters 0.012965106984551465 Centerline is valid? [True, True] Translation: X:202.26, Y:-160.94, Z:-10.48 [[ 9.88863486e-01 1.48779862e-01 -3.68221538e-03 2.02255267e+02] [ 1.48778706e-01 -9.88870341e-01 -5.87411672e-04 -1.60940266e+02] [-3.72862860e-03 3.30347154e-05 -9.99993048e-01 -1.04773071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3503857229999 meters 0.01260214854964088 Centerline is valid? [True, True] Translation: X:202.29, Y:-160.94, Z:-10.48 [[ 9.73341647e-01 2.29318855e-01 -4.34750071e-03 2.02288127e+02] [ 2.29316462e-01 -9.73351356e-01 -1.04797872e-03 -1.60938992e+02] [-4.47196699e-03 2.30878522e-05 -9.99990000e-01 -1.04770909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.410385723 meters 0.012420162221294386 Centerline is valid? [True, True] Translation: X:202.32, Y:-160.93, Z:-10.48 [[ 9.51336615e-01 3.08122478e-01 -4.37982149e-03 2.02319554e+02] [ 3.08119176e-01 -9.51346697e-01 -1.42650421e-03 -1.60932076e+02] [-4.60626672e-03 7.57869569e-06 -9.99989391e-01 -1.04769730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4703857229999 meters 0.012265735554837454 Centerline is valid? [True, True] Translation: X:202.35, Y:-160.92, Z:-10.48 [[ 9.23542810e-01 3.83471434e-01 -4.28233526e-03 2.02349664e+02] [ 3.83467319e-01 -9.23552738e-01 -1.77655847e-03 -1.60922896e+02] [-4.63622187e-03 -1.40781783e-06 -9.99989253e-01 -1.04767467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.530385723 meters 0.012306822296973045 Centerline is valid? [True, True] Translation: X:202.38, Y:-160.91, Z:-10.48 [[ 8.90268252e-01 4.55407715e-01 -5.12365042e-03 2.02375547e+02] [ 4.55400219e-01 -8.90282996e-01 -2.61292915e-03 -1.60908599e+02] [-5.75144694e-03 -7.10365565e-06 -9.99983460e-01 -1.04767550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5903857229999 meters 0.012323224773621222 Centerline is valid? [True, True] Translation: X:202.40, Y:-160.89, Z:-10.48 [[ 8.52070633e-01 5.23410856e-01 -4.08794351e-03 2.02398728e+02] [ 5.23404854e-01 -8.52080440e-01 -2.50655617e-03 -1.60890831e+02] [-4.79521542e-03 -3.88657598e-06 -9.99988503e-01 -1.04775626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.650385723 meters 0.01245523984151338 Centerline is valid? [True, True] Translation: X:202.42, Y:-160.87, Z:-10.48 [[ 8.09151822e-01 5.87586328e-01 -3.95431754e-03 2.02418905e+02] [ 5.87579302e-01 -8.09161484e-01 -2.87353355e-03 -1.60870635e+02] [-4.88813047e-03 1.64976688e-06 -9.99988053e-01 -1.04780321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.710385723 meters 0.012526183565196742 Centerline is valid? [True, True] Translation: X:202.44, Y:-160.85, Z:-10.48 [[ 7.61698870e-01 6.47919812e-01 -3.84051622e-03 2.02436854e+02] [ 6.47911512e-01 -7.61708552e-01 -3.27947177e-03 -1.60849976e+02] [-5.05018877e-03 9.65526948e-06 -9.99987248e-01 -1.04783846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.770385723 meters 0.012749106713433852 Centerline is valid? [True, True] Translation: X:202.45, Y:-160.83, Z:-10.48 [[ 7.09634559e-01 7.04559185e-01 -3.89195514e-03 2.02453932e+02] [ 7.04548446e-01 -7.09645232e-01 -3.89000746e-03 -1.60832683e+02] [-5.50264789e-03 1.84127858e-05 -9.99984860e-01 -1.04770663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.830385723 meters 0.012676159996161531 Centerline is valid? [True, True] Translation: X:202.48, Y:-160.82, Z:-10.48 [[ 6.50178333e-01 7.59774446e-01 -3.30557016e-03 2.02478007e+02] [ 7.59764604e-01 -6.50186736e-01 -3.86713792e-03 -1.60820798e+02] [-5.08739045e-03 2.87408093e-06 -9.99987059e-01 -1.04776935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.890385723 meters 0.012838847634245672 Centerline is valid? [True, True] Translation: X:202.50, Y:-160.81, Z:-10.48 [[ 5.84493852e-01 8.11390980e-01 -3.40814994e-03 2.02504423e+02] [ 8.11377453e-01 -5.84503787e-01 -4.68520101e-03 -1.60809953e+02] [-5.79360639e-03 -2.68248316e-05 -9.99983217e-01 -1.04766325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.950385723 meters 0.012830776944194216 Centerline is valid? [True, True] Translation: X:202.52, Y:-160.79, Z:-10.48 [[ 5.20252471e-01 8.54004240e-01 -3.75828953e-03 2.02522774e+02] [ 8.53982295e-01 -5.20266045e-01 -6.12229889e-03 -1.60793272e+02] [-7.18377964e-03 -2.43715955e-05 -9.99974196e-01 -1.04752332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.010385723 meters 0.012894056114360538 Centerline is valid? [True, True] Translation: X:202.54, Y:-160.78, Z:-10.47 [[ 4.55706377e-01 8.90124164e-01 -3.26665431e-03 2.02543719e+02] [ 8.90101182e-01 -4.55718085e-01 -6.39625953e-03 -1.60776490e+02] [-7.18213861e-03 7.16339240e-06 -9.99974208e-01 -1.04737882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.070385723 meters 0.013064752886774946 Centerline is valid? [True, True] Translation: X:202.56, Y:-160.76, Z:-10.47 [[ 3.85799584e-01 9.22578725e-01 -2.67907932e-03 2.02561773e+02] [ 9.22556190e-01 -3.85808885e-01 -6.44822849e-03 -1.60758727e+02] [-6.98261102e-03 1.61226595e-05 -9.99975621e-01 -1.04729778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.130385723 meters 0.013684331490476475 Centerline is valid? [True, True] Translation: X:202.57, Y:-160.74, Z:-10.47 [[ 3.17468635e-01 9.48265818e-01 -2.36737397e-03 2.02571434e+02] [ 9.48238062e-01 -3.17477456e-01 -7.25557096e-03 -1.60737862e+02] [-7.63179780e-03 5.85821026e-05 -9.99970876e-01 -1.04721997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.190385723 meters 0.014215256133721607 Centerline is valid? [True, True] Translation: X:202.59, Y:-160.72, Z:-10.47 [[ 2.46919738e-01 9.69034091e-01 -1.89026545e-03 2.02585794e+02] [ 9.69002498e-01 -2.46926952e-01 -7.82554859e-03 -1.60716604e+02] [-8.04998085e-03 1.00610461e-04 -9.99967593e-01 -1.04721486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.250385723 meters 0.014547180727344261 Centerline is valid? [True, True] Translation: X:202.60, Y:-160.70, Z:-10.47 [[ 1.71174231e-01 9.85240177e-01 -1.08492903e-03 2.02598759e+02] [ 9.85216826e-01 -1.71177644e-01 -6.78378597e-03 -1.60696360e+02] [-6.86937409e-03 9.23190057e-05 -9.99976401e-01 -1.04717675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.310385723 meters 0.014380834118653454 Centerline is valid? [True, True] Translation: X:202.61, Y:-160.67, Z:-10.47 [[ 9.19641157e-02 9.95762201e-01 -4.91049127e-04 2.02608533e+02] [ 9.95743451e-01 -9.19653977e-02 -6.11106190e-03 -1.60673950e+02] [-6.13032398e-03 7.30394511e-05 -9.99981207e-01 -1.04724016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.370385723 meters 0.013956875563054682 Centerline is valid? [True, True] Translation: X:202.62, Y:-160.65, Z:-10.47 [[ 1.16038223e-02 9.99932673e-01 -1.10438784e-05 2.02618822e+02] [ 9.99913497e-01 -1.16036681e-02 -6.19301215e-03 -1.60650276e+02] [-6.19272334e-03 6.08196893e-05 -9.99980823e-01 -1.04718400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.430385723 meters 0.013655276547503795 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.63, Z:-10.47 [[-6.89408437e-02 9.97620639e-01 4.70640155e-04 2.02628458e+02] [ 9.97601834e-01 6.89424340e-02 -6.12556174e-03 -1.60625827e+02] [-6.14343389e-03 4.72100871e-05 -9.99981128e-01 -1.04735001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.490385723 meters 0.013748506259605017 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.60, Z:-10.47 [[-1.46048200e-01 9.89277009e-01 9.60420859e-04 2.02634395e+02] [ 9.89257937e-01 1.46051348e-01 -6.14314983e-03 -1.60600744e+02] [-6.21754765e-03 5.29079853e-05 -9.99980669e-01 -1.04718424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.550385723 meters 0.014349607275435043 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.58, Z:-10.47 [[-2.18618053e-01 9.75808963e-01 1.73647085e-03 2.02634928e+02] [ 9.75781647e-01 2.18624927e-01 -7.30196032e-03 -1.60576759e+02] [-7.50495414e-03 9.80760364e-05 -9.99971833e-01 -1.04727441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.610385723 meters 0.015489005491162023 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.55, Z:-10.47 [[-2.91490085e-01 9.56571372e-01 2.17728835e-03 2.02634704e+02] [ 9.56547549e-01 2.91498195e-01 -6.75194740e-03 -1.60553147e+02] [-7.09339521e-03 1.14554113e-04 -9.99974835e-01 -1.04725386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.670385723 meters 0.015200969263163678 Centerline is valid? [True, True] Translation: X:202.64, Y:-160.53, Z:-10.47 [[-3.66096050e-01 9.30571862e-01 3.11302610e-03 2.02635793e+02] [ 9.30541116e-01 3.66109263e-01 -7.56559654e-03 -1.60527834e+02] [-8.18003895e-03 1.27063766e-04 -9.99966535e-01 -1.04713467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.730385723 meters 0.015389599312632177 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.50, Z:-10.47 [[-4.37964354e-01 8.98984672e-01 3.71264517e-03 2.02631163e+02] [ 8.98954789e-01 4.37980072e-01 -7.33102738e-03 -1.60504283e+02] [-8.21654585e-03 1.26771485e-04 -9.99966236e-01 -1.04717927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.790385723 meters 0.015129205936606636 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.48, Z:-10.47 [[-5.06087035e-01 8.62471522e-01 4.33426928e-03 2.02630265e+02] [ 8.62442197e-01 5.06105576e-01 -7.11362626e-03 -1.60477574e+02] [-8.32889792e-03 1.37942695e-04 -9.99965305e-01 -1.04718830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8503857229999 meters 0.015172371400483725 Centerline is valid? [True, True] Translation: X:202.63, Y:-160.45, Z:-10.47 [[-5.71103880e-01 8.20864542e-01 4.66499041e-03 2.02625869e+02] [ 8.20839160e-01 5.71122914e-01 -6.45680812e-03 -1.60451547e+02] [-7.96444776e-03 1.41698641e-04 -9.99968273e-01 -1.04721224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.910385723 meters 0.015877999557650204 Centerline is valid? [True, True] Translation: X:202.62, Y:-160.43, Z:-10.47 [[-6.30302533e-01 7.76331348e-01 5.32484609e-03 2.02618737e+02] [ 7.76306049e-01 6.30324999e-01 -6.27007826e-03 -1.60426459e+02] [-8.22404192e-03 1.81664013e-04 -9.99966166e-01 -1.04724384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9703857229999 meters 0.018250051984627404 Centerline is valid? [True, True] Translation: X:202.61, Y:-160.41, Z:-10.47 [[-6.86504330e-01 7.27099861e-01 6.13170894e-03 2.02607697e+02] [ 7.27073731e-01 6.86531676e-01 -6.16823484e-03 -1.60405017e+02] [-8.69453511e-03 2.23684574e-04 -9.99962177e-01 -1.04708023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.030385723 meters 0.01952705284684405 Centerline is valid? [True, True] Translation: X:202.59, Y:-160.39, Z:-10.47 [[-7.39346288e-01 6.73301173e-01 5.70946151e-03 2.02593145e+02] [ 6.73283327e-01 7.39368301e-01 -4.90691987e-03 -1.60388080e+02] [-7.52522976e-03 2.16172254e-04 -9.99971662e-01 -1.04721731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0903857229999 meters 0.01903868536819274 Centerline is valid? [True, True] Translation: X:202.62, Y:-160.37, Z:-10.47 [[-7.84168032e-01 6.20524956e-01 5.41078045e-03 2.02617593e+02] [ 6.20511959e-01 7.84186673e-01 -4.02134051e-03 -1.60368268e+02] [-6.73840406e-03 2.04047301e-04 -9.99977276e-01 -1.04727990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.150385723 meters 0.017476714387740712 Centerline is valid? [True, True] Translation: X:203.11, Y:-159.73, Z:-11.44 [[-7.80024466e-01 -6.25728130e-01 5.11278031e-03 2.03107396e+02] [ 6.25712948e-01 -7.80041195e-01 -4.36363462e-03 -1.59726747e+02] [ 6.71862819e-03 -2.04608921e-04 9.99977409e-01 -1.14437575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.210385723 meters 0.01871116986948986 Centerline is valid? [True, True] Translation: X:202.59, Y:-160.34, Z:-10.47 [[-7.86757731e-01 6.17241321e-01 5.04223214e-03 2.02586731e+02] [ 6.17230139e-01 7.86773867e-01 -3.71990858e-03 -1.60338755e+02] [-6.26317776e-03 1.85550809e-04 -9.99980369e-01 -1.04727184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.270385723 meters 0.01695246520713976 Centerline is valid? [True, True] Translation: X:203.06, Y:-159.70, Z:-11.44 [[-7.80551372e-01 -6.25072649e-01 4.87230662e-03 2.03064679e+02] [ 6.25059002e-01 -7.80566558e-01 -4.13446153e-03 -1.59704960e+02] [ 6.38749843e-03 -1.81680504e-04 9.99979583e-01 -1.14442964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.330385723 meters 0.016753932795754885 Centerline is valid? [True, True] Translation: X:202.56, Y:-160.31, Z:-10.47 [[-7.90670459e-01 6.12231500e-01 3.57991401e-03 2.02555372e+02] [ 6.12225901e-01 7.90678554e-01 -2.62116241e-03 -1.60306007e+02] [-4.43531942e-03 1.19240397e-04 -9.99990157e-01 -1.04734013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.390385723 meters 0.016331848321997758 Centerline is valid? [True, True] Translation: X:203.02, Y:-159.68, Z:-11.44 [[-7.81308845e-01 -6.24139296e-01 2.57440027e-03 2.03021935e+02] [ 6.24135249e-01 -7.81313071e-01 -2.25282582e-03 -1.59682979e+02] [ 3.41748971e-03 -1.53378786e-04 9.99994149e-01 -1.14440101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.450385723 meters 0.018432790182092602 Centerline is valid? [True, True] Translation: X:202.52, Y:-160.28, Z:-10.47 [[-7.93348102e-01 6.08764542e-01 2.12647067e-03 2.02520447e+02] [ 6.08762587e-01 7.93350949e-01 -1.54442411e-03 -1.60279082e+02] [-2.62722816e-03 6.92498553e-05 -9.99996546e-01 -1.04734360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.510385723 meters 0.017207547972095644 Centerline is valid? [True, True] Translation: X:202.54, Y:-160.25, Z:-10.47 [[-8.33017143e-01 5.53243986e-01 1.87923125e-03 2.02544992e+02] [ 5.53242751e-01 8.33019260e-01 -1.17092805e-03 -1.60253876e+02] [-2.21324473e-03 6.42679213e-05 -9.99997549e-01 -1.04730083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.570385723 meters 0.01718174927808239 Centerline is valid? [True, True] Translation: X:202.56, Y:-160.22, Z:-10.47 [[-8.69623927e-01 4.93711370e-01 1.81899463e-03 2.02556501e+02] [ 4.93710437e-01 8.69625827e-01 -9.61756760e-04 -1.60224747e+02] [-2.05667496e-03 6.16899459e-05 -9.99997883e-01 -1.04726939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.630385723 meters 0.017358468837600692 Centerline is valid? [True, True] Translation: X:202.57, Y:-160.20, Z:-10.47 [[-9.02806592e-01 4.30042437e-01 1.93889125e-03 2.02573938e+02] [ 4.30041590e-01 9.02808672e-01 -8.55540674e-04 -1.60197199e+02] [-2.11836663e-03 6.14161148e-05 -9.99997754e-01 -1.04719387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.690385723 meters 0.01694423847898237 Centerline is valid? [True, True] Translation: X:202.59, Y:-160.17, Z:-10.47 [[-9.32146892e-01 3.62078405e-01 1.18333629e-03 2.02589145e+02] [ 3.62078158e-01 9.32147643e-01 -4.24228328e-04 -1.60166105e+02] [-1.25664805e-03 3.30171073e-05 -9.99999210e-01 -1.04717803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.750385723 meters 0.017388185067793906 Centerline is valid? [True, True] Translation: X:202.84, Y:-159.47, Z:-11.45 [[-9.25715766e-01 -3.78213051e-01 2.28223641e-03 2.02841275e+02] [ 3.78211932e-01 -9.25718579e-01 -9.20209490e-04 -1.59472110e+02] [ 2.46074388e-03 1.13166085e-05 9.99996972e-01 -1.14466278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.810385723 meters 0.01651034266961916 Centerline is valid? [True, True] Translation: X:202.55, Y:-160.14, Z:-10.47 [[-9.32719722e-01 3.60596187e-01 2.07606143e-03 2.02548904e+02] [ 3.60595439e-01 9.32722030e-01 -7.37085026e-04 -1.60141863e+02] [-2.20217828e-03 6.11245425e-05 -9.99997573e-01 -1.04697634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.870385723 meters 0.017747157291633276 Centerline is valid? [True, True] Translation: X:202.56, Y:-160.11, Z:-10.47 [[-9.55169348e-01 2.96054018e-01 1.88013306e-03 2.02560795e+02] [ 2.96053566e-01 9.55171197e-01 -5.20688228e-04 -1.60113765e+02] [-1.95000079e-03 5.92746613e-05 -9.99998097e-01 -1.04693709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.930385723 meters 0.01714533055901699 Centerline is valid? [True, True] Translation: X:202.76, Y:-159.43, Z:-11.45 [[-9.53150440e-01 -3.02489921e-01 2.02131024e-03 2.02756899e+02] [ 3.02489122e-01 -9.53152582e-01 -6.97402911e-04 -1.59425463e+02] [ 2.13757443e-03 -5.33055307e-05 9.99997714e-01 -1.14471811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.990385723 meters 0.018345352753453857 Centerline is valid? [True, True] Translation: X:202.52, Y:-160.10, Z:-10.47 [[-9.55066586e-01 2.96384796e-01 1.96703886e-03 2.02515073e+02] [ 2.96384319e-01 9.55068609e-01 -5.36736521e-04 -1.60096245e+02] [-2.03773761e-03 7.03803553e-05 -9.99997921e-01 -1.04701241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.050385723 meters 0.018818251656925813 Centerline is valid? [True, True] Translation: X:202.70, Y:-159.42, Z:-11.45 [[-9.55865780e-01 -2.93793279e-01 2.47368487e-03 2.02700341e+02] [ 2.93792145e-01 -9.55868980e-01 -8.18152735e-04 -1.59421467e+02] [ 2.60488641e-03 -5.52950171e-05 9.99996606e-01 -1.14482386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.110385723 meters 0.018845519297941364 Centerline is valid? [True, True] Translation: X:202.46, Y:-160.07, Z:-10.47 [[-9.56297499e-01 2.92375634e-01 3.40319812e-03 2.02461170e+02] [ 2.92374224e-01 9.56303547e-01 -9.15806834e-04 -1.60070385e+02] [-3.52225004e-03 1.19223625e-04 -9.99993790e-01 -1.04690525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.170385723 meters 0.019213991922662686 Centerline is valid? [True, True] Translation: X:202.47, Y:-160.04, Z:-10.47 [[-9.75556222e-01 2.19674590e-01 5.75602835e-03 2.02472832e+02] [ 2.19671809e-01 9.75573188e-01 -1.11885351e-03 -1.60036039e+02] [-5.86121062e-03 1.72932651e-04 -9.99982808e-01 -1.04664546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.230385723 meters 0.0172498637491441 Centerline is valid? [True, True] Translation: X:202.47, Y:-160.00, Z:-10.47 [[-9.89114404e-01 1.47069263e-01 4.82978461e-03 2.02472402e+02] [ 1.47068150e-01 9.89126188e-01 -5.86725118e-04 -1.59998378e+02] [-4.86355567e-03 1.29969223e-04 -9.99988164e-01 -1.04677286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.290385723 meters 0.01703187422908144 Centerline is valid? [True, True] Translation: X:202.47, Y:-159.96, Z:-10.47 [[-9.97280764e-01 7.36335131e-02 3.03032611e-03 2.02468998e+02] [ 7.36333942e-02 9.97285366e-01 -1.50936265e-04 -1.59964515e+02] [-3.03321385e-03 7.26073628e-05 -9.99995397e-01 -1.04700045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3503857229999 meters 0.016891181447299376 Centerline is valid? [True, True] Translation: X:202.46, Y:-159.93, Z:-10.47 [[-9.99993687e-01 2.11110054e-04 3.54709479e-03 2.02462135e+02] [ 2.11378756e-04 9.99999975e-01 7.53781311e-05 -1.59931941e+02] [-3.54707879e-03 7.61274357e-05 -9.99993706e-01 -1.04693636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.410385723 meters 0.015993468736067454 Centerline is valid? [True, True] Translation: X:202.45, Y:-159.30, Z:-11.45 [[-9.99691797e-01 -2.45618757e-02 3.60901605e-03 2.02448629e+02] [ 2.45614509e-02 -9.99698309e-01 -1.61995925e-04 -1.59299703e+02] [ 3.61190617e-03 -7.33033268e-05 9.99993474e-01 -1.14460322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4703857229999 meters 0.0163737869733032 Centerline is valid? [True, True] Translation: X:202.39, Y:-159.93, Z:-10.47 [[-9.99992667e-01 -1.58529442e-03 3.48601145e-03 2.02394831e+02] [-1.58499046e-03 9.99998740e-01 8.99543354e-05 -1.59932457e+02] [-3.48614966e-03 8.44283809e-05 -9.99993920e-01 -1.04715033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.530385723 meters 0.01709434234656653 Centerline is valid? [True, True] Translation: X:202.38, Y:-159.30, Z:-11.45 [[-9.99845671e-01 -1.71009534e-02 4.02400080e-03 2.02377678e+02] [ 1.71005634e-02 -9.99853766e-01 -1.31301088e-04 -1.59299869e+02] [ 4.02565773e-03 -6.24681431e-05 9.99991895e-01 -1.14465026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5903857229999 meters 0.017512651551647468 Centerline is valid? [True, True] Translation: X:202.33, Y:-159.94, Z:-10.47 [[-9.99979106e-01 -4.87286292e-03 4.24775085e-03 2.02325443e+02] [-4.87236021e-03 9.99988122e-01 1.28687556e-04 -1.59936808e+02] [-4.24832747e-03 1.07988295e-04 -9.99990970e-01 -1.04705157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.650385723 meters 0.017293010894923345 Centerline is valid? [True, True] Translation: X:202.30, Y:-159.30, Z:-11.45 [[-9.99909033e-01 -1.26060662e-02 4.79719148e-03 2.02303241e+02] [ 1.26055106e-02 -9.99920537e-01 -1.46031285e-04 -1.59301005e+02] [ 4.79865116e-03 -8.55469529e-05 9.99988483e-01 -1.14471649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.710385723 meters 0.016941750567529373 Centerline is valid? [True, True] Translation: X:202.25, Y:-159.94, Z:-10.47 [[-9.99923547e-01 -1.15539047e-02 4.40528927e-03 2.02254664e+02] [-1.15533387e-02 9.99933246e-01 1.53896961e-04 -1.59940092e+02] [-4.40677332e-03 1.02989396e-04 -9.99990285e-01 -1.04707560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.770385723 meters 0.016482154141594898 Centerline is valid? [True, True] Translation: X:202.23, Y:-159.30, Z:-11.45 [[-9.99927773e-01 -1.09263760e-02 5.00623385e-03 2.02227008e+02] [ 1.09258548e-02 -9.99940302e-01 -1.31437885e-04 -1.59302370e+02] [ 5.00737113e-03 -7.67310075e-05 9.99987460e-01 -1.14466905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.830385723 meters 0.01651618489561846 Centerline is valid? [True, True] Translation: X:202.18, Y:-159.94, Z:-10.47 [[-9.99821533e-01 -1.84265459e-02 4.16705291e-03 2.02181336e+02] [-1.84260187e-02 9.99830213e-01 1.64868359e-04 -1.59944782e+02] [-4.16938335e-03 8.80567406e-05 -9.99991304e-01 -1.04711282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.890385723 meters 0.016865649371057955 Centerline is valid? [True, True] Translation: X:202.15, Y:-159.30, Z:-11.44 [[-9.99972315e-01 -6.98722725e-03 2.55901931e-03 2.02153244e+02] [ 6.98679570e-03 -9.99975576e-01 -1.77539975e-04 -1.59300258e+02] [ 2.56019732e-03 -1.59655715e-04 9.99996710e-01 -1.14449539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.950385723 meters 0.017258979172699307 Centerline is valid? [True, True] Translation: X:202.11, Y:-159.95, Z:-10.47 [[-9.99755177e-01 -2.20246670e-02 2.12149133e-03 2.02108431e+02] [-2.20245164e-02 9.99757427e-01 9.43356840e-05 -1.59954184e+02] [-2.12305443e-03 4.75877677e-05 -9.99997745e-01 -1.04722635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.010385723 meters 0.01795717728152752 Centerline is valid? [True, True] Translation: X:202.08, Y:-159.30, Z:-11.44 [[-9.99996440e-01 1.93329978e-03 1.83902926e-03 2.02080858e+02] [-1.93340514e-03 -9.99998129e-01 -5.55175378e-05 -1.59295853e+02] [ 1.83891848e-03 -5.90729288e-05 9.99998307e-01 -1.14442369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.070385723 meters 0.017973362997901976 Centerline is valid? [True, True] Translation: X:202.04, Y:-159.96, Z:-10.47 [[-9.99749562e-01 -2.22756870e-02 2.14639432e-03 2.02040171e+02] [-2.22755113e-02 9.99751864e-01 1.05715493e-04 -1.59964610e+02] [-2.14821661e-03 5.78769869e-05 -9.99997691e-01 -1.04726226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.130385723 meters 0.018296619662644006 Centerline is valid? [True, True] Translation: X:202.03, Y:-159.94, Z:-10.47 [[-9.95519642e-01 -9.44804596e-02 3.75314275e-03 2.02029981e+02] [-9.44794216e-02 9.95526712e-01 4.53305872e-04 -1.59938486e+02] [-3.77918240e-03 9.66801436e-05 -9.99992854e-01 -1.04701499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.190385723 meters 0.01797770984363368 Centerline is valid? [True, True] Translation: X:202.01, Y:-159.91, Z:-10.47 [[-9.86040432e-01 -1.66405776e-01 5.77788146e-03 2.02013860e+02] [-1.66402069e-01 9.86057350e-01 1.11980033e-03 -1.59912960e+02] [-5.88366373e-03 1.42716971e-04 -9.99982681e-01 -1.04681150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.250385723 meters 0.019198723614221317 Centerline is valid? [True, True] Translation: X:202.00, Y:-159.89, Z:-10.47 [[-9.72209961e-01 -2.34059111e-01 4.91168750e-03 2.01995776e+02] [-2.34055409e-01 9.72222358e-01 1.32339700e-03 -1.59893824e+02] [-5.08500553e-03 1.37012715e-04 -9.99987062e-01 -1.04686445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.310385723 meters 0.018870274355202526 Centerline is valid? [True, True] Translation: X:201.97, Y:-159.88, Z:-10.47 [[-9.53601861e-01 -3.01049045e-01 3.60047902e-03 2.01965231e+02] [-3.01046451e-01 9.53608651e-01 1.25471253e-03 -1.59876110e+02] [-3.81117795e-03 1.12584774e-04 -9.99992731e-01 -1.04702451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.370385723 meters 0.019377246334702617 Centerline is valid? [True, True] Translation: X:201.91, Y:-159.87, Z:-10.47 [[-9.29392292e-01 -3.69077952e-01 3.38130938e-03 2.01911927e+02] [-3.69075069e-01 9.29398436e-01 1.46285152e-03 -1.59869406e+02] [-3.68248989e-03 1.11605935e-04 -9.99993213e-01 -1.04698583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.430385723 meters 0.01961824222169839 Centerline is valid? [True, True] Translation: X:201.85, Y:-159.87, Z:-10.47 [[-8.99328480e-01 -4.37257982e-01 3.70707023e-03 2.01846602e+02] [-4.37253700e-01 8.99336112e-01 1.93892059e-03 -1.59871228e+02] [-4.18171063e-03 1.22796333e-04 -9.99991249e-01 -1.04688135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.490385723 meters 0.018525626427058614 Centerline is valid? [True, True] Translation: X:201.77, Y:-159.88, Z:-10.47 [[-8.62888555e-01 -5.05371769e-01 4.76623493e-03 2.01770068e+02] [-5.05363115e-01 8.62901706e-01 2.96121867e-03 -1.59881302e+02] [-5.60930856e-03 1.46522368e-04 -9.99984257e-01 -1.04672540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.550385723 meters 0.01804116574197059 Centerline is valid? [True, True] Translation: X:201.69, Y:-159.90, Z:-10.47 [[-8.21446664e-01 -5.70268429e-01 4.39297186e-03 2.01687163e+02] [-5.70259431e-01 8.21458400e-01 3.20592182e-03 -1.59903172e+02] [-5.43687963e-03 1.28360149e-04 -9.99985212e-01 -1.04669486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.610385723 meters 0.017407437795408806 Centerline is valid? [True, True] Translation: X:201.60, Y:-159.94, Z:-10.47 [[-7.73869591e-01 -6.33329690e-01 4.39997850e-03 2.01597927e+02] [-6.33318625e-01 7.73882092e-01 3.74528249e-03 -1.59939923e+02] [-5.77706316e-03 1.11771894e-04 -9.99983306e-01 -1.04668961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.670385723 meters 0.017368919587322597 Centerline is valid? [True, True] Translation: X:201.52, Y:-159.98, Z:-10.47 [[-7.22173769e-01 -6.91704140e-01 3.22958716e-03 2.01516218e+02] [-6.91696749e-01 7.22180986e-01 3.19853455e-03 -1.59978761e+02] [-4.54478603e-03 7.60028110e-05 -9.99989670e-01 -1.04661272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.730385723 meters 0.01686164646862767 Centerline is valid? [True, True] Translation: X:201.43, Y:-160.04, Z:-10.47 [[-6.68136423e-01 -7.44032093e-01 3.15672702e-03 2.01433110e+02] [-7.44023199e-01 6.68143875e-01 3.63882884e-03 -1.60035865e+02] [-4.81655326e-03 8.25559503e-05 -9.99988397e-01 -1.04674917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.790385723 meters 0.01716173317340013 Centerline is valid? [True, True] Translation: X:201.35, Y:-160.10, Z:-10.47 [[-6.10609925e-01 -7.91926689e-01 2.76394049e-03 2.01348824e+02] [-7.91917945e-01 6.10616175e-01 3.72226613e-03 -1.60103073e+02] [-4.63546866e-03 8.40385731e-05 -9.99989253e-01 -1.04676294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8503857229999 meters 0.01698430958795078 Centerline is valid? [True, True] Translation: X:201.27, Y:-160.18, Z:-10.47 [[-5.48442064e-01 -8.36185666e-01 2.19898100e-03 2.01268374e+02] [-8.36178393e-01 5.48446467e-01 3.48812897e-03 -1.60176597e+02] [-4.12274681e-03 7.42962496e-05 -9.99991499e-01 -1.04680522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.910385723 meters 0.016710533488649006 Centerline is valid? [True, True] Translation: X:201.19, Y:-160.26, Z:-10.47 [[-4.81086504e-01 -8.76670627e-01 2.09446203e-03 2.01190957e+02] [-8.76661673e-01 4.81091058e-01 3.96283425e-03 -1.60264330e+02] [-4.48172734e-03 7.03314904e-05 -9.99989955e-01 -1.04683331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9703857229999 meters 0.016438573633762506 Centerline is valid? [True, True] Translation: X:201.12, Y:-160.36, Z:-10.47 [[-4.10781293e-01 -9.11731394e-01 2.14348677e-03 2.01119547e+02] [-9.11718034e-01 4.10786878e-01 4.93625510e-03 -1.60358604e+02] [-5.38105498e-03 7.34657103e-05 -9.99985519e-01 -1.04675907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.030385723 meters 0.016782916732966564 Centerline is valid? [True, True] Translation: X:201.06, Y:-160.47, Z:-10.47 [[-3.41209566e-01 -9.39984471e-01 2.28591604e-03 2.01055764e+02] [-9.39961235e-01 3.41217207e-01 6.61015166e-03 -1.60465554e+02] [-6.99343380e-03 1.06774517e-04 -9.99975540e-01 -1.04660386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0903857229999 meters 0.01782447294800408 Centerline is valid? [True, True] Translation: X:201.00, Y:-160.57, Z:-10.47 [[-2.71575928e-01 -9.62414201e-01 2.32848243e-03 2.01004873e+02] [-9.62373083e-01 2.71585853e-01 8.89797764e-03 -1.60573165e+02] [-9.19592293e-03 1.75607721e-04 -9.99957701e-01 -1.04659068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.150385723 meters 0.017910323992382304 Centerline is valid? [True, True] Translation: X:200.95, Y:-160.68, Z:-10.47 [[-1.96046542e-01 -9.80593426e-01 1.51179734e-03 2.00952640e+02] [-9.80557790e-01 1.96052309e-01 8.36143523e-03 -1.60683233e+02] [-8.49555978e-03 1.56825806e-04 -9.99963900e-01 -1.04650873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.210385723 meters 0.017320644829826336 Centerline is valid? [True, True] Translation: X:200.90, Y:-160.81, Z:-10.47 [[-1.16561201e-01 -9.93183117e-01 8.85105931e-04 2.00903061e+02] [-9.93145329e-01 1.16564488e-01 8.66462555e-03 -1.60806794e+02] [-8.70873172e-03 1.30920336e-04 -9.99962070e-01 -1.04654434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.270385723 meters 0.01658471172728844 Centerline is valid? [True, True] Translation: X:200.10, Y:-160.84, Z:-11.45 [[-1.55134551e-01 9.87892466e-01 1.32198618e-03 2.00104112e+02] [-9.87867467e-01 -1.55140034e-01 7.03113959e-03 -1.60836257e+02] [ 7.15110281e-03 -2.15174452e-04 9.99974407e-01 -1.14493961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.330385723 meters 0.017109763867648304 Centerline is valid? [True, True] Translation: X:200.87, Y:-161.12, Z:-10.47 [[-1.07766042e-01 -9.94176086e-01 6.24053924e-04 2.00865480e+02] [-9.94152968e-01 1.07767793e-01 6.78082762e-03 -1.61118570e+02] [-6.80858958e-03 1.10337897e-04 -9.99976815e-01 -1.04677022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.390385723 meters 0.017863511493719623 Centerline is valid? [True, True] Translation: X:200.83, Y:-161.23, Z:-10.47 [[-3.44353534e-02 -9.99406924e-01 8.48344398e-05 2.00831994e+02] [-9.99389863e-01 3.44352613e-02 5.84068736e-03 -1.61226491e+02] [-5.84014468e-03 1.16343454e-04 -9.99982939e-01 -1.04682616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.450385723 meters 0.01816466828507889 Centerline is valid? [True, True] Translation: X:200.81, Y:-161.35, Z:-10.47 [[ 3.94208484e-02 -9.99222618e-01 -3.94850480e-04 2.00806517e+02] [-9.99202823e-01 -3.94225535e-02 6.29134625e-03 -1.61347579e+02] [-6.30202149e-03 1.46525507e-04 -9.99980131e-01 -1.04678257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.510385723 meters 0.01974828219803724 Centerline is valid? [True, True] Translation: X:200.79, Y:-161.47, Z:-10.47 [[ 1.10892527e-01 -9.93832137e-01 -7.28771784e-04 2.00791374e+02] [-9.93818682e-01 -1.10894820e-01 5.17360013e-03 -1.61468124e+02] [-5.22250708e-03 1.50553421e-04 -9.99986351e-01 -1.04688470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.570385723 meters 0.020729580598483698 Centerline is valid? [True, True] Translation: X:200.79, Y:-161.60, Z:-10.47 [[ 1.86069485e-01 -9.82536046e-01 -1.03202402e-03 2.00786876e+02] [-9.82524909e-01 -1.86072292e-01 4.68028569e-03 -1.61599141e+02] [-4.79058047e-03 1.43130959e-04 -9.99988515e-01 -1.04689287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.630385723 meters 0.02024416233538658 Centerline is valid? [True, True] Translation: X:200.79, Y:-161.73, Z:-10.47 [[ 2.64451240e-01 -9.64397538e-01 -1.71193804e-03 2.00789803e+02] [-9.64380986e-01 -2.64456735e-01 5.65231541e-03 -1.61729164e+02] [-5.90381261e-03 1.56198677e-04 -9.99982560e-01 -1.04683447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.690385723 meters 0.01740475105093312 Centerline is valid? [True, True] Translation: X:200.80, Y:-161.85, Z:-10.47 [[ 3.42533243e-01 -9.39503119e-01 -2.20595112e-03 2.00795391e+02] [-9.39486025e-01 -3.42540321e-01 5.66896358e-03 -1.61853857e+02] [-6.08163617e-03 1.30651774e-04 -9.99981498e-01 -1.04685010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.750385723 meters 0.01691557375389198 Centerline is valid? [True, True] Translation: X:200.82, Y:-161.98, Z:-10.47 [[ 4.18663384e-01 -9.08138442e-01 -2.35384474e-03 2.00817834e+02] [-9.08125244e-01 -4.18669992e-01 4.89684476e-03 -1.61981144e+02] [-5.43249713e-03 8.74562290e-05 -9.99985240e-01 -1.04680262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.810385723 meters 0.016187227599205854 Centerline is valid? [True, True] Translation: X:200.85, Y:-162.11, Z:-10.47 [[ 4.90361305e-01 -8.71515298e-01 -2.62238369e-03 2.00851971e+02] [-8.71503532e-01 -4.90368312e-01 4.52904345e-03 -1.62108341e+02] [-5.23306451e-03 6.45489987e-05 -9.99986305e-01 -1.04687519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.870385723 meters 0.01594787682925327 Centerline is valid? [True, True] Translation: X:200.89, Y:-162.22, Z:-10.47 [[ 5.57259485e-01 -8.30331665e-01 -3.34547558e-03 2.00887056e+02] [-8.30317368e-01 -5.57269523e-01 4.87301113e-03 -1.62217609e+02] [-5.91054703e-03 6.22748056e-05 -9.99982531e-01 -1.04680006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.930385723 meters 0.016062180703240985 Centerline is valid? [True, True] Translation: X:200.94, Y:-162.32, Z:-10.47 [[ 6.18849433e-01 -7.85501612e-01 -3.54923126e-03 2.00935013e+02] [-7.85489267e-01 -6.18859607e-01 4.40428724e-03 -1.62324776e+02] [-5.65605059e-03 6.22924024e-05 -9.99984003e-01 -1.04688644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.990385723 meters 0.01624705375334672 Centerline is valid? [True, True] Translation: X:200.99, Y:-162.43, Z:-10.47 [[ 6.76465262e-01 -7.36459005e-01 -4.78369984e-03 2.00987722e+02] [-7.36441448e-01 -6.76482171e-01 5.08583328e-03 -1.62425019e+02] [-6.98159537e-03 8.25252969e-05 -9.99975625e-01 -1.04683667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.050385723 meters 0.01671455858268605 Centerline is valid? [True, True] Translation: X:201.05, Y:-162.52, Z:-10.47 [[ 7.28893613e-01 -6.84598302e-01 -6.26623163e-03 2.01046414e+02] [-6.84574431e-01 -7.28920537e-01 5.71833342e-03 -1.62519840e+02] [-8.48234628e-03 1.21645246e-04 -9.99964017e-01 -1.04670799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.110385723 meters 0.01763877148007074 Centerline is valid? [True, True] Translation: X:201.07, Y:-162.54, Z:-10.47 [[ 7.78336353e-01 -6.27809760e-01 -6.88669793e-03 2.01066143e+02] [-6.27786888e-01 -7.78366805e-01 5.36106947e-03 -1.62540590e+02] [-8.72610880e-03 1.50663400e-04 -9.99961915e-01 -1.04677490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.170385723 meters 0.017785871442223614 Centerline is valid? [True, True] Translation: X:201.08, Y:-162.56, Z:-10.47 [[ 8.24016255e-01 -5.66509018e-01 -8.04636745e-03 2.01084813e+02] [-5.66484169e-01 -8.24055519e-01 5.30921860e-03 -1.62564875e+02] [-9.63837372e-03 1.83257353e-04 -9.99953533e-01 -1.04681570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.230385723 meters 0.017582868709121645 Centerline is valid? [True, True] Translation: X:201.10, Y:-162.59, Z:-10.47 [[ 8.64650421e-01 -5.02290057e-01 -9.18408482e-03 2.01102439e+02] [-5.02264452e-01 -8.64699167e-01 5.07659435e-03 -1.62592584e+02] [-1.04913934e-02 2.23359885e-04 -9.99944939e-01 -1.04684815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.290385723 meters 0.0185700002740741 Centerline is valid? [True, True] Translation: X:201.12, Y:-162.62, Z:-10.47 [[ 9.00210688e-01 -4.35350198e-01 -9.53530267e-03 2.01122927e+02] [-4.35328685e-01 -9.00261153e-01 4.33499902e-03 -1.62615530e+02] [-1.04715053e-02 2.48578318e-04 -9.99945141e-01 -1.04685290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3503857229999 meters 0.01853091877158232 Centerline is valid? [True, True] Translation: X:201.14, Y:-162.64, Z:-10.47 [[ 9.30951883e-01 -3.65027422e-01 -9.14183159e-03 2.01144608e+02] [-3.65012397e-01 -9.30996735e-01 3.32096754e-03 -1.62640690e+02] [-9.72325958e-03 2.45220878e-04 -9.99952698e-01 -1.04694368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.410385723 meters 0.019681646469953948 Centerline is valid? [True, True] Translation: X:201.17, Y:-162.66, Z:-10.47 [[ 9.56457259e-01 -2.91737150e-01 -8.88519733e-03 2.01168786e+02] [-2.91726867e-01 -9.56498499e-01 2.46096631e-03 -1.62659755e+02] [-9.21663320e-03 2.38241691e-04 -9.99957498e-01 -1.04696386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4703857229999 meters 0.018086069682895497 Centerline is valid? [True, True] Translation: X:201.19, Y:-162.68, Z:-10.47 [[ 9.76552788e-01 -2.15103159e-01 -8.67654914e-03 2.01190660e+02] [-2.15096676e-01 -9.76591308e-01 1.68454931e-03 -1.62682581e+02] [-8.83579435e-03 2.21245560e-04 -9.99960939e-01 -1.04718253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.530385723 meters 0.017161871780975422 Centerline is valid? [True, True] Translation: X:201.21, Y:-162.70, Z:-10.47 [[ 9.91261494e-01 -1.31669200e-01 -7.99201381e-03 2.01214482e+02] [-1.31666138e-01 -9.91293700e-01 9.10342528e-04 -1.62704077e+02] [-8.04229701e-03 1.49890102e-04 -9.99967649e-01 -1.04728920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5903857229999 meters 0.016217727059814127 Centerline is valid? [True, True] Translation: X:201.24, Y:-162.72, Z:-10.47 [[ 9.98814850e-01 -4.80588518e-02 -7.69686477e-03 2.01239991e+02] [-4.80581978e-02 -9.98844501e-01 2.70008477e-04 -1.62724327e+02] [-7.70094734e-03 1.00208973e-04 -9.99970342e-01 -1.04722611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.650385723 meters 0.01578245129512688 Centerline is valid? [True, True] Translation: X:201.27, Y:-162.74, Z:-10.47 [[ 9.99390187e-01 3.41607122e-02 -7.23190965e-03 2.01267630e+02] [ 3.41593381e-02 -9.99416350e-01 -3.13472185e-04 -1.62739039e+02] [-7.23839718e-03 6.62437790e-05 -9.99973800e-01 -1.04729761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.710385723 meters 0.01569264281890092 Centerline is valid? [True, True] Translation: X:201.30, Y:-162.75, Z:-10.47 [[ 9.93573878e-01 1.13004663e-01 -6.39499635e-03 2.01296274e+02] [ 1.13001969e-01 -9.93594456e-01 -7.82194893e-04 -1.62746290e+02] [-6.44242459e-03 5.45212348e-05 -9.99979246e-01 -1.04744111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.770385723 meters 0.015782705457262958 Centerline is valid? [True, True] Translation: X:201.33, Y:-162.75, Z:-10.47 [[ 9.81894851e-01 1.89344237e-01 -5.59112560e-03 2.01325170e+02] [ 1.89340850e-01 -9.81910768e-01 -1.13385184e-03 -1.62750987e+02] [-5.70467474e-03 5.46948142e-05 -9.99983727e-01 -1.04747861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.830385723 meters 0.01644327591322136 Centerline is valid? [True, True] Translation: X:201.35, Y:-162.75, Z:-10.47 [[ 9.65469685e-01 2.60428895e-01 -6.71405131e-03 2.01353521e+02] [ 2.60421847e-01 -9.65493024e-01 -1.91879629e-03 -1.62749101e+02] [-6.98207970e-03 1.04054008e-04 -9.99975620e-01 -1.04738572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.890385723 meters 0.017125249403243472 Centerline is valid? [True, True] Translation: X:201.38, Y:-162.75, Z:-10.47 [[ 9.42922419e-01 3.32926714e-01 -7.55743288e-03 2.01381139e+02] [ 3.32914831e-01 -9.42952694e-01 -2.81641420e-03 -1.62746173e+02] [-8.06396122e-03 1.39678598e-04 -9.99967476e-01 -1.04727826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.950385723 meters 0.017168397196588848 Centerline is valid? [True, True] Translation: X:201.41, Y:-162.74, Z:-10.47 [[ 9.15049331e-01 4.03273920e-01 -7.40726984e-03 2.01410144e+02] [ 4.03259260e-01 -9.15079297e-01 -3.44244836e-03 -1.62743473e+02] [-8.16648892e-03 1.62959919e-04 -9.99966640e-01 -1.04728048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.010385723 meters 0.016815380161681263 Centerline is valid? [True, True] Translation: X:201.44, Y:-162.74, Z:-10.47 [[ 8.79835296e-01 4.75234997e-01 -6.44592805e-03 2.01438192e+02] [ 4.75221116e-01 -8.79858898e-01 -3.63471464e-03 -1.62739186e+02] [-7.39885075e-03 1.34709103e-04 -9.99972619e-01 -1.04749612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.070385723 meters 0.016199739285476016 Centerline is valid? [True, True] Translation: X:201.47, Y:-162.74, Z:-10.47 [[ 8.38560397e-01 5.44784240e-01 -5.15676867e-03 2.01467995e+02] [ 5.44773219e-01 -8.38576247e-01 -3.46666379e-03 -1.62735904e+02] [-6.21292751e-03 9.77374937e-05 -9.99980695e-01 -1.04748210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.130385723 meters 0.01636997610073178 Centerline is valid? [True, True] Translation: X:201.50, Y:-162.73, Z:-10.47 [[ 7.92775985e-01 6.09495543e-01 -4.62816013e-03 2.01495754e+02] [ 6.09484509e-01 -7.92789490e-01 -3.66858981e-03 -1.62728374e+02] [-5.90514585e-03 8.75780030e-05 -9.99982561e-01 -1.04748500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.190385723 meters 0.017185072197623188 Centerline is valid? [True, True] Translation: X:201.52, Y:-162.72, Z:-10.48 [[ 7.44306846e-01 6.67815691e-01 -5.43347591e-03 2.01523405e+02] [ 6.67796630e-01 -7.44326667e-01 -5.04725680e-03 -1.62719077e+02] [-7.41491830e-03 1.28250889e-04 -9.99972501e-01 -1.04750234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.250385723 meters 0.018255328750390366 Centerline is valid? [True, True] Translation: X:201.55, Y:-162.71, Z:-10.47 [[ 6.91892475e-01 7.21980705e-01 -5.35397640e-03 2.01549224e+02] [ 7.21957278e-01 -6.91913171e-01 -5.81823687e-03 -1.62706749e+02] [-7.90514154e-03 1.60252073e-04 -9.99968741e-01 -1.04747394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.310385723 meters 0.019187216981821877 Centerline is valid? [True, True] Translation: X:201.57, Y:-162.69, Z:-10.48 [[ 6.35322066e-01 7.72231702e-01 -4.90612122e-03 2.01574236e+02] [ 7.72206429e-01 -6.35340983e-01 -6.25033362e-03 -1.62693503e+02] [-7.94376565e-03 1.82436524e-04 -9.99968431e-01 -1.04755492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.370385723 meters 0.019305424385848764 Centerline is valid? [True, True] Translation: X:201.60, Y:-162.68, Z:-10.48 [[ 5.75029316e-01 8.18118293e-01 -4.87274191e-03 2.01601137e+02] [ 8.18085548e-01 -5.75049917e-01 -7.32317884e-03 -1.62680220e+02] [-8.79329641e-03 2.24722780e-04 -9.99961313e-01 -1.04753167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.430385723 meters 0.02055382707429817 Centerline is valid? [True, True] Translation: X:201.62, Y:-162.67, Z:-10.48 [[ 5.10259406e-01 8.60010941e-01 -4.06442592e-03 2.01624196e+02] [ 8.59980090e-01 -5.10275544e-01 -7.28797058e-03 -1.62665058e+02] [-8.34171158e-03 2.23430175e-04 -9.99965182e-01 -1.04752305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.490385723 meters 0.01978821990626659 Centerline is valid? [True, True] Translation: X:201.65, Y:-162.65, Z:-10.48 [[ 4.41291904e-01 8.97357379e-01 -3.34502066e-03 2.01652218e+02] [ 8.97327809e-01 -4.41304530e-01 -7.28798788e-03 -1.62649072e+02] [-8.01610248e-03 2.14549989e-04 -9.99967848e-01 -1.04757179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.550385723 meters 0.019800822576372536 Centerline is valid? [True, True] Translation: X:201.68, Y:-162.63, Z:-10.48 [[ 3.70097004e-01 9.28991173e-01 -1.89926609e-03 2.01675500e+02] [ 9.28976775e-01 -3.70101847e-01 -5.17437907e-03 -1.62629829e+02] [-5.50987437e-03 1.50648104e-04 -9.99984809e-01 -1.04778118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.610385723 meters 0.01923676833439978 Centerline is valid? [True, True] Translation: X:201.70, Y:-162.61, Z:-10.48 [[ 2.95646233e-01 9.55296719e-01 -1.21791453e-03 2.01701466e+02] [ 9.55286850e-01 -2.95648717e-01 -4.34407014e-03 -1.62609957e+02] [-4.50995082e-03 1.20850234e-04 -9.99989823e-01 -1.04787953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.670385723 meters 0.019160856508884425 Centerline is valid? [True, True] Translation: X:201.73, Y:-162.59, Z:-10.48 [[ 2.17919130e-01 9.75966699e-01 -5.05214646e-04 2.01725524e+02] [ 9.75963340e-01 -2.17919706e-01 -2.56129840e-03 -1.62588031e+02] [-2.60983817e-03 6.50849443e-05 -9.99996592e-01 -1.04793231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.730385723 meters 0.017593058130829446 Centerline is valid? [True, True] Translation: X:201.75, Y:-162.56, Z:-10.48 [[ 1.36666531e-01 9.90617092e-01 -1.92871330e-04 2.01754618e+02] [ 9.90615711e-01 -1.36666663e-01 -1.65414239e-03 -1.62562874e+02] [-1.66498081e-03 3.50045327e-05 -9.99998613e-01 -1.04801477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.790385723 meters 0.017320702643845994 Centerline is valid? [True, True] Translation: X:201.78, Y:-162.53, Z:-10.48 [[ 5.75108022e-02 9.98344879e-01 -1.03956092e-04 2.01777579e+02] [ 9.98341132e-01 -5.75108712e-02 -2.73572879e-03 -1.62534463e+02] [-2.73717943e-03 5.35503151e-05 -9.99996253e-01 -1.04786845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8503857229999 meters 0.018263484454598435 Centerline is valid? [True, True] Translation: X:201.79, Y:-162.50, Z:-10.48 [[-1.94584308e-02 9.99810655e-01 1.55956225e-04 2.01792497e+02] [ 9.99803178e-01 1.94588886e-02 -3.86744903e-03 -1.62504990e+02] [-3.86975149e-03 8.06710400e-05 -9.99992509e-01 -1.04768685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.910385723 meters 0.01839536926584607 Centerline is valid? [True, True] Translation: X:201.81, Y:-162.47, Z:-10.48 [[-9.43218817e-02 9.95541613e-01 5.29431756e-04 2.01807773e+02] [ 9.95531711e-01 9.43233055e-02 -4.44151646e-03 -1.62473329e+02] [-4.47165221e-03 1.08133912e-04 -9.99989996e-01 -1.04764121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9703857229999 meters 0.019244455543685812 Centerline is valid? [True, True] Translation: X:201.82, Y:-162.44, Z:-10.48 [[-1.67195646e-01 9.85923244e-01 9.86700897e-04 2.01820003e+02] [ 9.85910860e-01 1.67198493e-01 -4.94363319e-03 -1.62439576e+02] [-5.03901778e-03 1.46245186e-04 -9.99987293e-01 -1.04752965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.030385723 meters 0.021637451159650198 Centerline is valid? [True, True] Translation: X:201.83, Y:-162.41, Z:-10.47 [[-2.38779780e-01 9.71072580e-01 1.50349964e-03 2.01827140e+02] [ 9.71058020e-01 2.38784439e-01 -5.32113025e-03 -1.62406957e+02] [-5.52621600e-03 1.89407072e-04 -9.99984712e-01 -1.04738791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0903857229999 meters 0.020610623339741264 Centerline is valid? [True, True] Translation: X:201.84, Y:-162.37, Z:-10.47 [[-3.11079788e-01 9.50382484e-01 1.58101526e-03 2.01837568e+02] [ 9.50372863e-01 3.11083758e-01 -4.27989704e-03 -1.62369413e+02] [-4.55936735e-03 1.71164538e-04 -9.99989591e-01 -1.04747432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.150385723 meters 0.020459324434792286 Centerline is valid? [True, True] Translation: X:201.85, Y:-162.33, Z:-10.47 [[-3.86203647e-01 9.22410514e-01 2.36371746e-03 2.01845976e+02] [ 9.22396306e-01 3.86210828e-01 -5.12361899e-03 -1.62330519e+02] [-5.63897330e-03 2.01523912e-04 -9.99984081e-01 -1.04725922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.210385723 meters 0.019217206396345353 Centerline is valid? [True, True] Translation: X:201.85, Y:-162.29, Z:-10.47 [[-4.63016671e-01 8.86343192e-01 3.36273009e-03 2.01849207e+02] [ 8.86322883e-01 4.63028838e-01 -6.00347687e-03 -1.62291176e+02] [-6.87818186e-03 2.00754757e-04 -9.99976325e-01 -1.04714068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.270385723 meters 0.018292754277355407 Centerline is valid? [True, True] Translation: X:201.85, Y:-162.25, Z:-10.47 [[-5.36822738e-01 8.43683469e-01 4.42187422e-03 2.01845898e+02] [ 8.43657526e-01 5.36840920e-01 -6.61861430e-03 -1.62254420e+02] [-7.95785849e-03 1.77524812e-04 -9.99968320e-01 -1.04698485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.330385723 meters 0.016367255216350383 Centerline is valid? [True, True] Translation: X:201.84, Y:-162.21, Z:-10.47 [[-6.04047708e-01 7.96936122e-01 4.37991700e-03 2.01842250e+02] [ 7.96916750e-01 6.04063573e-01 -5.55818661e-03 -1.62212940e+02] [-7.07526799e-03 1.33019337e-04 -9.99974961e-01 -1.04707495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.390385723 meters 0.018060483036295424 Centerline is valid? [True, True] Translation: X:201.83, Y:-162.18, Z:-10.47 [[-6.64333139e-01 7.47425290e-01 4.11303445e-03 2.01828710e+02] [ 7.47412037e-01 6.64345861e-01 -4.45249011e-03 -1.62177743e+02] [-6.06038112e-03 1.16194725e-04 -9.99981629e-01 -1.04702148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.450385723 meters 0.016616646328740783 Centerline is valid? [True, True] Translation: X:201.81, Y:-162.15, Z:-10.47 [[-7.20606149e-01 6.93335668e-01 3.52553810e-03 2.01810597e+02] [ 6.93328002e-01 7.20614767e-01 -3.26171199e-03 -1.62145569e+02] [-4.80201608e-03 9.39445671e-05 -9.99988466e-01 -1.04712479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.510385723 meters 0.01693227759257783 Centerline is valid? [True, True] Translation: X:201.83, Y:-162.13, Z:-10.47 [[-7.66067776e-01 6.42752111e-01 3.14427720e-03 2.01825275e+02] [ 6.42747176e-01 7.66074224e-01 -2.52031569e-03 -1.62125459e+02] [-4.02868794e-03 9.02426544e-05 -9.99991881e-01 -1.04717207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.570385723 meters 0.0174398515713172 Centerline is valid? [True, True] Translation: X:201.84, Y:-162.10, Z:-10.47 [[-8.07988142e-01 5.89189492e-01 3.30238277e-03 2.01836929e+02] [ 5.89185078e-01 8.07994884e-01 -2.28289888e-03 -1.62102664e+02] [-4.01336841e-03 1.01159426e-04 -9.99991941e-01 -1.04713852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.630385723 meters 0.018354263882870554 Centerline is valid? [True, True] Translation: X:201.84, Y:-162.08, Z:-10.47 [[-8.46184837e-01 5.32875926e-01 3.80373961e-03 2.01844685e+02] [ 5.32871194e-01 8.46193377e-01 -2.24907281e-03 -1.62080546e+02] [-4.41717603e-03 1.23771956e-04 -9.99990237e-01 -1.04703555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.690385723 meters 0.018256598784929984 Centerline is valid? [True, True] Translation: X:202.12, Y:-161.61, Z:-11.45 [[-8.40289609e-01 -5.42126077e-01 3.56233614e-03 2.02122148e+02] [ 5.42120559e-01 -8.40297150e-01 -2.44929217e-03 -1.61606445e+02] [ 4.32124606e-03 -1.26899093e-04 9.99990655e-01 -1.14461785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.750385723 meters 0.019110180312540588 Centerline is valid? [True, True] Translation: X:201.80, Y:-162.07, Z:-10.47 [[-8.45186955e-01 5.34458033e-01 3.69095238e-03 2.01804841e+02] [ 5.34453669e-01 8.45195002e-01 -2.16443807e-03 -1.62068642e+02] [-4.27637582e-03 1.43288217e-04 -9.99990846e-01 -1.04711513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.810385723 meters 0.021053171598062564 Centerline is valid? [True, True] Translation: X:202.10, Y:-161.58, Z:-11.45 [[-8.46909090e-01 -5.31728532e-01 3.12443915e-03 2.02096688e+02] [ 5.31724229e-01 -8.46914839e-01 -2.14465931e-03 -1.61575877e+02] [ 3.78651042e-03 -1.54991465e-04 9.99992819e-01 -1.14459972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.870385723 meters 0.021356635756043175 Centerline is valid? [True, True] Translation: X:201.77, Y:-162.06, Z:-10.47 [[-8.42091922e-01 5.39328638e-01 2.41159006e-03 2.01765122e+02] [ 5.39326828e-01 8.42095366e-01 -1.40217433e-03 -1.62060367e+02] [-2.78702159e-03 1.19875539e-04 -9.99996109e-01 -1.04721588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.930385723 meters 0.023681147691403535 Centerline is valid? [True, True] Translation: X:201.77, Y:-162.04, Z:-10.47 [[-8.76512754e-01 4.81376943e-01 1.27733564e-03 2.01773735e+02] [ 4.81376541e-01 8.76513682e-01 -6.25432740e-04 -1.62039416e+02] [-1.42067106e-03 6.66796371e-05 -9.99998989e-01 -1.04740321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.990385723 meters 0.024950576475298438 Centerline is valid? [True, True] Translation: X:201.78, Y:-162.01, Z:-10.48 [[-9.07798534e-01 4.19406499e-01 9.86515189e-05 2.01775448e+02] [ 4.19406497e-01 9.07798540e-01 -3.87196727e-05 -1.62011137e+02] [-1.05794987e-04 6.22542590e-06 -9.99999994e-01 -1.04751789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.050385723 meters 0.0225881967327319 Centerline is valid? [True, True] Translation: X:202.00, Y:-161.46, Z:-11.44 [[-9.19202735e-01 -3.93783592e-01 9.02817741e-04 2.02003055e+02] [ 3.93783409e-01 -9.19203178e-01 -3.79961006e-04 -1.61456130e+02] [ 9.79495346e-04 6.25345198e-06 9.99999520e-01 -1.14427726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.110385723 meters 0.023119603514461583 Centerline is valid? [True, True] Translation: X:201.74, Y:-161.99, Z:-10.47 [[-9.09194850e-01 4.16367302e-01 1.73062053e-03 2.01736593e+02] [ 4.16366735e-01 9.09196492e-01 -6.93491317e-04 -1.61986731e+02] [-1.86222123e-03 9.00540868e-05 -9.99998262e-01 -1.04745465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.170385723 meters 0.024471886369902076 Centerline is valid? [True, True] Translation: X:201.96, Y:-161.44, Z:-11.44 [[-9.19455133e-01 -3.93191371e-01 1.67469115e-03 2.01955019e+02] [ 3.93190538e-01 -9.19456654e-01 -8.14141522e-04 -1.61444451e+02] [ 1.85991934e-03 -9.00938861e-05 9.99998266e-01 -1.14436599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.230385723 meters 0.019615369313780526 Centerline is valid? [True, True] Translation: X:201.69, Y:-161.95, Z:-10.47 [[-9.13627585e-01 4.06545165e-01 2.37997649e-03 2.01694430e+02] [ 4.06544083e-01 9.13630679e-01 -9.43842764e-04 -1.61952304e+02] [-2.55813425e-03 1.05244575e-04 -9.99996722e-01 -1.04729127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.290385723 meters 0.020507134967451175 Centerline is valid? [True, True] Translation: X:201.70, Y:-161.92, Z:-10.48 [[-9.40580582e-01 3.39570566e-01 9.42091967e-07 2.01700752e+02] [ 3.39570566e-01 9.40580582e-01 7.21510490e-07 -1.61922454e+02] [-6.41109832e-07 9.98545459e-07 -1.00000000e+00 -1.04750618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3503857229999 meters 0.020556036373150018 Centerline is valid? [True, True] Translation: X:201.70, Y:-161.89, Z:-10.48 [[-9.61445003e-01 2.74993629e-01 -1.41789721e-03 2.01701913e+02] [ 2.74993423e-01 9.61446046e-01 3.42091448e-04 -1.61888794e+02] [ 1.45730464e-03 -6.10102959e-05 -9.99998936e-01 -1.04769900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.410385723 meters 0.022295338325952357 Centerline is valid? [True, True] Translation: X:201.70, Y:-161.86, Z:-10.48 [[-9.76941096e-01 2.13507546e-01 -7.89199026e-04 2.01704893e+02] [ 2.13507509e-01 9.76941414e-01 1.32422433e-04 -1.61858569e+02] [ 7.99274401e-04 -3.91310007e-05 -9.99999680e-01 -1.04776822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4703857229999 meters 0.028589753244790423 Centerline is valid? [True, True] Translation: X:201.80, Y:-161.32, Z:-11.44 [[-9.85196682e-01 -1.71425689e-01 -8.55123210e-04 2.01798944e+02] [ 1.71425590e-01 -9.85197052e-01 1.88189001e-04 -1.61322959e+02] [-8.74725294e-04 3.88131778e-05 9.99999617e-01 -1.14388603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.530385723 meters 0.027445390245913207 Centerline is valid? [True, True] Translation: X:201.67, Y:-161.85, Z:-10.48 [[-9.74187912e-01 2.25734970e-01 -1.27861848e-03 2.01670078e+02] [ 2.25734889e-01 9.74188748e-01 2.08981254e-04 -1.61846335e+02] [ 1.29279012e-03 -8.50417900e-05 -9.99999161e-01 -1.04778715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5903857229999 meters 0.029118967498964875 Centerline is valid? [True, True] Translation: X:201.66, Y:-161.81, Z:-10.48 [[-9.87544064e-01 1.57340307e-01 -8.65124044e-04 2.01663228e+02] [ 1.57340298e-01 9.87544442e-01 7.92214628e-05 -1.61810114e+02] [ 8.66813170e-04 -5.78841894e-05 -9.99999623e-01 -1.04774912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.650385723 meters 0.028552632049562484 Centerline is valid? [True, True] Translation: X:201.65, Y:-161.77, Z:-10.47 [[-9.96484639e-01 8.37336054e-02 2.65481520e-03 2.01648385e+02] [ 8.37337697e-02 9.96488160e-01 -4.93803774e-05 -1.61766556e+02] [-2.64962671e-03 1.73090897e-04 -9.99996475e-01 -1.04743959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.710385723 meters 0.02681438852075647 Centerline is valid? [True, True] Translation: X:201.63, Y:-161.72, Z:-10.47 [[-9.99981913e-01 3.26783948e-03 5.04919267e-03 2.01631178e+02] [ 3.26921712e-03 9.99994621e-01 2.64614120e-04 -1.61724249e+02] [-5.04830080e-03 2.81116241e-04 -9.99987218e-01 -1.04727303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.770385723 meters 0.023329184223516243 Centerline is valid? [True, True] Translation: X:201.60, Y:-161.68, Z:-10.47 [[-9.96788034e-01 -7.99525065e-02 4.60569859e-03 2.01600016e+02] [-7.99507175e-02 9.96798654e-01 5.71531520e-04 -1.61681925e+02] [-4.63664953e-03 2.01466874e-04 -9.99989230e-01 -1.04730756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.830385723 meters 0.020500459213103 Centerline is valid? [True, True] Translation: X:201.54, Y:-161.27, Z:-11.44 [[-9.96023027e-01 8.90618874e-02 2.47168548e-03 2.01535605e+02] [-8.90622874e-02 -9.96026057e-01 -5.20370419e-05 -1.61269331e+02] [ 2.45722862e-03 -2.71964054e-04 9.99996944e-01 -1.14429429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.890385723 meters 0.019092717405730292 Centerline is valid? [True, True] Translation: X:201.53, Y:-161.67, Z:-10.47 [[-9.95015602e-01 -9.97010750e-02 1.91006971e-03 2.01531882e+02] [-9.97007860e-02 9.95017433e-01 2.46141117e-04 -1.61668359e+02] [-1.92509319e-03 5.44788002e-05 -9.99998146e-01 -1.04732515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.950385723 meters 0.016549670515500846 Centerline is valid? [True, True] Translation: X:201.51, Y:-161.64, Z:-10.47 [[-9.85012414e-01 -1.72466236e-01 2.43742025e-03 2.01506179e+02] [-1.72465546e-01 9.85015428e-01 4.91968451e-04 -1.61636017e+02] [-2.48574449e-03 6.42240185e-05 -9.99996909e-01 -1.04728860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.010385723 meters 0.016088044305764476 Centerline is valid? [True, True] Translation: X:201.42, Y:-161.28, Z:-11.44 [[-9.88497394e-01 1.51237389e-01 3.92193638e-04 2.01420165e+02] [-1.51237439e-01 -9.88497459e-01 -1.01515489e-04 -1.61280612e+02] [ 3.72329478e-04 -1.59662157e-04 9.99999918e-01 -1.14441267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.070385723 meters 0.015601766693150491 Centerline is valid? [True, True] Translation: X:201.44, Y:-161.64, Z:-10.47 [[-9.82947257e-01 -1.83887260e-01 4.07356261e-04 2.01443779e+02] [-1.83887240e-01 9.82947341e-01 8.62930927e-05 -1.61639667e+02] [-4.16277954e-04 9.91394025e-06 -9.99999913e-01 -1.04717858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.130385723 meters 0.015391852701909303 Centerline is valid? [True, True] Translation: X:201.42, Y:-161.62, Z:-10.47 [[-9.66899037e-01 -2.55159245e-01 -1.09648588e-04 2.01417136e+02] [-2.55159243e-01 9.66899043e-01 -2.80078624e-05 -1.61616293e+02] [ 1.13165579e-04 8.97075511e-07 -9.99999994e-01 -1.04716642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.190385723 meters 0.015177588555856457 Centerline is valid? [True, True] Translation: X:201.39, Y:-161.60, Z:-10.47 [[-9.45600759e-01 -3.25328250e-01 8.56968953e-04 2.01385520e+02] [-3.25328102e-01 9.45601147e-01 3.10694269e-04 -1.61596900e+02] [-9.11428448e-04 1.49966542e-05 -9.99999585e-01 -1.04694140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.250385723 meters 0.01557311064232945 Centerline is valid? [True, True] Translation: X:201.35, Y:-161.59, Z:-10.47 [[-9.21145138e-01 -3.89218173e-01 9.20711847e-04 2.01348634e+02] [-3.89217958e-01 9.21145598e-01 4.10011718e-04 -1.61586665e+02] [-1.00769368e-03 1.93227162e-05 -9.99999492e-01 -1.04692845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.310385723 meters 0.01608724265531112 Centerline is valid? [True, True] Translation: X:201.19, Y:-161.26, Z:-11.45 [[-9.32400610e-01 3.61425268e-01 9.37428514e-04 2.01185448e+02] [-3.61425107e-01 -9.32401081e-01 3.42162159e-04 -1.61259029e+02] [ 9.97725409e-04 -1.97779953e-05 9.99999502e-01 -1.14475247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.370385723 meters 0.017042320833450017 Centerline is valid? [True, True] Translation: X:201.28, Y:-161.63, Z:-10.47 [[-9.23153572e-01 -3.84431090e-01 -4.68956209e-04 2.01279774e+02] [-3.84431034e-01 9.23153691e-01 -2.07013282e-04 -1.61625999e+02] [ 5.12500997e-04 -1.08237308e-05 -9.99999869e-01 -1.04701791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.430385723 meters 0.018634019360187114 Centerline is valid? [True, True] Translation: X:201.10, Y:-161.29, Z:-11.45 [[-9.28367315e-01 3.71663186e-01 7.77976500e-04 2.01104208e+02] [-3.71662996e-01 -9.28367638e-01 3.81268453e-04 -1.61288313e+02] [ 8.63951654e-04 6.48120926e-05 9.99999625e-01 -1.14486860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.490385723 meters 0.019233843662712403 Centerline is valid? [True, True] Translation: X:201.20, Y:-161.66, Z:-10.47 [[-9.21595334e-01 -3.88150172e-01 1.21826607e-03 2.01199120e+02] [-3.88149778e-01 9.21596139e-01 5.54504053e-04 -1.61664100e+02] [-1.33798015e-03 3.81586447e-05 -9.99999104e-01 -1.04673909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.550385723 meters 0.019946366195077312 Centerline is valid? [True, True] Translation: X:201.16, Y:-161.65, Z:-10.47 [[-8.90997870e-01 -4.54005457e-01 1.35707469e-03 2.01156541e+02] [-4.54004857e-01 8.90998902e-01 7.39269514e-04 -1.61651044e+02] [-1.54478445e-03 4.25690621e-05 -9.99998806e-01 -1.04668334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.610385723 meters 0.016263135112936818 Centerline is valid? [True, True] Translation: X:201.11, Y:-161.64, Z:-10.47 [[-8.53984170e-01 -5.20298769e-01 4.78612068e-04 2.01107063e+02] [-5.20298677e-01 8.53984304e-01 3.09001251e-04 -1.61644952e+02] [-5.69500164e-04 1.48609509e-05 -9.99999838e-01 -1.04699039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.670385723 meters 0.015413293263408677 Centerline is valid? [True, True] Translation: X:201.05, Y:-161.65, Z:-10.47 [[-8.13269097e-01 -5.81887744e-01 -1.72474621e-04 2.01054362e+02] [-5.81887731e-01 8.13269115e-01 -1.26071952e-04 -1.61645209e+02] [ 2.13628006e-04 -2.16955709e-06 -9.99999977e-01 -1.04706665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.730385723 meters 0.01579090605318434 Centerline is valid? [True, True] Translation: X:200.99, Y:-161.66, Z:-10.47 [[-7.68490367e-01 -6.39861190e-01 -4.62493414e-04 2.00992228e+02] [-6.39861066e-01 7.68490506e-01 -3.98083077e-04 -1.61660492e+02] [ 6.10139708e-04 -9.99148096e-06 -9.99999814e-01 -1.04703633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.790385723 meters 0.01749447876082338 Centerline is valid? [True, True] Translation: X:200.92, Y:-161.69, Z:-10.47 [[-7.19549556e-01 -6.94441081e-01 1.48783153e-04 2.00923243e+02] [-6.94441064e-01 7.19549571e-01 1.52747129e-04 -1.61688141e+02] [-2.13130735e-04 6.58799808e-06 -9.99999977e-01 -1.04680989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8503857229999 meters 0.01567068962932994 Centerline is valid? [True, True] Translation: X:200.85, Y:-161.72, Z:-10.47 [[-6.65881775e-01 -7.46056515e-01 -1.06651911e-03 2.00853080e+02] [-7.46055487e-01 6.65882628e-01 -1.23940431e-03 -1.61724609e+02] [ 1.63484221e-03 -2.96143101e-05 -9.99998663e-01 -1.04709116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.910385723 meters 0.01509109246828555 Centerline is valid? [True, True] Translation: X:200.78, Y:-161.76, Z:-10.47 [[-6.08276266e-01 -7.93724228e-01 -1.35448485e-03 2.00783204e+02] [-7.93722113e-01 6.08277772e-01 -1.83295599e-03 -1.61764300e+02] [ 2.27876461e-03 -3.98590477e-05 -9.99997403e-01 -1.04706929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9703857229999 meters 0.016441169495226737 Centerline is valid? [True, True] Translation: X:200.71, Y:-161.82, Z:-10.47 [[-5.49426845e-01 -8.35540752e-01 -1.33964872e-03 2.00713711e+02] [-8.35538049e-01 5.49428476e-01 -2.12559104e-03 -1.61819753e+02] [ 2.51205909e-03 -4.85292976e-05 -9.99996844e-01 -1.04694390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.030385723 meters 0.019069611321738077 Centerline is valid? [True, True] Translation: X:200.66, Y:-161.88, Z:-10.47 [[-4.89528289e-01 -8.71986139e-01 -1.49282561e-03 2.00655145e+02] [-8.71981600e-01 4.89530559e-01 -2.81441402e-03 -1.61875659e+02] [ 3.18491377e-03 -7.60188189e-05 -9.99994925e-01 -1.04686757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0903857229999 meters 0.018598825853375838 Centerline is valid? [True, True] Translation: X:200.59, Y:-161.94, Z:-10.47 [[-4.29599769e-01 -9.03019115e-01 -7.17958556e-04 2.00594669e+02] [-9.03017636e-01 4.29600366e-01 -1.63556914e-03 -1.61944261e+02] [ 1.78538546e-03 -5.43108877e-05 -9.99998405e-01 -1.04685310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.150385723 meters 0.01997038947488898 Centerline is valid? [True, True] Translation: X:200.54, Y:-162.02, Z:-10.47 [[-3.64322671e-01 -9.31272721e-01 -3.33073559e-04 2.00537925e+02] [-9.31272245e-01 3.64322822e-01 -9.42249163e-04 -1.62020454e+02] [ 9.98837240e-04 -3.31005709e-05 -9.99999501e-01 -1.04681873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.210385723 meters 0.02030381820356343 Centerline is valid? [True, True] Translation: X:200.48, Y:-162.10, Z:-10.47 [[-2.93202720e-01 -9.56050288e-01 -1.10767268e-04 2.00481342e+02] [-9.56050203e-01 2.93202740e-01 -4.03440739e-04 -1.62103988e+02] [ 4.18186901e-04 -1.23908526e-05 -9.99999913e-01 -1.04675873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.270385723 meters 0.017608194770371243 Centerline is valid? [True, True] Translation: X:200.43, Y:-162.20, Z:-10.47 [[-2.15263021e-01 -9.76556108e-01 -9.17370815e-06 2.00425096e+02] [-9.76556107e-01 2.15263021e-01 -3.62755572e-05 -1.62196367e+02] [ 3.73998769e-05 1.14985468e-06 -9.99999999e-01 -1.04680139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.330385723 meters 0.016502356779598857 Centerline is valid? [True, True] Translation: X:200.38, Y:-162.29, Z:-10.47 [[-1.35291683e-01 -9.90805809e-01 9.92161910e-05 2.00376514e+02] [-9.90805405e-01 1.35291718e-01 8.95191873e-04 -1.62292608e+02] [-9.00384437e-04 2.28080770e-05 -9.99999594e-01 -1.04671635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.390385723 meters 0.01593571462229489 Centerline is valid? [True, True] Translation: X:200.34, Y:-162.39, Z:-10.47 [[-5.74182138e-02 -9.98350209e-01 9.64909296e-05 2.00339109e+02] [-9.98346818e-01 5.74182704e-02 2.60238630e-03 -1.62394971e+02] [-2.60363325e-03 5.30929605e-05 -9.99996609e-01 -1.04663728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.450385723 meters 0.017703898647440854 Centerline is valid? [True, True] Translation: X:200.31, Y:-162.50, Z:-10.46 [[ 1.79337001e-02 -9.99839175e-01 -8.66814481e-05 2.00310499e+02] [-9.99836595e-01 -1.79338508e-02 2.27181832e-03 -1.62495289e+02] [-2.27300749e-03 4.59251755e-05 -9.99997416e-01 -1.04641674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.510385723 meters 0.015162121089017724 Centerline is valid? [True, True] Translation: X:200.29, Y:-162.60, Z:-10.47 [[ 9.51453663e-02 -9.95463366e-01 -2.17377548e-04 2.00289440e+02] [-9.95461536e-01 -9.51456082e-02 1.90867238e-03 -1.62597687e+02] [-1.92069595e-03 3.47896555e-05 -9.99998155e-01 -1.04667894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.570385723 meters 0.015532626833528837 Centerline is valid? [True, True] Translation: X:200.28, Y:-162.70, Z:-10.47 [[ 1.70708676e-01 -9.85321515e-01 -2.44472604e-04 2.00279534e+02] [-9.85320687e-01 -1.70708850e-01 1.27788045e-03 -1.62702694e+02] [-1.30085674e-03 2.27386335e-05 -9.99999154e-01 -1.04671940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.630385723 meters 0.014640326331301304 Centerline is valid? [True, True] Translation: X:200.28, Y:-162.81, Z:-10.47 [[ 2.46624372e-01 -9.69111078e-01 3.70627742e-04 2.00276455e+02] [-9.69110084e-01 -2.46624650e-01 -1.38812572e-03 -1.62807691e+02] [ 1.43665395e-03 -1.68334481e-05 -9.99998968e-01 -1.04693058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.690385723 meters 0.014528497828392897 Centerline is valid? [True, True] Translation: X:200.28, Y:-162.92, Z:-10.47 [[ 3.20606675e-01 -9.47212300e-01 4.68567381e-04 2.00283854e+02] [-9.47211350e-01 -3.20607017e-01 -1.34147127e-03 -1.62916822e+02] [ 1.42088407e-03 -1.37476992e-05 -9.99998990e-01 -1.04692215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.750385723 meters 0.014507151867409702 Centerline is valid? [True, True] Translation: X:200.30, Y:-163.02, Z:-10.47 [[ 3.92264253e-01 -9.19852377e-01 6.00791298e-04 2.00299932e+02] [-9.19851345e-01 -3.92264713e-01 -1.37742732e-03 -1.63019336e+02] [ 1.50269902e-03 -1.23231851e-05 -9.99998871e-01 -1.04689438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.810385723 meters 0.0145700915965169 Centerline is valid? [True, True] Translation: X:200.32, Y:-163.12, Z:-10.47 [[ 4.60333656e-01 -8.87745953e-01 -2.16993068e-04 2.00324122e+02] [-8.87745862e-01 -4.60333707e-01 4.04118861e-04 -1.63122508e+02] [-4.58644107e-04 6.60518585e-06 -9.99999895e-01 -1.04676455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.870385723 meters 0.014491540118356523 Centerline is valid? [True, True] Translation: X:200.35, Y:-163.22, Z:-10.47 [[ 5.25259568e-01 -8.50940883e-01 -1.41448448e-03 2.00353455e+02] [-8.50937944e-01 -5.25261471e-01 2.23642160e-03 -1.63220273e+02] [-2.64603677e-03 2.89366776e-05 -9.99996499e-01 -1.04663631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.930385723 meters 0.014899519098046779 Centerline is valid? [True, True] Translation: X:200.39, Y:-163.31, Z:-10.47 [[ 5.84683775e-01 -8.11259105e-01 -1.88362713e-03 2.00392003e+02] [-8.11255145e-01 -5.84686808e-01 2.53493153e-03 -1.63314913e+02] [-3.15781822e-03 4.59688693e-05 -9.99995013e-01 -1.04661059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.990385723 meters 0.015564103392635678 Centerline is valid? [True, True] Translation: X:200.43, Y:-163.40, Z:-10.47 [[ 6.40865481e-01 -7.67649308e-01 -2.44459040e-03 2.00432364e+02] [-7.67644128e-01 -6.40870139e-01 2.82093901e-03 -1.63401669e+02] [-3.73215687e-03 6.87330285e-05 -9.99993033e-01 -1.04656621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.050385723 meters 0.018073642041678613 Centerline is valid? [True, True] Translation: X:200.48, Y:-163.48, Z:-10.46 [[ 6.89084302e-01 -7.24669777e-01 -4.06683783e-03 2.00483135e+02] [-7.24658542e-01 -6.89096283e-01 4.03851640e-03 -1.63479845e+02] [-5.72903361e-03 1.64190518e-04 -9.99983576e-01 -1.04646850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.110385723 meters 0.019573260347284703 Centerline is valid? [True, True] Translation: X:200.51, Y:-163.51, Z:-10.47 [[ 7.38508743e-01 -6.74233964e-01 -3.66047099e-03 2.00508283e+02] [-6.74226834e-01 -7.38517794e-01 3.10566205e-03 -1.63513510e+02] [-4.79726579e-03 1.74429190e-04 -9.99988478e-01 -1.04655863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.170385723 meters 0.02197912537130825 Centerline is valid? [True, True] Translation: X:200.54, Y:-163.54, Z:-10.47 [[ 7.87212649e-01 -6.16679268e-01 -1.71041146e-03 2.00536170e+02] [-6.16678040e-01 -7.87214503e-01 1.23330669e-03 -1.63541845e+02] [-2.10701538e-03 8.38985572e-05 -9.99997777e-01 -1.04681470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.230385723 meters 0.020879034320237983 Centerline is valid? [True, True] Translation: X:200.56, Y:-163.58, Z:-10.47 [[ 8.34744310e-01 -5.50630576e-01 -2.81170372e-03 2.00558786e+02] [-5.50627929e-01 -8.34749037e-01 1.71163996e-03 -1.63580848e+02] [-3.28954827e-03 1.19420877e-04 -9.99994582e-01 -1.04656173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.290385723 meters 0.017799588137663826 Centerline is valid? [True, True] Translation: X:200.59, Y:-163.62, Z:-10.47 [[ 8.78400308e-01 -4.77914222e-01 -3.30065078e-03 2.00585680e+02] [-4.77911314e-01 -8.78406503e-01 1.67094540e-03 -1.63616371e+02] [-3.69788168e-03 1.09659396e-04 -9.99993157e-01 -1.04678496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3503857229999 meters 0.015888293416779557 Centerline is valid? [True, True] Translation: X:200.61, Y:-163.65, Z:-10.47 [[ 9.17250856e-01 -3.98308646e-01 -1.04412067e-03 2.00614512e+02] [-3.98308417e-01 -9.17251450e-01 4.28031981e-04 -1.63652151e+02] [-1.12821004e-03 2.32693513e-05 -9.99999363e-01 -1.04700027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.410385723 meters 0.014448385889938593 Centerline is valid? [True, True] Translation: X:200.65, Y:-163.68, Z:-10.47 [[ 9.50068867e-01 -3.12038688e-01 -1.00235099e-03 2.00646189e+02] [-3.12038522e-01 -9.50069396e-01 3.21812125e-04 -1.63683172e+02] [-1.05272084e-03 7.02844183e-06 -9.99999446e-01 -1.04705082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4703857229999 meters 0.01432698339471863 Centerline is valid? [True, True] Translation: X:200.68, Y:-163.71, Z:-10.47 [[ 9.72290194e-01 -2.33774506e-01 -1.12171946e-03 2.00682811e+02] [-2.33774355e-01 -9.72290841e-01 2.65741874e-04 -1.63707981e+02] [-1.15276123e-03 3.85102415e-06 -9.99999336e-01 -1.04705433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.530385723 meters 0.014688478507184294 Centerline is valid? [True, True] Translation: X:200.72, Y:-163.73, Z:-10.47 [[ 9.88906687e-01 -1.48523999e-01 -2.04585758e-03 2.00720931e+02] [-1.48523655e-01 -9.88908803e-01 3.20200426e-04 -1.63728915e+02] [-2.07072402e-03 -1.27900976e-05 -9.99997856e-01 -1.04698876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5903857229999 meters 0.015357236762294574 Centerline is valid? [True, True] Translation: X:200.76, Y:-163.75, Z:-10.47 [[ 9.98011231e-01 -6.30020807e-02 -2.07885731e-03 2.00761770e+02] [-6.30018830e-02 -9.98013395e-01 1.60523661e-04 -1.63745993e+02] [-2.08484077e-03 -2.92324914e-05 -9.99997826e-01 -1.04699668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.650385723 meters 0.016566985235628523 Centerline is valid? [True, True] Translation: X:200.80, Y:-163.75, Z:-10.47 [[ 9.99798794e-01 1.99028561e-02 -2.49972576e-03 2.00799095e+02] [ 1.99029110e-02 -9.99801917e-01 -2.91238529e-06 -1.63753619e+02] [-2.49928857e-03 -4.68400201e-05 -9.99996876e-01 -1.04700423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.710385723 meters 0.016357009010676517 Centerline is valid? [True, True] Translation: X:200.84, Y:-163.75, Z:-10.47 [[ 9.95177435e-01 9.80463307e-02 -2.96467218e-03 2.00836802e+02] [ 9.80460629e-02 -9.95181850e-01 -2.35891858e-04 -1.63752055e+02] [-2.97351627e-03 -5.59201805e-05 -9.99995578e-01 -1.04706454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.770385723 meters 0.016477574691558895 Centerline is valid? [True, True] Translation: X:200.87, Y:-163.75, Z:-10.47 [[ 9.84466475e-01 1.75512013e-01 -4.61449803e-03 2.00873871e+02] [ 1.75510505e-01 -9.84477285e-01 -7.32787585e-04 -1.63746769e+02] [-4.67148152e-03 -8.84880712e-05 -9.99989085e-01 -1.04696116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.830385723 meters 0.017590489487294185 Centerline is valid? [True, True] Translation: X:200.91, Y:-163.74, Z:-10.47 [[ 9.66829630e-01 2.55317456e-01 -7.31182262e-03 2.00909453e+02] [ 2.55311473e-01 -9.66857264e-01 -1.75600629e-03 -1.63739205e+02] [-7.51782787e-03 -1.69033297e-04 -9.99971726e-01 -1.04666525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.890385723 meters 0.019435073685288032 Centerline is valid? [True, True] Translation: X:200.94, Y:-163.73, Z:-10.47 [[ 9.42128593e-01 3.35135110e-01 -8.84155502e-03 2.00944038e+02] [ 3.35122912e-01 -9.42170044e-01 -2.87098714e-03 -1.63729496e+02] [-9.29241687e-03 -2.58168583e-04 -9.99956791e-01 -1.04651327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.950385723 meters 0.02116463550026585 Centerline is valid? [True, True] Translation: X:200.98, Y:-163.71, Z:-10.46 [[ 9.11542266e-01 4.11075485e-01 -1.03751278e-02 2.00975173e+02] [ 4.11053222e-01 -9.11601240e-01 -4.29266295e-03 -1.63712442e+02] [-1.12225878e-02 -3.51785988e-04 -9.99936963e-01 -1.04638628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.010385723 meters 0.020908953898580204 Centerline is valid? [True, True] Translation: X:201.00, Y:-163.69, Z:-10.47 [[ 8.76525652e-01 4.81233624e-01 -1.08157770e-02 2.00999785e+02] [ 4.81202312e-01 -8.76592296e-01 -5.50285414e-03 -1.63685087e+02] [-1.21291853e-02 -3.81184100e-04 -9.99926366e-01 -1.04652445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.070385723 meters 0.019500571737165913 Centerline is valid? [True, True] Translation: X:201.03, Y:-163.67, Z:-10.47 [[ 8.37057073e-01 5.47027901e-01 -9.79453130e-03 2.01026598e+02] [ 5.46995195e-01 -8.37114304e-01 -5.99151566e-03 -1.63666427e+02] [-1.14766685e-02 -3.42320996e-04 -9.99934082e-01 -1.04663973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.130385723 meters 0.017062974293282778 Centerline is valid? [True, True] Translation: X:201.05, Y:-163.64, Z:-10.47 [[ 7.95372163e-01 6.06046118e-01 -9.55116623e-03 2.01047511e+02] [ 6.06006612e-01 -7.95429459e-01 -6.92543456e-03 -1.63641615e+02] [-1.17944117e-02 -2.79772023e-04 -9.99930404e-01 -1.04679532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.190385723 meters 0.015535572670384376 Centerline is valid? [True, True] Translation: X:201.07, Y:-163.62, Z:-10.47 [[ 7.50833889e-01 6.60408495e-01 -1.04446473e-02 2.01065343e+02] [ 6.60348567e-01 -7.50906501e-01 -8.89928963e-03 -1.63616506e+02] [-1.37201201e-02 -2.15219654e-04 -9.99905852e-01 -1.04682027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.250385723 meters 0.015028588546875 Centerline is valid? [True, True] Translation: X:201.08, Y:-163.59, Z:-10.47 [[ 7.01907367e-01 7.12202657e-01 -9.66560609e-03 2.01078565e+02] [ 7.12137416e-01 -7.01973904e-01 -9.64045944e-03 -1.63591107e+02] [-1.36509641e-02 -1.16530254e-04 -9.99906814e-01 -1.04684836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.310385723 meters 0.014857464421699825 Centerline is valid? [True, True] Translation: X:201.10, Y:-163.57, Z:-10.47 [[ 6.45588351e-01 7.63646541e-01 -7.72282507e-03 2.01097962e+02] [ 7.63593320e-01 -6.45634537e-01 -9.01588569e-03 -1.63572909e+02] [-1.18710725e-02 -7.65468630e-05 -9.99929533e-01 -1.04716062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.370385723 meters 0.014920061630777479 Centerline is valid? [True, True] Translation: X:201.11, Y:-163.55, Z:-10.47 [[ 5.85470980e-01 8.10676387e-01 -5.24662070e-03 2.01111510e+02] [ 8.10644427e-01 -5.85494487e-01 -7.19859971e-03 -1.63551845e+02] [-8.90760230e-03 -3.85725980e-05 -9.99960326e-01 -1.04747526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.430385723 meters 0.015041080533317633 Centerline is valid? [True, True] Translation: X:201.13, Y:-163.53, Z:-10.48 [[ 5.20964428e-01 8.53575098e-01 -2.36987724e-03 2.01129388e+02] [ 8.53566395e-01 -5.20969818e-01 -3.85468819e-03 -1.63534147e+02] [-4.52490037e-03 -1.46921396e-05 -9.99989763e-01 -1.04798231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.490385723 meters 0.015082276195064448 Centerline is valid? [True, True] Translation: X:201.15, Y:-163.52, Z:-10.48 [[ 4.55155764e-01 8.90409307e-01 -2.12072537e-03 2.01152250e+02] [ 8.90399657e-01 -4.55160704e-01 -4.14543583e-03 -1.63520424e+02] [-4.65640550e-03 -1.47413331e-06 -9.99989159e-01 -1.04780627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.550385723 meters 0.015115320043129769 Centerline is valid? [True, True] Translation: X:201.17, Y:-163.50, Z:-10.48 [[ 3.86707479e-01 9.22200405e-01 -1.93359372e-03 2.01173053e+02] [ 9.22188709e-01 -3.86712313e-01 -4.64451420e-03 -1.63503054e+02] [-5.03091738e-03 1.29300814e-05 -9.99987345e-01 -1.04770549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.610385723 meters 0.015169172187269394 Centerline is valid? [True, True] Translation: X:201.19, Y:-163.48, Z:-10.48 [[ 3.13251525e-01 9.49668634e-01 -1.72245729e-03 2.01190573e+02] [ 9.49654034e-01 -3.13256261e-01 -5.26595691e-03 -1.63483139e+02] [-5.54048464e-03 1.38305173e-05 -9.99984651e-01 -1.04770721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.670385723 meters 0.015157511882599143 Centerline is valid? [True, True] Translation: X:201.21, Y:-163.46, Z:-10.47 [[ 2.38098791e-01 9.71239392e-01 -1.73478955e-03 2.01206519e+02] [ 9.71213022e-01 -2.38105110e-01 -7.15695002e-03 -1.63462829e+02] [-7.36417404e-03 1.92109504e-05 -9.99972884e-01 -1.04749735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.730385723 meters 0.01553944571149065 Centerline is valid? [True, True] Translation: X:201.22, Y:-163.44, Z:-10.47 [[ 1.65473372e-01 9.86213389e-01 -1.30947070e-03 2.01216020e+02] [ 9.86179770e-01 -1.65478544e-01 -8.14325517e-03 -1.63439559e+02] [-8.24767658e-03 5.61183786e-05 -9.99965986e-01 -1.04730959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.790385723 meters 0.015700759883069463 Centerline is valid? [True, True] Translation: X:201.23, Y:-163.42, Z:-10.48 [[ 9.19608357e-02 9.95762472e-01 -5.52051285e-04 2.01229423e+02] [ 9.95739242e-01 -9.19624614e-02 -6.80200752e-03 -1.63416566e+02] [-6.82395181e-03 7.58191678e-05 -9.99976714e-01 -1.04756128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8503857229999 meters 0.015843731181009024 Centerline is valid? [True, True] Translation: X:201.24, Y:-163.39, Z:-10.48 [[ 1.46402627e-02 9.99892825e-01 -1.73049645e-05 2.01241436e+02] [ 9.99869683e-01 -1.46400416e-02 -6.80341990e-03 -1.63393049e+02] [-6.80294409e-03 8.23011451e-05 -9.99976856e-01 -1.04751489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.910385723 meters 0.01574885519019396 Centerline is valid? [True, True] Translation: X:201.25, Y:-163.37, Z:-10.47 [[-6.49463614e-02 9.97888575e-01 6.02132225e-04 2.01254685e+02] [ 9.97857137e-01 6.49490951e-02 -7.92149215e-03 -1.63368405e+02] [-7.94387446e-03 8.63698458e-05 -9.99968443e-01 -1.04734958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9703857229999 meters 0.015455655568737906 Centerline is valid? [True, True] Translation: X:201.26, Y:-163.34, Z:-10.47 [[-1.45330031e-01 9.89382356e-01 1.31731587e-03 2.01264286e+02] [ 9.89346088e-01 1.45335984e-01 -8.47177678e-03 -1.63342586e+02] [-8.57327987e-03 7.20777205e-05 -9.99963246e-01 -1.04730786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.030385723 meters 0.015364121039444699 Centerline is valid? [True, True] Translation: X:201.27, Y:-163.32, Z:-10.47 [[-2.23872529e-01 9.74616132e-01 2.11813693e-03 2.01269101e+02] [ 9.74575144e-01 2.23882540e-01 -8.93854173e-03 -1.63316886e+02] [-9.18586084e-03 6.31896594e-05 -9.99957807e-01 -1.04736278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0903857229999 meters 0.015427604436319664 Centerline is valid? [True, True] Translation: X:201.27, Y:-163.29, Z:-10.47 [[-2.99734036e-01 9.54018053e-01 3.01039634e-03 2.01271061e+02] [ 9.53972103e-01 2.99749146e-01 -9.36360262e-03 -1.63290779e+02] [-9.83540967e-03 6.52437302e-05 -9.99951629e-01 -1.04738557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.150385723 meters 0.015519176967221267 Centerline is valid? [True, True] Translation: X:201.27, Y:-163.26, Z:-10.47 [[-3.73105500e-01 9.27781560e-01 3.69633410e-03 2.01270715e+02] [ 9.27737845e-01 3.73123802e-01 -9.00664481e-03 -1.63264877e+02] [-9.73538921e-03 6.88003161e-05 -9.99952608e-01 -1.04729730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.210385723 meters 0.015656824665854056 Centerline is valid? [True, True] Translation: X:201.26, Y:-163.24, Z:-10.48 [[-4.42629119e-01 8.96697637e-01 3.57918560e-03 2.01264841e+02] [ 8.96669663e-01 4.42643584e-01 -7.08331475e-03 -1.63240410e+02] [-7.93589514e-03 7.40657735e-05 -9.99968508e-01 -1.04755984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.270385723 meters 0.016051640306038346 Centerline is valid? [True, True] Translation: X:201.26, Y:-163.22, Z:-10.48 [[-5.10200824e-01 8.60049104e-01 3.26484100e-03 2.01256786e+02] [ 8.60032348e-01 5.10211265e-01 -5.36887057e-03 -1.63217688e+02] [-6.28325098e-03 6.86666806e-05 -9.99980258e-01 -1.04772618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.330385723 meters 0.015512188529607838 Centerline is valid? [True, True] Translation: X:201.25, Y:-163.19, Z:-10.48 [[-5.77186186e-01 8.16608129e-01 2.69621924e-03 2.01253898e+02] [ 8.16599576e-01 5.77192482e-01 -3.73774586e-03 -1.63189612e+02] [-4.60851113e-03 4.43562075e-05 -9.99989380e-01 -1.04792951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.390385723 meters 0.015449352300497163 Centerline is valid? [True, True] Translation: X:201.25, Y:-163.16, Z:-10.48 [[-6.40019182e-01 7.68353372e-01 2.92264208e-03 2.01247102e+02] [ 7.68345643e-01 6.40025854e-01 -3.44665237e-03 -1.63163375e+02] [-4.51881347e-03 3.96756728e-05 -9.99989789e-01 -1.04793353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.450385723 meters 0.015264676229300816 Centerline is valid? [True, True] Translation: X:201.24, Y:-163.14, Z:-10.48 [[-6.99494748e-01 7.14629323e-01 3.46822920e-03 2.01238002e+02] [ 7.14620782e-01 6.99503345e-01 -3.49406080e-03 -1.63138742e+02] [-4.92299623e-03 3.43914884e-05 -9.99987881e-01 -1.04787878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.510385723 meters 0.015226848556446399 Centerline is valid? [True, True] Translation: X:201.23, Y:-163.11, Z:-10.48 [[-7.54579047e-01 6.56191094e-01 4.86928127e-03 2.01226888e+02] [ 6.56177705e-01 7.54594757e-01 -4.19197281e-03 -1.63113528e+02] [-6.42506934e-03 3.19389606e-05 -9.99979359e-01 -1.04772041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.570385723 meters 0.014986237082895806 Centerline is valid? [True, True] Translation: X:201.25, Y:-163.09, Z:-10.48 [[-7.99978948e-01 6.00002829e-01 5.50338786e-03 2.01250583e+02] [ 5.99988835e-01 7.99997878e-01 -4.09790365e-03 -1.63094196e+02] [-6.86145239e-03 2.37346187e-05 -9.99976460e-01 -1.04768924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.630385723 meters 0.014965983647384643 Centerline is valid? [True, True] Translation: X:201.27, Y:-163.07, Z:-10.48 [[-8.40579579e-01 5.41662664e-01 5.24678653e-03 2.01270228e+02] [ 5.41652261e-01 8.40595954e-01 -3.35719787e-03 -1.63073473e+02] [-6.22889627e-03 1.99418129e-05 -9.99980600e-01 -1.04774573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.690385723 meters 0.015052672653657341 Centerline is valid? [True, True] Translation: X:201.28, Y:-163.05, Z:-10.48 [[-8.76124608e-01 4.82060777e-01 4.80408610e-03 2.01283688e+02] [ 4.82053688e-01 8.76137778e-01 -2.61440711e-03 -1.63050202e+02] [-5.46934444e-03 2.52810216e-05 -9.99985043e-01 -1.04780392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.750385723 meters 0.015094375359285357 Centerline is valid? [True, True] Translation: X:201.30, Y:-163.03, Z:-10.48 [[-9.07681777e-01 4.19637039e-01 4.30654477e-03 2.01300911e+02] [ 4.19632454e-01 9.07691993e-01 -1.96196335e-03 -1.63027056e+02] [-4.73232870e-03 2.63275651e-05 -9.99988802e-01 -1.04784233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.810385723 meters 0.015115933993934447 Centerline is valid? [True, True] Translation: X:201.31, Y:-163.00, Z:-10.48 [[-9.34944217e-01 3.54767858e-01 4.36778399e-03 2.01314741e+02] [ 3.54764129e-01 9.34954419e-01 -1.62688596e-03 -1.63001927e+02] [-4.66084579e-03 2.84854571e-05 -9.99989138e-01 -1.04784941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.870385723 meters 0.015032818067962514 Centerline is valid? [True, True] Translation: X:201.33, Y:-162.98, Z:-10.48 [[-9.57453914e-01 2.88522203e-01 6.07789864e-03 2.01327717e+02] [ 2.88516679e-01 9.57473204e-01 -1.78586193e-03 -1.62975933e+02] [-6.33468591e-03 4.36946395e-05 -9.99979935e-01 -1.04764498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.930385723 meters 0.015169684392438373 Centerline is valid? [True, True] Translation: X:201.55, Y:-162.24, Z:-11.44 [[-9.40381890e-01 -3.40066917e-01 6.03272804e-03 2.01551701e+02] [ 3.40059657e-01 -9.40401239e-01 -2.22244051e-03 -1.62238513e+02] [ 6.42896341e-03 -3.84553809e-05 9.99979333e-01 -1.14414198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.990385723 meters 0.015202522903310912 Centerline is valid? [True, True] Translation: X:201.28, Y:-162.96, Z:-10.47 [[-9.58709619e-01 2.84316400e-01 6.32860108e-03 2.01281657e+02] [ 2.84310489e-01 9.58730506e-01 -1.83377804e-03 -1.62961812e+02] [-6.58879609e-03 4.12270205e-05 -9.99978293e-01 -1.04741365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.050385723 meters 0.01506377648722213 Centerline is valid? [True, True] Translation: X:201.29, Y:-162.93, Z:-10.47 [[-9.76588486e-01 2.15016298e-01 6.55135962e-03 2.01292465e+02] [ 2.15011717e-01 9.76610460e-01 -1.40397561e-03 -1.62933874e+02] [-6.70000397e-03 3.75126660e-05 -9.99977554e-01 -1.04740672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.110385723 meters 0.015176656102805287 Centerline is valid? [True, True] Translation: X:201.29, Y:-162.90, Z:-10.47 [[-9.89291603e-01 1.45861740e-01 5.14565126e-03 2.01286658e+02] [ 1.45859939e-01 9.89304984e-01 -7.25581954e-04 -1.62904724e+02] [-5.19645309e-03 3.27322444e-05 -9.99986498e-01 -1.04746195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.170385723 meters 0.015237338143312325 Centerline is valid? [True, True] Translation: X:201.30, Y:-162.88, Z:-10.48 [[-9.97023914e-01 7.70297099e-02 3.12067984e-03 2.01297715e+02] [ 7.70294141e-02 9.97028798e-01 -2.15063388e-04 -1.62877550e+02] [-3.12797394e-03 2.59607988e-05 -9.99995108e-01 -1.04760367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.230385723 meters 0.015373113308123175 Centerline is valid? [True, True] Translation: X:201.34, Y:-162.11, Z:-11.44 [[-9.91841518e-01 -1.27464977e-01 1.75584668e-03 2.01337885e+02] [ 1.27464599e-01 -9.91843067e-01 -3.26070211e-04 -1.62111097e+02] [ 1.78308689e-03 -9.96016798e-05 9.99998405e-01 -1.14406092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.290385723 meters 0.015602245884015252 Centerline is valid? [True, True] Translation: X:201.22, Y:-162.87, Z:-10.47 [[-9.97149087e-01 7.54213724e-02 2.30536461e-03 2.01224348e+02] [ 7.54212329e-02 9.97151752e-01 -1.47503975e-04 -1.62871541e+02] [-2.30992331e-03 2.67899874e-05 -9.99997332e-01 -1.04740577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3503857229999 meters 0.015914780765778225 Centerline is valid? [True, True] Translation: X:201.28, Y:-162.11, Z:-11.44 [[-9.92688102e-01 -1.20675360e-01 2.79104970e-03 2.01283610e+02] [ 1.20674883e-01 -9.92692026e-01 -3.39394711e-04 -1.62108550e+02] [ 2.81160936e-03 -1.03496930e-07 9.99996047e-01 -1.14427922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.410385723 meters 0.016103312827630622 Centerline is valid? [True, True] Translation: X:201.17, Y:-162.87, Z:-10.47 [[-9.97279501e-01 7.36594844e-02 2.80673836e-03 2.01173646e+02] [ 7.36593049e-02 9.97283450e-01 -1.67415619e-04 -1.62867355e+02] [-2.81144546e-03 3.97822322e-05 -9.99996047e-01 -1.04731360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4703857229999 meters 0.01609758024327439 Centerline is valid? [True, True] Translation: X:201.22, Y:-162.11, Z:-11.44 [[-9.93572112e-01 -1.13153067e-01 3.29266847e-03 2.01216654e+02] [ 1.13152397e-01 -9.93577568e-01 -3.89679606e-04 -1.62109320e+02] [ 3.31561497e-03 -1.46014606e-05 9.99994503e-01 -1.14447008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.530385723 meters 0.016624566614749748 Centerline is valid? [True, True] Translation: X:201.11, Y:-162.86, Z:-10.47 [[-9.97374307e-01 7.23885728e-02 2.09442580e-03 2.01108717e+02] [ 7.23884906e-02 9.97376505e-01 -1.15123625e-04 -1.62860107e+02] [-2.09726472e-03 3.67909769e-05 -9.99997800e-01 -1.04726598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5903857229999 meters 0.016901961563107963 Centerline is valid? [True, True] Translation: X:201.16, Y:-162.11, Z:-11.44 [[-9.94378710e-01 -1.05872243e-01 1.43152328e-03 2.01158315e+02] [ 1.05872035e-01 -9.94379738e-01 -2.20472075e-04 -1.62110658e+02] [ 1.44681962e-03 -6.76744540e-05 9.99998951e-01 -1.14432633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.650385723 meters 0.01673064344780854 Centerline is valid? [True, True] Translation: X:201.05, Y:-162.85, Z:-10.47 [[-9.97672931e-01 6.81786431e-02 6.28174329e-04 2.01049934e+02] [ 6.81786374e-02 9.97673129e-01 -3.03647864e-05 -1.62850395e+02] [-6.28782878e-04 1.25339443e-05 -9.99999802e-01 -1.04735527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.710385723 meters 0.01629756165020869 Centerline is valid? [True, True] Translation: X:201.09, Y:-162.12, Z:-11.44 [[-9.94845447e-01 -1.01380517e-01 2.12755668e-03 2.01090981e+02] [ 1.01380410e-01 -9.94847721e-01 -1.58089745e-04 -1.62118072e+02] [ 2.13262213e-03 5.84177054e-05 9.99997724e-01 -1.14440210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.770385723 meters 0.01649736963752051 Centerline is valid? [True, True] Translation: X:200.99, Y:-162.84, Z:-10.47 [[-9.97852262e-01 6.54646894e-02 2.28841898e-03 2.00989915e+02] [ 6.54646171e-02 9.97854886e-01 -1.06551147e-04 -1.62837758e+02] [-2.29048540e-03 4.34881691e-05 -9.99997376e-01 -1.04731734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.830385723 meters 0.016599402564352578 Centerline is valid? [True, True] Translation: X:200.99, Y:-162.80, Z:-10.47 [[-9.99983435e-01 -5.65434133e-03 1.07650221e-03 2.00986496e+02] [-5.65431526e-03 9.99984014e-01 2.72626141e-05 -1.62803249e+02] [-1.07663916e-03 2.11752796e-05 -9.99999420e-01 -1.04735418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.890385723 meters 0.016609286304104177 Centerline is valid? [True, True] Translation: X:200.98, Y:-162.77, Z:-10.47 [[-9.96928146e-01 -7.82708303e-02 2.81939768e-03 2.00978106e+02] [-7.82703790e-02 9.96932132e-01 2.70230327e-04 -1.62769135e+02] [-2.83189929e-03 4.87248935e-05 -9.99995989e-01 -1.04709527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.950385723 meters 0.01570229363940688 Centerline is valid? [True, True] Translation: X:200.97, Y:-162.73, Z:-10.47 [[-9.88438394e-01 -1.51596393e-01 2.84169554e-03 2.00965400e+02] [-1.51595644e-01 9.88442478e-01 4.78324523e-04 -1.62734385e+02] [-2.88136485e-03 4.20056562e-05 -9.99995848e-01 -1.04712745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.010385723 meters 0.015213856788478853 Centerline is valid? [True, True] Translation: X:200.94, Y:-162.70, Z:-10.47 [[-9.74456526e-01 -2.24549561e-01 3.46024862e-03 2.00944452e+02] [-2.24547996e-01 9.74462669e-01 8.39290600e-04 -1.62702282e+02] [-3.56034545e-03 4.08603080e-05 -9.99993661e-01 -1.04708112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.070385723 meters 0.01510568713217351 Centerline is valid? [True, True] Translation: X:200.92, Y:-162.68, Z:-10.47 [[-9.55326647e-01 -2.95524744e-01 4.01522905e-03 2.00918270e+02] [-2.95521955e-01 9.55335085e-01 1.28459061e-03 -1.62676885e+02] [-4.21551749e-03 4.06152978e-05 -9.99991114e-01 -1.04710606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.130385723 meters 0.014936095875317856 Centerline is valid? [True, True] Translation: X:200.88, Y:-162.66, Z:-10.47 [[-9.31339589e-01 -3.64138507e-01 3.11725038e-03 2.00881942e+02] [-3.64136358e-01 9.31344805e-01 1.25151384e-03 -1.62656707e+02] [-3.35895933e-03 3.04801819e-05 -9.99994358e-01 -1.04715311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.190385723 meters 0.014882463068163529 Centerline is valid? [True, True] Translation: X:200.83, Y:-162.65, Z:-10.47 [[-9.02656883e-01 -4.30352171e-01 2.74944352e-03 2.00825820e+02] [-4.30350072e-01 9.02661070e-01 1.34468424e-03 -1.62648111e+02] [-3.06050341e-03 3.05652712e-05 -9.99995316e-01 -1.04719204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.250385723 meters 0.015137352706602242 Centerline is valid? [True, True] Translation: X:200.76, Y:-162.65, Z:-10.47 [[-8.68916464e-01 -4.94952340e-01 2.52182091e-03 2.00758881e+02] [-4.94950150e-01 8.68920123e-01 1.47267077e-03 -1.62653401e+02] [-2.92016278e-03 3.14522416e-05 -9.99995736e-01 -1.04721966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.310385723 meters 0.015152547854358432 Centerline is valid? [True, True] Translation: X:200.69, Y:-162.67, Z:-10.47 [[-8.29727847e-01 -5.58164903e-01 1.90808643e-03 2.00685631e+02] [-5.58163359e-01 8.29730041e-01 1.31321280e-03 -1.62665266e+02] [-2.31618593e-03 2.45853000e-05 -9.99997317e-01 -1.04723322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.370385723 meters 0.015031416309288313 Centerline is valid? [True, True] Translation: X:200.60, Y:-162.69, Z:-10.47 [[-7.85006910e-01 -6.19480966e-01 2.73564517e-03 2.00604749e+02] [-6.19477066e-01 7.85011676e-01 2.19854316e-03 -1.62687837e+02] [-3.50946904e-03 3.12021271e-05 -9.99993841e-01 -1.04709843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.430385723 meters 0.016221847461448627 Centerline is valid? [True, True] Translation: X:200.52, Y:-162.72, Z:-10.47 [[-7.35126293e-01 -6.77921849e-01 3.36157755e-03 2.00519153e+02] [-6.77914570e-01 7.35133978e-01 3.14162485e-03 -1.62723575e+02] [-4.60098600e-03 3.06286283e-05 -9.99989415e-01 -1.04675037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.490385723 meters 0.014801875931326139 Centerline is valid? [True, True] Translation: X:200.44, Y:-162.77, Z:-10.47 [[-6.80158234e-01 -7.33057167e-01 3.45918550e-03 2.00435244e+02] [-7.33047540e-01 6.80167030e-01 3.75696847e-03 -1.62768413e+02] [-5.10689659e-03 1.95856147e-05 -9.99986960e-01 -1.04698294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.550385723 meters 0.014679998894525809 Centerline is valid? [True, True] Translation: X:200.35, Y:-162.83, Z:-10.47 [[-6.21421274e-01 -7.83465664e-01 4.14165617e-03 2.00350743e+02] [-7.83448142e-01 6.21435076e-01 5.23985980e-03 -1.62825161e+02] [-6.67902065e-03 1.13875235e-05 -9.99977695e-01 -1.04688674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.610385723 meters 0.014625736626181626 Centerline is valid? [True, True] Translation: X:200.27, Y:-162.89, Z:-10.47 [[-5.58851299e-01 -8.29261808e-01 3.17489712e-03 2.00271015e+02] [-8.29248435e-01 5.58860317e-01 4.70945239e-03 -1.62890990e+02] [-5.67969301e-03 -8.94881941e-07 -9.99983870e-01 -1.04699744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.670385723 meters 0.014646155047649951 Centerline is valid? [True, True] Translation: X:200.19, Y:-162.97, Z:-10.47 [[-4.92490207e-01 -8.70311976e-01 3.23418837e-03 2.00193445e+02] [-8.70293415e-01 4.92500826e-01 5.68400228e-03 -1.62968836e+02] [-6.53969570e-03 -1.53773894e-05 -9.99978616e-01 -1.04693352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.730385723 meters 0.01474348742736732 Centerline is valid? [True, True] Translation: X:200.12, Y:-163.06, Z:-10.47 [[-4.22511023e-01 -9.06353166e-01 2.89388500e-03 2.00120350e+02] [-9.06332461e-01 4.22520932e-01 6.12632040e-03 -1.63055981e+02] [-6.77533688e-03 -3.43840078e-05 -9.99977047e-01 -1.04694862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.790385723 meters 0.01497795556241082 Centerline is valid? [True, True] Translation: X:200.05, Y:-163.15, Z:-10.47 [[-3.49803704e-01 -9.36820166e-01 2.31201560e-03 2.00054680e+02] [-9.36800629e-01 3.49811341e-01 6.05039236e-03 -1.63146440e+02] [-6.47689885e-03 -4.94480110e-05 -9.99979023e-01 -1.04694393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8503857229999 meters 0.01501603273418828 Centerline is valid? [True, True] Translation: X:200.00, Y:-163.25, Z:-10.47 [[-2.76085988e-01 -9.61131621e-01 1.59197139e-03 1.99995899e+02] [-9.61116662e-01 2.76090574e-01 5.36265369e-03 -1.63247897e+02] [-5.59374433e-03 -4.95166851e-05 -9.99984354e-01 -1.04702812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.910385723 meters 0.014876325804248847 Centerline is valid? [True, True] Translation: X:199.95, Y:-163.36, Z:-10.47 [[-2.02670815e-01 -9.79246239e-01 1.15975790e-03 1.99945779e+02] [-9.79231407e-01 2.02674129e-01 5.38970601e-03 -1.63356308e+02] [-5.51290226e-03 -4.33352487e-05 -9.99984803e-01 -1.04701529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9703857229999 meters 0.014869331195629148 Centerline is valid? [True, True] Translation: X:199.91, Y:-163.47, Z:-10.47 [[-1.29582561e-01 -9.91567995e-01 1.12771712e-03 1.99905558e+02] [-9.91533441e-01 1.29587460e-01 8.27800478e-03 -1.63465448e+02] [-8.35434259e-03 -4.54841724e-05 -9.99965101e-01 -1.04678174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.030385723 meters 0.014761192959965048 Centerline is valid? [True, True] Translation: X:199.87, Y:-163.58, Z:-10.47 [[-5.62493094e-02 -9.98416587e-01 5.77404865e-04 1.99874980e+02] [-9.98368030e-01 5.62522684e-02 9.84676032e-03 -1.63579835e+02] [-9.86364916e-03 -2.25890896e-05 -9.99951353e-01 -1.04670331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0903857229999 meters 0.014929468970300152 Centerline is valid? [True, True] Translation: X:199.85, Y:-163.70, Z:-10.47 [[ 1.76182119e-02 -9.99844772e-01 -1.75168984e-04 1.99853204e+02] [-9.99799782e-01 -1.76190808e-02 9.48492526e-03 -1.63699845e+02] [-9.48653925e-03 8.02648954e-06 -9.99955002e-01 -1.04676727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.150385723 meters 0.014985835407310385 Centerline is valid? [True, True] Translation: X:199.10, Y:-163.83, Z:-11.45 [[-4.68113533e-02 9.98903645e-01 4.53704161e-04 1.99100734e+02] [-9.98859513e-01 -4.68135499e-02 9.38958150e-03 -1.63830505e+02] [ 9.40052669e-03 -1.36477003e-05 9.99955814e-01 -1.14484811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.210385723 meters 0.015112059628209353 Centerline is valid? [True, True] Translation: X:199.87, Y:-164.00, Z:-10.47 [[ 2.45007894e-02 -9.99699785e-01 -2.24342721e-04 1.99867052e+02] [-9.99668342e-01 -2.45017981e-02 7.92896732e-03 -1.64003556e+02] [-7.93208373e-03 3.00023575e-05 -9.99968540e-01 -1.04687860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.270385723 meters 0.015130026372341879 Centerline is valid? [True, True] Translation: X:199.85, Y:-164.15, Z:-10.47 [[ 1.01867445e-01 -9.94797685e-01 -7.67670795e-04 1.99852049e+02] [-9.94771194e-01 -1.01870335e-01 7.25993120e-03 -1.64149796e+02] [-7.30036564e-03 2.41061506e-05 -9.99973352e-01 -1.04701595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.330385723 meters 0.014923143500126329 Centerline is valid? [True, True] Translation: X:199.84, Y:-164.25, Z:-10.47 [[ 1.80680264e-01 -9.83540732e-01 -1.50671161e-03 1.99838459e+02] [-9.83506895e-01 -1.80686546e-01 8.15841987e-03 -1.64246842e+02] [-8.29638077e-03 7.79580698e-06 -9.99965584e-01 -1.04702913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.390385723 meters 0.015116445290039467 Centerline is valid? [True, True] Translation: X:199.84, Y:-164.38, Z:-10.47 [[ 2.59563700e-01 -9.65723552e-01 -2.16963261e-03 1.99838279e+02] [-9.65689020e-01 -2.59572767e-01 8.16673927e-03 -1.64378063e+02] [-8.44999000e-03 -2.45986711e-05 -9.99964298e-01 -1.04691611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.450385723 meters 0.015608051187380427 Centerline is valid? [True, True] Translation: X:199.85, Y:-164.51, Z:-10.47 [[ 3.34481264e-01 -9.42396441e-01 -3.35129142e-03 1.99850761e+02] [-9.42347812e-01 -3.34498050e-01 9.57372496e-03 -1.64514074e+02] [-1.01432448e-02 -4.41494945e-05 -9.99948555e-01 -1.04667145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.510385723 meters 0.01514390868049574 Centerline is valid? [True, True] Translation: X:199.87, Y:-164.63, Z:-10.47 [[ 4.06191043e-01 -9.13777245e-01 -4.47020753e-03 1.99866455e+02] [-9.13720546e-01 -4.06215636e-01 1.01794132e-02 -1.64628649e+02] [-1.11175843e-02 -5.02659829e-05 -9.99938197e-01 -1.04681608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.570385723 meters 0.015053632200231894 Centerline is valid? [True, True] Translation: X:199.89, Y:-164.74, Z:-10.47 [[ 4.73550262e-01 -8.80753848e-01 -4.77586834e-03 1.99892020e+02] [-8.80708496e-01 -4.73574344e-01 8.93786899e-03 -1.64743654e+02] [-1.01337912e-02 -2.63823824e-05 -9.99948652e-01 -1.04687607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.630385723 meters 0.01593334061713136 Centerline is valid? [True, True] Translation: X:199.93, Y:-164.87, Z:-10.47 [[ 5.36381818e-01 -8.43960560e-01 -5.01187631e-03 1.99934969e+02] [-8.43923953e-01 -5.36405232e-01 7.86053406e-03 -1.64867397e+02] [-9.32237740e-03 1.33949223e-05 -9.99956546e-01 -1.04686593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.690385723 meters 0.015231614121156182 Centerline is valid? [True, True] Translation: X:199.97, Y:-164.96, Z:-10.47 [[ 5.97488710e-01 -8.01862605e-01 -4.85840684e-03 1.99967839e+02] [-8.01836528e-01 -5.97508462e-01 6.46690741e-03 -1.64964773e+02] [-8.08851042e-03 3.17439008e-05 -9.99967287e-01 -1.04716970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.750385723 meters 0.01535956485438204 Centerline is valid? [True, True] Translation: X:200.02, Y:-165.07, Z:-10.47 [[ 6.57177037e-01 -7.53719613e-01 -5.00878263e-03 2.00016714e+02] [-7.53698057e-01 -6.57196123e-01 5.70039820e-03 -1.65074025e+02] [-7.58825446e-03 2.89389392e-05 -9.99971208e-01 -1.04714842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.810385723 meters 0.015276994032751597 Centerline is valid? [True, True] Translation: X:200.09, Y:-165.19, Z:-10.47 [[ 7.13742736e-01 -7.00384768e-01 -5.69948969e-03 2.00086385e+02] [-7.00362654e-01 -7.13765491e-01 5.56558600e-03 -1.65191602e+02] [-7.96615072e-03 1.93131457e-05 -9.99968270e-01 -1.04720616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.870385723 meters 0.015346366294254775 Centerline is valid? [True, True] Translation: X:200.10, Y:-165.22, Z:-10.47 [[ 7.66682447e-01 -6.41996072e-01 -6.25053102e-03 2.00101498e+02] [-6.41974892e-01 -7.66707925e-01 5.21494660e-03 -1.65220013e+02] [-8.14030690e-03 1.44759611e-05 -9.99966867e-01 -1.04713751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.930385723 meters 0.015487121948542478 Centerline is valid? [True, True] Translation: X:200.12, Y:-165.25, Z:-10.47 [[ 8.15003102e-01 -5.79392858e-01 -8.59423985e-03 2.00117580e+02] [-5.79360769e-01 -8.15048414e-01 6.09778721e-03 -1.65246993e+02] [-1.05377359e-02 9.44991521e-06 -9.99944477e-01 -1.04703685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.990385723 meters 0.015515674989623232 Centerline is valid? [True, True] Translation: X:200.14, Y:-165.27, Z:-10.47 [[ 8.57595197e-01 -5.14238989e-01 -9.42022869e-03 2.00139329e+02] [-5.14208152e-01 -8.57646933e-01 5.63157097e-03 -1.65269410e+02] [-1.09752036e-02 1.43501718e-05 -9.99939771e-01 -1.04705288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.050385723 meters 0.015459186605494397 Centerline is valid? [True, True] Translation: X:200.16, Y:-165.30, Z:-10.47 [[ 8.94315657e-01 -4.47384613e-01 -6.82006562e-03 2.00160174e+02] [-4.47371823e-01 -8.94341661e-01 3.38306542e-03 -1.65296115e+02] [-7.61300023e-03 2.55768148e-05 -9.99971020e-01 -1.04737248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.110385723 meters 0.015441112862969068 Centerline is valid? [True, True] Translation: X:200.18, Y:-165.32, Z:-10.47 [[ 9.26377863e-01 -3.76550065e-01 -5.83982832e-03 2.00183430e+02] [-3.76542751e-01 -9.26396269e-01 2.34710745e-03 -1.65317129e+02] [-6.29379864e-03 2.46366383e-05 -9.99980194e-01 -1.04745254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.170385723 meters 0.015371355253941895 Centerline is valid? [True, True] Translation: X:200.21, Y:-165.34, Z:-10.48 [[ 9.52897214e-01 -3.03265524e-01 -4.11362685e-03 2.00209219e+02] [-3.03262782e-01 -9.52906093e-01 1.28976322e-03 -1.65338251e+02] [-4.31104080e-03 1.84981416e-05 -9.99990707e-01 -1.04768640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.230385723 meters 0.015297452734628987 Centerline is valid? [True, True] Translation: X:200.24, Y:-165.36, Z:-10.48 [[ 9.73766091e-01 -2.27518126e-01 -3.88626202e-03 2.00236260e+02] [-2.27516379e-01 -9.73773845e-01 8.91667746e-04 -1.65358587e+02] [-3.98721089e-03 1.59124489e-05 -9.99992051e-01 -1.04765791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.290385723 meters 0.015319825065764767 Centerline is valid? [True, True] Translation: X:200.26, Y:-165.38, Z:-10.48 [[ 9.88707276e-01 -1.49823579e-01 -3.28909225e-03 2.00262404e+02] [-1.49822787e-01 -9.88712746e-01 4.87268085e-04 -1.65376026e+02] [-3.32497168e-03 1.10154684e-05 -9.99994472e-01 -1.04771726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3503857229999 meters 0.015276670881601402 Centerline is valid? [True, True] Translation: X:200.29, Y:-165.39, Z:-10.48 [[ 9.97357434e-01 -7.25581752e-02 -3.66880241e-03 2.00288391e+02] [-7.25577366e-02 -9.97364182e-01 2.52682550e-04 -1.65392311e+02] [-3.67746630e-03 1.41851796e-05 -9.99993238e-01 -1.04765293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.410385723 meters 0.015563434482468138 Centerline is valid? [True, True] Translation: X:200.31, Y:-165.41, Z:-10.47 [[ 9.99979568e-01 2.27982419e-03 -5.97206147e-03 2.00314542e+02] [ 2.27952760e-03 -9.99997400e-01 -5.64693914e-05 -1.65405466e+02] [-5.97217469e-03 4.28547587e-05 -9.99982166e-01 -1.04740836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4703857229999 meters 0.015667419054754158 Centerline is valid? [True, True] Translation: X:200.34, Y:-165.41, Z:-10.47 [[ 9.96870254e-01 7.87624246e-02 -6.79544110e-03 2.00343438e+02] [ 7.87601784e-02 -9.96893413e-01 -5.97948275e-04 -1.65413843e+02] [-6.82142632e-03 6.08666955e-05 -9.99976732e-01 -1.04737990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.530385723 meters 0.01569046142723234 Centerline is valid? [True, True] Translation: X:200.37, Y:-165.42, Z:-10.47 [[ 9.87784373e-01 1.55687862e-01 -6.58202633e-03 2.00372663e+02] [ 1.55683962e-01 -9.87806300e-01 -1.10385387e-03 -1.65424984e+02] [-6.67362373e-03 6.56536655e-05 -9.99977729e-01 -1.04740600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5903857229999 meters 0.015854239095574194 Centerline is valid? [True, True] Translation: X:200.40, Y:-165.43, Z:-10.47 [[ 9.72582478e-01 2.32492488e-01 -5.52872165e-03 2.00402147e+02] [ 2.32488401e-01 -9.72598190e-01 -1.37974083e-03 -1.65432718e+02] [-5.69800405e-03 5.65481013e-05 -9.99983765e-01 -1.04732931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.650385723 meters 0.015804921204467866 Centerline is valid? [True, True] Translation: X:200.43, Y:-165.43, Z:-10.47 [[ 9.51233359e-01 3.08396913e-01 -6.81472598e-03 2.00433008e+02] [ 3.08388493e-01 -9.51257767e-01 -2.27986171e-03 -1.65434648e+02] [-7.18566333e-03 6.70974384e-05 -9.99974181e-01 -1.04715095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.710385723 meters 0.015470315366167523 Centerline is valid? [True, True] Translation: X:200.47, Y:-165.44, Z:-10.47 [[ 9.23667758e-01 3.83154082e-01 -5.55169822e-03 2.00466070e+02] [ 3.83146845e-01 -9.23684441e-01 -2.35542316e-03 -1.65439364e+02] [-6.03050727e-03 4.85127727e-05 -9.99981815e-01 -1.04736538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.770385723 meters 0.015273857708984082 Centerline is valid? [True, True] Translation: X:200.50, Y:-165.44, Z:-10.47 [[ 8.90508974e-01 4.54933652e-01 -5.39802766e-03 2.00500099e+02] [ 4.54924989e-01 -8.90525334e-01 -2.80802360e-03 -1.65443013e+02] [-6.08454482e-03 4.48725460e-05 -9.99981488e-01 -1.04738135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.830385723 meters 0.015270227881834492 Centerline is valid? [True, True] Translation: X:200.53, Y:-165.44, Z:-10.47 [[ 8.52307090e-01 5.23013741e-01 -5.40836087e-03 2.00531781e+02] [ 5.23002848e-01 -8.52324248e-01 -3.37590854e-03 -1.65438723e+02] [-6.37532367e-03 4.87226471e-05 -9.99979676e-01 -1.04739558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.890385723 meters 0.015343323477842074 Centerline is valid? [True, True] Translation: X:200.57, Y:-165.43, Z:-10.47 [[ 8.09308290e-01 5.87363821e-01 -4.88196235e-03 2.00566026e+02] [ 5.87352743e-01 -8.09323013e-01 -3.60769142e-03 -1.65434471e+02] [-6.07011189e-03 5.23006018e-05 -9.99981575e-01 -1.04735591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.950385723 meters 0.015666300964084494 Centerline is valid? [True, True] Translation: X:200.60, Y:-165.43, Z:-10.47 [[ 7.61644594e-01 6.47973386e-01 -5.29183519e-03 2.00598288e+02] [ 6.47957116e-01 -7.61662975e-01 -4.59225064e-03 -1.65427333e+02] [-7.00625113e-03 6.87806044e-05 -9.99975454e-01 -1.04713833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.010385723 meters 0.015317519873250862 Centerline is valid? [True, True] Translation: X:200.63, Y:-165.42, Z:-10.47 [[ 7.08704546e-01 7.05489666e-01 -4.71148794e-03 2.00631170e+02] [ 7.05473443e-01 -7.08720204e-01 -4.78472950e-03 -1.65417355e+02] [-6.71470391e-03 6.71299314e-05 -9.99977454e-01 -1.04726223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.070385723 meters 0.01565368314897287 Centerline is valid? [True, True] Translation: X:200.66, Y:-165.40, Z:-10.47 [[ 6.50659943e-01 7.59356958e-01 -4.31844236e-03 2.00660037e+02] [ 7.59339602e-01 -6.50674271e-01 -5.13448582e-03 -1.65402992e+02] [-6.70880687e-03 6.16399526e-05 -9.99977494e-01 -1.04722375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.130385723 meters 0.015234566737571821 Centerline is valid? [True, True] Translation: X:200.69, Y:-165.39, Z:-10.47 [[ 5.88544664e-01 8.08455091e-01 -3.94260179e-03 2.00690455e+02] [ 8.08436302e-01 -5.88557867e-01 -5.51206523e-03 -1.65387241e+02] [-6.77670649e-03 5.67541724e-05 -9.99977036e-01 -1.04719623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.190385723 meters 0.014971243358955996 Centerline is valid? [True, True] Translation: X:200.72, Y:-165.37, Z:-10.47 [[ 5.22133876e-01 8.52855981e-01 -3.59034964e-03 2.00720685e+02] [ 8.52835189e-01 -5.22146218e-01 -5.95542006e-03 -1.65368796e+02] [-6.95380311e-03 4.75500455e-05 -9.99975821e-01 -1.04725440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.250385723 meters 0.015016638484417184 Centerline is valid? [True, True] Translation: X:200.75, Y:-165.35, Z:-10.47 [[ 4.52895524e-01 8.91557800e-01 -3.21459344e-03 2.00745543e+02] [ 8.91534676e-01 -4.52906930e-01 -6.42139040e-03 -1.65347278e+02] [-7.18095234e-03 4.22974426e-05 -9.99974216e-01 -1.04719170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.310385723 meters 0.014832595743604201 Centerline is valid? [True, True] Translation: X:200.77, Y:-165.32, Z:-10.47 [[ 3.78604560e-01 9.25553388e-01 -3.08439897e-03 2.00769583e+02] [ 9.25522234e-01 -3.78617123e-01 -7.59403888e-03 -1.65323732e+02] [-8.19649468e-03 2.04579210e-05 -9.99966408e-01 -1.04706909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.370385723 meters 0.014649962316601347 Centerline is valid? [True, True] Translation: X:200.80, Y:-165.30, Z:-10.47 [[ 3.00660063e-01 9.53727422e-01 -2.74423493e-03 2.00796536e+02] [ 9.53688245e-01 -3.00672587e-01 -8.64444518e-03 -1.65298367e+02] [-9.06956063e-03 -1.81051594e-05 -9.99958871e-01 -1.04705995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.430385723 meters 0.014750867365754785 Centerline is valid? [True, True] Translation: X:200.82, Y:-165.27, Z:-10.47 [[ 2.21723695e-01 9.75107347e-01 -2.06525789e-03 2.00816877e+02] [ 9.75067086e-01 -2.21733307e-01 -8.86106629e-03 -1.65270161e+02] [-9.09842731e-03 -4.90566389e-05 -9.99958607e-01 -1.04715073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.490385723 meters 0.015190104189317419 Centerline is valid? [True, True] Translation: X:200.83, Y:-165.24, Z:-10.47 [[ 1.40144726e-01 9.90130021e-01 -1.41297488e-03 2.00834376e+02] [ 9.90086245e-01 -1.40151817e-01 -9.31103883e-03 -1.65240909e+02] [-9.41717008e-03 -9.40740116e-05 -9.99955653e-01 -1.04710755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.550385723 meters 0.015555560204898506 Centerline is valid? [True, True] Translation: X:200.85, Y:-165.21, Z:-10.47 [[ 5.87824653e-02 9.98270538e-01 -7.44255306e-04 2.00848901e+02] [ 9.98217532e-01 -5.87870143e-02 -1.02880922e-02 -1.65209695e+02] [-1.03140519e-02 -1.38169274e-04 -9.99946799e-01 -1.04709276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.610385723 meters 0.016567499297366377 Centerline is valid? [True, True] Translation: X:200.86, Y:-165.18, Z:-10.47 [[-2.35424394e-02 9.99722836e-01 6.88046058e-05 2.00858129e+02] [ 9.99660978e-01 2.35417482e-02 -1.11227490e-02 -1.65178278e+02] [-1.11212859e-02 -1.93075364e-04 -9.99938138e-01 -1.04706519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.670385723 meters 0.01610573273892591 Centerline is valid? [True, True] Translation: X:200.87, Y:-165.15, Z:-10.47 [[-1.03528221e-01 9.94626072e-01 9.40421197e-04 2.00865271e+02] [ 9.94564207e-01 1.03532273e-01 -1.10953402e-02 -1.65145093e+02] [-1.11330786e-02 -2.13371579e-04 -9.99938003e-01 -1.04722677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.730385723 meters 0.01706794130669454 Centerline is valid? [True, True] Translation: X:200.87, Y:-165.11, Z:-10.47 [[-1.83351702e-01 9.83045665e-01 1.83668364e-03 2.00869866e+02] [ 9.82982216e-01 1.83360740e-01 -1.11715011e-02 -1.65113372e+02] [-1.13188714e-02 -2.42886385e-04 -9.99935910e-01 -1.04714162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.790385723 meters 0.017648303799782265 Centerline is valid? [True, True] Translation: X:200.87, Y:-165.08, Z:-10.47 [[-2.62462522e-01 9.64938163e-01 2.78686297e-03 2.00868729e+02] [ 9.64871781e-01 2.62477165e-01 -1.13218276e-02 -1.65080971e+02] [-1.16563514e-02 -2.82589983e-04 -9.99932023e-01 -1.04710331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8503857229999 meters 0.018207845530028542 Centerline is valid? [True, True] Translation: X:200.86, Y:-165.05, Z:-10.47 [[-3.38554694e-01 9.40937305e-01 4.20812339e-03 2.00863392e+02] [ 9.40851556e-01 3.38580672e-01 -1.27074224e-02 -1.65050227e+02] [-1.33816771e-02 -3.42938077e-04 -9.99910403e-01 -1.04700828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.910385723 meters 0.018137106018230396 Centerline is valid? [True, True] Translation: X:200.85, Y:-165.02, Z:-10.47 [[-4.10744553e-01 9.11735414e-01 5.23894336e-03 2.00854203e+02] [ 9.11650422e-01 4.10777822e-01 -1.24534762e-02 -1.65020272e+02] [-1.35063170e-02 -3.39112568e-04 -9.99908728e-01 -1.04695596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9703857229999 meters 0.01750869876769007 Centerline is valid? [True, True] Translation: X:200.84, Y:-164.99, Z:-10.47 [[-4.79878767e-01 8.77310695e-01 6.50490105e-03 2.00844113e+02] [ 8.77220290e-01 4.79922733e-01 -1.25989579e-02 -1.64991830e+02] [-1.41750504e-02 -3.39741224e-04 -9.99899471e-01 -1.04699660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.030385723 meters 0.016209381027440007 Centerline is valid? [True, True] Translation: X:200.83, Y:-164.97, Z:-10.47 [[-5.43598897e-01 8.39315124e-01 7.09659489e-03 2.00828372e+02] [ 8.39237123e-01 5.43645153e-01 -1.14454750e-02 -1.64966400e+02] [-1.34643897e-02 -2.66021720e-04 -9.99909316e-01 -1.04721483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0903857229999 meters 0.01564091861700359 Centerline is valid? [True, True] Translation: X:200.82, Y:-164.94, Z:-10.47 [[-6.04830522e-01 7.96315120e-01 7.89112422e-03 2.00815172e+02] [ 7.96242645e-01 6.04881958e-01 -1.07455829e-02 -1.64940232e+02] [-1.33300688e-02 -2.16006885e-04 -9.99911127e-01 -1.04722814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.150385723 meters 0.014949994679592587 Centerline is valid? [True, True] Translation: X:200.80, Y:-164.92, Z:-10.47 [[-6.61730394e-01 7.49692858e-01 8.57342417e-03 2.00798197e+02] [ 7.49626996e-01 6.61785914e-01 -9.93835604e-03 -1.64916938e+02] [-1.31244859e-02 -1.49642063e-04 -9.99913859e-01 -1.04721257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.210385723 meters 0.014506864148461656 Centerline is valid? [True, True] Translation: X:200.78, Y:-164.90, Z:-10.47 [[-7.16173835e-01 6.97862699e-01 9.09347876e-03 2.00780744e+02] [ 6.97804595e-01 7.16231556e-01 -9.00582087e-03 -1.64895315e+02] [-1.27978629e-02 -1.04261998e-04 -9.99918099e-01 -1.04728692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.270385723 meters 0.014556620055310533 Centerline is valid? [True, True] Translation: X:200.80, Y:-164.88, Z:-10.47 [[-7.63019343e-01 6.46303669e-01 9.64624617e-03 2.00798988e+02] [ 6.46250539e-01 7.63080310e-01 -8.28742610e-03 -1.64881648e+02] [-1.27170544e-02 -8.95746356e-05 -9.99919131e-01 -1.04734047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.330385723 meters 0.014634212109849321 Centerline is valid? [True, True] Translation: X:201.28, Y:-164.33, Z:-11.44 [[-7.07745766e-01 -7.06410577e-01 8.94581681e-03 2.01280599e+02] [ 7.06355564e-01 -7.07802296e-01 -8.81629608e-03 -1.64326901e+02] [ 1.25597945e-02 7.92312546e-05 9.99921120e-01 -1.14436449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.390385723 meters 0.014765055310633737 Centerline is valid? [True, True] Translation: X:200.77, Y:-164.86, Z:-10.47 [[-7.65071835e-01 6.43874093e-01 9.55190855e-03 2.00765803e+02] [ 6.43821818e-01 7.65131450e-01 -8.20549774e-03 -1.64863774e+02] [-1.25917731e-02 -1.28068081e-04 -9.99920712e-01 -1.04734411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.450385723 meters 0.014992108617278312 Centerline is valid? [True, True] Translation: X:201.25, Y:-164.28, Z:-11.44 [[-7.04314450e-01 -7.09843989e-01 7.91622166e-03 2.01245982e+02] [ 7.09799651e-01 -7.04358936e-01 -7.93376742e-03 -1.64284247e+02] [ 1.12075986e-02 3.10643352e-05 9.99937192e-01 -1.14418909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.510385723 meters 0.015878644054978408 Centerline is valid? [True, True] Translation: X:200.72, Y:-164.83, Z:-10.47 [[-7.69389620e-01 6.38737300e-01 7.36709942e-03 2.00718390e+02] [ 6.38706412e-01 7.69424880e-01 -6.28286407e-03 -1.64832065e+02] [-9.68152921e-03 -1.28556762e-04 -9.99953125e-01 -1.04742593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.570385723 meters 0.015356985154641845 Centerline is valid? [True, True] Translation: X:200.75, Y:-164.82, Z:-10.47 [[-8.13384502e-01 5.81675551e-01 7.69450298e-03 2.00748488e+02] [ 5.81647898e-01 8.13420884e-01 -5.67346993e-03 -1.64821708e+02] [-9.55898816e-03 -1.39221025e-04 -9.99954302e-01 -1.04742854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.630385723 meters 0.015065278083873904 Centerline is valid? [True, True] Translation: X:200.77, Y:-164.80, Z:-10.47 [[-8.52060542e-01 5.23366681e-01 8.95265258e-03 2.00767009e+02] [ 5.23335989e-01 8.52107561e-01 -5.66978169e-03 -1.64802206e+02] [-1.05959978e-02 -1.45751968e-04 -9.99943850e-01 -1.04737312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.690385723 meters 0.014730851493087057 Centerline is valid? [True, True] Translation: X:200.78, Y:-164.78, Z:-10.47 [[-8.85270138e-01 4.64959604e-01 1.04569808e-02 2.00782552e+02] [ 4.64925561e-01 8.85331888e-01 -5.62770669e-03 -1.64778945e+02] [-1.18745549e-02 -1.20322994e-04 -9.99929488e-01 -1.04709059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.750385723 meters 0.014218232021522987 Centerline is valid? [True, True] Translation: X:200.80, Y:-164.76, Z:-10.47 [[-9.14172930e-01 4.05150843e-01 1.18595416e-02 2.00801041e+02] [ 4.05115696e-01 9.14249850e-01 -5.33700681e-03 -1.64757876e+02] [-1.30048770e-02 -7.44606937e-05 -9.99915430e-01 -1.04706054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.810385723 meters 0.014070784358162154 Centerline is valid? [True, True] Translation: X:201.12, Y:-164.06, Z:-11.45 [[-8.81562025e-01 -4.71943050e-01 1.08698423e-02 2.01118700e+02] [ 4.71907621e-01 -8.81629036e-01 -5.78275709e-03 -1.64057707e+02] [ 1.23123006e-02 3.17023652e-05 9.99924200e-01 -1.14457923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.870385723 meters 0.014141585248591427 Centerline is valid? [True, True] Translation: X:200.76, Y:-164.74, Z:-10.47 [[-9.12073271e-01 4.09890646e-01 1.05832728e-02 2.00761729e+02] [ 4.09863520e-01 9.12134670e-01 -4.71576648e-03 -1.64743618e+02] [-1.15863186e-02 3.65728804e-05 -9.99932876e-01 -1.04698937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.930385723 meters 0.014088743342134311 Centerline is valid? [True, True] Translation: X:200.77, Y:-164.72, Z:-10.47 [[-9.37774553e-01 3.47068919e-01 1.10477549e-02 2.00773551e+02] [ 3.47045744e-01 9.37839624e-01 -4.01139159e-03 -1.64716937e+02] [-1.17532517e-02 7.22953732e-05 -9.99930926e-01 -1.04703120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.990385723 meters 0.01409080853439935 Centerline is valid? [True, True] Translation: X:200.78, Y:-164.69, Z:-10.47 [[-9.59832766e-01 2.80358797e-01 1.09547002e-02 2.00781183e+02] [ 2.80341457e-01 9.59895275e-01 -3.11913201e-03 -1.64688195e+02] [-1.13898411e-02 7.72115091e-05 -9.99935131e-01 -1.04712695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.050385723 meters 0.01386153379860058 Centerline is valid? [True, True] Translation: X:201.00, Y:-163.96, Z:-11.45 [[-9.42643965e-01 -3.33664443e-01 9.50764393e-03 2.01000185e+02] [ 3.33645872e-01 -9.42691899e-01 -3.52345813e-03 -1.63957405e+02] [ 1.01384316e-02 -1.49180386e-04 9.99948594e-01 -1.14454400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.110385723 meters 0.01380734814120003 Centerline is valid? [True, True] Translation: X:200.74, Y:-164.67, Z:-10.47 [[-9.61959390e-01 2.73026193e-01 9.53042299e-03 2.00740981e+02] [ 2.73013096e-01 9.62006599e-01 -2.67443695e-03 -1.64671377e+02] [-9.89852114e-03 2.92305507e-05 -9.99951008e-01 -1.04703795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.170385723 meters 0.013635089318436806 Centerline is valid? [True, True] Translation: X:200.75, Y:-164.64, Z:-10.47 [[-9.79407842e-01 2.01668193e-01 9.49836341e-03 2.00747822e+02] [ 2.01658748e-01 9.79453899e-01 -1.95182777e-03 -1.64642300e+02] [-9.69683066e-03 3.79265192e-06 -9.99952985e-01 -1.04706176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.230385723 meters 0.013707002210226003 Centerline is valid? [True, True] Translation: X:200.74, Y:-164.61, Z:-10.47 [[-9.91542381e-01 1.29520678e-01 8.25232185e-03 2.00741278e+02] [ 1.29516069e-01 9.91576721e-01 -1.09280503e-03 -1.64610814e+02] [-8.32435109e-03 -1.47542141e-05 -9.99965352e-01 -1.04714943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.290385723 meters 0.01622381928216968 Centerline is valid? [True, True] Translation: X:200.85, Y:-163.87, Z:-11.45 [[-9.79658288e-01 -2.00526177e-01 7.67401438e-03 2.00849986e+02] [ 2.00519884e-01 -9.79688344e-01 -1.58869988e-03 -1.63872755e+02] [ 7.83671836e-03 -1.75905333e-05 9.99969292e-01 -1.14471081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3503857229999 meters 0.013761105792658681 Centerline is valid? [True, True] Translation: X:200.69, Y:-164.60, Z:-10.47 [[-9.92106427e-01 1.25234746e-01 6.41066729e-03 2.00686567e+02] [ 1.25232046e-01 9.92127138e-01 -8.22517949e-04 -1.64603119e+02] [-6.46320481e-03 -1.32043641e-05 -9.99979113e-01 -1.04728434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.410385723 meters 0.013796252412022513 Centerline is valid? [True, True] Translation: X:200.80, Y:-163.87, Z:-11.44 [[-9.80672975e-01 -1.95589529e-01 5.02507685e-03 2.00795272e+02] [ 1.95586578e-01 -9.80685847e-01 -1.07699444e-03 -1.63866352e+02] [ 5.13867058e-03 -7.33417571e-05 9.99986794e-01 -1.14419986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4703857229999 meters 0.013905692347501886 Centerline is valid? [True, True] Translation: X:200.65, Y:-164.60, Z:-10.47 [[-9.92470924e-01 1.22348355e-01 5.68734770e-03 2.00649929e+02] [ 1.22346320e-01 9.92487219e-01 -7.05614447e-04 -1.64599290e+02] [-5.73095067e-03 -4.47575761e-06 -9.99983578e-01 -1.04736581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.530385723 meters 0.013932143225328795 Centerline is valid? [True, True] Translation: X:200.65, Y:-164.57, Z:-10.47 [[-9.98532414e-01 5.38091405e-02 6.13139606e-03 2.00650979e+02] [ 5.38081774e-02 9.98551239e-01 -3.22052244e-04 -1.64570334e+02] [-6.13984248e-03 8.33964244e-06 -9.99981151e-01 -1.04722297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5903857229999 meters 0.014011905613498278 Centerline is valid? [True, True] Translation: X:200.69, Y:-163.83, Z:-11.44 [[-9.93175162e-01 -1.16464487e-01 6.25475368e-03 2.00694826e+02] [ 1.16462185e-01 -9.93194857e-01 -7.32174746e-04 -1.63829623e+02] [ 6.29746154e-03 1.26451018e-06 9.99980171e-01 -1.14448051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.650385723 meters 0.01432334287193636 Centerline is valid? [True, True] Translation: X:200.59, Y:-164.57, Z:-10.47 [[-9.98511635e-01 5.41277670e-02 6.68585103e-03 2.00592136e+02] [ 5.41268223e-02 9.98534017e-01 -3.22290033e-04 -1.64566568e+02] [-6.69349452e-03 4.00735232e-05 -9.99977598e-01 -1.04712717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.710385723 meters 0.014497003187928629 Centerline is valid? [True, True] Translation: X:200.59, Y:-164.54, Z:-10.47 [[-9.99852966e-01 -1.61532607e-02 5.75481742e-03 2.00591052e+02] [-1.61527678e-02 9.99869527e-01 1.32111896e-04 -1.64536940e+02] [-5.75620061e-03 3.91362417e-05 -9.99983432e-01 -1.04721812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.770385723 meters 0.014304570354428194 Centerline is valid? [True, True] Translation: X:200.58, Y:-164.51, Z:-10.47 [[-9.96098267e-01 -8.80846992e-02 5.41554807e-03 2.00582847e+02] [-8.80832215e-02 9.96112988e-01 5.11248648e-04 -1.64506060e+02] [-5.43953096e-03 3.22349720e-05 -9.99985205e-01 -1.04722773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.830385723 meters 0.014159451568977157 Centerline is valid? [True, True] Translation: X:200.56, Y:-164.48, Z:-10.47 [[-9.86731415e-01 -1.62180538e-01 7.65430667e-03 2.00562645e+02] [-1.62175519e-01 9.86761102e-01 1.27608603e-03 -1.64476271e+02] [-7.75992841e-03 1.78130195e-05 -9.99969891e-01 -1.04705651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.890385723 meters 0.014107636839319251 Centerline is valid? [True, True] Translation: X:200.56, Y:-164.45, Z:-10.47 [[-9.72311798e-01 -2.33551927e-01 7.95393516e-03 2.00555393e+02] [-2.33544050e-01 9.72344331e-01 1.91814661e-03 -1.64446995e+02] [-8.18195059e-03 7.44234392e-06 -9.99966527e-01 -1.04701652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.950385723 meters 0.014173790086087913 Centerline is valid? [True, True] Translation: X:200.38, Y:-163.75, Z:-11.45 [[-9.85521863e-01 1.69314828e-01 8.89649528e-03 2.00377062e+02] [-1.69307487e-01 -9.85562016e-01 1.57737839e-03 -1.63751364e+02] [ 9.03512137e-03 4.82976353e-05 9.99959181e-01 -1.14455551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.010385723 meters 0.014181251367061169 Centerline is valid? [True, True] Translation: X:200.44, Y:-164.47, Z:-10.47 [[-9.71094206e-01 -2.38540240e-01 8.63694763e-03 2.00436087e+02] [-2.38530626e-01 9.71132614e-01 2.14177743e-03 -1.64472770e+02] [-8.89852163e-03 1.96911329e-05 -9.99960407e-01 -1.04707762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.070385723 meters 0.01423602490143722 Centerline is valid? [True, True] Translation: X:200.41, Y:-164.45, Z:-10.47 [[-9.52358054e-01 -3.04880386e-01 7.87950456e-03 2.00408098e+02] [-3.04869571e-01 9.52390649e-01 2.56832778e-03 -1.64451391e+02] [-8.28739923e-03 4.37464652e-05 -9.99965658e-01 -1.04712556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.130385723 meters 0.015391238479708285 Centerline is valid? [True, True] Translation: X:200.36, Y:-164.44, Z:-10.47 [[-9.29000167e-01 -3.70029795e-01 6.05314924e-03 2.00363228e+02] [-3.70021534e-01 9.29019885e-01 2.47324505e-03 -1.64436603e+02] [-6.53867038e-03 5.78494954e-05 -9.99978621e-01 -1.04712425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.190385723 meters 0.014496016564894574 Centerline is valid? [True, True] Translation: X:200.30, Y:-164.43, Z:-10.47 [[-8.99527045e-01 -4.36830533e-01 5.49372792e-03 2.00297831e+02] [-4.36821991e-01 8.99543819e-01 2.73248641e-03 -1.64431301e+02] [-6.13548249e-03 5.81642569e-05 -9.99981176e-01 -1.04725148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.250385723 meters 0.014337258008337789 Centerline is valid? [True, True] Translation: X:200.22, Y:-164.43, Z:-10.47 [[-8.63971499e-01 -5.03517153e-01 4.87084512e-03 2.00224907e+02] [-5.03508864e-01 8.63985228e-01 2.88944253e-03 -1.64432052e+02] [-5.66322211e-03 4.38822940e-05 -9.99983963e-01 -1.04724030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.310385723 meters 0.014199579916692072 Centerline is valid? [True, True] Translation: X:200.14, Y:-164.44, Z:-10.47 [[-8.22925471e-01 -5.68121778e-01 5.59588373e-03 2.00142556e+02] [-5.68108346e-01 8.22944496e-01 3.90684071e-03 -1.64443041e+02] [-6.82466301e-03 3.59704784e-05 -9.99976711e-01 -1.04716493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.370385723 meters 0.01433278433770343 Centerline is valid? [True, True] Translation: X:200.06, Y:-164.47, Z:-10.47 [[-7.77502632e-01 -6.28836519e-01 7.36814079e-03 2.00055962e+02] [-6.28807825e-01 7.77537544e-01 6.00725048e-03 -1.64465576e+02] [-9.50658457e-03 3.75084770e-05 -9.99954811e-01 -1.04691438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.430385723 meters 0.01453072150520603 Centerline is valid? [True, True] Translation: X:199.97, Y:-164.50, Z:-10.47 [[-7.29918437e-01 -6.83501372e-01 6.70440540e-03 1.99973374e+02] [-6.83471784e-01 7.29949224e-01 6.36009628e-03 -1.64497370e+02] [-9.24101006e-03 6.00796169e-05 -9.99957299e-01 -1.04689453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.490385723 meters 0.014510489497865214 Centerline is valid? [True, True] Translation: X:199.89, Y:-164.54, Z:-10.47 [[-6.78178528e-01 -7.34875977e-01 5.58408831e-03 1.99887912e+02] [-7.34850168e-01 6.78201513e-01 6.15941794e-03 -1.64539695e+02] [-8.31354542e-03 7.37167605e-05 -9.99965439e-01 -1.04703512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.550385723 meters 0.01451280865085145 Centerline is valid? [True, True] Translation: X:199.80, Y:-164.59, Z:-10.47 [[-6.21694547e-01 -7.83241744e-01 5.31616243e-03 1.99801438e+02] [-7.83211913e-01 6.21717270e-01 6.83640702e-03 -1.64594584e+02] [-8.65970935e-03 8.64752181e-05 -9.99962500e-01 -1.04707256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.610385723 meters 0.015100847068412132 Centerline is valid? [True, True] Translation: X:199.72, Y:-164.66, Z:-10.47 [[-5.60821975e-01 -8.27922586e-01 4.78575104e-03 1.99717844e+02] [-8.27891098e-01 5.60842387e-01 7.22132645e-03 -1.64658760e+02] [-8.66275131e-03 8.77978824e-05 -9.99962474e-01 -1.04685394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.670385723 meters 0.014597562102351903 Centerline is valid? [True, True] Translation: X:199.63, Y:-164.73, Z:-10.47 [[-4.95332475e-01 -8.68692946e-01 4.27833979e-03 1.99633374e+02] [-8.68659202e-01 4.95350946e-01 7.65714712e-03 -1.64732396e+02] [-8.77098935e-03 7.64144141e-05 -9.99961531e-01 -1.04703711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.730385723 meters 0.014555110799021425 Centerline is valid? [True, True] Translation: X:199.56, Y:-164.81, Z:-10.47 [[-4.25802174e-01 -9.04807689e-01 3.94406710e-03 1.99556191e+02] [-9.04767582e-01 4.25820435e-01 8.51936394e-03 -1.64813648e+02] [-9.38785036e-03 5.90996366e-05 -9.99955931e-01 -1.04698406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.790385723 meters 0.014428741015594054 Centerline is valid? [True, True] Translation: X:199.48, Y:-164.90, Z:-10.47 [[-3.53369565e-01 -9.35477740e-01 3.36877193e-03 1.99482821e+02] [-9.35434291e-01 3.53385621e-01 9.01611610e-03 -1.64904691e+02] [-9.62485147e-03 3.47562472e-05 -9.99953679e-01 -1.04694633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8503857229999 meters 0.014294512822442393 Centerline is valid? [True, True] Translation: X:199.42, Y:-165.00, Z:-10.47 [[-2.79164850e-01 -9.60238825e-01 2.89587578e-03 1.99416290e+02] [-9.60186598e-01 2.79179870e-01 1.00148496e-02 -1.65002404e+02] [-1.04251176e-02 1.52128685e-05 -9.99945657e-01 -1.04685679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.910385723 meters 0.014427372885296294 Centerline is valid? [True, True] Translation: X:199.36, Y:-165.12, Z:-10.47 [[-2.05686067e-01 -9.78615681e-01 2.14242766e-03 1.99359856e+02] [-9.78561604e-01 2.05697223e-01 1.02877951e-02 -1.65116077e+02] [-1.05084890e-02 1.95586619e-05 -9.99944784e-01 -1.04689817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9703857229999 meters 0.01439663754045615 Centerline is valid? [True, True] Translation: X:199.31, Y:-165.21, Z:-10.47 [[-1.30610126e-01 -9.91432884e-01 1.35354530e-03 1.99314470e+02] [-9.91377842e-01 1.30617137e-01 1.04469014e-02 -1.65212744e+02] [-1.05341978e-02 2.25962879e-05 -9.99944514e-01 -1.04697310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.030385723 meters 0.014460429495244008 Centerline is valid? [True, True] Translation: X:199.28, Y:-165.33, Z:-10.47 [[-5.51301604e-02 -9.98479083e-01 4.32462593e-04 1.99276417e+02] [-9.98445065e-01 5.51318519e-02 8.24205165e-03 -1.65325126e+02] [-8.25335863e-03 2.25954874e-05 -9.99965940e-01 -1.04708114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0903857229999 meters 0.014468313004467027 Centerline is valid? [True, True] Translation: X:199.25, Y:-165.44, Z:-10.47 [[ 2.17326967e-02 -9.99763801e-01 -1.77375127e-04 1.99247362e+02] [-9.99736625e-01 -2.17334137e-02 7.37147659e-03 -1.65444333e+02] [-7.37359042e-03 1.71263458e-05 -9.99972815e-01 -1.04711293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.150385723 meters 0.014532348252679262 Centerline is valid? [True, True] Translation: X:199.22, Y:-165.56, Z:-10.47 [[ 1.04280019e-01 -9.94547571e-01 -8.98144412e-04 1.99224238e+02] [-9.94507587e-01 -1.04283880e-01 8.91810123e-03 -1.65564157e+02] [-8.96313790e-03 -3.67683304e-05 -9.99959830e-01 -1.04696077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.210385723 meters 0.015185521170707083 Centerline is valid? [True, True] Translation: X:199.21, Y:-165.68, Z:-10.47 [[ 1.84660665e-01 -9.82800955e-01 -1.64983860e-03 1.99210919e+02] [-9.82757483e-01 -1.84668015e-01 9.24411476e-03 -1.65683181e+02] [-9.38979723e-03 -8.56331502e-05 -9.99955911e-01 -1.04682326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.270385723 meters 0.01587698305897508 Centerline is valid? [True, True] Translation: X:199.21, Y:-165.81, Z:-10.47 [[ 2.64432169e-01 -9.64400436e-01 -2.72519794e-03 1.99212648e+02] [-9.64342838e-01 -2.64446164e-01 1.05412447e-02 -1.65809966e+02] [-1.08866491e-02 -1.59419095e-04 -9.99940726e-01 -1.04679965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.330385723 meters 0.01642768906844687 Centerline is valid? [True, True] Translation: X:199.22, Y:-165.93, Z:-10.47 [[ 3.40058517e-01 -9.40396120e-01 -3.91689296e-03 1.99223249e+02] [-9.40326383e-01 -3.40081008e-01 1.14543378e-02 -1.65927462e+02] [-1.21036757e-02 -2.11987345e-04 -9.99926725e-01 -1.04673096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.390385723 meters 0.01668407491014689 Centerline is valid? [True, True] Translation: X:199.24, Y:-166.04, Z:-10.47 [[ 4.11750492e-01 -9.11288024e-01 -3.95840390e-03 1.99243486e+02] [-9.11241522e-01 -4.11769477e-01 9.20789195e-03 -1.66041177e+02] [-1.00209916e-02 -1.84292046e-04 -9.99949772e-01 -1.04693676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.450385723 meters 0.01731281602946277 Centerline is valid? [True, True] Translation: X:199.27, Y:-166.15, Z:-10.47 [[ 4.79880619e-01 -8.77325367e-01 -3.84609408e-03 1.99272406e+02] [-8.77294655e-01 -4.79896008e-01 7.34227509e-03 -1.66153944e+02] [-8.28728938e-03 -1.49257739e-04 -9.99965649e-01 -1.04708650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.510385723 meters 0.016220444998329454 Centerline is valid? [True, True] Translation: X:199.31, Y:-166.26, Z:-10.47 [[ 5.44215912e-01 -8.38938253e-01 -3.41299860e-03 1.99314383e+02] [-8.38920528e-01 -5.44226604e-01 5.45448743e-03 -1.66261873e+02] [-6.43342280e-03 -1.05184264e-04 -9.99979300e-01 -1.04738000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.570385723 meters 0.016000229041300478 Centerline is valid? [True, True] Translation: X:199.36, Y:-166.37, Z:-10.48 [[ 6.05089578e-01 -7.96150425e-01 -3.33221347e-03 1.99358428e+02] [-7.96137615e-01 -6.05098747e-01 4.51700233e-03 -1.66366623e+02] [-5.61253152e-03 -8.02905503e-05 -9.99984246e-01 -1.04751616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.630385723 meters 0.01592338782520565 Centerline is valid? [True, True] Translation: X:199.42, Y:-166.47, Z:-10.48 [[ 6.61960130e-01 -7.49534069e-01 -2.73216547e-03 1.99415057e+02] [-7.49527387e-01 -6.61965767e-01 3.16547967e-03 -1.66468100e+02] [-4.18123487e-03 -4.75884898e-05 -9.99991258e-01 -1.04764575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.690385723 meters 0.015736082945504413 Centerline is valid? [True, True] Translation: X:199.47, Y:-166.56, Z:-10.48 [[ 7.16781732e-01 -6.97290837e-01 -3.07208626e-03 1.99473528e+02] [-6.97284150e-01 -7.16788314e-01 3.05401547e-03 -1.66560450e+02] [-4.33157254e-03 -4.69454388e-05 -9.99990618e-01 -1.04771662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.750385723 meters 0.015785213758928645 Centerline is valid? [True, True] Translation: X:199.49, Y:-166.59, Z:-10.47 [[ 7.69277859e-01 -6.38891627e-01 -5.39120911e-03 1.99493394e+02] [-6.38875205e-01 -7.69296746e-01 4.58146438e-03 -1.66586985e+02] [-7.07449886e-03 -8.01092872e-05 -9.99974972e-01 -1.04748669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.810385723 meters 0.015709538394535743 Centerline is valid? [True, True] Translation: X:199.52, Y:-166.61, Z:-10.47 [[ 8.15819143e-01 -5.78256876e-01 -7.62306607e-03 1.99516734e+02] [-5.78230594e-01 -8.15854752e-01 5.51395208e-03 -1.66608909e+02] [-9.40779539e-03 -9.04976399e-05 -9.99955742e-01 -1.04743338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.870385723 meters 0.015457814843955586 Centerline is valid? [True, True] Translation: X:199.54, Y:-166.63, Z:-10.48 [[ 8.55346785e-01 -5.18003494e-01 -7.36603993e-03 1.99541789e+02] [-5.17983988e-01 -8.55378501e-01 4.49537402e-03 -1.66627484e+02] [-8.62937164e-03 -2.96129742e-05 -9.99962766e-01 -1.04758524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.930385723 meters 0.015428440742179925 Centerline is valid? [True, True] Translation: X:199.56, Y:-166.65, Z:-10.48 [[ 8.92153190e-01 -4.51676536e-01 -7.14094612e-03 1.99564092e+02] [-4.51661994e-01 -8.92181768e-01 3.62443433e-03 -1.66649401e+02] [-8.00809388e-03 -8.25668775e-06 -9.99967935e-01 -1.04769052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.990385723 meters 0.015620337086990364 Centerline is valid? [True, True] Translation: X:199.59, Y:-166.66, Z:-10.48 [[ 9.22393883e-01 -3.86200214e-01 -6.23846973e-03 1.99590550e+02] [-3.86191635e-01 -9.22414979e-01 2.57440302e-03 -1.66664638e+02] [-6.74869292e-03 3.46312265e-05 -9.99977227e-01 -1.04782570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.050385723 meters 0.015825650562575958 Centerline is valid? [True, True] Translation: X:199.62, Y:-166.68, Z:-10.48 [[ 9.48899320e-01 -3.15530532e-01 -5.52841786e-03 1.99616348e+02] [-3.15525459e-01 -9.48915424e-01 1.78975577e-03 -1.66680244e+02] [-5.81072357e-03 4.60585476e-05 -9.99983117e-01 -1.04782471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.110385723 meters 0.015950957347949105 Centerline is valid? [True, True] Translation: X:199.64, Y:-166.70, Z:-10.48 [[ 9.70779924e-01 -2.39876440e-01 -6.75523721e-03 1.99641445e+02] [-2.39870999e-01 -9.70803425e-01 1.61648743e-03 -1.66695046e+02] [-6.94576467e-03 5.11319603e-05 -9.99975877e-01 -1.04773204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.170385723 meters 0.0157206540687022 Centerline is valid? [True, True] Translation: X:199.66, Y:-166.71, Z:-10.48 [[ 9.86846395e-01 -1.61475443e-01 -7.73779621e-03 1.99664163e+02] [-1.61470830e-01 -9.86876730e-01 1.22135789e-03 -1.66711324e+02] [-7.83347032e-03 4.41357445e-05 -9.99969317e-01 -1.04782712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.230385723 meters 0.015904277997723988 Centerline is valid? [True, True] Translation: X:199.69, Y:-166.73, Z:-10.48 [[ 9.96616643e-01 -8.16387268e-02 -9.50708715e-03 1.99688258e+02] [-8.16353312e-02 -9.96661987e-01 7.45333303e-04 -1.66726416e+02] [-9.53620043e-03 3.33026332e-05 -9.99954529e-01 -1.04777669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.290385723 meters 0.015888185036782423 Centerline is valid? [True, True] Translation: X:199.71, Y:-166.74, Z:-10.48 [[ 9.99939701e-01 -3.17510568e-03 -1.05125595e-02 1.99713194e+02] [-3.17529563e-03 -9.99994959e-01 -1.37757717e-06 -1.66739071e+02] [-1.05125022e-02 3.47579784e-05 -9.99944742e-01 -1.04770474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3503857229999 meters 0.015980650761402936 Centerline is valid? [True, True] Translation: X:199.74, Y:-166.75, Z:-10.48 [[ 9.97332845e-01 7.24006454e-02 -9.23812880e-03 1.99738496e+02] [ 7.23970205e-02 -9.97375628e-01 -7.26630283e-04 -1.66745649e+02] [-9.26649302e-03 5.58792466e-05 -9.99957064e-01 -1.04784227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.410385723 meters 0.016062734600688144 Centerline is valid? [True, True] Translation: X:199.76, Y:-166.75, Z:-10.48 [[ 9.89037532e-01 1.47417438e-01 -8.53582320e-03 1.99764869e+02] [ 1.47411275e-01 -9.89074362e-01 -1.35014595e-03 -1.66749566e+02] [-8.64159894e-03 7.70684359e-05 -9.99962658e-01 -1.04809544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4703857229999 meters 0.015844458073545283 Centerline is valid? [True, True] Translation: X:199.79, Y:-166.76, Z:-10.48 [[ 9.74347958e-01 2.24918645e-01 -7.59337234e-03 1.99792456e+02] [ 2.24911290e-01 -9.74377544e-01 -1.82018418e-03 -1.66755242e+02] [-7.80820485e-03 6.56575691e-05 -9.99969513e-01 -1.04815733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.530385723 meters 0.015331701579334686 Centerline is valid? [True, True] Translation: X:199.82, Y:-166.76, Z:-10.48 [[ 9.52928674e-01 3.03083838e-01 -8.19326966e-03 1.99821866e+02] [ 3.03072197e-01 -9.52963895e-01 -2.65680770e-03 -1.66763773e+02] [-8.61312565e-03 4.85960042e-05 -9.99962905e-01 -1.04819892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5903857229999 meters 0.01522067064674446 Centerline is valid? [True, True] Translation: X:199.85, Y:-166.77, Z:-10.48 [[ 9.25821113e-01 3.77844274e-01 -9.43250022e-03 1.99852026e+02] [ 3.77824168e-01 -9.25869161e-01 -3.89819097e-03 -1.66767747e+02] [-1.02061702e-02 4.52009608e-05 -9.99947915e-01 -1.04812347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.650385723 meters 0.01519493466218417 Centerline is valid? [True, True] Translation: X:199.88, Y:-166.77, Z:-10.48 [[ 8.92959567e-01 4.50020389e-01 -1.02401742e-02 1.99882143e+02] [ 4.49990289e-01 -8.93018280e-01 -5.20503407e-03 -1.66769408e+02] [-1.14870342e-02 3.99060361e-05 -9.99934021e-01 -1.04804625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.710385723 meters 0.01510805412478226 Centerline is valid? [True, True] Translation: X:199.91, Y:-166.77, Z:-10.48 [[ 8.54617499e-01 5.19144702e-01 -1.08493508e-02 1.99910416e+02] [ 5.19102355e-01 -8.54686362e-01 -6.63078496e-03 -1.66766442e+02] [-1.27151291e-02 3.48612881e-05 -9.99919159e-01 -1.04796022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.770385723 meters 0.015101610384980167 Centerline is valid? [True, True] Translation: X:199.94, Y:-166.76, Z:-10.48 [[ 8.13243827e-01 5.81819077e-01 -1.10018159e-02 1.99940015e+02] [ 5.81764485e-01 -8.13318238e-01 -7.97047338e-03 -1.66762145e+02] [-1.35853510e-02 8.14725061e-05 -9.99907712e-01 -1.04795860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.830385723 meters 0.01546114094040291 Centerline is valid? [True, True] Translation: X:199.97, Y:-166.75, Z:-10.48 [[ 7.67756622e-01 6.40652674e-01 -1.06733977e-02 1.99967403e+02] [ 6.40588237e-01 -7.67830797e-01 -9.08723883e-03 -1.66752887e+02] [-1.40171273e-02 1.39534781e-04 -9.99901746e-01 -1.04808363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.890385723 meters 0.015507081102009284 Centerline is valid? [True, True] Translation: X:199.99, Y:-166.74, Z:-10.48 [[ 7.15931379e-01 6.98111966e-01 -9.05224289e-03 1.99994588e+02] [ 6.98053684e-01 -7.15988592e-01 -9.02170173e-03 -1.66743453e+02] [-1.27794606e-02 1.39967866e-04 -9.99918330e-01 -1.04824787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.950385723 meters 0.015422426536883473 Centerline is valid? [True, True] Translation: X:200.02, Y:-166.73, Z:-10.48 [[ 6.58736461e-01 7.52331876e-01 -7.93874193e-03 2.00022701e+02] [ 7.52274883e-01 -6.58784283e-01 -9.26116206e-03 -1.66732498e+02] [-1.21973858e-02 1.28548966e-04 -9.99925601e-01 -1.04826235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.010385723 meters 0.015211178016475865 Centerline is valid? [True, True] Translation: X:200.05, Y:-166.72, Z:-10.48 [[ 5.96698699e-01 8.02429852e-01 -7.54953945e-03 2.00048964e+02] [ 8.02363131e-01 -5.96746445e-01 -1.03482664e-02 -1.66719376e+02] [-1.28089187e-02 1.17324997e-04 -9.99917956e-01 -1.04821710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.070385723 meters 0.015201646493255951 Centerline is valid? [True, True] Translation: X:200.08, Y:-166.70, Z:-10.48 [[ 5.31893983e-01 8.46779911e-01 -7.25069389e-03 2.00075229e+02] [ 8.46698048e-01 -5.31943387e-01 -1.17749269e-02 -1.66704421e+02] [-1.38277303e-02 1.23864431e-04 -9.99904385e-01 -1.04824582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.130385723 meters 0.015502448895490548 Centerline is valid? [True, True] Translation: X:200.10, Y:-166.69, Z:-10.48 [[ 4.66357224e-01 8.84571271e-01 -6.67876532e-03 2.00096322e+02] [ 8.84475268e-01 -4.66405014e-01 -1.30331553e-02 -1.66687146e+02] [-1.46437644e-02 1.70903363e-04 -9.99892760e-01 -1.04821773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.190385723 meters 0.01566762062678773 Centerline is valid? [True, True] Translation: X:200.12, Y:-166.67, Z:-10.48 [[ 3.97646492e-01 9.17523564e-01 -5.27045554e-03 2.00118625e+02] [ 9.17436578e-01 -3.97681373e-01 -1.26353334e-02 -1.66668077e+02] [-1.36891782e-02 1.89087324e-04 -9.99906281e-01 -1.04829026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.250385723 meters 0.01563573029670459 Centerline is valid? [True, True] Translation: X:200.14, Y:-166.65, Z:-10.48 [[ 3.25548596e-01 9.45515837e-01 -4.23241281e-03 2.00141084e+02] [ 9.45427691e-01 -3.25576044e-01 -1.29120552e-02 -1.66648034e+02] [-1.35865249e-02 2.02061175e-04 -9.99907679e-01 -1.04827996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.310385723 meters 0.015993319996416174 Centerline is valid? [True, True] Translation: X:200.16, Y:-166.63, Z:-10.48 [[ 2.52029115e-01 9.67714569e-01 -3.13648424e-03 2.00159984e+02] [ 9.67628499e-01 -2.52048537e-01 -1.29082467e-02 -1.66626569e+02] [-1.32820447e-02 2.18302460e-04 -9.99911766e-01 -1.04832999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.370385723 meters 0.015914892661598644 Centerline is valid? [True, True] Translation: X:200.18, Y:-166.60, Z:-10.48 [[ 1.74983650e-01 9.84569699e-01 -1.79710997e-03 2.00178734e+02] [ 9.84506696e-01 -1.74992786e-01 -1.11395927e-02 -1.66602317e+02] [-1.12821867e-02 1.79979794e-04 -9.99936338e-01 -1.04843700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.430385723 meters 0.015226262035919681 Centerline is valid? [True, True] Translation: X:200.20, Y:-166.58, Z:-10.48 [[ 9.40437033e-02 9.95567726e-01 -8.27116218e-04 2.00198869e+02] [ 9.95516227e-01 -9.40472521e-02 -1.01270507e-02 -1.66577176e+02] [-1.01599529e-02 1.28977739e-04 -9.99948378e-01 -1.04846579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.490385723 meters 0.014680098957027638 Centerline is valid? [True, True] Translation: X:200.22, Y:-166.55, Z:-10.48 [[ 1.19690349e-02 9.99928368e-01 -2.75810878e-05 2.00218427e+02] [ 9.99887724e-01 -1.19687971e-02 -9.01589527e-03 -1.66550493e+02] [-9.01557956e-03 8.03335744e-05 -9.99959356e-01 -1.04833074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.550385723 meters 0.014407401777269603 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.52, Z:-10.48 [[-6.81989978e-02 9.97671435e-01 7.77464188e-04 2.00236062e+02] [ 9.97618292e-01 6.82033898e-02 -1.02976485e-02 -1.66521501e+02] [-1.03266955e-02 7.33231866e-05 -9.99946676e-01 -1.04823142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.610385723 meters 0.01468453974292197 Centerline is valid? [True, True] Translation: X:200.25, Y:-166.49, Z:-10.48 [[-1.43846902e-01 9.89598753e-01 1.54161982e-03 2.00248050e+02] [ 9.89548765e-01 1.43855131e-01 -9.94702702e-03 -1.66492072e+02] [-1.00653355e-02 9.46589718e-05 -9.99949339e-01 -1.04814108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.670385723 meters 0.014619326516312215 Centerline is valid? [True, True] Translation: X:200.26, Y:-166.46, Z:-10.48 [[-2.19251282e-01 9.75666043e-01 2.15596849e-03 2.00257147e+02] [ 9.75623437e-01 2.19261857e-01 -9.11851588e-03 -1.66460389e+02] [-9.36934796e-03 1.04167094e-04 -9.99956101e-01 -1.04817959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.730385723 meters 0.014836820920645644 Centerline is valid? [True, True] Translation: X:200.26, Y:-166.43, Z:-10.48 [[-2.93792856e-01 9.55864498e-01 2.96979617e-03 2.00263765e+02] [ 9.55819714e-01 2.93807841e-01 -9.25352096e-03 -1.66428113e+02] [-9.71766156e-03 1.19971376e-04 -9.99952775e-01 -1.04815154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.790385723 meters 0.0147860699905621 Centerline is valid? [True, True] Translation: X:200.27, Y:-166.39, Z:-10.48 [[-3.67253485e-01 9.30114555e-01 3.43400109e-03 2.00267025e+02] [ 9.30076820e-01 3.67269521e-01 -8.37898505e-03 -1.66394596e+02] [-9.05461988e-03 1.16673358e-04 -9.99958999e-01 -1.04810234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8503857229999 meters 0.014888401043739575 Centerline is valid? [True, True] Translation: X:200.27, Y:-166.36, Z:-10.48 [[-4.39177136e-01 8.98393730e-01 3.48573026e-03 2.00267606e+02] [ 8.98367187e-01 4.39190957e-01 -6.90649641e-03 -1.66360682e+02] [-7.73565428e-03 9.82903847e-05 -9.99970075e-01 -1.04808566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.910385723 meters 0.014632247853654821 Centerline is valid? [True, True] Translation: X:200.27, Y:-166.33, Z:-10.48 [[-5.08699218e-01 8.60933628e-01 4.28874120e-03 2.00266211e+02] [ 8.60904666e-01 5.08717287e-01 -7.06247385e-03 -1.66325743e+02] [-8.26207802e-03 9.95223804e-05 -9.99965864e-01 -1.04811653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9703857229999 meters 0.014329040946181197 Centerline is valid? [True, True] Translation: X:200.26, Y:-166.29, Z:-10.48 [[-5.76745792e-01 8.16909838e-01 4.75483756e-03 2.00262776e+02] [ 8.16883160e-01 5.76765386e-01 -6.60247926e-03 -1.66290656e+02] [-8.13605598e-03 7.61946046e-05 -9.99966899e-01 -1.04803921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.030385723 meters 0.014084885698324213 Centerline is valid? [True, True] Translation: X:200.26, Y:-166.26, Z:-10.48 [[-6.42009952e-01 7.66671424e-01 6.17650783e-03 2.00256585e+02] [ 7.66636708e-01 6.42039660e-01 -7.29605125e-03 -1.66256784e+02] [-9.55923699e-03 5.10001251e-05 -9.99954308e-01 -1.04782027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0903857229999 meters 0.013864949422414547 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.22, Z:-10.48 [[-7.02573105e-01 7.11591469e-01 5.34906256e-03 2.00243595e+02] [ 7.11571005e-01 7.02593468e-01 -5.39671188e-03 -1.66224435e+02] [-7.59847055e-03 1.46531969e-05 -9.99971131e-01 -1.04809731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.150385723 meters 0.013745221809767696 Centerline is valid? [True, True] Translation: X:200.23, Y:-166.19, Z:-10.48 [[-7.57757021e-01 6.52521374e-01 4.48939719e-03 2.00229107e+02] [ 6.52509901e-01 7.57770319e-01 -3.86945611e-03 -1.66192991e+02] [-5.92683476e-03 -2.73141840e-06 -9.99982436e-01 -1.04810458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.210385723 meters 0.013852423024989763 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.16, Z:-10.48 [[-8.03285776e-01 5.95573834e-01 4.87559532e-03 2.00241094e+02] [ 5.95562744e-01 8.03300572e-01 -3.63448349e-03 -1.66164393e+02] [-6.08117177e-03 -1.58059666e-05 -9.99981509e-01 -1.04806589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.270385723 meters 0.0141333963775367 Centerline is valid? [True, True] Translation: X:200.26, Y:-166.14, Z:-10.48 [[-8.44157359e-01 5.36079371e-01 4.15467464e-03 2.00261571e+02] [ 5.36073263e-01 8.44167580e-01 -2.55999431e-03 -1.66138692e+02] [-4.87960178e-03 6.61719604e-05 -9.99988093e-01 -1.04815905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.330385723 meters 0.014808062940881087 Centerline is valid? [True, True] Translation: X:200.27, Y:-166.11, Z:-10.48 [[-8.83078514e-01 4.69208406e-01 3.97614680e-03 2.00270303e+02] [ 4.69203324e-01 8.83087463e-01 -2.18470981e-03 -1.66107581e+02] [-4.53636960e-03 -6.36490009e-05 -9.99989709e-01 -1.04810888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.390385723 meters 0.016537549828250897 Centerline is valid? [True, True] Translation: X:200.28, Y:-166.08, Z:-10.48 [[-9.16380063e-01 4.00282889e-01 4.60319654e-03 2.00276562e+02] [ 4.00277288e-01 9.16391619e-01 -2.11980704e-03 -1.66076148e+02] [-5.06685322e-03 -9.99938820e-05 -9.99987158e-01 -1.04798034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.450385723 meters 0.01729226511119042 Centerline is valid? [True, True] Translation: X:200.52, Y:-165.55, Z:-11.44 [[-8.67532589e-01 -4.97361757e-01 4.29994355e-03 2.00515071e+02] [ 4.97356141e-01 -8.67543241e-01 -2.36518208e-03 -1.65554292e+02] [ 4.90673808e-03 8.67307936e-05 9.99987958e-01 -1.14351758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.510385723 meters 0.01802014323895005 Centerline is valid? [True, True] Translation: X:200.23, Y:-166.06, Z:-10.48 [[-9.17689443e-01 3.97275610e-01 4.26344752e-03 2.00231450e+02] [ 3.97270860e-01 9.17699342e-01 -1.94479946e-03 -1.66062799e+02] [-4.68518437e-03 -9.09784701e-05 -9.99989020e-01 -1.04795593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.570385723 meters 0.017112932401496517 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.04, Z:-10.48 [[-9.43231236e-01 3.32103660e-01 4.68982315e-03 2.00237819e+02] [ 3.32099065e-01 9.43242890e-01 -1.74959790e-03 -1.66039034e+02] [-5.00469021e-03 -9.27895051e-05 -9.99987472e-01 -1.04793495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.630385723 meters 0.019029843314481116 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.02, Z:-10.48 [[-9.63447750e-01 2.67813692e-01 6.65279713e-03 2.00241367e+02] [ 2.67806555e-01 9.63470713e-01 -1.95805286e-03 -1.66019288e+02] [-6.93416856e-03 -1.04818946e-04 -9.99975953e-01 -1.04752018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.690385723 meters 0.015802483752467955 Centerline is valid? [True, True] Translation: X:200.24, Y:-166.00, Z:-10.48 [[-9.79866780e-01 1.99557386e-01 6.15983594e-03 2.00243915e+02] [ 1.99552862e-01 9.79886137e-01 -1.34681488e-03 -1.65997229e+02] [-6.30470470e-03 -9.04862753e-05 -9.99980121e-01 -1.04779727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.750385723 meters 0.015113992765932855 Centerline is valid? [True, True] Translation: X:200.38, Y:-165.38, Z:-11.44 [[-9.56002590e-01 -2.93308492e-01 5.40161628e-03 2.00377965e+02] [ 2.93304038e-01 -9.56017849e-01 -1.61677477e-03 -1.65384676e+02] [ 5.63825534e-03 3.86750022e-05 9.99984104e-01 -1.14366622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.810385723 meters 0.015504580031833807 Centerline is valid? [True, True] Translation: X:200.19, Y:-166.00, Z:-10.48 [[-9.81022368e-01 1.93815641e-01 5.53267353e-03 2.00191660e+02] [ 1.93812024e-01 9.81037965e-01 -1.18779166e-03 -1.65999854e+02] [-5.65797538e-03 -9.29515321e-05 -9.99983989e-01 -1.04792557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.870385723 meters 0.016135716004251715 Centerline is valid? [True, True] Translation: X:200.33, Y:-165.37, Z:-11.44 [[-9.55827864e-01 -2.93878753e-01 5.32658161e-03 2.00328337e+02] [ 2.93874677e-01 -9.55842702e-01 -1.54997101e-03 -1.65365684e+02] [ 5.54687771e-03 8.38419684e-05 9.99984612e-01 -1.14363482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.930385723 meters 0.015862623337424324 Centerline is valid? [True, True] Translation: X:200.14, Y:-166.00, Z:-10.48 [[-9.82223179e-01 1.87648668e-01 5.05997835e-03 2.00141044e+02] [ 1.87645665e-01 9.82236208e-01 -1.06607825e-03 -1.65999418e+02] [-5.17014211e-03 -9.76437685e-05 -9.99986630e-01 -1.04795026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.990385723 meters 0.015488492242183401 Centerline is valid? [True, True] Translation: X:200.28, Y:-165.34, Z:-11.44 [[-9.57714341e-01 -2.87673333e-01 5.22435391e-03 2.00283671e+02] [ 2.87669720e-01 -9.57728584e-01 -1.44660834e-03 -1.65343695e+02] [ 5.41966371e-03 1.17450871e-04 9.99985307e-01 -1.14359387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.050385723 meters 0.01498800275224692 Centerline is valid? [True, True] Translation: X:200.09, Y:-166.01, Z:-10.48 [[-9.81743315e-01 1.90149832e-01 4.80665954e-03 2.00091561e+02] [ 1.90147247e-01 9.81755080e-01 -9.93524747e-04 -1.66007374e+02] [-4.90788099e-03 -6.14132014e-05 -9.99987954e-01 -1.04818104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.110385723 meters 0.01455227470295426 Centerline is valid? [True, True] Translation: X:200.08, Y:-165.98, Z:-10.48 [[-9.92404526e-01 1.22917574e-01 4.95249138e-03 2.00076112e+02] [ 1.22915800e-01 9.92416882e-01 -6.62173693e-04 -1.65984533e+02] [-4.99632883e-03 -4.84047281e-05 -9.99987517e-01 -1.04819979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.170385723 meters 0.014346360779606236 Centerline is valid? [True, True] Translation: X:200.19, Y:-165.27, Z:-11.44 [[-9.78618271e-01 -2.05564218e-01 7.04495369e-03 2.00194696e+02] [ 2.05560365e-01 -9.78643608e-01 -1.27455903e-03 -1.65274205e+02] [ 7.15650263e-03 2.00856503e-04 9.99974372e-01 -1.14361047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.230385723 meters 0.014300077781576203 Centerline is valid? [True, True] Translation: X:200.05, Y:-166.00, Z:-10.48 [[-9.92033867e-01 1.25760459e-01 7.28793338e-03 2.00045048e+02] [ 1.25756899e-01 9.92060637e-01 -9.46486179e-04 -1.65998185e+02] [-7.34910236e-03 -2.24384402e-05 -9.99972995e-01 -1.04807312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.290385723 meters 0.014322126102652474 Centerline is valid? [True, True] Translation: X:200.04, Y:-165.98, Z:-10.48 [[-9.98364515e-01 5.64983360e-02 8.73116768e-03 2.00039965e+02] [ 5.64960500e-02 9.98402693e-01 -5.08434780e-04 -1.65975763e+02] [-8.74594705e-03 -1.43267566e-05 -9.99961753e-01 -1.04798771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3503857229999 meters 0.014522063662979492 Centerline is valid? [True, True] Translation: X:200.10, Y:-165.22, Z:-11.44 [[-9.91492790e-01 -1.29803881e-01 9.64369744e-03 2.00097546e+02] [ 1.29798539e-01 -9.91539685e-01 -1.18045579e-03 -1.65217575e+02] [ 9.71533646e-03 8.13244309e-05 9.99952802e-01 -1.14361047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.410385723 meters 0.014778437614855318 Centerline is valid? [True, True] Translation: X:199.99, Y:-165.98, Z:-10.48 [[-9.98845232e-01 4.68387115e-02 1.06928438e-02 1.99986197e+02] [ 4.68352176e-02 9.98902462e-01 -5.77071341e-04 -1.65977482e+02] [-1.07081373e-02 -7.56032908e-05 -9.99942663e-01 -1.04797982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4703857229999 meters 0.015180420779343983 Centerline is valid? [True, True] Translation: X:199.96, Y:-165.95, Z:-10.48 [[-9.99544037e-01 -2.70839553e-02 1.33483393e-02 1.99959070e+02] [-2.70833169e-02 9.99633154e-01 2.28616749e-04 -1.65951525e+02] [-1.33496344e-02 -1.33004797e-04 -9.99910881e-01 -1.04779962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.530385723 meters 0.015572225448277162 Centerline is valid? [True, True] Translation: X:199.97, Y:-165.93, Z:-10.48 [[-9.94856920e-01 -1.00214206e-01 1.47248879e-02 1.99974173e+02] [-1.00205877e-01 9.94965869e-01 1.30424577e-03 -1.65925050e+02] [-1.47814648e-02 -1.77982368e-04 -9.99890732e-01 -1.04773022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5903857229999 meters 0.015848381687809453 Centerline is valid? [True, True] Translation: X:199.90, Y:-165.15, Z:-11.44 [[-9.99877314e-01 7.36410733e-03 1.38248575e-02 1.99899952e+02] [-7.36199014e-03 -9.99972879e-01 2.04029995e-04 -1.65152159e+02] [ 1.38259851e-02 1.02226499e-04 9.99904411e-01 -1.14381940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.650385723 meters 0.015853999214307468 Centerline is valid? [True, True] Translation: X:199.87, Y:-165.93, Z:-10.48 [[-9.94083346e-01 -1.07923805e-01 1.22781700e-02 1.99872455e+02] [-1.07917681e-01 9.94159154e-01 1.16212743e-03 -1.65933793e+02] [-1.23318763e-02 -1.69780114e-04 -9.99923945e-01 -1.04793774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.710385723 meters 0.015807933948403838 Centerline is valid? [True, True] Translation: X:199.80, Y:-165.16, Z:-11.44 [[-9.99838027e-01 1.32453385e-02 1.21852448e-02 1.99796500e+02] [-1.32424246e-02 -9.99912264e-01 3.19784975e-04 -1.65160449e+02] [ 1.21884113e-02 1.58370994e-04 9.99925706e-01 -1.14357090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.770385723 meters 0.015567377546457978 Centerline is valid? [True, True] Translation: X:199.77, Y:-165.94, Z:-10.48 [[-9.93689155e-01 -1.11552758e-01 1.17407819e-02 1.99773052e+02] [-1.11546549e-01 9.93758504e-01 1.18445867e-03 -1.65941834e+02] [-1.17996314e-02 -1.32659957e-04 -9.99930373e-01 -1.04793472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.830385723 meters 0.015194210037334288 Centerline is valid? [True, True] Translation: X:199.77, Y:-165.92, Z:-10.48 [[-9.83965149e-01 -1.77953518e-01 1.20470620e-02 1.99767105e+02] [-1.77941253e-01 9.84038891e-01 2.09102710e-03 -1.65916564e+02] [-1.22268832e-02 -8.61715196e-05 -9.99925245e-01 -1.04788689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.890385723 meters 0.015091141721230364 Centerline is valid? [True, True] Translation: X:199.76, Y:-165.89, Z:-10.48 [[-9.69736579e-01 -2.43854739e-01 1.20761630e-02 1.99757755e+02] [-2.43836279e-01 9.69811768e-01 3.00070385e-03 -1.65891532e+02] [-1.24433408e-02 -3.47143479e-05 -9.99922578e-01 -1.04781598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.950385723 meters 0.015167284766390222 Centerline is valid? [True, True] Translation: X:199.73, Y:-165.87, Z:-10.48 [[-9.50174574e-01 -3.11427755e-01 1.34548676e-02 1.99730659e+02] [-3.11396745e-01 9.50269832e-01 4.39475507e-03 -1.65869535e+02] [-1.41544035e-02 -1.40174455e-05 -9.99899821e-01 -1.04777522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.010385723 meters 0.015006764630133947 Centerline is valid? [True, True] Translation: X:199.68, Y:-165.86, Z:-10.48 [[-9.25078324e-01 -3.79570534e-01 1.25021676e-02 1.99678740e+02] [-3.79536046e-01 9.25162802e-01 5.11665788e-03 -1.65857324e+02] [-1.35086730e-02 -1.17139728e-05 -9.99908754e-01 -1.04778638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.070385723 meters 0.015070550212385396 Centerline is valid? [True, True] Translation: X:199.62, Y:-165.85, Z:-10.48 [[-8.94487785e-01 -4.46890111e-01 1.34473615e-02 1.99618328e+02] [-4.46839878e-01 8.94588860e-01 6.70041378e-03 -1.65852274e+02] [-1.50242084e-02 -1.53790884e-05 -9.99887130e-01 -1.04766255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.130385723 meters 0.014983655885234454 Centerline is valid? [True, True] Translation: X:199.54, Y:-165.86, Z:-10.48 [[-8.59423050e-01 -5.11099875e-01 1.29976836e-02 1.99537334e+02] [-5.11041477e-01 8.59521331e-01 7.72599015e-03 -1.65864385e+02] [-1.51205389e-02 -2.46142007e-06 -9.99885678e-01 -1.04775079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.190385723 meters 0.015043692046114205 Centerline is valid? [True, True] Translation: X:199.47, Y:-165.88, Z:-10.48 [[-8.19247938e-01 -5.73314566e-01 1.19676408e-02 1.99465602e+02] [-5.73253217e-01 8.19335345e-01 8.38697426e-03 -1.65877298e+02] [-1.46138856e-02 1.05227912e-05 -9.99893211e-01 -1.04770649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.250385723 meters 0.015085682380030847 Centerline is valid? [True, True] Translation: X:199.38, Y:-165.91, Z:-10.48 [[-7.74340824e-01 -6.32705508e-01 8.94591070e-03 1.99379673e+02] [-6.32663053e-01 7.74392498e-01 7.32943578e-03 -1.65905834e+02] [-1.15650205e-02 1.57341618e-05 -9.99933123e-01 -1.04816188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.310385723 meters 0.014552959091317583 Centerline is valid? [True, True] Translation: X:199.29, Y:-165.94, Z:-10.48 [[-7.24326700e-01 -6.89421892e-01 6.94886903e-03 1.99291131e+02] [-6.89390025e-01 7.24360031e-01 6.62865141e-03 -1.65944887e+02] [-9.60342038e-03 1.08281995e-05 -9.99953886e-01 -1.04836740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.370385723 meters 0.014583490714327784 Centerline is valid? [True, True] Translation: X:199.20, Y:-165.99, Z:-10.48 [[-6.69641163e-01 -7.42655175e-01 6.63360804e-03 1.99202435e+02] [-7.42618667e-01 6.69674019e-01 7.36368707e-03 -1.65993802e+02] [-9.91103526e-03 4.78681008e-06 -9.99950885e-01 -1.04835280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.430385723 meters 0.014538020390490534 Centerline is valid? [True, True] Translation: X:199.11, Y:-166.06, Z:-10.48 [[-6.10763628e-01 -7.91787523e-01 6.34889188e-03 1.99112581e+02] [-7.91744793e-01 6.10796626e-01 8.22588867e-03 -1.66055414e+02] [-1.03910378e-02 -2.62847709e-06 -9.99946012e-01 -1.04823783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.490385723 meters 0.014481573158910353 Centerline is valid? [True, True] Translation: X:199.03, Y:-166.13, Z:-10.48 [[-5.49624239e-01 -8.35396850e-01 5.02976950e-03 1.99026891e+02] [-8.35361745e-01 5.49647253e-01 7.65849903e-03 -1.66127434e+02] [-9.16248496e-03 7.61967038e-06 -9.99958024e-01 -1.04840296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.550385723 meters 0.01455307031625193 Centerline is valid? [True, True] Translation: X:198.94, Y:-166.22, Z:-10.49 [[-4.85966113e-01 -8.73969716e-01 3.72457218e-03 1.98940675e+02] [-8.73943715e-01 4.85980386e-01 6.74153723e-03 -1.66216672e+02] [-7.70196841e-03 2.10921962e-05 -9.99970339e-01 -1.04855959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.610385723 meters 0.014547420554143401 Centerline is valid? [True, True] Translation: X:198.87, Y:-166.29, Z:-10.49 [[-4.17800687e-01 -9.08534953e-01 2.61265865e-03 1.98870904e+02] [-9.08516905e-01 4.17808855e-01 5.72661330e-03 -1.66288170e+02] [-6.29442026e-03 1.89384216e-05 -9.99980190e-01 -1.04868537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.670385723 meters 0.014424819204463696 Centerline is valid? [True, True] Translation: X:198.80, Y:-166.39, Z:-10.49 [[-3.47201470e-01 -9.37788556e-01 1.93996106e-03 1.98796348e+02] [-9.37773635e-01 3.47206889e-01 5.29007166e-03 -1.66390442e+02] [-5.63453650e-03 1.74763223e-05 -9.99984126e-01 -1.04880673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.730385723 meters 0.014411248068300962 Centerline is valid? [True, True] Translation: X:198.73, Y:-166.48, Z:-10.49 [[-2.74440069e-01 -9.61603013e-01 1.51453524e-03 1.98734702e+02] [-9.61587988e-01 2.74444248e-01 5.37546611e-03 -1.66482481e+02] [-5.58471989e-03 1.88843921e-05 -9.99984405e-01 -1.04882618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.790385723 meters 0.01438939106446019 Centerline is valid? [True, True] Translation: X:198.67, Y:-166.59, Z:-10.49 [[-2.01161064e-01 -9.79557581e-01 1.08274661e-03 1.98671723e+02] [-9.79542688e-01 2.01163977e-01 5.40151982e-03 -1.66594949e+02] [-5.50890930e-03 2.59789545e-05 -9.99984826e-01 -1.04864837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8503857229999 meters 0.014602931370691482 Centerline is valid? [True, True] Translation: X:198.62, Y:-166.70, Z:-10.49 [[-1.27197507e-01 -9.91877138e-01 7.33307871e-04 1.98624854e+02] [-9.91858795e-01 1.27199615e-01 6.03230765e-03 -1.66702820e+02] [-6.07658452e-03 3.99566348e-05 -9.99981537e-01 -1.04865957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.910385723 meters 0.01469405281787036 Centerline is valid? [True, True] Translation: X:198.58, Y:-166.82, Z:-10.49 [[-5.32587312e-02 -9.98580716e-01 2.48818851e-04 1.98580455e+02] [-9.98564798e-01 5.32592872e-02 5.63854736e-03 -1.66818765e+02] [-5.64379657e-03 5.18401321e-05 -9.99984072e-01 -1.04864438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9703857229999 meters 0.014716657760705649 Centerline is valid? [True, True] Translation: X:198.55, Y:-166.95, Z:-10.49 [[ 2.34153059e-02 -9.99725811e-01 -1.63647815e-04 1.98546692e+02] [-9.99713353e-01 -2.34158311e-02 4.99100425e-03 -1.66952961e+02] [-4.99346772e-03 4.67350150e-05 -9.99987532e-01 -1.04862576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.030385723 meters 0.014486695932266437 Centerline is valid? [True, True] Translation: X:198.52, Y:-167.06, Z:-10.49 [[ 1.01352684e-01 -9.94850431e-01 -5.02502336e-04 1.98519796e+02] [-9.94839974e-01 -1.01353923e-01 4.56156781e-03 -1.67064836e+02] [-4.58900828e-03 3.75822696e-05 -9.99989470e-01 -1.04874660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0903857229999 meters 0.01427826625394538 Centerline is valid? [True, True] Translation: X:198.50, Y:-167.19, Z:-10.49 [[ 1.79128473e-01 -9.83825467e-01 -6.63329892e-04 1.98500693e+02] [-9.83819190e-01 -1.79129699e-01 3.51471081e-03 -1.67191008e+02] [-3.57668409e-03 2.30118989e-05 -9.99993603e-01 -1.04874844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.150385723 meters 0.014127126806576603 Centerline is valid? [True, True] Translation: X:198.49, Y:-167.32, Z:-10.49 [[ 2.56471311e-01 -9.66551602e-01 -6.83477988e-04 1.98491939e+02] [-9.66548277e-01 -2.56472222e-01 2.53546261e-03 -1.67317902e+02] [-2.62594857e-03 1.03410518e-05 -9.99996552e-01 -1.04880032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.210385723 meters 0.014048241087653986 Centerline is valid? [True, True] Translation: X:198.49, Y:-167.44, Z:-10.49 [[ 3.31633786e-01 -9.43407632e-01 -1.03498889e-03 1.98492287e+02] [-9.43403092e-01 -3.31635401e-01 2.92705931e-03 -1.67439966e+02] [-3.10464905e-03 5.69995617e-06 -9.99995181e-01 -1.04885470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.270385723 meters 0.014046972014955363 Centerline is valid? [True, True] Translation: X:198.50, Y:-167.56, Z:-10.49 [[ 4.05168494e-01 -9.14240324e-01 -1.76693968e-03 1.98499481e+02] [-9.14231578e-01 -4.05172347e-01 3.99882151e-03 -1.67558105e+02] [-4.37179897e-03 -4.80444379e-06 -9.99990444e-01 -1.04869956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.330385723 meters 0.013968907100172507 Centerline is valid? [True, True] Translation: X:198.52, Y:-167.68, Z:-10.49 [[ 4.74169602e-01 -8.80430297e-01 -2.38321703e-03 1.98520871e+02] [-8.80419089e-01 -4.74175591e-01 4.44253835e-03 -1.67676031e+02] [-5.04140871e-03 -8.28687349e-06 -9.99987292e-01 -1.04864907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.390385723 meters 0.013808192569655493 Centerline is valid? [True, True] Translation: X:198.55, Y:-167.79, Z:-10.49 [[ 5.38716473e-01 -8.42483174e-01 -2.58134622e-03 1.98550411e+02] [-8.42473489e-01 -5.38722658e-01 4.03960742e-03 -1.67788897e+02] [-4.79393098e-03 -1.48730503e-06 -9.99988509e-01 -1.04874167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.450385723 meters 0.013771859250480654 Centerline is valid? [True, True] Translation: X:198.59, Y:-167.90, Z:-10.49 [[ 5.99317463e-01 -8.00505730e-01 -3.02567462e-03 1.98588166e+02] [-8.00495614e-01 -5.99325100e-01 4.02447126e-03 -1.67895079e+02] [-5.03497505e-03 1.01033603e-05 -9.99987324e-01 -1.04874821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.510385723 meters 0.013800536483192561 Centerline is valid? [True, True] Translation: X:198.63, Y:-168.00, Z:-10.49 [[ 6.57030426e-01 -7.53855191e-01 -3.65653566e-03 1.98633240e+02] [-7.53843691e-01 -6.57040600e-01 4.16412959e-03 -1.67996325e+02] [-5.54164309e-03 2.04964993e-05 -9.99984645e-01 -1.04868879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.570385723 meters 0.013579374699206769 Centerline is valid? [True, True] Translation: X:198.68, Y:-168.09, Z:-10.49 [[ 7.13101830e-01 -7.01043532e-01 -4.87306029e-03 1.98683901e+02] [-7.01027317e-01 -7.13118480e-01 4.76799825e-03 -1.68092979e+02] [-6.81764368e-03 1.60801034e-05 -9.99976760e-01 -1.04857829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.630385723 meters 0.013611906860894384 Centerline is valid? [True, True] Translation: X:198.70, Y:-168.13, Z:-10.49 [[ 7.66241478e-01 -6.42529311e-01 -5.48479491e-03 1.98701975e+02] [-6.42512955e-01 -7.66261108e-01 4.58452658e-03 -1.68126993e+02] [-7.14847773e-03 1.11973671e-05 -9.99974449e-01 -1.04856918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.690385723 meters 0.013539258457576447 Centerline is valid? [True, True] Translation: X:198.72, Y:-168.16, Z:-10.49 [[ 8.15927050e-01 -5.78125016e-01 -5.87492285e-03 1.98722967e+02] [-5.78109934e-01 -8.15948200e-01 4.17602066e-03 -1.68157861e+02] [-7.20789474e-03 -1.09769536e-05 -9.99974023e-01 -1.04853211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.750385723 meters 0.013486286275517033 Centerline is valid? [True, True] Translation: X:198.75, Y:-168.19, Z:-10.49 [[ 8.59752476e-01 -5.10674391e-01 -6.11123582e-03 1.98746908e+02] [-5.10661268e-01 -8.59774195e-01 3.66102512e-03 -1.68187542e+02] [-7.12387463e-03 -2.68039728e-05 -9.99974625e-01 -1.04859901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.810385723 meters 0.01354398778331986 Centerline is valid? [True, True] Translation: X:198.77, Y:-168.21, Z:-10.49 [[ 8.97915199e-01 -4.40138641e-01 -5.12560417e-03 1.98773337e+02] [-4.40131262e-01 -8.97929828e-01 2.54886663e-03 -1.68212664e+02] [-5.72428756e-03 -3.27274608e-05 -9.99983616e-01 -1.04871407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.870385723 meters 0.013627394268743018 Centerline is valid? [True, True] Translation: X:198.80, Y:-168.23, Z:-10.49 [[ 9.29824274e-01 -3.67981312e-01 -4.07104560e-03 1.98803061e+02] [-3.67977654e-01 -9.29833186e-01 1.64109518e-03 -1.68232891e+02] [-4.38928566e-03 -2.78763257e-05 -9.99990367e-01 -1.04880145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.930385723 meters 0.013483957747614697 Centerline is valid? [True, True] Translation: X:198.83, Y:-168.25, Z:-10.49 [[ 9.55587028e-01 -2.94687365e-01 -3.57622414e-03 1.98834528e+02] [-2.94685216e-01 -9.55593719e-01 1.12557364e-03 -1.68250800e+02] [-3.74910966e-03 -2.17231881e-05 -9.99992972e-01 -1.04884572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.990385723 meters 0.01555187296010217 Centerline is valid? [True, True] Translation: X:198.87, Y:-168.27, Z:-10.49 [[ 9.75335134e-01 -2.20682421e-01 -4.54367229e-03 1.98867441e+02] [-2.20679932e-01 -9.75345718e-01 1.04826147e-03 -1.68265770e+02] [-4.66298419e-03 -1.97089541e-05 -9.99989128e-01 -1.04863397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.050385723 meters 0.013429402677109913 Centerline is valid? [True, True] Translation: X:198.90, Y:-168.28, Z:-10.49 [[ 9.89543435e-01 -1.44144614e-01 -5.11075466e-03 1.98900794e+02] [-1.44142588e-01 -9.89556633e-01 7.64573328e-04 -1.68277075e+02] [-5.16759030e-03 -1.99011151e-05 -9.99986648e-01 -1.04867807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.110385723 meters 0.013352448498279282 Centerline is valid? [True, True] Translation: X:198.93, Y:-168.29, Z:-10.49 [[ 9.97750323e-01 -6.67580344e-02 -6.13655249e-03 1.98930771e+02] [-6.67566457e-02 -9.97769194e-01 4.31083110e-04 -1.68285379e+02] [-6.15164129e-03 -2.04576525e-05 -9.99981078e-01 -1.04854481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.170385723 meters 0.013282357596930137 Centerline is valid? [True, True] Translation: X:198.96, Y:-168.29, Z:-10.49 [[ 9.99927847e-01 1.00963904e-02 -6.50880833e-03 1.98961657e+02] [ 1.00962548e-02 -9.99949030e-01 -5.36920806e-05 -1.68292609e+02] [-6.50901867e-03 -1.20263808e-05 -9.99978816e-01 -1.04855639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.230385723 meters 0.013425337689115633 Centerline is valid? [True, True] Translation: X:198.99, Y:-168.30, Z:-10.49 [[ 9.96235172e-01 8.65401623e-02 -5.12670296e-03 1.98992678e+02] [ 8.65390169e-02 -9.96248363e-01 -4.45256407e-04 -1.68297197e+02] [-5.14600200e-03 -7.97414064e-08 -9.99986759e-01 -1.04863402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.290385723 meters 0.013490909301124794 Centerline is valid? [True, True] Translation: X:199.02, Y:-168.30, Z:-10.49 [[ 9.86434465e-01 1.64098858e-01 -4.31407128e-03 1.99023600e+02] [ 1.64097285e-01 -9.86443899e-01 -7.18399161e-04 -1.68302581e+02] [-4.37347778e-03 7.26305947e-07 -9.99990436e-01 -1.04862756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3503857229999 meters 0.01384534336852616 Centerline is valid? [True, True] Translation: X:199.05, Y:-168.30, Z:-10.48 [[ 9.69656682e-01 2.44384924e-01 -6.47513090e-03 1.99053116e+02] [ 2.44379640e-01 -9.69678301e-01 -1.60721573e-03 -1.68303735e+02] [-6.67157323e-03 -2.39426862e-05 -9.99977745e-01 -1.04833183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.410385723 meters 0.013714665627229967 Centerline is valid? [True, True] Translation: X:199.08, Y:-168.30, Z:-10.48 [[ 9.47198931e-01 3.20570745e-01 -6.97010708e-03 1.99083153e+02] [ 3.20562333e-01 -9.47224575e-01 -2.32256896e-03 -1.68301890e+02] [-7.34680438e-03 -3.44189580e-05 -9.99973011e-01 -1.04848071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4703857229999 meters 0.013815550192048522 Centerline is valid? [True, True] Translation: X:199.11, Y:-168.30, Z:-10.48 [[ 9.19272847e-01 3.93561083e-01 -6.86350702e-03 1.99113024e+02] [ 3.93550384e-01 -9.19298468e-01 -2.90215231e-03 -1.68298116e+02] [-7.45178569e-03 -3.32660065e-05 -9.99972235e-01 -1.04838463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.530385723 meters 0.013899801927031441 Centerline is valid? [True, True] Translation: X:199.14, Y:-168.29, Z:-10.48 [[ 8.85900975e-01 4.63810954e-01 -7.67215287e-03 1.99140360e+02] [ 4.63793891e-01 -8.85934195e-01 -3.97855071e-03 -1.68289831e+02] [-8.64231798e-03 -3.36956728e-05 -9.99962654e-01 -1.04814521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5903857229999 meters 0.013904965460854854 Centerline is valid? [True, True] Translation: X:199.16, Y:-168.27, Z:-10.48 [[ 8.47431054e-01 5.30843274e-01 -8.12570867e-03 1.99163501e+02] [ 5.30819178e-01 -8.47470010e-01 -5.05792511e-03 -1.68274927e+02] [-9.57125993e-03 -2.70391832e-05 -9.99954194e-01 -1.04813166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.650385723 meters 0.01378183715761035 Centerline is valid? [True, True] Translation: X:199.19, Y:-168.26, Z:-10.48 [[ 8.03931894e-01 5.94677669e-01 -7.20965780e-03 1.99188131e+02] [ 5.94653927e-01 -8.03964222e-01 -5.31390290e-03 -1.68261401e+02] [-8.95636632e-03 -1.52352971e-05 -9.99959891e-01 -1.04828182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.710385723 meters 0.013796356204329018 Centerline is valid? [True, True] Translation: X:199.21, Y:-168.25, Z:-10.48 [[ 7.54866524e-01 6.55839783e-01 -7.12107560e-03 1.99212231e+02] [ 6.55810811e-01 -7.54900112e-01 -6.16446333e-03 -1.68247673e+02] [-9.41860106e-03 -1.67313636e-05 -9.99955644e-01 -1.04829061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.770385723 meters 0.013786115313684498 Centerline is valid? [True, True] Translation: X:199.23, Y:-168.23, Z:-10.48 [[ 7.01045372e-01 7.13078420e-01 -7.38606250e-03 1.99234313e+02] [ 7.13039165e-01 -7.01084280e-01 -7.48210199e-03 -1.68232665e+02] [-1.05135778e-02 -2.12588713e-05 -9.99944731e-01 -1.04822086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.830385723 meters 0.013737079191420672 Centerline is valid? [True, True] Translation: X:199.26, Y:-168.22, Z:-10.48 [[ 6.43706272e-01 7.65246222e-01 -6.36042991e-03 1.99258052e+02] [ 7.65209050e-01 -6.43737694e-01 -7.54263128e-03 -1.68218956e+02] [-9.86641858e-03 -1.18194714e-05 -9.99951326e-01 -1.04835264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.890385723 meters 0.013736885014147087 Centerline is valid? [True, True] Translation: X:199.28, Y:-168.20, Z:-10.48 [[ 5.82838915e-01 8.12569551e-01 -5.43360612e-03 1.99278292e+02] [ 8.12534227e-01 -5.82864242e-01 -7.57660211e-03 -1.68202033e+02] [-9.32357089e-03 9.47602041e-07 -9.99956535e-01 -1.04839305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.950385723 meters 0.013870091257920087 Centerline is valid? [True, True] Translation: X:199.29, Y:-168.18, Z:-10.48 [[ 5.19460957e-01 8.54479371e-01 -5.03177516e-03 1.99294469e+02] [ 8.54438829e-01 -5.19485326e-01 -8.32367345e-03 -1.68182256e+02] [-9.72634062e-03 2.44793034e-05 -9.99952698e-01 -1.04830984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.010385723 meters 0.014041187236081377 Centerline is valid? [True, True] Translation: X:199.31, Y:-168.16, Z:-10.48 [[ 4.53317061e-01 8.91338538e-01 -4.38779672e-03 1.99306874e+02] [ 8.91295700e-01 -4.53338293e-01 -8.73882538e-03 -1.68162187e+02] [-9.77840812e-03 5.06342887e-05 -9.99952189e-01 -1.04830242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.070385723 meters 0.01387796634969074 Centerline is valid? [True, True] Translation: X:199.32, Y:-168.14, Z:-10.48 [[ 3.81104613e-01 9.24525592e-01 -3.42092764e-03 1.99324442e+02] [ 9.24487472e-01 -3.81119965e-01 -8.39562727e-03 -1.68143789e+02] [-9.06575610e-03 3.70075415e-05 -9.99958905e-01 -1.04834170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.130385723 meters 0.013818241456514233 Centerline is valid? [True, True] Translation: X:199.34, Y:-168.12, Z:-10.48 [[ 3.07337257e-01 9.51597265e-01 -2.54063151e-03 1.99342728e+02] [ 9.51563878e-01 -3.07347756e-01 -7.97141343e-03 -1.68124728e+02] [-8.36643262e-03 3.23391689e-05 -9.99965000e-01 -1.04839470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.190385723 meters 0.013979463772580582 Centerline is valid? [True, True] Translation: X:199.35, Y:-168.10, Z:-10.48 [[ 2.32895436e-01 9.72499970e-01 -1.87747941e-03 1.99353685e+02] [ 9.72466948e-01 -2.32903000e-01 -8.01420744e-03 -1.68103978e+02] [-8.23108708e-03 4.06856573e-05 -9.99966123e-01 -1.04826433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.250385723 meters 0.013938940433905573 Centerline is valid? [True, True] Translation: X:199.37, Y:-168.08, Z:-10.48 [[ 1.58136551e-01 9.87416510e-01 -1.21126546e-03 1.99370946e+02] [ 9.87384706e-01 -1.58141179e-01 -7.92527425e-03 -1.68082238e+02] [-8.01709759e-03 5.72905484e-05 -9.99967861e-01 -1.04829730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.310385723 meters 0.014216584519524367 Centerline is valid? [True, True] Translation: X:199.38, Y:-168.06, Z:-10.48 [[ 8.19510367e-02 9.96636202e-01 -5.55480935e-04 1.99384591e+02] [ 9.96607449e-01 -8.19528920e-02 -7.57069740e-03 -1.68060327e+02] [-7.59075438e-03 6.68300626e-05 -9.99971188e-01 -1.04826609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.370385723 meters 0.014326511647023102 Centerline is valid? [True, True] Translation: X:199.40, Y:-168.04, Z:-10.48 [[ 5.46059434e-03 9.99985090e-01 3.13166297e-05 1.99397836e+02] [ 9.99967173e-01 -5.46030902e-03 -5.98652361e-03 -1.68036196e+02] [-5.98626335e-03 6.40055786e-05 -9.99982080e-01 -1.04824239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.430385723 meters 0.014599023346046352 Centerline is valid? [True, True] Translation: X:199.41, Y:-168.01, Z:-10.48 [[-7.03369182e-02 9.97523218e-01 3.85240523e-04 1.99408475e+02] [ 9.97512647e-01 7.03379466e-02 -4.59273510e-03 -1.68011410e+02] [-4.60845692e-03 6.12434610e-05 -9.99989379e-01 -1.04834205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.490385723 meters 0.014557188432610257 Centerline is valid? [True, True] Translation: X:199.42, Y:-167.99, Z:-10.48 [[-1.47916352e-01 9.88999503e-01 8.57555521e-04 1.99419533e+02] [ 9.88985604e-01 1.47918820e-01 -5.24380507e-03 -1.67985358e+02] [-5.31296921e-03 7.24655468e-05 -9.99985883e-01 -1.04822395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.550385723 meters 0.014477533782031716 Centerline is valid? [True, True] Translation: X:199.43, Y:-167.96, Z:-10.48 [[-2.25261097e-01 9.74297674e-01 1.21662691e-03 1.99428008e+02] [ 9.74285048e-01 2.25264372e-01 -4.96057315e-03 -1.67958395e+02] [-5.10713758e-03 6.79172562e-05 -9.99986956e-01 -1.04816124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.610385723 meters 0.014660509655853875 Centerline is valid? [True, True] Translation: X:199.43, Y:-167.93, Z:-10.48 [[-3.02101534e-01 9.53274219e-01 1.71075726e-03 1.99433087e+02] [ 9.53260142e-01 3.02106371e-01 -5.18091446e-03 -1.67932321e+02] [-5.45566285e-03 6.56345039e-05 -9.99985116e-01 -1.04801650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.670385723 meters 0.014387225305124146 Centerline is valid? [True, True] Translation: X:199.44, Y:-167.91, Z:-10.48 [[-3.77678900e-01 9.25934838e-01 1.82320064e-03 1.99435814e+02] [ 9.25924649e-01 3.77683298e-01 -4.34397830e-03 -1.67905246e+02] [-4.71083328e-03 4.75174626e-05 -9.99988903e-01 -1.04806839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.730385723 meters 0.01399817099709757 Centerline is valid? [True, True] Translation: X:199.44, Y:-167.88, Z:-10.48 [[-4.52880229e-01 8.91570461e-01 1.26908921e-03 1.99436628e+02] [ 8.91567062e-01 4.52882007e-01 -2.46188052e-03 -1.67877409e+02] [-2.76968762e-03 1.65411214e-05 -9.99996164e-01 -1.04813674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.790385723 meters 0.013843326837289954 Centerline is valid? [True, True] Translation: X:199.44, Y:-167.85, Z:-10.48 [[-5.24763406e-01 8.51247189e-01 1.26155975e-03 1.99435178e+02] [ 8.51244751e-01 5.24764923e-01 -2.03731976e-03 -1.67848847e+02] [-2.39628503e-03 4.78526119e-06 -9.99997129e-01 -1.04810159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8503857229999 meters 0.013800111449044463 Centerline is valid? [True, True] Translation: X:199.43, Y:-167.82, Z:-10.48 [[-5.91428061e-01 8.06356967e-01 1.13640450e-03 1.99430762e+02] [ 8.06355479e-01 5.91429153e-01 -1.54890574e-03 -1.67821392e+02] [-1.92107368e-03 2.79676713e-07 -9.99998155e-01 -1.04811729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.910385723 meters 0.01377149856922683 Centerline is valid? [True, True] Translation: X:199.42, Y:-167.80, Z:-10.48 [[-6.52662303e-01 7.57647358e-01 1.54882525e-03 1.99422773e+02] [ 7.57645226e-01 6.52664141e-01 -1.79747170e-03 -1.67795538e+02] [-2.37271238e-03 3.18035523e-07 -9.99997185e-01 -1.04807498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9703857229999 meters 0.016338900508712464 Centerline is valid? [True, True] Translation: X:199.41, Y:-167.77, Z:-10.48 [[-7.08531336e-01 7.05674148e-01 2.70986639e-03 1.99412578e+02] [ 7.05669028e-01 7.08536518e-01 -2.68805064e-03 -1.67770160e+02] [-3.81692714e-03 7.70066697e-06 -9.99992716e-01 -1.04767882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.030385723 meters 0.01401163781173454 Centerline is valid? [True, True] Translation: X:199.42, Y:-167.74, Z:-10.48 [[-7.55928429e-01 6.54649043e-01 2.61565479e-03 1.99415201e+02] [ 6.54645174e-01 7.55932954e-01 -2.25080914e-03 -1.67738181e+02] [-3.45074970e-03 1.08751667e-05 -9.99994046e-01 -1.04783882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0903857229999 meters 0.014159651432703691 Centerline is valid? [True, True] Translation: X:199.44, Y:-167.72, Z:-10.48 [[-7.99480748e-01 6.00683978e-01 3.04819629e-03 1.99435004e+02] [ 6.00679695e-01 7.99486559e-01 -2.26860005e-03 -1.67722531e+02] [-3.79970366e-03 1.72875504e-05 -9.99992781e-01 -1.04778148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.150385723 meters 0.014276006238633567 Centerline is valid? [True, True] Translation: X:199.45, Y:-167.70, Z:-10.48 [[-8.39358111e-01 5.43570098e-01 3.08389764e-03 1.99454609e+02] [ 5.43566520e-01 8.39363776e-01 -1.97220402e-03 -1.67702353e+02] [-3.66054310e-03 2.09180685e-05 -9.99993300e-01 -1.04769901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.210385723 meters 0.014382334882828656 Centerline is valid? [True, True] Translation: X:199.49, Y:-167.69, Z:-10.48 [[-8.75230956e-01 4.83692702e-01 3.48493149e-03 1.99488884e+02] [ 4.83688988e-01 8.75237893e-01 -1.89551512e-03 -1.67692314e+02] [-3.96699092e-03 2.66094758e-05 -9.99992131e-01 -1.04774767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.270385723 meters 0.014718763020196654 Centerline is valid? [True, True] Translation: X:199.48, Y:-167.66, Z:-10.48 [[-9.06355910e-01 4.22501697e-01 3.35862825e-03 1.99477248e+02] [ 4.22498930e-01 9.06362133e-01 -1.52942813e-03 -1.67656440e+02] [-3.69031944e-03 3.28106166e-05 -9.99993190e-01 -1.04774217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.330385723 meters 0.014862076985813879 Centerline is valid? [True, True] Translation: X:199.52, Y:-167.64, Z:-10.48 [[-9.33517059e-01 3.58520083e-01 3.04158439e-03 1.99524628e+02] [ 3.58518297e-01 9.33522013e-01 -1.13237340e-03 -1.67643513e+02] [-3.24536458e-03 3.33737715e-05 -9.99994733e-01 -1.04778618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.390385723 meters 0.01472678209040156 Centerline is valid? [True, True] Translation: X:199.80, Y:-166.91, Z:-11.44 [[-9.15129281e-01 -4.03152653e-01 2.51733868e-03 1.99795908e+02] [ 4.03150954e-01 -9.15132742e-01 -1.17206510e-03 -1.66908999e+02] [ 2.77622020e-03 -5.77236064e-05 9.99996145e-01 -1.14374131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.450385723 meters 0.014686429361753807 Centerline is valid? [True, True] Translation: X:199.46, Y:-167.62, Z:-10.48 [[-9.35744988e-01 3.52661612e-01 3.33234670e-03 1.99460900e+02] [ 3.52659479e-01 9.35750921e-01 -1.22678902e-03 -1.67617438e+02] [-3.55088789e-03 2.72219726e-05 -9.99993695e-01 -1.04790968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.510385723 meters 0.014496269015700456 Centerline is valid? [True, True] Translation: X:199.49, Y:-167.59, Z:-10.48 [[-9.58962669e-01 2.83488423e-01 4.99138560e-03 1.99491723e+02] [ 2.83484738e-01 9.58975658e-01 -1.44572339e-03 -1.67593332e+02] [-5.19646314e-03 2.85868817e-05 -9.99986498e-01 -1.04763217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.570385723 meters 0.014326153119304108 Centerline is valid? [True, True] Translation: X:199.71, Y:-166.86, Z:-11.44 [[-9.40409976e-01 -3.40014265e-01 4.40187040e-03 1.99710491e+02] [ 3.40010251e-01 -9.40420276e-01 -1.65315233e-03 -1.66857324e+02] [ 4.70170355e-03 -5.79598789e-05 9.99988945e-01 -1.14377474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.630385723 meters 0.014385387053496568 Centerline is valid? [True, True] Translation: X:199.45, Y:-167.58, Z:-10.48 [[-9.61133852e-01 2.76061792e-01 3.40671549e-03 1.99445825e+02] [ 2.76060080e-01 9.61139889e-01 -9.72234393e-04 -1.67577142e+02] [-3.54272692e-03 6.01076383e-06 -9.99993725e-01 -1.04794671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.690385723 meters 0.01433522824326464 Centerline is valid? [True, True] Translation: X:199.66, Y:-166.85, Z:-11.43 [[-9.41382865e-01 -3.37333330e-01 2.12725529e-03 1.99659568e+02] [ 3.37332271e-01 -9.41385265e-01 -8.49060517e-04 -1.66848185e+02] [ 2.28898320e-03 -8.16991645e-05 9.99997377e-01 -1.14347222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.750385723 meters 0.014486648317626794 Centerline is valid? [True, True] Translation: X:199.39, Y:-167.56, Z:-10.48 [[-9.61773110e-01 2.73843858e-01 1.42323591e-03 1.99393725e+02] [ 2.73843567e-01 9.61774164e-01 -3.99352176e-04 -1.67559902e+02] [-1.47819167e-03 5.65781345e-06 -9.99998907e-01 -1.04818012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.810385723 meters 0.014632364048409193 Centerline is valid? [True, True] Translation: X:199.61, Y:-166.84, Z:-11.43 [[-9.44018038e-01 -3.29887044e-01 2.11736917e-03 1.99613102e+02] [ 3.29886301e-01 -9.44020411e-01 -7.00903659e-04 -1.66835978e+02] [ 2.23005875e-03 3.68253872e-05 9.99997513e-01 -1.14340376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.870385723 meters 0.014986606178204017 Centerline is valid? [True, True] Translation: X:199.35, Y:-167.55, Z:-10.48 [[-9.61042665e-01 2.76388629e-01 2.51447769e-03 1.99350337e+02] [ 2.76387752e-01 9.61045954e-01 -6.96987626e-04 -1.67547069e+02] [-2.60916806e-03 2.51359893e-05 -9.99996596e-01 -1.04806013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.930385723 meters 0.015283269752440105 Centerline is valid? [True, True] Translation: X:199.36, Y:-167.52, Z:-10.48 [[-9.77734001e-01 2.09836864e-01 2.17116084e-03 1.99363332e+02] [ 2.09836407e-01 9.77736411e-01 -4.38682693e-04 -1.67519629e+02] [-2.21487481e-03 2.66736042e-05 -9.99997547e-01 -1.04811672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.990385723 meters 0.015693880476713377 Centerline is valid? [True, True] Translation: X:199.52, Y:-166.79, Z:-11.44 [[-9.68213837e-01 -2.50097556e-01 3.63006053e-03 1.99521188e+02] [ 2.50095981e-01 -9.68220641e-01 -8.88864652e-04 -1.66789919e+02] [ 3.73700241e-03 4.72524937e-05 9.99993016e-01 -1.14365369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.050385723 meters 0.01622383968960558 Centerline is valid? [True, True] Translation: X:199.32, Y:-167.50, Z:-10.48 [[-9.77309132e-01 2.11784583e-01 3.76167820e-03 1.99317982e+02] [ 2.11783278e-01 9.77316369e-01 -7.46459740e-04 -1.67504604e+02] [-3.83443834e-03 6.71386194e-05 -9.99992646e-01 -1.04782416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.110385723 meters 0.01705415517110646 Centerline is valid? [True, True] Translation: X:199.33, Y:-167.47, Z:-10.48 [[-9.89668989e-01 1.43309549e-01 4.20307266e-03 1.99326493e+02] [ 1.43308600e-01 9.89677911e-01 -5.27683275e-04 -1.67474991e+02] [-4.23531022e-03 8.01046858e-05 -9.99991028e-01 -1.04776063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.170385723 meters 0.017005651651739385 Centerline is valid? [True, True] Translation: X:199.42, Y:-166.75, Z:-11.44 [[-9.85005148e-01 -1.72496199e-01 3.14967089e-03 1.99421318e+02] [ 1.72494909e-01 -9.85010175e-01 -6.78978854e-04 -1.66752369e+02] [ 3.21957915e-03 -1.25495474e-04 9.99994809e-01 -1.14371025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.230385723 meters 0.016554606408764102 Centerline is valid? [True, True] Translation: X:199.27, Y:-167.46, Z:-10.48 [[-9.89949013e-01 1.41417529e-01 1.42633959e-03 1.99271029e+02] [ 1.41417427e-01 9.89950040e-01 -1.72459074e-04 -1.67458640e+02] [-1.43639367e-03 3.09835843e-05 -9.99998968e-01 -1.04806664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.290385723 meters 0.017221693586434654 Centerline is valid? [True, True] Translation: X:199.37, Y:-166.76, Z:-11.44 [[-9.86216777e-01 -1.65453474e-01 1.27112703e-03 1.99367741e+02] [ 1.65453289e-01 -9.86217596e-01 -2.50657448e-04 -1.66756786e+02] [ 1.29507999e-03 -3.68904320e-05 9.99999161e-01 -1.14352547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3503857229999 meters 0.019597399059194425 Centerline is valid? [True, True] Translation: X:199.22, Y:-167.44, Z:-10.48 [[-9.89973110e-01 1.41233416e-01 2.52283196e-03 1.99222979e+02] [ 1.41233121e-01 9.89976322e-01 -2.95837149e-04 -1.67444739e+02] [-2.53932600e-03 6.34366080e-05 -9.99996774e-01 -1.04773731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.410385723 meters 0.017011489814334774 Centerline is valid? [True, True] Translation: X:199.23, Y:-167.41, Z:-10.48 [[-9.97506820e-01 7.05472803e-02 1.79568518e-03 1.99225131e+02] [ 7.05472475e-02 9.97508436e-01 -8.16681947e-05 -1.67410861e+02] [-1.79697258e-03 4.52160652e-05 -9.99998384e-01 -1.04790492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4703857229999 meters 0.017135035095250595 Centerline is valid? [True, True] Translation: X:199.22, Y:-167.38, Z:-10.48 [[-9.99990362e-01 -3.05074643e-03 3.15731852e-03 1.99220053e+02] [-3.05050915e-03 9.99995344e-01 7.99677579e-05 -1.67375407e+02] [-3.15754778e-03 7.03355582e-05 -9.99995012e-01 -1.04784603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.530385723 meters 0.01615183365958397 Centerline is valid? [True, True] Translation: X:199.20, Y:-166.71, Z:-11.44 [[-9.99687630e-01 -2.46538738e-02 4.10232527e-03 1.99200760e+02] [ 2.46535618e-02 -9.99696047e-01 -1.26600256e-04 -1.66714758e+02] [ 4.10419954e-03 -2.54237807e-05 9.99991577e-01 -1.14382268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5903857229999 meters 0.0159439877241995 Centerline is valid? [True, True] Translation: X:199.15, Y:-167.36, Z:-10.48 [[-9.99907402e-01 -1.32102728e-02 3.26743073e-03 1.99148733e+02] [-1.32100252e-02 9.99912739e-01 9.73716757e-05 -1.67363068e+02] [-3.26843191e-03 5.41998172e-05 -9.99994657e-01 -1.04775377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.650385723 meters 0.015328028051437823 Centerline is valid? [True, True] Translation: X:199.14, Y:-167.33, Z:-10.48 [[-9.96253695e-01 -8.64160253e-02 3.29333869e-03 1.99137810e+02] [-8.64153944e-02 9.96259137e-01 3.33636926e-04 -1.67329062e+02] [-3.30985034e-03 4.77918582e-05 -9.99994521e-01 -1.04778590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.710385723 meters 0.01555540319307845 Centerline is valid? [True, True] Translation: X:199.07, Y:-166.70, Z:-11.44 [[-9.98928883e-01 4.61109640e-02 3.85556935e-03 1.99071980e+02] [-4.61106925e-02 -9.98936324e-01 1.59325660e-04 -1.66704993e+02] [ 3.85881493e-03 -1.86279690e-05 9.99992555e-01 -1.14387686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.770385723 meters 0.01561993755277055 Centerline is valid? [True, True] Translation: X:199.06, Y:-167.33, Z:-10.48 [[-9.95589486e-01 -9.37354770e-02 3.90340700e-03 1.99063887e+02] [-9.37345759e-02 9.95597137e-01 4.13560150e-04 -1.67330549e+02] [-3.92498609e-03 4.58519371e-05 -9.99992296e-01 -1.04770841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.830385723 meters 0.015226028677695094 Centerline is valid? [True, True] Translation: X:199.05, Y:-167.30, Z:-10.48 [[-9.86343664e-01 -1.64679054e-01 2.64308432e-03 1.99049326e+02] [-1.64678380e-01 9.86347205e-01 4.72341577e-04 -1.67301006e+02] [-2.68478360e-03 3.06322774e-05 -9.99996396e-01 -1.04784272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.890385723 meters 0.015354705799169772 Centerline is valid? [True, True] Translation: X:199.03, Y:-167.27, Z:-10.48 [[-9.72159574e-01 -2.34286603e-01 3.94338494e-03 1.99031657e+02] [-2.34284478e-01 9.72167571e-01 9.98988668e-04 -1.67274625e+02] [-4.06768062e-03 4.73025153e-05 -9.99991726e-01 -1.04771151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.950385723 meters 0.01769112251651352 Centerline is valid? [True, True] Translation: X:199.00, Y:-167.25, Z:-10.47 [[-9.53347422e-01 -3.01808321e-01 6.35841209e-03 1.99004204e+02] [-3.01800985e-01 9.53368622e-01 2.10624364e-03 -1.67253284e+02] [-6.69759242e-03 8.90069165e-05 -9.99977567e-01 -1.04735194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.010385723 meters 0.016308973878186566 Centerline is valid? [True, True] Translation: X:198.97, Y:-167.24, Z:-10.47 [[-9.29859578e-01 -3.67866091e-01 5.97531457e-03 1.98966337e+02] [-3.67857813e-01 9.29878771e-01 2.46982510e-03 -1.67237043e+02] [-6.46488308e-03 9.85243782e-05 -9.99979098e-01 -1.04748388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.070385723 meters 0.017020261849108785 Centerline is valid? [True, True] Translation: X:198.91, Y:-167.23, Z:-10.47 [[-9.01801041e-01 -4.32074549e-01 8.15275907e-03 1.98906086e+02] [-4.32055207e-01 9.01837877e-01 4.09167450e-03 -1.67234580e+02] [-9.12037534e-03 1.67434320e-04 -9.99958395e-01 -1.04731849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.130385723 meters 0.016399118281380076 Centerline is valid? [True, True] Translation: X:198.84, Y:-167.24, Z:-10.48 [[-8.68724999e-01 -4.95242513e-01 7.19236484e-03 1.98835872e+02] [-4.95223878e-01 8.68754754e-01 4.29971405e-03 -1.67238508e+02] [-8.37780234e-03 1.73438279e-04 -9.99964891e-01 -1.04753616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.190385723 meters 0.016497515304607732 Centerline is valid? [True, True] Translation: X:198.76, Y:-167.25, Z:-10.48 [[-8.30077706e-01 -5.57606462e-01 6.78495810e-03 1.98761564e+02] [-5.57586082e-01 8.30105416e-01 4.77065816e-03 -1.67250623e+02] [-8.29238029e-03 1.76818779e-04 -9.99965602e-01 -1.04766964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.250385723 meters 0.016234809406110925 Centerline is valid? [True, True] Translation: X:198.68, Y:-167.27, Z:-10.48 [[-7.85075170e-01 -6.19371646e-01 5.97839651e-03 1.98680488e+02] [-6.19352241e-01 7.85097919e-01 4.90511473e-03 -1.67273379e+02] [-7.73171564e-03 1.48150514e-04 -9.99970099e-01 -1.04765997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.310385723 meters 0.015697461269778796 Centerline is valid? [True, True] Translation: X:198.59, Y:-167.31, Z:-10.48 [[-7.33880439e-01 -6.79266151e-01 4.12290466e-03 1.98594243e+02] [-6.79254783e-01 7.33892015e-01 3.93079638e-03 -1.67307197e+02] [-5.69582373e-03 8.42318635e-05 -9.99983775e-01 -1.04780331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.370385723 meters 0.015840334258953287 Centerline is valid? [True, True] Translation: X:198.51, Y:-167.35, Z:-10.48 [[-6.78477831e-01 -7.34612917e-01 3.41975711e-03 1.98512113e+02] [-7.34603153e-01 6.78486447e-01 3.78788792e-03 -1.67349489e+02] [-5.10289025e-03 5.78336268e-05 -9.99986979e-01 -1.04776987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.430385723 meters 0.014504465352624943 Centerline is valid? [True, True] Translation: X:198.42, Y:-167.40, Z:-10.48 [[-6.16891359e-01 -7.87042814e-01 2.94275651e-03 1.98424717e+02] [-7.87033657e-01 6.16898377e-01 3.79666635e-03 -1.67396966e+02] [-4.80352069e-03 2.60822436e-05 -9.99988463e-01 -1.04792811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.490385723 meters 0.014295096422567774 Centerline is valid? [True, True] Translation: X:198.34, Y:-167.46, Z:-10.48 [[-5.50601550e-01 -8.34765030e-01 2.29711403e-03 1.98342064e+02] [-8.34757804e-01 5.50606342e-01 3.47330362e-03 -1.67456437e+02] [-4.16419796e-03 -5.12750494e-06 -9.99991330e-01 -1.04791353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.550385723 meters 0.014402922986711636 Centerline is valid? [True, True] Translation: X:198.26, Y:-167.53, Z:-10.48 [[-4.82714052e-01 -8.75775946e-01 1.90694710e-03 1.98262860e+02] [-8.75769279e-01 4.82717819e-01 3.41714689e-03 -1.67528012e+02] [-3.91317239e-03 -2.05408676e-05 -9.99992343e-01 -1.04790475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.610385723 meters 0.01452954497559516 Centerline is valid? [True, True] Translation: X:198.19, Y:-167.61, Z:-10.48 [[-4.14776731e-01 -9.09921082e-01 1.97177542e-03 1.98189387e+02] [-9.09911114e-01 4.14781417e-01 4.25932171e-03 -1.67610389e+02] [-4.69350242e-03 -2.74728305e-05 -9.99988985e-01 -1.04774765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.670385723 meters 0.014603670823865612 Centerline is valid? [True, True] Translation: X:198.13, Y:-167.69, Z:-10.48 [[-3.44358728e-01 -9.38835342e-01 2.29512969e-03 1.98126630e+02] [-9.38815278e-01 3.44366374e-01 6.13791769e-03 -1.67693599e+02] [-6.55285954e-03 -4.10572919e-05 -9.99978529e-01 -1.04757226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.730385723 meters 0.014522486177392602 Centerline is valid? [True, True] Translation: X:198.07, Y:-167.79, Z:-10.48 [[-2.70852645e-01 -9.62618965e-01 1.89024216e-03 1.98069376e+02] [-9.62596851e-01 2.70859236e-01 6.52501817e-03 -1.67789901e+02] [-6.79309578e-03 -5.22227156e-05 -9.99976925e-01 -1.04764094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.790385723 meters 0.014687725395454881 Centerline is valid? [True, True] Translation: X:198.02, Y:-167.89, Z:-10.48 [[-1.95937050e-01 -9.80615579e-01 1.32623065e-03 1.98017151e+02] [-9.80595019e-01 1.95941530e-01 6.35023476e-03 -1.67893548e+02] [-6.48700280e-03 -5.62489067e-05 -9.99978958e-01 -1.04766630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8503857229999 meters 0.014925748454246596 Centerline is valid? [True, True] Translation: X:197.97, Y:-168.00, Z:-10.48 [[-1.19142847e-01 -9.92876893e-01 6.76762262e-04 1.97973841e+02] [-9.92863331e-01 1.19144757e-01 5.18975920e-03 -1.68000035e+02] [-5.23342466e-03 -5.36097496e-05 -9.99986304e-01 -1.04772512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.910385723 meters 0.015020915491326682 Centerline is valid? [True, True] Translation: X:197.94, Y:-168.11, Z:-10.48 [[-4.17526109e-02 -9.99127938e-01 2.89808314e-04 1.97941226e+02] [-9.99113214e-01 4.17535691e-02 5.42442609e-03 -1.68113222e+02] [-5.43179618e-03 -6.30673639e-05 -9.99985246e-01 -1.04774655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9703857229999 meters 0.015167549794442224 Centerline is valid? [True, True] Translation: X:197.92, Y:-168.23, Z:-10.48 [[ 3.49450200e-02 -9.99389225e-01 -1.48075462e-04 1.97918022e+02] [-9.99368564e-01 -3.49452498e-02 6.42679054e-03 -1.68233243e+02] [-6.42803975e-03 -7.66023619e-05 -9.99979337e-01 -1.04773777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.030385723 meters 0.014891901365676459 Centerline is valid? [True, True] Translation: X:197.90, Y:-168.35, Z:-10.48 [[ 1.10247639e-01 -9.93903799e-01 -8.33968174e-04 1.97903235e+02] [-9.93868703e-01 -1.10250755e-01 8.35296893e-03 -1.68349734e+02] [-8.39399318e-03 -9.20402369e-05 -9.99964766e-01 -1.04757073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0903857229999 meters 0.015096304994872791 Centerline is valid? [True, True] Translation: X:197.90, Y:-168.47, Z:-10.48 [[ 1.85075420e-01 -9.82723263e-01 -1.44104894e-03 1.97898430e+02] [-9.82689891e-01 -1.85081012e-01 8.09923727e-03 -1.68467389e+02] [-8.22601968e-03 -8.28655162e-05 -9.99966162e-01 -1.04759297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.150385723 meters 0.014601103735096809 Centerline is valid? [True, True] Translation: X:197.91, Y:-168.59, Z:-10.48 [[ 2.57854875e-01 -9.66181150e-01 -2.20199047e-03 1.97905306e+02] [-9.66143527e-01 -2.57864267e-01 8.52674365e-03 -1.68585024e+02] [-8.80619365e-03 -7.12235738e-05 -9.99961222e-01 -1.04765855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.210385723 meters 0.014341831775814202 Centerline is valid? [True, True] Translation: X:197.92, Y:-168.70, Z:-10.48 [[ 3.28640821e-01 -9.44450115e-01 -3.03166903e-03 1.97920852e+02] [-9.44408484e-01 -3.28654800e-01 8.86785274e-03 -1.68703850e+02] [-9.37161712e-03 -5.12044480e-05 -9.99956084e-01 -1.04754043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.270385723 meters 0.014437569260139853 Centerline is valid? [True, True] Translation: X:197.95, Y:-168.83, Z:-10.48 [[ 3.99597601e-01 -9.16683698e-01 -3.57156662e-03 1.97947114e+02] [-9.16646071e-01 -3.99613559e-01 8.30560001e-03 -1.68832286e+02] [-9.04085458e-03 -4.50353261e-05 -9.99959130e-01 -1.04752412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.330385723 meters 0.014560751839126558 Centerline is valid? [True, True] Translation: X:197.98, Y:-168.95, Z:-10.48 [[ 4.69574977e-01 -8.82883337e-01 -4.04401805e-03 1.97977122e+02] [-8.82849637e-01 -4.69592388e-01 7.71418835e-03 -1.68946758e+02] [-8.70976844e-03 -5.21299546e-05 -9.99962068e-01 -1.04757743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.390385723 meters 0.014661742223527986 Centerline is valid? [True, True] Translation: X:198.01, Y:-169.05, Z:-10.48 [[ 5.38870787e-01 -8.42377317e-01 -4.32784541e-03 1.98013759e+02] [-8.42348972e-01 -5.38888160e-01 6.91088928e-03 -1.69051914e+02] [-8.15380102e-03 -7.85202092e-05 -9.99966754e-01 -1.04771743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.450385723 meters 0.015737157635891445 Centerline is valid? [True, True] Translation: X:198.06, Y:-169.16, Z:-10.48 [[ 6.03626566e-01 -7.97253973e-01 -4.59037982e-03 1.98058403e+02] [-7.97229743e-01 -6.03644013e-01 6.21631868e-03 -1.69157899e+02] [-7.72694006e-03 -9.27477721e-05 -9.99970142e-01 -1.04762700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.510385723 meters 0.015310286983503516 Centerline is valid? [True, True] Translation: X:198.12, Y:-169.26, Z:-10.48 [[ 6.62858632e-01 -7.48727240e-01 -5.09444684e-03 1.98122804e+02] [-7.48704028e-01 -6.62878202e-01 5.89635669e-03 -1.69263434e+02] [-7.79176063e-03 -9.42180572e-05 -9.99969639e-01 -1.04783763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.570385723 meters 0.015331824740872371 Centerline is valid? [True, True] Translation: X:198.18, Y:-169.35, Z:-10.48 [[ 7.17087163e-01 -6.96961654e-01 -5.51846253e-03 1.98177377e+02] [-6.96940127e-01 -7.17108392e-01 5.47845189e-03 -1.69354164e+02] [-7.77560668e-03 -8.24895480e-05 -9.99969766e-01 -1.04780395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.630385723 meters 0.015030345335737714 Centerline is valid? [True, True] Translation: X:198.20, Y:-169.37, Z:-10.48 [[ 7.67913002e-01 -6.40516195e-01 -6.97326348e-03 1.98202112e+02] [-6.40488884e-01 -7.67944659e-01 5.91534047e-03 -1.69372525e+02] [-9.14395181e-03 -7.61691111e-05 -9.99958190e-01 -1.04765717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.690385723 meters 0.01500399964555237 Centerline is valid? [True, True] Translation: X:198.22, Y:-169.40, Z:-10.48 [[ 8.15495064e-01 -5.78722775e-01 -6.91013616e-03 1.98223139e+02] [-5.78701278e-01 -8.15524338e-01 4.98857433e-03 -1.69395194e+02] [-8.52238579e-03 -6.92531238e-05 -9.99963681e-01 -1.04784056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.750385723 meters 0.015014196118970518 Centerline is valid? [True, True] Translation: X:198.24, Y:-169.42, Z:-10.48 [[ 8.58441452e-01 -5.12827990e-01 -9.25883399e-03 1.98240034e+02] [-5.12796993e-01 -8.58491377e-01 5.63911781e-03 -1.69423556e+02] [-1.08405266e-02 -9.29502518e-05 -9.99941235e-01 -1.04771439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.810385723 meters 0.014570815832157937 Centerline is valid? [True, True] Translation: X:198.26, Y:-169.45, Z:-10.48 [[ 8.94421826e-01 -4.47101746e-01 -1.04702441e-02 1.98259378e+02] [-4.47070308e-01 -8.94483105e-01 5.30232049e-03 -1.69449680e+02] [-1.17361332e-02 -6.15758999e-05 -9.99931127e-01 -1.04765447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.870385723 meters 0.014506761435599454 Centerline is valid? [True, True] Translation: X:198.28, Y:-169.47, Z:-10.48 [[ 9.25472495e-01 -3.78687974e-01 -9.80203749e-03 1.98282247e+02] [-3.78666472e-01 -9.25524401e-01 4.03554187e-03 -1.69469930e+02] [-1.06002361e-02 -2.30800505e-05 -9.99943816e-01 -1.04788362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.930385723 meters 0.014547116158772248 Centerline is valid? [True, True] Translation: X:198.31, Y:-169.49, Z:-10.48 [[ 9.51255074e-01 -3.08180863e-01 -1.17618307e-02 1.98306934e+02] [-3.08157465e-01 -9.51327786e-01 3.79755127e-03 -1.69488779e+02] [-1.23596889e-02 1.20560050e-05 -9.99923616e-01 -1.04767164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.990385723 meters 0.014814761402405705 Centerline is valid? [True, True] Translation: X:198.33, Y:-169.50, Z:-10.48 [[ 9.71235467e-01 -2.37761877e-01 -1.30750721e-02 1.98333775e+02] [-2.37741452e-01 -9.71323470e-01 3.11741589e-03 -1.69502801e+02] [-1.34413270e-02 8.07417492e-05 -9.99909658e-01 -1.04752543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.050385723 meters 0.015072161864870036 Centerline is valid? [True, True] Translation: X:198.36, Y:-169.52, Z:-10.48 [[ 9.86456100e-01 -1.63512508e-01 -1.29623350e-02 1.98357565e+02] [-1.63499890e-01 -9.86541255e-01 2.03446958e-03 -1.69515014e+02] [-1.31205394e-02 1.12425404e-04 -9.99913916e-01 -1.04769262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.110385723 meters 0.015255917805470998 Centerline is valid? [True, True] Translation: X:198.38, Y:-169.52, Z:-10.48 [[ 9.96167961e-01 -8.65337508e-02 -1.27005149e-02 1.98381284e+02] [-8.65282355e-02 -9.96248913e-01 9.84147357e-04 -1.69523560e+02] [-1.27380361e-02 1.18577081e-04 -9.99918861e-01 -1.04779690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.170385723 meters 0.015003646038850208 Centerline is valid? [True, True] Translation: X:198.41, Y:-169.53, Z:-10.48 [[ 9.99916101e-01 -6.08876647e-03 -1.14331977e-02 1.98405189e+02] [-6.08929924e-03 -9.99981460e-01 -1.17874069e-05 -1.69532354e+02] [-1.14329140e-02 8.14065802e-05 -9.99934639e-01 -1.04772201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.230385723 meters 0.014915192323664749 Centerline is valid? [True, True] Translation: X:198.43, Y:-169.54, Z:-10.48 [[ 9.97160840e-01 7.44317894e-02 -1.14091035e-02 1.98430750e+02] [ 7.44262740e-02 -9.97226106e-01 -9.07833762e-04 -1.69535898e+02] [-1.14450276e-02 5.61192129e-05 -9.99934502e-01 -1.04767679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.290385723 meters 0.014804265337471277 Centerline is valid? [True, True] Translation: X:198.46, Y:-169.54, Z:-10.48 [[ 9.87930483e-01 1.54470293e-01 -1.15017379e-02 1.98457679e+02] [ 1.54459457e-01 -9.87997433e-01 -1.82985537e-03 -1.69543475e+02] [-1.16463458e-02 3.12177126e-05 -9.99932179e-01 -1.04790436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3503857229999 meters 0.014814596609790402 Centerline is valid? [True, True] Translation: X:198.49, Y:-169.55, Z:-10.48 [[ 9.71842442e-01 2.35372142e-01 -1.10554457e-02 1.98485354e+02] [ 2.35357107e-01 -9.71905322e-01 -2.66033891e-03 -1.69552461e+02] [-1.13710161e-02 -1.65474466e-05 -9.99935348e-01 -1.04769188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.410385723 meters 0.014801531634217553 Centerline is valid? [True, True] Translation: X:198.51, Y:-169.56, Z:-10.48 [[ 9.50110046e-01 3.11699549e-01 -1.15884308e-02 1.98513132e+02] [ 3.11676757e-01 -9.50180715e-01 -3.76941284e-03 -1.69556538e+02] [-1.21860278e-02 -3.04875346e-05 -9.99925747e-01 -1.04764048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4703857229999 meters 0.01487032178037164 Centerline is valid? [True, True] Translation: X:198.54, Y:-169.55, Z:-10.48 [[ 9.24117391e-01 3.81933253e-01 -1.15774611e-02 1.98539185e+02] [ 3.81903126e-01 -9.24189910e-01 -4.79710983e-03 -1.69551603e+02] [-1.25319485e-02 1.16240398e-05 -9.99921472e-01 -1.04774984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.530385723 meters 0.0162657911312322 Centerline is valid? [True, True] Translation: X:198.57, Y:-169.55, Z:-10.48 [[ 8.93761736e-01 4.48429529e-01 -1.00457671e-02 1.98565642e+02] [ 4.48400331e-01 -8.93818188e-01 -5.11769445e-03 -1.69546929e+02] [-1.12740147e-02 6.94741648e-05 -9.99936444e-01 -1.04774989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5903857229999 meters 0.0153635455493241 Centerline is valid? [True, True] Translation: X:198.59, Y:-169.54, Z:-10.48 [[ 8.57494737e-01 5.14415310e-01 -8.92555306e-03 1.98591868e+02] [ 5.14386274e-01 -8.57541182e-01 -5.46638142e-03 -1.69541411e+02] [-1.04660196e-02 9.62113117e-05 -9.99945225e-01 -1.04793832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.650385723 meters 0.015635482329874304 Centerline is valid? [True, True] Translation: X:198.62, Y:-169.53, Z:-10.48 [[ 8.14974925e-01 5.79409205e-01 -1.00421164e-02 1.98615564e+02] [ 5.79363358e-01 -8.15036783e-01 -7.28980637e-03 -1.69532258e+02] [-1.24084751e-02 1.22975137e-04 -9.99923004e-01 -1.04778354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.710385723 meters 0.015183459105084014 Centerline is valid? [True, True] Translation: X:198.64, Y:-169.53, Z:-10.48 [[ 7.65735857e-01 6.43079412e-01 -9.87252652e-03 1.98643479e+02] [ 6.43024273e-01 -7.65799490e-01 -8.42168484e-03 -1.69526598e+02] [-1.29761879e-02 1.00511866e-04 -9.99915801e-01 -1.04788877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.770385723 meters 0.014944802480616453 Centerline is valid? [True, True] Translation: X:198.67, Y:-169.52, Z:-10.48 [[ 7.10869412e-01 7.03272487e-01 -8.51401379e-03 1.98669188e+02] [ 7.03221108e-01 -7.10920394e-01 -8.50097662e-03 -1.69518242e+02] [-1.20312890e-02 5.58500405e-05 -9.99927620e-01 -1.04791750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.830385723 meters 0.014827426057707184 Centerline is valid? [True, True] Translation: X:198.69, Y:-169.51, Z:-10.48 [[ 6.51897721e-01 7.58279242e-01 -6.47705496e-03 1.98693715e+02] [ 7.58241454e-01 -6.51929897e-01 -7.57013577e-03 -1.69506214e+02] [-9.96286259e-03 2.37826881e-05 -9.99950369e-01 -1.04813583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.890385723 meters 0.014715562852083277 Centerline is valid? [True, True] Translation: X:198.72, Y:-169.49, Z:-10.48 [[ 5.87936928e-01 8.08888146e-01 -5.48968644e-03 1.98716043e+02] [ 8.08853006e-01 -5.87962557e-01 -7.53971581e-03 -1.69492435e+02] [-9.32651681e-03 -7.47203175e-06 -9.99956507e-01 -1.04819216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.950385723 meters 0.014796712029094845 Centerline is valid? [True, True] Translation: X:198.74, Y:-169.48, Z:-10.48 [[ 5.20051390e-01 8.54118640e-01 -5.28206325e-03 1.98740764e+02] [ 8.54075374e-01 -5.20078212e-01 -8.59701591e-03 -1.69478103e+02] [-1.00899576e-02 -4.03900771e-05 -9.99949094e-01 -1.04811076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.010385723 meters 0.014939291325299078 Centerline is valid? [True, True] Translation: X:198.76, Y:-169.46, Z:-10.48 [[ 4.50032203e-01 8.93001488e-01 -4.39980201e-03 1.98763919e+02] [ 8.92960013e-01 -4.50053707e-01 -8.60676909e-03 -1.69461723e+02] [-9.66600481e-03 -5.55240036e-05 -9.99953282e-01 -1.04809997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.070385723 meters 0.014845084063205519 Centerline is valid? [True, True] Translation: X:198.78, Y:-169.44, Z:-10.48 [[ 3.79233930e-01 9.25292023e-01 -4.03716870e-03 1.98782461e+02] [ 9.25241110e-01 -3.79255414e-01 -9.70668384e-03 -1.69442391e+02] [-1.05126352e-02 -5.42505899e-05 -9.99944739e-01 -1.04816660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.130385723 meters 0.014696252023831482 Centerline is valid? [True, True] Translation: X:198.80, Y:-169.42, Z:-10.48 [[ 3.07250277e-01 9.51622992e-01 -3.30890812e-03 1.98799867e+02] [ 9.51569091e-01 -3.07268091e-01 -1.01284568e-02 -1.69421383e+02] [-1.06551942e-02 -3.66835461e-05 -9.99943231e-01 -1.04820732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.190385723 meters 0.014477706330927658 Centerline is valid? [True, True] Translation: X:198.82, Y:-169.40, Z:-10.48 [[ 2.32902872e-01 9.72497516e-01 -2.19878454e-03 1.98817733e+02] [ 9.72455052e-01 -2.32913250e-01 -9.08789617e-03 -1.69399452e+02] [-9.35008249e-03 -2.16220179e-05 -9.99956287e-01 -1.04832829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.250385723 meters 0.014527932818735552 Centerline is valid? [True, True] Translation: X:198.83, Y:-169.38, Z:-10.48 [[ 1.56112433e-01 9.87738226e-01 -1.45125068e-03 1.98831073e+02] [ 9.87696747e-01 -1.56119177e-01 -9.05202100e-03 -1.69377546e+02] [-9.16759522e-03 -2.02625496e-05 -9.99957977e-01 -1.04830525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.310385723 meters 0.014448584461561257 Centerline is valid? [True, True] Translation: X:198.84, Y:-169.35, Z:-10.48 [[ 7.88991066e-02 9.96882291e-01 -7.92501038e-04 1.98841110e+02] [ 9.96834028e-01 -7.89030850e-02 -9.80942547e-03 -1.69353171e+02] [-9.84137331e-03 -1.60370964e-05 -9.99951572e-01 -1.04826965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.370385723 meters 0.01434413730219952 Centerline is valid? [True, True] Translation: X:198.85, Y:-169.33, Z:-10.48 [[ 2.65524960e-04 9.99999965e-01 -2.12855788e-05 1.98853941e+02] [ 9.99953460e-01 -2.65717891e-04 -9.64406576e-03 -1.69328135e+02] [-9.64407108e-03 -1.87238480e-05 -9.99953495e-01 -1.04826711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.430385723 meters 0.014243517298941384 Centerline is valid? [True, True] Translation: X:198.86, Y:-169.30, Z:-10.48 [[-7.68306460e-02 9.97043860e-01 7.70287778e-04 1.98862231e+02] [ 9.96992834e-01 7.68345070e-02 -1.00869673e-02 -1.69303694e+02] [-1.01163335e-02 -7.01681741e-06 -9.99948829e-01 -1.04819745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.490385723 meters 0.014179456195726381 Centerline is valid? [True, True] Translation: X:198.86, Y:-169.28, Z:-10.48 [[-1.52863467e-01 9.88246139e-01 1.52626998e-03 1.98863966e+02] [ 9.88197630e-01 1.52871086e-01 -9.79153940e-03 -1.69278197e+02] [-9.90977355e-03 1.14877138e-05 -9.99950897e-01 -1.04826452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.550385723 meters 0.014208382125686729 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.25, Z:-10.48 [[-2.29019807e-01 9.73419622e-01 2.04154677e-03 1.98868397e+02] [ 9.73381619e-01 2.29028906e-01 -8.60138107e-03 -1.69252457e+02] [-8.84032633e-03 1.73174682e-05 -9.99960923e-01 -1.04838296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.610385723 meters 0.014145821080313627 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.23, Z:-10.48 [[-3.04347280e-01 9.52557454e-01 2.65152300e-03 1.98871715e+02] [ 9.52521850e-01 3.04358830e-01 -8.23574704e-03 -1.69226431e+02] [-8.65203667e-03 1.91063788e-05 -9.99962570e-01 -1.04829982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.670385723 meters 0.01413625548824947 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.20, Z:-10.48 [[-3.78693656e-01 9.25517436e-01 2.93096490e-03 1.98872640e+02] [ 9.25489950e-01 3.78704998e-01 -7.13278022e-03 -1.69199015e+02] [-7.71148352e-03 1.14399379e-05 -9.99970266e-01 -1.04841400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.730385723 meters 0.01417522546642543 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.17, Z:-10.49 [[-4.52258236e-01 8.91881535e-01 3.13284412e-03 1.98870419e+02] [ 8.91860032e-01 4.52269087e-01 -6.19324536e-03 -1.69173902e+02] [-6.94052973e-03 -6.88776463e-06 -9.99975914e-01 -1.04850861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.790385723 meters 0.014264840881148379 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.15, Z:-10.48 [[-5.22415639e-01 8.52682286e-01 3.84950518e-03 1.98867241e+02] [ 8.52658822e-01 5.22429822e-01 -6.32569183e-03 -1.69146654e+02] [-7.40490168e-03 -2.23257939e-05 -9.99972583e-01 -1.04841823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8503857229999 meters 0.014628064758732821 Centerline is valid? [True, True] Translation: X:198.86, Y:-169.12, Z:-10.48 [[-5.89377700e-01 8.07842233e-01 4.98531423e-03 1.98864560e+02] [ 8.07812691e-01 5.89398782e-01 -6.90883995e-03 -1.69116752e+02] [-8.51959083e-03 -4.47160938e-05 -9.99963707e-01 -1.04839659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.910385723 meters 0.014430008326489266 Centerline is valid? [True, True] Translation: X:198.86, Y:-169.09, Z:-10.49 [[-6.51782737e-01 7.58387353e-01 5.28067147e-03 1.98857899e+02] [ 7.58361808e-01 6.51804127e-01 -6.22489640e-03 -1.69089523e+02] [-8.16284616e-03 -5.26204527e-05 -9.99966682e-01 -1.04855699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9703857229999 meters 0.014432098701193592 Centerline is valid? [True, True] Translation: X:198.85, Y:-169.06, Z:-10.49 [[-7.08845225e-01 7.05342948e-01 5.45649591e-03 1.98847398e+02] [ 7.05321545e-01 7.08866224e-01 -5.49493831e-03 -1.69063378e+02] [-7.74374164e-03 -4.64766511e-05 -9.99970016e-01 -1.04857407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.030385723 meters 0.014149626241748573 Centerline is valid? [True, True] Translation: X:198.84, Y:-169.04, Z:-10.49 [[-7.60699868e-01 6.49078782e-01 5.69610092e-03 1.98836306e+02] [ 6.49060278e-01 7.60721193e-01 -4.90115965e-03 -1.69036744e+02] [-7.51438343e-03 -3.11986520e-05 -9.99971766e-01 -1.04855555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0903857229999 meters 0.014171418387781734 Centerline is valid? [True, True] Translation: X:198.87, Y:-169.03, Z:-10.49 [[-8.03159468e-01 5.95739075e-01 5.46112953e-03 1.98866776e+02] [ 5.95725215e-01 8.03178034e-01 -4.06370436e-03 -1.69026238e+02] [-6.80716676e-03 -1.04700638e-05 -9.99976831e-01 -1.04861952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.150385723 meters 0.014100894248675385 Centerline is valid? [True, True] Translation: X:198.89, Y:-169.01, Z:-10.49 [[-8.42272838e-01 5.39014094e-01 6.34606892e-03 1.98885824e+02] [ 5.38998819e-01 8.42296745e-01 -4.05786452e-03 -1.69005826e+02] [-7.53251936e-03 2.69459155e-06 -9.99971630e-01 -1.04857271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.210385723 meters 0.014177457020321674 Centerline is valid? [True, True] Translation: X:198.89, Y:-168.97, Z:-10.49 [[-8.77322369e-01 4.79848931e-01 7.10379583e-03 1.98887166e+02] [ 4.79833378e-01 8.77351129e-01 -3.86352583e-03 -1.68973680e+02] [-8.08643203e-03 1.90807100e-05 -9.99967304e-01 -1.04850276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.270385723 meters 0.014303104667900267 Centerline is valid? [True, True] Translation: X:198.92, Y:-168.96, Z:-10.49 [[-9.08729772e-01 4.17343762e-01 5.86397324e-03 1.98919220e+02] [ 4.17335225e-01 9.08748691e-01 -2.66959346e-03 -1.68957371e+02] [-6.44301618e-03 2.13035322e-05 -9.99979243e-01 -1.04863386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.330385723 meters 0.014417290414754452 Centerline is valid? [True, True] Translation: X:198.93, Y:-168.93, Z:-10.49 [[-9.35959932e-01 3.52055158e-01 6.01433079e-03 1.98931063e+02] [ 3.52048043e-01 9.35979255e-01 -2.23843917e-03 -1.68930677e+02] [-6.41734291e-03 2.22440082e-05 -9.99979408e-01 -1.04860428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.390385723 meters 0.014348911214183602 Centerline is valid? [True, True] Translation: X:198.93, Y:-168.90, Z:-10.49 [[-9.58689912e-01 2.84374195e-01 6.70590682e-03 1.98934972e+02] [ 2.84367383e-01 9.58713365e-01 -1.96833977e-03 -1.68899419e+02] [-6.98878753e-03 1.99136957e-05 -9.99975578e-01 -1.04856208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.450385723 meters 0.014277449597414083 Centerline is valid? [True, True] Translation: X:198.94, Y:-168.87, Z:-10.49 [[-9.76769747e-01 2.14203200e-01 6.15224249e-03 1.98944399e+02] [ 2.14199005e-01 9.76789122e-01 -1.34051721e-03 -1.68869275e+02] [-6.29658661e-03 8.42756565e-06 -9.99980176e-01 -1.04871541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.510385723 meters 0.01428798234097214 Centerline is valid? [True, True] Translation: X:199.11, Y:-168.16, Z:-11.43 [[-9.60240767e-01 -2.79118269e-01 5.53717320e-03 1.99106870e+02] [ 2.79113380e-01 -9.60256731e-01 -1.65263697e-03 -1.68161002e+02] [ 5.77838901e-03 -4.14302634e-05 9.99983304e-01 -1.14283826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.570385723 meters 0.014111561798709487 Centerline is valid? [True, True] Translation: X:198.90, Y:-168.85, Z:-10.49 [[-9.78205445e-01 2.07570415e-01 5.35077058e-03 1.98903000e+02] [ 2.07567261e-01 9.78220079e-01 -1.14419898e-03 -1.68853406e+02] [-5.47173307e-03 -8.61687936e-06 -9.99985030e-01 -1.04875595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.630385723 meters 0.01412255115547311 Centerline is valid? [True, True] Translation: X:199.05, Y:-168.16, Z:-11.43 [[-9.60946380e-01 -2.76704008e-01 4.11662676e-03 1.99052389e+02] [ 2.76701169e-01 -9.60955195e-01 -1.25524815e-03 -1.68155505e+02] [ 4.30322607e-03 -6.71507266e-05 9.99990739e-01 -1.14272737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.690385723 meters 0.014014335245890321 Centerline is valid? [True, True] Translation: X:198.86, Y:-168.84, Z:-10.49 [[-9.79017766e-01 2.03725700e-01 4.47809073e-03 1.98855121e+02] [ 2.03723536e-01 9.79028007e-01 -9.39127184e-04 -1.68839119e+02] [-4.57550059e-03 -7.12972097e-06 -9.99989532e-01 -1.04877319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.750385723 meters 0.01391138142824275 Centerline is valid? [True, True] Translation: X:198.85, Y:-168.81, Z:-10.49 [[-9.90716330e-01 1.35836549e-01 5.43930535e-03 1.98848827e+02] [ 1.35834515e-01 9.90731261e-01 -7.43204988e-04 -1.68808379e+02] [-5.48984425e-03 2.54008867e-06 -9.99984931e-01 -1.04870615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.810385723 meters 0.0141435377094405 Centerline is valid? [True, True] Translation: X:198.95, Y:-168.11, Z:-11.43 [[-9.80211466e-01 -1.97901327e-01 4.53285546e-03 1.98954542e+02] [ 1.97898958e-01 -9.80221945e-01 -9.69747760e-04 -1.68112251e+02] [ 4.63511877e-03 -5.35105011e-05 9.99989256e-01 -1.14279545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.870385723 meters 0.014431742076916776 Centerline is valid? [True, True] Translation: X:198.81, Y:-168.80, Z:-10.49 [[-9.90248965e-01 1.39263785e-01 3.54758092e-03 1.98809209e+02] [ 1.39262996e-01 9.90255319e-01 -4.69754622e-04 -1.68803059e+02] [-3.57843068e-03 2.88727183e-05 -9.99993597e-01 -1.04875276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.930385723 meters 0.014524689855163118 Centerline is valid? [True, True] Translation: X:198.91, Y:-168.11, Z:-11.43 [[-9.81910025e-01 -1.89307615e-01 3.91520204e-03 1.98909085e+02] [ 1.89306084e-01 -9.81917831e-01 -7.61309518e-04 -1.68110258e+02] [ 3.98852838e-03 -6.36588188e-06 9.99992046e-01 -1.14287897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.990385723 meters 0.014750625327992069 Centerline is valid? [True, True] Translation: X:198.76, Y:-168.79, Z:-10.49 [[-9.90416405e-01 1.38050061e-01 4.18634717e-03 1.98757972e+02] [ 1.38049020e-01 9.90425251e-01 -5.38186750e-04 -1.68792623e+02] [-4.22056066e-03 4.48921359e-05 -9.99991092e-01 -1.04852873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.050385723 meters 0.015009842819871966 Centerline is valid? [True, True] Translation: X:198.76, Y:-168.76, Z:-10.49 [[-9.97592653e-01 6.92411037e-02 3.81676824e-03 1.98762849e+02] [ 6.92407801e-02 9.97599954e-01 -2.17034395e-04 -1.68762986e+02] [-3.82263552e-03 4.77640919e-05 -9.99992693e-01 -1.04850582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.110385723 meters 0.015292658496385678 Centerline is valid? [True, True] Translation: X:198.76, Y:-168.73, Z:-10.48 [[-9.99989295e-01 -3.08227813e-04 4.61685800e-03 1.98758229e+02] [-3.07927883e-04 9.99999950e-01 6.56749261e-05 -1.68734214e+02] [-4.61687801e-03 6.42525637e-05 -9.99989340e-01 -1.04845068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.170385723 meters 0.015245557599649634 Centerline is valid? [True, True] Translation: X:198.76, Y:-168.70, Z:-10.48 [[-9.97471623e-01 -7.09056268e-02 4.77003553e-03 1.98759437e+02] [-7.09044965e-02 9.97483026e-01 4.05860400e-04 -1.68704968e+02] [-4.78680726e-03 6.66172639e-05 -9.99988541e-01 -1.04842952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.230385723 meters 0.014933502431693176 Centerline is valid? [True, True] Translation: X:198.75, Y:-168.68, Z:-10.48 [[-9.89604045e-01 -1.43731812e-01 4.99999906e-03 1.98748581e+02] [-1.43729671e-01 9.89616675e-01 7.86750633e-04 -1.68675219e+02] [-5.06116353e-03 5.99233874e-05 -9.99987190e-01 -1.04842201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.290385723 meters 0.015115532124859466 Centerline is valid? [True, True] Translation: X:198.72, Y:-168.65, Z:-10.48 [[-9.76028659e-01 -2.17568778e-01 5.64662611e-03 1.98719191e+02] [-2.17564863e-01 9.76044991e-01 1.30603818e-03 -1.68648664e+02] [-5.79551426e-03 4.62232612e-05 -9.99983205e-01 -1.04831483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3503857229999 meters 0.01454221223630234 Centerline is valid? [True, True] Translation: X:198.70, Y:-168.62, Z:-10.48 [[-9.57102529e-01 -2.89701732e-01 5.25890499e-03 1.98700828e+02] [-2.89697190e-01 9.57116976e-01 1.62244188e-03 -1.68622597e+02] [-5.50341146e-03 2.93532324e-05 -9.99984856e-01 -1.04833439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.410385723 meters 0.014297727397408401 Centerline is valid? [True, True] Translation: X:198.67, Y:-168.60, Z:-10.48 [[-9.32670562e-01 -3.60691808e-01 5.20023578e-03 1.98665721e+02] [-3.60686126e-01 9.32685059e-01 2.02454826e-03 -1.68603804e+02] [-5.58042019e-03 1.25836676e-05 -9.99984429e-01 -1.04832883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4703857229999 meters 0.014457384146743213 Centerline is valid? [True, True] Translation: X:198.61, Y:-168.60, Z:-10.48 [[-9.02842147e-01 -4.29932511e-01 5.83902361e-03 1.98613391e+02] [-4.29923535e-01 9.02861028e-01 2.77807642e-03 -1.68596433e+02] [-6.46621223e-03 -2.16919578e-06 -9.99979094e-01 -1.04819357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.530385723 meters 0.01441296742895841 Centerline is valid? [True, True] Translation: X:198.55, Y:-168.60, Z:-10.48 [[-8.67854292e-01 -4.96799910e-01 4.33336633e-03 1.98547505e+02] [-4.96793777e-01 8.67865110e-01 2.46855635e-03 -1.68601003e+02] [-4.98715602e-03 -1.04422020e-05 -9.99987564e-01 -1.04831330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5903857229999 meters 0.014591822028504156 Centerline is valid? [True, True] Translation: X:198.48, Y:-168.62, Z:-10.48 [[-8.28465491e-01 -5.60025059e-01 4.10646751e-03 1.98475508e+02] [-5.60018254e-01 8.28475668e-01 2.76092078e-03 -1.68615379e+02] [-4.94829324e-03 -1.23691766e-05 -9.99987757e-01 -1.04822178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.650385723 meters 0.015414094664202436 Centerline is valid? [True, True] Translation: X:198.40, Y:-168.65, Z:-10.48 [[-7.84877524e-01 -6.19635118e-01 4.42628603e-03 1.98395518e+02] [-6.19625345e-01 7.84890005e-01 3.48009345e-03 -1.68646673e+02] [-5.63053578e-03 -1.11918801e-05 -9.99984148e-01 -1.04810977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.710385723 meters 0.014715512045986786 Centerline is valid? [True, True] Translation: X:198.32, Y:-168.68, Z:-10.48 [[-7.37013781e-01 -6.75869425e-01 3.34769940e-03 1.98317591e+02] [-6.75862473e-01 7.37021384e-01 3.06560897e-03 -1.68681052e+02] [-4.53927742e-03 -3.18833877e-06 -9.99989697e-01 -1.04816605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.770385723 meters 0.014740529534779993 Centerline is valid? [True, True] Translation: X:198.24, Y:-168.73, Z:-10.48 [[-6.85272614e-01 -7.28283682e-01 2.07929285e-03 1.98235877e+02] [-7.28280313e-01 6.85275769e-01 2.21496033e-03 -1.68729592e+02] [-3.03800847e-03 3.54360972e-06 -9.99995385e-01 -1.04815874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.830385723 meters 0.014741980070530162 Centerline is valid? [True, True] Translation: X:198.16, Y:-168.79, Z:-10.48 [[-6.28583203e-01 -7.77740240e-01 1.80972416e-03 1.98155064e+02] [-7.77736995e-01 6.28585808e-01 2.24691056e-03 -1.68789478e+02] [-2.88507968e-03 4.88080472e-06 -9.99995838e-01 -1.04822934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.890385723 meters 0.015176457118993767 Centerline is valid? [True, True] Translation: X:198.07, Y:-168.86, Z:-10.48 [[-5.67137048e-01 -8.23619840e-01 2.43460177e-03 1.98072910e+02] [-8.23612225e-01 5.67142274e-01 3.54174727e-03 -1.68858234e+02] [-4.29781891e-03 3.48831454e-06 -9.99990764e-01 -1.04791005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.950385723 meters 0.014795466298981765 Centerline is valid? [True, True] Translation: X:197.99, Y:-168.95, Z:-10.48 [[-5.02580426e-01 -8.64528558e-01 1.81320457e-03 1.97986216e+02] [-8.64522918e-01 5.02583697e-01 3.12275362e-03 -1.68949734e+02] [-3.61099674e-03 1.87793358e-06 -9.99993480e-01 -1.04795081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.010385723 meters 0.014777004927061745 Centerline is valid? [True, True] Translation: X:197.92, Y:-169.02, Z:-10.48 [[-4.35627575e-01 -9.00125847e-01 1.44048424e-03 1.97921221e+02] [-9.00120894e-01 4.35629957e-01 2.98613217e-03 -1.69021605e+02] [-3.31541283e-03 4.23155237e-06 -9.99994504e-01 -1.04797471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.070385723 meters 0.01463293405502859 Centerline is valid? [True, True] Translation: X:197.85, Y:-169.12, Z:-10.48 [[-3.67392453e-01 -9.30065124e-01 1.28515572e-03 1.97854347e+02] [-9.30059319e-01 3.67394700e-01 3.28609809e-03 -1.69120423e+02] [-3.52844462e-03 1.20165782e-05 -9.99993775e-01 -1.04786783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.130385723 meters 0.014588546926080024 Centerline is valid? [True, True] Translation: X:197.79, Y:-169.23, Z:-10.48 [[-2.96036133e-01 -9.55176409e-01 7.97094808e-04 1.97790426e+02] [-9.55172830e-01 2.96037206e-01 2.61491251e-03 -1.69225621e+02] [-2.73367246e-03 1.27452855e-05 -9.99996263e-01 -1.04785546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.190385723 meters 0.014534603472832402 Centerline is valid? [True, True] Translation: X:197.74, Y:-169.33, Z:-10.48 [[-2.22497848e-01 -9.74933064e-01 4.78304396e-04 1.97740563e+02] [-9.74930694e-01 2.22498362e-01 2.14975436e-03 -1.69325386e+02] [-2.20228855e-03 1.20020817e-05 -9.99997575e-01 -1.04804823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.250385723 meters 0.01442800989237621 Centerline is valid? [True, True] Translation: X:197.69, Y:-169.44, Z:-10.48 [[-1.45446766e-01 -9.89366015e-01 3.57075429e-04 1.97692264e+02] [-9.89362867e-01 1.45447204e-01 2.49548641e-03 -1.69442345e+02] [-2.52088507e-03 9.68325835e-06 -9.99996823e-01 -1.04796601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.310385723 meters 0.014272680781451838 Centerline is valid? [True, True] Translation: X:197.65, Y:-169.56, Z:-10.48 [[-6.62561489e-02 -9.97802628e-01 1.94087328e-04 1.97650720e+02] [-9.97798231e-01 6.62564331e-02 2.96231887e-03 -1.69557578e+02] [-2.96866909e-03 2.61184807e-06 -9.99995594e-01 -1.04774173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.370385723 meters 0.014263150762240951 Centerline is valid? [True, True] Translation: X:197.62, Y:-169.68, Z:-10.48 [[ 1.34726949e-02 -9.99909238e-01 -5.02253189e-05 1.97621946e+02] [-9.99899816e-01 -1.34727860e-02 4.34064709e-03 -1.69677494e+02] [-4.34092980e-03 -8.25992670e-06 -9.99990578e-01 -1.04767302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.430385723 meters 0.014202833343961597 Centerline is valid? [True, True] Translation: X:197.60, Y:-169.81, Z:-10.48 [[ 9.16941513e-02 -9.95787141e-01 -3.90711450e-04 1.97602005e+02] [-9.95777446e-01 -9.16949827e-02 4.39410605e-03 -1.69806871e+02] [-4.41142058e-03 -1.38521746e-05 -9.99990270e-01 -1.04768071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.490385723 meters 0.01427709479430048 Centerline is valid? [True, True] Translation: X:197.59, Y:-169.93, Z:-10.48 [[ 1.69680918e-01 -9.85498912e-01 -5.29617557e-04 1.97591030e+02] [-9.85493841e-01 -1.69681744e-01 3.16144105e-03 -1.69931638e+02] [-3.20546314e-03 -1.45013774e-05 -9.99994862e-01 -1.04765994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.550385723 meters 0.014127023262413458 Centerline is valid? [True, True] Translation: X:197.59, Y:-170.06, Z:-10.48 [[ 2.45152569e-01 -9.69484342e-01 -5.73834578e-04 1.97590850e+02] [-9.69481586e-01 -2.45153240e-01 2.31150236e-03 -1.70061094e+02] [-2.38164275e-03 -1.03486843e-05 -9.99997164e-01 -1.04773915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.610385723 meters 0.014117553197448396 Centerline is valid? [True, True] Translation: X:197.60, Y:-170.18, Z:-10.48 [[ 3.19444930e-01 -9.47604699e-01 -5.20591900e-04 1.97597333e+02] [-9.47603403e-01 -3.19445354e-01 1.56719990e-03 -1.70176182e+02] [-1.65138665e-03 -7.31940575e-06 -9.99998636e-01 -1.04774170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.670385723 meters 0.014100483320351338 Centerline is valid? [True, True] Translation: X:197.61, Y:-170.30, Z:-10.48 [[ 3.92088796e-01 -9.19927043e-01 -7.82081255e-04 1.97614780e+02] [-9.19925160e-01 -3.92089575e-01 1.86153446e-03 -1.70304602e+02] [-2.01912180e-03 -1.04305821e-05 -9.99997962e-01 -1.04765203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.730385723 meters 0.013939051542536128 Centerline is valid? [True, True] Translation: X:197.65, Y:-170.45, Z:-10.48 [[ 4.60173941e-01 -8.87827653e-01 -1.41532756e-03 1.97653424e+02] [-8.87823377e-01 -4.60176118e-01 2.75525180e-03 -1.70454412e+02] [-3.09748868e-03 -1.13341881e-05 -9.99995203e-01 -1.04750714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.790385723 meters 0.013807195543069011 Centerline is valid? [True, True] Translation: X:197.67, Y:-170.54, Z:-10.47 [[ 5.25111070e-01 -8.51031395e-01 -1.98229176e-03 1.97667020e+02] [-8.51025296e-01 -5.25114811e-01 3.22199206e-03 -1.70537454e+02] [-3.78294716e-03 -4.92326040e-06 -9.99992845e-01 -1.04743455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8503857229999 meters 0.013739139572425133 Centerline is valid? [True, True] Translation: X:197.71, Y:-170.65, Z:-10.47 [[ 5.88033030e-01 -8.08833620e-01 -2.30870090e-03 1.97708043e+02] [-8.08827380e-01 -5.88037562e-01 3.17720301e-03 -1.70650674e+02] [-3.92743146e-03 -9.59809284e-07 -9.99992288e-01 -1.04743435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.910385723 meters 0.013872836776305412 Centerline is valid? [True, True] Translation: X:197.76, Y:-170.76, Z:-10.47 [[ 6.45851165e-01 -7.63456994e-01 -3.11313056e-03 1.97758957e+02] [-7.63448228e-01 -6.45858667e-01 3.65860954e-03 -1.70762997e+02] [-4.80383340e-03 1.37967791e-05 -9.99988461e-01 -1.04724747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9703857229999 meters 0.014096509509711638 Centerline is valid? [True, True] Translation: X:197.81, Y:-170.86, Z:-10.47 [[ 7.00993644e-01 -7.13160171e-01 -3.23753805e-03 1.97810194e+02] [-7.13152709e-01 -7.01001120e-01 3.26248034e-03 -1.70859711e+02] [-4.59618884e-03 2.18810476e-05 -9.99989437e-01 -1.04721992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.030385723 meters 0.014183923027926865 Centerline is valid? [True, True] Translation: X:197.89, Y:-170.97, Z:-10.47 [[ 7.52892714e-01 -6.58131959e-01 -3.85809959e-03 1.97889935e+02] [-6.58123504e-01 -7.52902599e-01 3.33614106e-03 -1.70973309e+02] [-5.10039426e-03 2.73497175e-05 -9.99986993e-01 -1.04721295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0903857229999 meters 0.014308885802780079 Centerline is valid? [True, True] Translation: X:197.91, Y:-171.00, Z:-10.47 [[ 8.01312800e-01 -5.98235019e-01 -3.55782284e-03 1.97908777e+02] [-5.98229284e-01 -8.01320698e-01 2.61976605e-03 -1.70997579e+02] [-4.41819288e-03 2.91417400e-05 -9.99990239e-01 -1.04734103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.150385723 meters 0.014387467923316681 Centerline is valid? [True, True] Translation: X:197.93, Y:-171.02, Z:-10.47 [[ 8.45188424e-01 -5.34455157e-01 -3.77007737e-03 1.97927793e+02] [-5.34450014e-01 -8.45196831e-01 2.34504582e-03 -1.71019609e+02] [-4.43977928e-03 3.29123247e-05 -9.99990144e-01 -1.04727829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.210385723 meters 0.01690158742138224 Centerline is valid? [True, True] Translation: X:197.95, Y:-171.04, Z:-10.47 [[ 8.83442333e-01 -4.68524153e-01 -3.84208824e-03 1.97949174e+02] [-4.68519924e-01 -8.83450687e-01 1.99128089e-03 -1.71042317e+02] [-4.32725869e-03 4.09130536e-05 -9.99990637e-01 -1.04707271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.270385723 meters 0.015039811320283496 Centerline is valid? [True, True] Translation: X:197.97, Y:-171.06, Z:-10.47 [[ 9.15969469e-01 -4.01229952e-01 -3.80230087e-03 1.97972752e+02] [-4.01226737e-01 -9.15977359e-01 1.60719973e-03 -1.71060470e+02] [-4.12767818e-03 5.34388883e-05 -9.99991480e-01 -1.04721428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.330385723 meters 0.016064009254106636 Centerline is valid? [True, True] Translation: X:198.00, Y:-171.08, Z:-10.47 [[ 9.43496705e-01 -3.31360199e-01 -3.79287900e-03 1.97997700e+02] [-3.31357795e-01 -9.43504327e-01 1.26381409e-03 -1.71077004e+02] [-3.99737544e-03 6.43955886e-05 -9.99992008e-01 -1.04724562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.390385723 meters 0.015738663373608842 Centerline is valid? [True, True] Translation: X:198.02, Y:-171.10, Z:-10.47 [[ 9.66418328e-01 -2.56954418e-01 -3.16904434e-03 1.98023054e+02] [-2.56953219e-01 -9.66423522e-01 7.86612853e-04 -1.71095769e+02] [-3.26476264e-03 5.40990671e-05 -9.99994669e-01 -1.04728912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.450385723 meters 0.015253893892142132 Centerline is valid? [True, True] Translation: X:198.04, Y:-171.12, Z:-10.47 [[ 9.83853951e-01 -1.78910280e-01 -4.74501006e-03 1.98044840e+02] [-1.78908549e-01 -9.83865391e-01 7.90311405e-04 -1.71115703e+02] [-4.80984601e-03 7.13718641e-05 -9.99988430e-01 -1.04717920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.510385723 meters 0.014991635533860594 Centerline is valid? [True, True] Translation: X:198.07, Y:-171.14, Z:-10.47 [[ 9.95134798e-01 -9.83207494e-02 -6.30592507e-03 1.98068211e+02] [-9.83192495e-02 -9.95154774e-01 5.48164158e-04 -1.71135308e+02] [-6.32926735e-03 7.44965927e-05 -9.99979967e-01 -1.04702589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.570385723 meters 0.0149358758805265 Centerline is valid? [True, True] Translation: X:198.09, Y:-171.15, Z:-10.47 [[ 9.99811094e-01 -1.85079076e-02 -5.93576283e-03 1.98092651e+02] [-1.85079405e-02 -9.99828712e-01 4.93918027e-05 -1.71150036e+02] [-5.93566024e-03 6.04762728e-05 -9.99982382e-01 -1.04699059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.630385723 meters 0.015467376962521798 Centerline is valid? [True, True] Translation: X:198.12, Y:-171.17, Z:-10.47 [[ 9.98074790e-01 6.17979893e-02 -5.26517215e-03 1.98119996e+02] [ 6.17968994e-02 -9.98088677e-01 -3.69580926e-04 -1.71165285e+02] [-5.27794807e-03 4.34980914e-05 -9.99986071e-01 -1.04695996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.690385723 meters 0.014739256540116276 Centerline is valid? [True, True] Translation: X:198.15, Y:-171.17, Z:-10.47 [[ 9.90215941e-01 1.39481305e-01 -4.16594653e-03 1.98147556e+02] [ 1.39479918e-01 -9.90224704e-01 -6.23174580e-04 -1.71174249e+02] [-4.21214437e-03 3.60115231e-05 -9.99991128e-01 -1.04715541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.750385723 meters 0.014951646825135034 Centerline is valid? [True, True] Translation: X:198.18, Y:-171.18, Z:-10.47 [[ 9.76422999e-01 2.15829546e-01 -3.96670148e-03 1.98175318e+02] [ 2.15827607e-01 -9.76431055e-01 -9.15796744e-04 -1.71181765e+02] [-4.07086650e-03 3.80813173e-05 -9.99991713e-01 -1.04707670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.810385723 meters 0.014921842093275456 Centerline is valid? [True, True] Translation: X:198.20, Y:-171.19, Z:-10.47 [[ 9.56319898e-01 2.92285752e-01 -4.61418690e-03 1.98203955e+02] [ 2.92282141e-01 -9.56331029e-01 -1.45364122e-03 -1.71185153e+02] [-4.83756873e-03 4.15016023e-05 -9.99988298e-01 -1.04704658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.870385723 meters 0.014755266385524038 Centerline is valid? [True, True] Translation: X:198.23, Y:-171.19, Z:-10.47 [[ 9.30137368e-01 3.67193763e-01 -3.63561429e-03 1.98233266e+02] [ 3.67190833e-01 -9.30144473e-01 -1.46726445e-03 -1.71186611e+02] [-3.92041689e-03 2.97932554e-05 -9.99992315e-01 -1.04717154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.930385723 meters 0.014753882770368846 Centerline is valid? [True, True] Translation: X:198.26, Y:-171.19, Z:-10.47 [[ 8.98701575e-01 4.38546428e-01 -3.53691058e-03 1.98262995e+02] [ 4.38542894e-01 -8.98708534e-01 -1.76084441e-03 -1.71186284e+02] [-3.95086375e-03 3.13866486e-05 -9.99992195e-01 -1.04712641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.990385723 meters 0.015101799261501802 Centerline is valid? [True, True] Translation: X:198.29, Y:-171.18, Z:-10.47 [[ 8.62731518e-01 5.05646370e-01 -4.00953838e-03 1.98291099e+02] [ 5.05640655e-01 -8.62740834e-01 -2.40466833e-03 -1.71179399e+02] [-4.67510430e-03 4.71975491e-05 -9.99989071e-01 -1.04710888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.050385723 meters 0.015411759372489437 Centerline is valid? [True, True] Translation: X:198.32, Y:-171.17, Z:-10.47 [[ 8.22347036e-01 5.68972033e-01 -4.02211863e-03 1.98321698e+02] [ 5.68964836e-01 -8.22356870e-01 -2.86259418e-03 -1.71174866e+02] [-4.93635292e-03 6.56017754e-05 -9.99987814e-01 -1.04710587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.110385723 meters 0.01549607444845997 Centerline is valid? [True, True] Translation: X:198.35, Y:-171.17, Z:-10.47 [[ 7.77427844e-01 6.28961105e-01 -3.72501674e-03 1.98354977e+02] [ 6.28953381e-01 -7.77436764e-01 -3.11799669e-03 -1.71171078e+02] [-4.85706360e-03 8.11555742e-05 -9.99988201e-01 -1.04722902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.170385723 meters 0.016484578586739525 Centerline is valid? [True, True] Translation: X:198.38, Y:-171.16, Z:-10.47 [[ 7.26750036e-01 6.86898240e-01 -2.27891393e-03 1.98383254e+02] [ 6.86894610e-01 -7.26753607e-01 -2.23380050e-03 -1.71161681e+02] [-3.19060255e-03 5.80408984e-05 -9.99994908e-01 -1.04731993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.230385723 meters 0.017728532285720154 Centerline is valid? [True, True] Translation: X:198.42, Y:-171.16, Z:-10.47 [[ 6.70904638e-01 7.41540014e-01 -2.31825228e-03 1.98417898e+02] [ 7.41535250e-01 -6.70908640e-01 -2.65895991e-03 -1.71155665e+02] [-3.52706065e-03 6.48427535e-05 -9.99993778e-01 -1.04714749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.290385723 meters 0.01584735912129152 Centerline is valid? [True, True] Translation: X:198.45, Y:-171.15, Z:-10.47 [[ 6.09183658e-01 7.93027015e-01 -1.85025889e-03 1.98448513e+02] [ 7.93023101e-01 -6.09186466e-01 -2.49234873e-03 -1.71145174e+02] [-3.10365255e-03 5.10000761e-05 -9.99995182e-01 -1.04742282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3503857229999 meters 0.015427831045093628 Centerline is valid? [True, True] Translation: X:198.48, Y:-171.13, Z:-10.47 [[ 5.43171466e-01 8.39620326e-01 -1.57068578e-03 1.98478761e+02] [ 8.39616593e-01 -5.43173735e-01 -2.50408221e-03 -1.71131306e+02] [-2.95563359e-03 4.13721571e-05 -9.99995631e-01 -1.04743789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.410385723 meters 0.015063661599331143 Centerline is valid? [True, True] Translation: X:198.51, Y:-171.11, Z:-10.47 [[ 4.72188916e-01 8.81495371e-01 -1.88115735e-03 1.98507987e+02] [ 8.81488035e-01 -4.72192662e-01 -3.59640230e-03 -1.71113688e+02] [-4.05848067e-03 3.99636110e-05 -9.99991764e-01 -1.04748063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4703857229999 meters 0.014718753928610011 Centerline is valid? [True, True] Translation: X:198.54, Y:-171.09, Z:-10.47 [[ 3.96716516e-01 9.17940024e-01 -1.45555341e-03 1.98538667e+02] [ 9.17933693e-01 -3.96719186e-01 -3.40913082e-03 -1.71094639e+02] [-3.70682359e-03 1.63569850e-05 -9.99993130e-01 -1.04749883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.530385723 meters 0.01468920266062485 Centerline is valid? [True, True] Translation: X:198.56, Y:-171.07, Z:-10.47 [[ 3.19889938e-01 9.47453610e-01 -1.44393452e-03 1.98562720e+02] [ 9.47443931e-01 -3.19893197e-01 -4.28265751e-03 -1.71072826e+02] [-4.51952415e-03 1.93204647e-06 -9.99989787e-01 -1.04735598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5903857229999 meters 0.014819537313756551 Centerline is valid? [True, True] Translation: X:198.58, Y:-171.05, Z:-10.47 [[ 2.43278753e-01 9.69955180e-01 -1.54838553e-03 1.98580489e+02] [ 9.69935721e-01 -2.43283680e-01 -6.14398054e-03 -1.71046452e+02] [-6.33608268e-03 -7.13451389e-06 -9.99979927e-01 -1.04735245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.650385723 meters 0.014920825306769211 Centerline is valid? [True, True] Translation: X:198.59, Y:-171.02, Z:-10.47 [[ 1.64662038e-01 9.86349553e-01 -9.86395700e-04 1.98594922e+02] [ 9.86332501e-01 -1.64664992e-01 -5.79979290e-03 -1.71019611e+02] [-5.88304797e-03 -1.79084173e-05 -9.99982695e-01 -1.04741353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.710385723 meters 0.015147442476939844 Centerline is valid? [True, True] Translation: X:198.61, Y:-170.99, Z:-10.48 [[ 8.36117154e-02 9.96498327e-01 -4.06704411e-04 1.98609634e+02] [ 9.96488130e-01 -8.36126998e-02 -4.50802981e-03 -1.70991064e+02] [-4.52624981e-03 -2.83520131e-05 -9.99989756e-01 -1.04762473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.770385723 meters 0.015982083749924096 Centerline is valid? [True, True] Translation: X:198.62, Y:-170.96, Z:-10.48 [[ 1.18460855e-03 9.99999297e-01 -4.84542150e-05 1.98621057e+02] [ 9.99990491e-01 -1.18480148e-03 -4.19700161e-03 -1.70962670e+02] [-4.19705607e-03 -4.34819502e-05 -9.99991191e-01 -1.04763577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.830385723 meters 0.0158783906678051 Centerline is valid? [True, True] Translation: X:198.63, Y:-170.93, Z:-10.48 [[-7.93239915e-02 9.96848845e-01 2.92146598e-04 1.98625051e+02] [ 9.96839292e-01 7.93245104e-02 -4.36434875e-03 -1.70932914e+02] [-4.37377040e-03 -5.49743556e-05 -9.99990434e-01 -1.04768118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.890385723 meters 0.015830092683547847 Centerline is valid? [True, True] Translation: X:198.63, Y:-170.90, Z:-10.48 [[-1.56201069e-01 9.87725014e-01 7.22591279e-04 1.98625337e+02] [ 9.87712659e-01 1.56202730e-01 -4.94070040e-03 -1.70903419e+02] [-4.99292411e-03 -5.80301324e-05 -9.99987534e-01 -1.04770838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.950385723 meters 0.015769305733635774 Centerline is valid? [True, True] Translation: X:198.63, Y:-170.87, Z:-10.48 [[-2.32517448e-01 9.72591537e-01 1.15694566e-03 1.98627511e+02] [ 9.72578237e-01 2.32520319e-01 -5.08659290e-03 -1.70874009e+02] [-5.21619058e-03 -5.75014257e-05 -9.99986394e-01 -1.04778391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.010385723 meters 0.01542869267248615 Centerline is valid? [True, True] Translation: X:198.62, Y:-170.85, Z:-10.48 [[-3.04008657e-01 9.52667819e-01 1.66208105e-03 1.98620019e+02] [ 9.52652882e-01 3.04013198e-01 -5.33501189e-03 -1.70847615e+02] [-5.58778872e-03 -3.85034978e-05 -9.99984387e-01 -1.04784686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.070385723 meters 0.015371494355159575 Centerline is valid? [True, True] Translation: X:198.61, Y:-170.82, Z:-10.48 [[-3.73499927e-01 9.27626628e-01 2.57770301e-03 1.98610272e+02] [ 9.27604228e-01 3.73508821e-01 -6.44643453e-03 -1.70822101e+02] [-6.94267914e-03 -1.66546162e-05 -9.99975899e-01 -1.04774736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.130385723 meters 0.015405999160111896 Centerline is valid? [True, True] Translation: X:198.60, Y:-170.80, Z:-10.48 [[-4.42557388e-01 8.96733524e-01 3.45619046e-03 1.98598959e+02] [ 8.96706228e-01 4.42570883e-01 -6.99670185e-03 -1.70798613e+02] [-7.80378637e-03 2.74542017e-06 -9.99969550e-01 -1.04766955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.190385723 meters 0.015284661329021409 Centerline is valid? [True, True] Translation: X:198.59, Y:-170.78, Z:-10.48 [[-5.10588818e-01 8.59816710e-01 3.77934963e-03 1.98588752e+02] [ 8.59793299e-01 5.10602805e-01 -6.34493062e-03 -1.70775445e+02] [-7.38522390e-03 9.80886595e-06 -9.99972729e-01 -1.04775069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.250385723 meters 0.015354024011998268 Centerline is valid? [True, True] Translation: X:198.58, Y:-170.75, Z:-10.48 [[-5.76273142e-01 8.17246650e-01 4.14467206e-03 1.98578523e+02] [ 8.17225646e-01 5.76288047e-01 -5.85921099e-03 -1.70752027e+02] [-7.17694552e-03 1.06263695e-05 -9.99974245e-01 -1.04789942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.310385723 meters 0.015371680014567273 Centerline is valid? [True, True] Translation: X:198.57, Y:-170.73, Z:-10.48 [[-6.39854316e-01 7.68473736e-01 5.87978296e-03 1.98567707e+02] [ 7.68441247e-01 6.39881331e-01 -7.06624382e-03 -1.70729643e+02] [-9.19258613e-03 -3.09885370e-06 -9.99957747e-01 -1.04778410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.370385723 meters 0.015625865817660223 Centerline is valid? [True, True] Translation: X:198.56, Y:-170.70, Z:-10.48 [[-7.01810949e-01 7.12342702e-01 5.40992462e-03 1.98560122e+02] [ 7.12321065e-01 7.01831798e-01 -5.55222362e-03 -1.70703096e+02] [-7.75194310e-03 -4.30080523e-05 -9.99969952e-01 -1.04783980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.430385723 meters 0.015860225369983185 Centerline is valid? [True, True] Translation: X:198.55, Y:-170.68, Z:-10.48 [[-7.57367297e-01 6.52959985e-01 6.16729613e-03 1.98550004e+02] [ 6.52937585e-01 7.57392404e-01 -5.40900225e-03 -1.70678705e+02] [-8.20292527e-03 -6.97419664e-05 -9.99966353e-01 -1.04780538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.490385723 meters 0.015891588197282907 Centerline is valid? [True, True] Translation: X:198.58, Y:-170.66, Z:-10.48 [[-8.01381307e-01 5.98125019e-01 5.87057625e-03 1.98575375e+02] [ 5.98108424e-01 8.01402807e-01 -4.45588110e-03 -1.70662501e+02] [-7.36987025e-03 -5.96187065e-05 -9.99972840e-01 -1.04795156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.550385723 meters 0.015538287630725943 Centerline is valid? [True, True] Translation: X:198.59, Y:-170.64, Z:-10.48 [[-8.40594313e-01 5.41630431e-01 6.13821032e-03 1.98594858e+02] [ 5.41615606e-01 8.40616722e-01 -4.00767477e-03 -1.70643483e+02] [-7.33056085e-03 -4.42781153e-05 -9.99973130e-01 -1.04799762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.610385723 meters 0.015312269036553593 Centerline is valid? [True, True] Translation: X:198.61, Y:-170.62, Z:-10.48 [[-8.74987071e-01 4.84081253e-01 7.93515463e-03 1.98606469e+02] [ 4.84061127e-01 8.75023051e-01 -4.41417559e-03 -1.70618296e+02] [-9.08026286e-03 -2.12466733e-05 -9.99958773e-01 -1.04779607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.670385723 meters 0.015325916484968616 Centerline is valid? [True, True] Translation: X:198.61, Y:-170.59, Z:-10.48 [[-9.05372101e-01 4.24528244e-01 8.78224344e-03 1.98612108e+02] [ 4.24508442e-01 9.05414695e-01 -4.10040060e-03 -1.70592932e+02] [-9.69230813e-03 1.57481740e-05 -9.99953028e-01 -1.04770203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.730385723 meters 0.01534496231599754 Centerline is valid? [True, True] Translation: X:198.65, Y:-170.58, Z:-10.48 [[-9.32202607e-01 3.61833917e-01 8.63231915e-03 1.98646538e+02] [ 3.61818802e-01 9.32242573e-01 -3.30746937e-03 -1.70578183e+02] [-9.24417001e-03 4.01038043e-05 -9.99957271e-01 -1.04774368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.790385723 meters 0.0154028288186377 Centerline is valid? [True, True] Translation: X:198.66, Y:-170.55, Z:-10.48 [[-9.55374045e-01 2.95267674e-01 8.79971773e-03 1.98658924e+02] [ 2.95255569e-01 9.55414569e-01 -2.67405613e-03 -1.70552034e+02] [-9.19694085e-03 4.34418445e-05 -9.99957706e-01 -1.04768881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8503857229999 meters 0.015452907246971716 Centerline is valid? [True, True] Translation: X:198.88, Y:-169.79, Z:-11.44 [[-9.36821862e-01 -3.49717581e-01 7.90012280e-03 1.98878287e+02] [ 3.49704385e-01 -9.36855168e-01 -3.03925599e-03 -1.69789419e+02] [ 8.46415213e-03 -8.45338735e-05 9.99964175e-01 -1.14388339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.910385723 meters 0.015598812073988168 Centerline is valid? [True, True] Translation: X:198.61, Y:-170.54, Z:-10.48 [[-9.56048329e-01 2.93097931e-01 8.07438075e-03 1.98613948e+02] [ 2.93087950e-01 9.56082423e-01 -2.41937125e-03 -1.70542349e+02] [-8.42888622e-03 5.34678609e-05 -9.99964475e-01 -1.04776106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9703857229999 meters 0.015648489710007398 Centerline is valid? [True, True] Translation: X:198.85, Y:-169.78, Z:-11.44 [[-9.38498242e-01 -3.45194856e-01 7.84611333e-03 1.98848316e+02] [ 3.45182292e-01 -9.38531038e-01 -2.94565365e-03 -1.69778676e+02] [ 8.38064538e-03 -5.61513895e-05 9.99964880e-01 -1.14382955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.030385723 meters 0.018504495833231726 Centerline is valid? [True, True] Translation: X:198.57, Y:-170.53, Z:-10.47 [[-9.57383111e-01 2.88704510e-01 8.20277801e-03 1.98567451e+02] [ 2.88694336e-01 9.57418249e-01 -2.42410710e-03 -1.70525878e+02] [-8.55334001e-03 4.72963633e-05 -9.99963418e-01 -1.04713558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0903857229999 meters 0.01556557323273388 Centerline is valid? [True, True] Translation: X:198.58, Y:-170.50, Z:-10.48 [[-9.75559816e-01 2.19585821e-01 8.06930514e-03 1.98575074e+02] [ 2.19578655e-01 9.75593187e-01 -1.77443036e-03 -1.70497804e+02] [-8.26199886e-03 4.07842134e-05 -9.99965868e-01 -1.04752373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.150385723 meters 0.015937607058099854 Centerline is valid? [True, True] Translation: X:198.58, Y:-170.47, Z:-10.47 [[-9.88182604e-01 1.53019474e-01 8.95444806e-03 1.98583534e+02] [ 1.53013863e-01 9.88223171e-01 -1.31238753e-03 -1.70473939e+02] [-9.04981390e-03 7.32761664e-05 -9.99959047e-01 -1.04734945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.210385723 meters 0.015819838887892585 Centerline is valid? [True, True] Translation: X:198.68, Y:-169.68, Z:-11.44 [[-9.79502000e-01 -2.01300796e-01 7.33634795e-03 1.98683617e+02] [ 2.01293974e-01 -9.79529462e-01 -1.66434807e-03 -1.69682218e+02] [ 7.52120355e-03 -1.53469627e-04 9.99971704e-01 -1.14406986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.270385723 meters 0.01558917767208862 Centerline is valid? [True, True] Translation: X:198.53, Y:-170.46, Z:-10.48 [[-9.88525406e-01 1.50910155e-01 6.60662022e-03 1.98529156e+02] [ 1.50907254e-01 9.88547480e-01 -9.38311049e-04 -1.70463829e+02] [-6.67255844e-03 6.94426026e-05 -9.99977736e-01 -1.04754077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.330385723 meters 0.016080901844927126 Centerline is valid? [True, True] Translation: X:198.65, Y:-169.68, Z:-11.44 [[-9.80281081e-01 -1.97521043e-01 5.86854544e-03 1.98646492e+02] [ 1.97516861e-01 -9.80298641e-01 -1.28964658e-03 -1.69680108e+02] [ 6.00765946e-03 -1.05079467e-04 9.99981948e-01 -1.14408905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.390385723 meters 0.015837030860792498 Centerline is valid? [True, True] Translation: X:198.48, Y:-170.46, Z:-10.48 [[-9.88803500e-01 1.49132624e-01 5.20563835e-03 1.98475387e+02] [ 1.49130913e-01 9.88817200e-01 -7.17608779e-04 -1.70456174e+02] [-5.25444362e-03 6.67475261e-05 -9.99986193e-01 -1.04757959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.450385723 meters 0.01658846303809426 Centerline is valid? [True, True] Translation: X:198.59, Y:-169.67, Z:-11.44 [[-9.82165509e-01 -1.87955274e-01 4.87105547e-03 1.98588944e+02] [ 1.87952557e-01 -9.82177585e-01 -1.01375960e-03 -1.69673103e+02] [ 4.97478296e-03 -8.01523824e-05 9.99987623e-01 -1.14403187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.510385723 meters 0.016996563104338783 Centerline is valid? [True, True] Translation: X:198.42, Y:-170.45, Z:-10.48 [[-9.88538272e-01 1.50899359e-01 4.63333097e-03 1.98424985e+02] [ 1.50898115e-01 9.88549127e-01 -6.18890782e-04 -1.70452431e+02] [-4.67366550e-03 8.73636838e-05 -9.99989075e-01 -1.04759555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.570385723 meters 0.017359477362486334 Centerline is valid? [True, True] Translation: X:198.43, Y:-170.42, Z:-10.47 [[-9.96608315e-01 8.21357331e-02 5.05849819e-03 1.98428827e+02] [ 8.21352021e-02 9.96621147e-01 -3.12965205e-04 -1.70424685e+02] [-5.06711190e-03 1.03577046e-04 -9.99987157e-01 -1.04749404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.630385723 meters 0.01721257377618308 Centerline is valid? [True, True] Translation: X:198.48, Y:-169.63, Z:-11.44 [[-9.94075914e-01 -1.08571975e-01 5.02028945e-03 1.98484017e+02] [ 1.08570063e-01 -9.94088585e-01 -6.52743296e-04 -1.69631351e+02] [ 5.06148206e-03 -1.03823249e-04 9.99987185e-01 -1.14401278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.690385723 meters 0.019283428561210163 Centerline is valid? [True, True] Translation: X:198.36, Y:-170.42, Z:-10.47 [[-9.96767118e-01 8.01580239e-02 5.47763698e-03 1.98361369e+02] [ 8.01575081e-02 9.96782160e-01 -3.13999948e-04 -1.70420560e+02] [-5.48518044e-03 1.26088908e-04 -9.99984948e-01 -1.04721006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.750385723 meters 0.017416802071037664 Centerline is valid? [True, True] Translation: X:198.41, Y:-169.63, Z:-11.44 [[-9.94752647e-01 -1.02222507e-01 4.21086307e-03 1.98413856e+02] [ 1.02220832e-01 -9.94761543e-01 -6.11530147e-04 -1.69628059e+02] [ 4.25131679e-03 -1.77883305e-04 9.99990947e-01 -1.14398990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.810385723 meters 0.01779332066970936 Centerline is valid? [True, True] Translation: X:198.29, Y:-170.42, Z:-10.48 [[-9.97150297e-01 7.53546793e-02 3.59957170e-03 1.98292755e+02] [ 7.53544862e-02 9.97156791e-01 -1.89453968e-04 -1.70415622e+02] [-3.60361361e-03 8.23297947e-05 -9.99993504e-01 -1.04751393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.870385723 meters 0.018251907350658448 Centerline is valid? [True, True] Translation: X:198.34, Y:-169.62, Z:-11.44 [[-9.95122914e-01 -9.85652010e-02 3.90988004e-03 1.98344050e+02] [ 9.85641710e-02 -9.95130593e-01 -4.55707756e-04 -1.69624529e+02] [ 3.93575816e-03 -6.81111455e-05 9.99992253e-01 -1.14409469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.930385723 meters 0.0177444202417226 Centerline is valid? [True, True] Translation: X:198.22, Y:-170.41, Z:-10.47 [[-9.97507365e-01 7.04516186e-02 3.95290319e-03 1.98224632e+02] [ 7.04514143e-02 9.97515194e-01 -1.91082430e-04 -1.70408670e+02] [-3.95654306e-03 8.78814897e-05 -9.99992169e-01 -1.04733636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.990385723 meters 0.017759337680399438 Centerline is valid? [True, True] Translation: X:198.28, Y:-169.63, Z:-11.44 [[-9.95697090e-01 -9.25601691e-02 4.46310817e-03 1.98278588e+02] [ 9.25589426e-02 -9.95707091e-01 -4.81008975e-04 -1.69627351e+02] [ 4.48847072e-03 -6.58386635e-05 9.99989925e-01 -1.14420197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.050385723 meters 0.01830112407265747 Centerline is valid? [True, True] Translation: X:198.17, Y:-170.40, Z:-10.47 [[-9.97515931e-01 7.02985008e-02 4.48206067e-03 1.98165045e+02] [ 7.02983270e-02 9.97525993e-01 -1.96494351e-04 -1.70404360e+02] [-4.48478528e-03 1.19075122e-04 -9.99989936e-01 -1.04734192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.110385723 meters 0.017933488711770546 Centerline is valid? [True, True] Translation: X:198.21, Y:-169.63, Z:-11.44 [[-9.96408006e-01 -8.46467197e-02 2.45331070e-03 1.98207519e+02] [ 8.46459794e-02 -9.96411007e-01 -4.04214595e-04 -1.69626791e+02] [ 2.47872122e-03 -1.95099772e-04 9.99996909e-01 -1.14410405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.170385723 meters 0.017509236682575417 Centerline is valid? [True, True] Translation: X:198.10, Y:-170.40, Z:-10.47 [[-9.97908668e-01 6.45905760e-02 2.51946417e-03 1.98098687e+02] [ 6.45905359e-02 9.97911846e-01 -9.73815634e-05 -1.70396421e+02] [-2.52049308e-03 6.55556348e-05 -9.99996821e-01 -1.04740203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.230385723 meters 0.016896231754163802 Centerline is valid? [True, True] Translation: X:198.10, Y:-170.36, Z:-10.47 [[-9.99949086e-01 -9.75143885e-03 2.59535729e-03 1.98095665e+02] [-9.75125352e-03 9.99952452e-01 8.40532419e-05 -1.70364211e+02] [-2.59605353e-03 5.87409754e-05 -9.99996629e-01 -1.04741776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.290385723 meters 0.016292254795392407 Centerline is valid? [True, True] Translation: X:198.07, Y:-169.61, Z:-11.44 [[-9.99864406e-01 -1.62098793e-02 2.89994094e-03 1.98065846e+02] [ 1.62096809e-02 -9.99868610e-01 -9.19041081e-05 -1.69605095e+02] [ 2.90104967e-03 -4.48845291e-05 9.99995791e-01 -1.14426939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3503857229999 meters 0.01604034973048192 Centerline is valid? [True, True] Translation: X:198.01, Y:-170.36, Z:-10.47 [[-9.99854028e-01 -1.67423133e-02 3.40858306e-03 1.98008975e+02] [-1.67419746e-02 9.99859835e-01 1.27873999e-04 -1.70359587e+02] [-3.41024620e-03 7.07889217e-05 -9.99994183e-01 -1.04723043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.410385723 meters 0.01727613729219553 Centerline is valid? [True, True] Translation: X:197.98, Y:-169.61, Z:-11.44 [[-9.99967940e-01 -7.49153620e-03 2.82769148e-03 1.97983756e+02] [ 7.49123617e-03 -9.99971934e-01 -1.16679023e-04 -1.69610705e+02] [ 2.82848622e-03 -9.54923776e-05 9.99995995e-01 -1.14423690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4703857229999 meters 0.018383367557238545 Centerline is valid? [True, True] Translation: X:197.93, Y:-170.36, Z:-10.47 [[-9.99900620e-01 -1.37735962e-02 3.00647693e-03 1.97926167e+02] [-1.37732697e-02 9.99905136e-01 1.29277069e-04 -1.70361244e+02] [-3.00797233e-03 8.78552042e-05 -9.99995472e-01 -1.04727503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.530385723 meters 0.01854246232429928 Centerline is valid? [True, True] Translation: X:197.92, Y:-170.33, Z:-10.47 [[-9.96688084e-01 -8.12562400e-02 3.20723335e-03 1.97923135e+02] [-8.12554775e-02 9.96693239e-01 3.67571912e-04 -1.70325978e+02] [-3.22649530e-03 1.05749268e-04 -9.99994789e-01 -1.04714552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5903857229999 meters 0.0211688611139343 Centerline is valid? [True, True] Translation: X:197.91, Y:-170.30, Z:-10.47 [[-9.88706458e-01 -1.49859095e-01 1.33869582e-03 1.97914226e+02] [-1.49858890e-01 9.88707363e-01 2.52720536e-04 -1.70297167e+02] [-1.36145088e-03 4.92509568e-05 -9.99999072e-01 -1.04718958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.650385723 meters 0.020040026031378066 Centerline is valid? [True, True] Translation: X:197.89, Y:-170.26, Z:-10.47 [[-9.75569821e-01 -2.19676741e-01 2.37775235e-03 1.97889837e+02] [-2.19675867e-01 9.75572715e-01 6.25787134e-04 -1.70264122e+02] [-2.45714119e-03 8.81642336e-05 -9.99996977e-01 -1.04709686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.710385723 meters 0.018707166585735045 Centerline is valid? [True, True] Translation: X:197.86, Y:-170.24, Z:-10.47 [[-9.56971504e-01 -2.90161142e-01 3.47175519e-03 1.97855109e+02] [-2.90158749e-01 9.56977793e-01 1.18539166e-03 -1.70237679e+02] [-3.66634722e-03 1.27025896e-04 -9.99993271e-01 -1.04700227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.770385723 meters 0.017581177241849835 Centerline is valid? [True, True] Translation: X:197.80, Y:-170.22, Z:-10.47 [[-9.32055052e-01 -3.62282453e-01 4.98041055e-03 1.97801019e+02] [-3.62276314e-01 9.32068343e-01 2.11565257e-03 -1.70218377e+02] [-5.40854681e-03 1.67619893e-04 -9.99985360e-01 -1.04694484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.830385723 meters 0.016667091696939928 Centerline is valid? [True, True] Translation: X:197.49, Y:-169.62, Z:-11.45 [[-9.35336644e-01 3.53709198e-01 5.93007230e-03 1.97494159e+02] [-3.53702991e-01 -9.35355433e-01 2.09975248e-03 -1.69616885e+02] [ 6.28942711e-03 -1.33508872e-04 9.99980212e-01 -1.14473631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.890385723 meters 0.016985709259189307 Centerline is valid? [True, True] Translation: X:197.63, Y:-170.27, Z:-10.47 [[-9.28589565e-01 -3.71081637e-01 4.45404586e-03 1.97633940e+02] [-3.71076642e-01 9.28600236e-01 1.93058274e-03 -1.70274119e+02] [-4.85243184e-03 1.39926611e-04 -9.99988217e-01 -1.04684526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.950385723 meters 0.017148964632670145 Centerline is valid? [True, True] Translation: X:197.57, Y:-170.27, Z:-10.47 [[-8.98855974e-01 -4.38227555e-01 3.81426001e-03 1.97565487e+02] [-4.38223015e-01 8.98864058e-01 1.99870948e-03 -1.70272522e+02] [-4.30439080e-03 1.25055438e-04 -9.99990728e-01 -1.04690207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.010385723 meters 0.01618119699900286 Centerline is valid? [True, True] Translation: X:197.48, Y:-170.28, Z:-10.47 [[-8.62721295e-01 -5.05667736e-01 3.47966024e-03 1.97484861e+02] [-5.05663118e-01 8.62728305e-01 2.16388769e-03 -1.70277935e+02] [-4.09620957e-03 1.07296150e-04 -9.99991605e-01 -1.04690107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.070385723 meters 0.015868738879199328 Centerline is valid? [True, True] Translation: X:197.41, Y:-170.29, Z:-10.47 [[-8.21210478e-01 -5.70617397e-01 3.02269158e-03 1.97410949e+02] [-5.70613136e-01 8.21216036e-01 2.20696572e-03 -1.70289142e+02] [-3.74161583e-03 8.75958555e-05 -9.99992996e-01 -1.04684483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.130385723 meters 0.014851897582147005 Centerline is valid? [True, True] Translation: X:197.32, Y:-170.32, Z:-10.47 [[-7.73631956e-01 -6.33625762e-01 3.46256897e-03 1.97322994e+02] [-6.33618923e-01 7.73639700e-01 2.94522507e-03 -1.70315113e+02] [-4.54495130e-03 8.45710088e-05 -9.99989668e-01 -1.04678461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.190385723 meters 0.014761144409125404 Centerline is valid? [True, True] Translation: X:197.24, Y:-170.35, Z:-10.47 [[-7.22919618e-01 -6.90913408e-01 5.08815391e-03 1.97239484e+02] [-6.90895122e-01 7.22937514e-01 5.02800992e-03 -1.70350546e+02] [-7.15233681e-03 1.19466291e-04 -9.99974415e-01 -1.04651050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.250385723 meters 0.014564601308048312 Centerline is valid? [True, True] Translation: X:197.16, Y:-170.40, Z:-10.47 [[-6.70638650e-01 -7.41768303e-01 4.85653091e-03 1.97156591e+02] [-7.41747330e-01 6.70656219e-01 5.57977995e-03 -1.70398629e+02] [-7.39596657e-03 1.39697259e-04 -9.99972640e-01 -1.04665267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.310385723 meters 0.015325618872734736 Centerline is valid? [True, True] Translation: X:197.08, Y:-170.46, Z:-10.47 [[-6.15259207e-01 -7.88312563e-01 4.40574434e-03 1.97076317e+02] [-7.88290441e-01 6.15274960e-01 5.90799693e-03 -1.70457212e+02] [-7.36809238e-03 1.61943357e-04 -9.99972842e-01 -1.04661341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.370385723 meters 0.018707986433849706 Centerline is valid? [True, True] Translation: X:196.99, Y:-170.53, Z:-10.46 [[-5.54049448e-01 -8.32470550e-01 4.68965701e-03 1.96994680e+02] [-8.32437720e-01 5.54069262e-01 7.39562996e-03 -1.70528352e+02] [-8.75503893e-03 1.93697310e-04 -9.99961655e-01 -1.04640259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.430385723 meters 0.01548702349851186 Centerline is valid? [True, True] Translation: X:196.92, Y:-170.61, Z:-10.47 [[-4.88318115e-01 -8.72659914e-01 3.17699451e-03 1.96918215e+02] [-8.72639515e-01 4.88328429e-01 5.96846115e-03 -1.70605671e+02] [-6.75985354e-03 1.42136752e-04 -9.99977142e-01 -1.04661079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.490385723 meters 0.015321705261527787 Centerline is valid? [True, True] Translation: X:196.85, Y:-170.69, Z:-10.47 [[-4.19119100e-01 -9.07927896e-01 2.47297798e-03 1.96845919e+02] [-9.07910374e-01 4.19126379e-01 5.64194746e-03 -1.70692719e+02] [-6.15897179e-03 1.19405579e-04 -9.99981026e-01 -1.04658256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.550385723 meters 0.014817712975358617 Centerline is valid? [True, True] Translation: X:196.78, Y:-170.79, Z:-10.47 [[-3.46655780e-01 -9.37990028e-01 2.11625877e-03 1.96778437e+02] [-9.37970586e-01 3.46662222e-01 6.04016268e-03 -1.70789370e+02] [-6.39923933e-03 1.08868827e-04 -9.99979519e-01 -1.04657581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.610385723 meters 0.014484319750302536 Centerline is valid? [True, True] Translation: X:196.72, Y:-170.89, Z:-10.47 [[-2.71650141e-01 -9.62395042e-01 1.40888128e-03 1.96718971e+02] [-9.62380551e-01 2.71653783e-01 5.28180445e-03 -1.70890736e+02] [-5.46591035e-03 7.89229817e-05 -9.99985059e-01 -1.04655511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.670385723 meters 0.014222310795529035 Centerline is valid? [True, True] Translation: X:196.67, Y:-171.00, Z:-10.47 [[-1.96932863e-01 -9.80416482e-01 9.84961598e-04 1.96666790e+02] [-9.80402242e-01 1.96935312e-01 5.28458340e-03 -1.70998915e+02] [-5.37506638e-03 7.50495806e-05 -9.99985551e-01 -1.04651699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.730385723 meters 0.014151269750011738 Centerline is valid? [True, True] Translation: X:196.63, Y:-171.11, Z:-10.47 [[-1.22452725e-01 -9.92474125e-01 6.64956686e-04 1.96625034e+02] [-9.92455123e-01 1.22454496e-01 6.14211054e-03 -1.71114284e+02] [-6.17731271e-03 9.21785012e-05 -9.99980916e-01 -1.04652537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.790385723 meters 0.01418356199652142 Centerline is valid? [True, True] Translation: X:196.59, Y:-171.23, Z:-10.47 [[-4.69671173e-02 -9.98896416e-01 1.99571703e-04 1.96589328e+02] [-9.98876106e-01 4.69674352e-02 6.37055955e-03 -1.71228351e+02] [-6.37290247e-03 9.98594120e-05 -9.99979688e-01 -1.04652094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8503857229999 meters 0.0148009149540613 Centerline is valid? [True, True] Translation: X:196.56, Y:-171.35, Z:-10.46 [[ 2.78916999e-02 -9.99610898e-01 -3.26242991e-04 1.96564895e+02] [-9.99584971e-01 -2.78933265e-02 7.20059211e-03 -1.71346734e+02] [-7.20689034e-03 1.25270837e-04 -9.99974022e-01 -1.04645540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.910385723 meters 0.016406390688952447 Centerline is valid? [True, True] Translation: X:196.55, Y:-171.47, Z:-10.46 [[ 1.03228024e-01 -9.94657279e-01 -9.34083314e-04 1.96548446e+02] [-9.94628088e-01 -1.03232152e-01 7.62167397e-03 -1.71467799e+02] [-7.67738092e-03 1.42295158e-04 -9.99970518e-01 -1.04644492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9703857229999 meters 0.015349974458941894 Centerline is valid? [True, True] Translation: X:196.54, Y:-171.59, Z:-10.47 [[ 1.78899863e-01 -9.83866393e-01 -1.32630683e-03 1.96542270e+02] [-9.83844339e-01 -1.78904735e-01 6.58880065e-03 -1.71588952e+02] [-6.71978210e-03 1.26143936e-04 -9.99977414e-01 -1.04652276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.030385723 meters 0.01724529590465484 Centerline is valid? [True, True] Translation: X:196.55, Y:-171.71, Z:-10.46 [[ 2.54663321e-01 -9.67026609e-01 -2.47597509e-03 1.96545310e+02] [-9.66986864e-01 -2.54675306e-01 8.76887912e-03 -1.71713802e+02] [-9.11030916e-03 1.61123504e-04 -9.99958487e-01 -1.04627976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0903857229999 meters 0.015148773352327246 Centerline is valid? [True, True] Translation: X:196.56, Y:-171.84, Z:-10.46 [[ 3.28963899e-01 -9.44337341e-01 -3.12070269e-03 1.96559468e+02] [-9.44299092e-01 -3.28978667e-01 8.50068620e-03 -1.71844421e+02] [-9.05416002e-03 1.50457837e-04 -9.99958999e-01 -1.04646605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.150385723 meters 0.015088579800676322 Centerline is valid? [True, True] Translation: X:196.58, Y:-171.95, Z:-10.47 [[ 4.00074675e-01 -9.16476913e-01 -3.21288037e-03 1.96577347e+02] [-9.16449942e-01 -4.00087554e-01 7.03225488e-03 -1.71954884e+02] [-7.73033269e-03 1.31016939e-04 -9.99970112e-01 -1.04660072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.210385723 meters 0.015205725885886489 Centerline is valid? [True, True] Translation: X:196.61, Y:-172.07, Z:-10.47 [[ 4.68272712e-01 -8.83574726e-01 -4.04600584e-03 1.96607833e+02] [-8.83544444e-01 -4.68290168e-01 7.31675845e-03 -1.72071027e+02] [-8.35960760e-03 1.48587653e-04 -9.99965047e-01 -1.04656168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.270385723 meters 0.015497797211889973 Centerline is valid? [True, True] Translation: X:196.65, Y:-172.18, Z:-10.47 [[ 5.33100549e-01 -8.46040620e-01 -4.36740702e-03 1.96646930e+02] [-8.46014562e-01 -5.33118417e-01 6.64194118e-03 -1.72181267e+02] [-7.94769715e-03 1.54067446e-04 -9.99968405e-01 -1.04660826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.330385723 meters 0.016004516806152287 Centerline is valid? [True, True] Translation: X:196.69, Y:-172.29, Z:-10.47 [[ 5.94851988e-01 -8.03821104e-01 -4.76922852e-03 1.96692457e+02] [-8.03797440e-01 -5.94871084e-01 6.16998104e-03 -1.72287288e+02] [-7.79663711e-03 1.63268195e-04 -9.99969592e-01 -1.04663533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.390385723 meters 0.01692942082989031 Centerline is valid? [True, True] Translation: X:196.75, Y:-172.39, Z:-10.47 [[ 6.52568067e-01 -7.57714340e-01 -4.88836449e-03 1.96747852e+02] [-7.57695010e-01 -6.52586354e-01 5.41507545e-03 -1.72390770e+02] [-7.29316028e-03 1.70184054e-04 -9.99973390e-01 -1.04669486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.450385723 meters 0.016016204733647413 Centerline is valid? [True, True] Translation: X:196.80, Y:-172.48, Z:-10.47 [[ 7.08060127e-01 -7.06130954e-01 -5.47100808e-03 1.96802372e+02] [-7.06111804e-01 -7.08081241e-01 5.20360247e-03 -1.72483902e+02] [-7.54834296e-03 1.78679961e-04 -9.99971495e-01 -1.04681862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.510385723 meters 0.015457982492501233 Centerline is valid? [True, True] Translation: X:196.82, Y:-172.51, Z:-10.47 [[ 7.62872284e-01 -6.46515426e-01 -6.60933506e-03 1.96820110e+02] [-6.46493161e-01 -7.62900893e-01 5.36837405e-03 -1.72513734e+02] [-8.51300425e-03 1.77506141e-04 -9.99963748e-01 -1.04676938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.570385723 meters 0.01537307519943924 Centerline is valid? [True, True] Translation: X:196.84, Y:-172.54, Z:-10.47 [[ 8.12395328e-01 -5.83063777e-01 -7.10366526e-03 1.96840095e+02] [-5.83043202e-01 -8.12426370e-01 4.90084363e-03 -1.72540111e+02] [-8.62870937e-03 1.60321272e-04 -9.99962759e-01 -1.04671536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.630385723 meters 0.015558430893793912 Centerline is valid? [True, True] Translation: X:196.86, Y:-172.56, Z:-10.47 [[ 8.55621549e-01 -5.17556612e-01 -6.84969019e-03 1.96863563e+02] [-5.17541381e-01 -8.55648954e-01 3.97329581e-03 -1.72562048e+02] [-7.91733576e-03 1.45360605e-04 -9.99968647e-01 -1.04679652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.690385723 meters 0.016107624274621386 Centerline is valid? [True, True] Translation: X:196.89, Y:-172.58, Z:-10.47 [[ 8.93465575e-01 -4.49081161e-01 -6.73618694e-03 1.96889690e+02] [-4.49069554e-01 -8.93490958e-01 3.23179364e-03 -1.72577619e+02] [-7.47005977e-03 1.37520099e-04 -9.99972089e-01 -1.04680680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.750385723 meters 0.0160077374614189 Centerline is valid? [True, True] Translation: X:196.91, Y:-172.60, Z:-10.47 [[ 9.25502917e-01 -3.78674588e-01 -7.06445067e-03 1.96914706e+02] [-3.78664757e-01 -9.25529867e-01 2.73257465e-03 -1.72596107e+02] [-7.57311667e-03 1.46052680e-04 -9.99971313e-01 -1.04682149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.810385723 meters 0.016319660256341083 Centerline is valid? [True, True] Translation: X:196.94, Y:-172.61, Z:-10.47 [[ 9.51629954e-01 -3.07144630e-01 -7.91250657e-03 1.96942033e+02] [-3.07135548e-01 -9.51662832e-01 2.36851954e-03 -1.72610211e+02] [-8.25751646e-03 1.76257896e-04 -9.99965891e-01 -1.04685338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.870385723 meters 0.01664090431515582 Centerline is valid? [True, True] Translation: X:196.97, Y:-172.63, Z:-10.47 [[ 9.72584883e-01 -2.32366861e-01 -9.18078105e-03 1.96969126e+02] [-2.32358503e-01 -9.72628192e-01 1.98156800e-03 -1.72625316e+02] [-9.38993721e-03 2.05989456e-04 -9.99955892e-01 -1.04683950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.930385723 meters 0.0163243662226816 Centerline is valid? [True, True] Translation: X:196.99, Y:-172.64, Z:-10.47 [[ 9.88079263e-01 -1.53643987e-01 -9.63823541e-03 1.96992568e+02] [-1.53638595e-01 -9.88126251e-01 1.30177520e-03 -1.72641267e+02] [-9.72380335e-03 1.94547864e-04 -9.99952704e-01 -1.04681093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.990385723 meters 0.01647861409667228 Centerline is valid? [True, True] Translation: X:197.02, Y:-172.65, Z:-10.47 [[ 9.97202314e-01 -7.42422902e-02 -8.69636655e-03 1.97016710e+02] [-7.42408700e-02 -9.97240220e-01 4.86451989e-04 -1.72652460e+02] [-8.70848180e-03 1.60534769e-04 -9.99962068e-01 -1.04689856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.050385723 meters 0.01582641441391978 Centerline is valid? [True, True] Translation: X:197.04, Y:-172.67, Z:-10.47 [[ 9.99950477e-01 4.07771902e-03 -9.07826640e-03 1.97042663e+02] [ 4.07603640e-03 -9.99991672e-01 -2.03839954e-04 -1.72668233e+02] [-9.07902200e-03 1.66826515e-04 -9.99958771e-01 -1.04694806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.110385723 meters 0.016052442885631353 Centerline is valid? [True, True] Translation: X:197.07, Y:-172.68, Z:-10.47 [[ 9.96615276e-01 8.17217630e-02 -8.91882761e-03 1.97069416e+02] [ 8.17169584e-02 -9.96655168e-01 -9.02407178e-04 -1.72678416e+02] [-8.96274194e-03 1.70533314e-04 -9.99959819e-01 -1.04696067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.170385723 meters 0.016087067241041128 Centerline is valid? [True, True] Translation: X:197.10, Y:-172.69, Z:-10.47 [[ 9.87142522e-01 1.59608894e-01 -8.63955692e-03 1.97097611e+02] [ 1.59601305e-01 -9.87180315e-01 -1.56528973e-03 -1.72688112e+02] [-8.77863468e-03 1.66279492e-04 -9.99961453e-01 -1.04697537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.230385723 meters 0.016226832806103535 Centerline is valid? [True, True] Translation: X:197.13, Y:-172.69, Z:-10.47 [[ 9.71397390e-01 2.37260775e-01 -9.71776000e-03 1.97126005e+02] [ 2.37247035e-01 -9.71445980e-01 -2.55984270e-03 -1.72694540e+02] [-1.00476291e-02 1.81114777e-04 -9.99949505e-01 -1.04681987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.290385723 meters 0.015728286246391304 Centerline is valid? [True, True] Translation: X:197.16, Y:-172.70, Z:-10.47 [[ 9.49241854e-01 3.14425435e-01 -8.74921960e-03 1.97155151e+02] [ 3.14410628e-01 -9.49282162e-01 -3.05507136e-03 -1.72699819e+02] [-9.26607025e-03 1.49153978e-04 -9.99957058e-01 -1.04690867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3503857229999 meters 0.015972966128390078 Centerline is valid? [True, True] Translation: X:197.18, Y:-172.70, Z:-10.47 [[ 9.21121402e-01 3.89208973e-01 -7.19296308e-03 1.97182852e+02] [ 3.89196131e-01 -9.21149479e-01 -3.16376108e-03 -1.72699251e+02] [-7.85715839e-03 1.14734636e-04 -9.99969126e-01 -1.04699026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.410385723 meters 0.015421288421168352 Centerline is valid? [True, True] Translation: X:197.21, Y:-172.70, Z:-10.47 [[ 8.87235118e-01 4.61266141e-01 -6.88416238e-03 1.97211684e+02] [ 4.61251343e-01 -8.87261819e-01 -3.69628237e-03 -1.72698403e+02] [-7.81302434e-03 1.04142380e-04 -9.99969472e-01 -1.04703903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4703857229999 meters 0.015323287544359342 Centerline is valid? [True, True] Translation: X:197.24, Y:-172.69, Z:-10.47 [[ 8.49045743e-01 5.28282715e-01 -6.22086089e-03 1.97240245e+02] [ 5.28267603e-01 -8.49068526e-01 -3.99725645e-03 -1.72692856e+02] [-7.39361867e-03 1.07574296e-04 -9.99972661e-01 -1.04722174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.530385723 meters 0.01570759781044346 Centerline is valid? [True, True] Translation: X:197.27, Y:-172.69, Z:-10.47 [[ 8.07110697e-01 5.90370893e-01 -5.87635797e-03 1.97268906e+02] [ 5.90354040e-01 -8.07132078e-01 -4.46275036e-03 -1.72686523e+02] [-7.37767494e-03 1.32801885e-04 -9.99972776e-01 -1.04723847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5903857229999 meters 0.017061738035357484 Centerline is valid? [True, True] Translation: X:197.29, Y:-172.68, Z:-10.47 [[ 7.60458109e-01 6.49353196e-01 -6.62498167e-03 1.97292921e+02] [ 6.49326393e-01 -7.60486944e-01 -5.90290253e-03 -1.72676188e+02] [-8.87128069e-03 1.87134645e-04 -9.99960632e-01 -1.04706613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.650385723 meters 0.01682229822298939 Centerline is valid? [True, True] Translation: X:197.32, Y:-172.67, Z:-10.47 [[ 7.07716646e-01 7.06463535e-01 -6.81341985e-03 1.97318529e+02] [ 7.06427859e-01 -7.07749411e-01 -7.10293194e-03 -1.72665669e+02] [-9.84015629e-03 2.13673576e-04 -9.99951562e-01 -1.04704973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.710385723 meters 0.01648330376512578 Centerline is valid? [True, True] Translation: X:197.35, Y:-172.66, Z:-10.47 [[ 6.50860058e-01 7.59170043e-01 -6.48307115e-03 1.97345367e+02] [ 7.59128807e-01 -6.50892305e-01 -7.91589749e-03 -1.72655186e+02] [-1.02292934e-02 2.30655430e-04 -9.99947653e-01 -1.04706284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.770385723 meters 0.01667416217374156 Centerline is valid? [True, True] Translation: X:197.37, Y:-172.64, Z:-10.47 [[ 5.88121536e-01 8.08752369e-01 -5.71525947e-03 1.97369956e+02] [ 8.08710671e-01 -5.88149268e-01 -8.21519230e-03 -1.72642601e+02] [-1.00054819e-02 2.09540196e-04 -9.99949922e-01 -1.04703078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.830385723 meters 0.0160204060584224 Centerline is valid? [True, True] Translation: X:197.39, Y:-172.63, Z:-10.47 [[ 5.19534636e-01 8.54436672e-01 -4.66218031e-03 1.97393598e+02] [ 8.54399538e-01 -5.19555531e-01 -7.96736803e-03 -1.72626553e+02] [-9.22987299e-03 1.55958944e-04 -9.99957392e-01 -1.04701043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.890385723 meters 0.01491491109995749 Centerline is valid? [True, True] Translation: X:197.42, Y:-172.61, Z:-10.47 [[ 4.46935734e-01 8.94559877e-01 -3.32812856e-03 1.97419136e+02] [ 8.94533484e-01 -4.46948115e-01 -6.87233403e-03 -1.72611101e+02] [-7.63521507e-03 9.43692155e-05 -9.99970847e-01 -1.04719174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.950385723 meters 0.014711938084733929 Centerline is valid? [True, True] Translation: X:197.44, Y:-172.59, Z:-10.47 [[ 3.73650542e-01 9.27565571e-01 -2.71722642e-03 1.97439975e+02] [ 9.27539520e-01 -3.73660414e-01 -6.95222558e-03 -1.72591719e+02] [-7.46396504e-03 7.73679618e-05 -9.99972141e-01 -1.04710007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.010385723 meters 0.014620348097585672 Centerline is valid? [True, True] Translation: X:197.46, Y:-172.57, Z:-10.47 [[ 2.98625466e-01 9.54368069e-01 -2.10218100e-03 1.97458526e+02] [ 9.54342847e-01 -2.98632858e-01 -6.93871343e-03 -1.72570288e+02] [-7.24986686e-03 6.58751317e-05 -9.99973717e-01 -1.04723503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.070385723 meters 0.014752370178759617 Centerline is valid? [True, True] Translation: X:197.48, Y:-172.55, Z:-10.47 [[ 2.25303755e-01 9.74287552e-01 -1.40830971e-03 1.97476832e+02] [ 9.74266359e-01 -2.25308144e-01 -6.42660696e-03 -1.72548526e+02] [-6.57866681e-03 7.58699042e-05 -9.99978357e-01 -1.04727328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.130385723 meters 0.015621712614858976 Centerline is valid? [True, True] Translation: X:197.49, Y:-172.52, Z:-10.47 [[ 1.53961651e-01 9.88076374e-01 -9.42595038e-04 1.97491626e+02] [ 9.88052856e-01 -1.53964491e-01 -6.81834746e-03 -1.72524815e+02] [-6.88217421e-03 1.18430313e-04 -9.99976311e-01 -1.04715967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.190385723 meters 0.01680635070061526 Centerline is valid? [True, True] Translation: X:197.50, Y:-172.50, Z:-10.47 [[ 8.28884151e-02 9.96558737e-01 -4.40634941e-04 1.97504634e+02] [ 9.96530794e-01 -8.28893916e-02 -7.46501229e-03 -1.72499739e+02] [-7.47584718e-03 1.79656751e-04 -9.99972039e-01 -1.04719160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.250385723 meters 0.018183752987599656 Centerline is valid? [True, True] Translation: X:197.52, Y:-172.47, Z:-10.47 [[ 7.46400851e-03 9.99972136e-01 1.27273964e-04 1.97517271e+02] [ 9.99950847e-01 -7.46301882e-03 -6.52733911e-03 -1.72474975e+02] [-6.52620738e-03 1.75987823e-04 -9.99978689e-01 -1.04718872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.310385723 meters 0.017495541610915773 Centerline is valid? [True, True] Translation: X:197.53, Y:-172.45, Z:-10.47 [[-7.21331940e-02 9.97394895e-01 4.74901117e-04 1.97532103e+02] [ 9.97383200e-01 7.21346488e-02 -4.83165975e-03 -1.72448110e+02] [-4.85332959e-03 1.25135345e-04 -9.99988215e-01 -1.04729001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.370385723 meters 0.018899554554133894 Centerline is valid? [True, True] Translation: X:197.54, Y:-172.42, Z:-10.47 [[-1.52271902e-01 9.88338238e-01 8.91818879e-04 1.97541484e+02] [ 9.88325579e-01 1.52274466e-01 -5.00377426e-03 -1.72420137e+02] [-5.08122268e-03 1.19473189e-04 -9.99987083e-01 -1.04710762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.430385723 meters 0.015846552110405344 Centerline is valid? [True, True] Translation: X:197.55, Y:-172.39, Z:-10.47 [[-2.33462815e-01 9.72364984e-01 1.20467218e-03 1.97553712e+02] [ 9.72353991e-01 2.33465905e-01 -4.62466532e-03 -1.72389864e+02] [-4.77811251e-03 9.16804214e-05 -9.99988581e-01 -1.04733739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.490385723 meters 0.015515464873191817 Centerline is valid? [True, True] Translation: X:197.56, Y:-172.36, Z:-10.48 [[-3.11071286e-01 9.50386033e-01 1.02153768e-03 1.97559241e+02] [ 9.50381460e-01 3.11072958e-01 -2.94864187e-03 -1.72359892e+02] [-3.12012079e-03 5.36126516e-05 -9.99995131e-01 -1.04754106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.550385723 meters 0.016470419579330643 Centerline is valid? [True, True] Translation: X:197.56, Y:-172.33, Z:-10.47 [[-3.85863616e-01 9.22554798e-01 1.38391126e-03 1.97562194e+02] [ 9.22549359e-01 3.85866094e-01 -3.16825106e-03 -1.72329064e+02] [-3.45688965e-03 5.42136396e-05 -9.99994024e-01 -1.04738396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.610385723 meters 0.01488413356857932 Centerline is valid? [True, True] Translation: X:197.57, Y:-172.30, Z:-10.48 [[-4.58735478e-01 8.88572457e-01 8.65798910e-04 1.97566189e+02] [ 8.88570980e-01 4.58736295e-01 -1.62007892e-03 -1.72296266e+02] [-1.83673089e-03 2.61361060e-05 -9.99998313e-01 -1.04751782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.670385723 meters 0.015151843649122485 Centerline is valid? [True, True] Translation: X:197.57, Y:-172.26, Z:-10.48 [[-5.25268899e-01 8.50936250e-01 2.85917799e-04 1.97566080e+02] [ 8.50936135e-01 5.25268976e-01 -4.43999085e-04 -1.72263442e+02] [-5.27998667e-04 1.00788765e-05 -9.99999861e-01 -1.04761238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.730385723 meters 0.016140685918167204 Centerline is valid? [True, True] Translation: X:197.56, Y:-172.23, Z:-10.48 [[-5.86004990e-01 8.10307128e-01 7.13854005e-04 1.97560341e+02] [ 8.10306581e-01 5.86005424e-01 -9.42427337e-04 -1.72232384e+02] [-1.18197791e-03 2.61734759e-05 -9.99999301e-01 -1.04757730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.790385723 meters 0.01766326184670474 Centerline is valid? [True, True] Translation: X:197.55, Y:-172.20, Z:-10.47 [[-6.43266438e-01 7.65641147e-01 1.38657165e-03 1.97552051e+02] [ 7.65639556e-01 6.43267930e-01 -1.56228813e-03 -1.72201267e+02] [-2.08808916e-03 5.66465813e-05 -9.99997818e-01 -1.04744561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8503857229999 meters 0.01818223699333097 Centerline is valid? [True, True] Translation: X:197.54, Y:-172.17, Z:-10.47 [[-6.99748403e-01 7.14384633e-01 2.60164118e-03 1.97541602e+02] [ 7.14380240e-01 6.99753231e-01 -2.50747800e-03 -1.72170078e+02] [-3.61181057e-03 1.03957327e-04 -9.99993472e-01 -1.04725318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.910385723 meters 0.01958524837634965 Centerline is valid? [True, True] Translation: X:197.56, Y:-172.14, Z:-10.47 [[-7.46998434e-01 6.64810977e-01 4.43901976e-03 1.97563581e+02] [ 6.64800640e-01 7.47011602e-01 -3.71170445e-03 -1.72142231e+02] [-5.78358113e-03 1.78425762e-04 -9.99983259e-01 -1.04698322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9703857229999 meters 0.019649603735881347 Centerline is valid? [True, True] Translation: X:197.59, Y:-172.12, Z:-10.47 [[-7.90676119e-01 6.12213198e-01 5.12590045e-03 1.97585640e+02] [ 6.12202037e-01 7.90692706e-01 -3.70267838e-03 -1.72116744e+02] [-6.31984067e-03 2.10467320e-04 -9.99980007e-01 -1.04698070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.030385723 meters 0.019506535538479235 Centerline is valid? [True, True] Translation: X:197.61, Y:-172.09, Z:-10.47 [[-8.31349209e-01 5.55730170e-01 4.74037775e-03 1.97606404e+02] [ 5.55722443e-01 8.31362701e-01 -2.93689774e-03 -1.72088510e+02] [-5.57309593e-03 1.92746697e-04 -9.99984452e-01 -1.04709530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0903857229999 meters 0.019384168103153465 Centerline is valid? [True, True] Translation: X:197.62, Y:-172.05, Z:-10.47 [[-8.69335371e-01 4.94212172e-01 3.21590933e-03 1.97620519e+02] [ 4.94209301e-01 8.69341311e-01 -1.68888455e-03 -1.72053916e+02] [-3.63039014e-03 1.21125221e-04 -9.99993403e-01 -1.04726208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.150385723 meters 0.017149837153080945 Centerline is valid? [True, True] Translation: X:197.63, Y:-172.01, Z:-10.47 [[-9.03696941e-01 4.28168620e-01 1.86302691e-03 1.97625957e+02] [ 4.28167850e-01 9.03698860e-01 -8.14713932e-04 -1.72010860e+02] [-2.03245024e-03 6.14337386e-05 -9.99997933e-01 -1.04732438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.210385723 meters 0.01673855592683663 Centerline is valid? [True, True] Translation: X:197.86, Y:-171.48, Z:-11.44 [[-8.98222056e-01 -4.39528464e-01 3.44482546e-03 1.97859710e+02] [ 4.39525249e-01 -8.98228662e-01 -1.68105369e-03 -1.71478048e+02] [ 3.83311191e-03 4.12826399e-06 9.99992654e-01 -1.14440470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.270385723 meters 0.016586532498105135 Centerline is valid? [True, True] Translation: X:197.59, Y:-171.98, Z:-10.47 [[-9.07519809e-01 4.19992283e-01 3.77872293e-03 1.97589041e+02] [ 4.19989098e-01 9.07527670e-01 -1.63854848e-03 -1.71983507e+02] [-4.11747334e-03 1.00007232e-04 -9.99991518e-01 -1.04703840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.330385723 meters 0.016696144178279103 Centerline is valid? [True, True] Translation: X:197.81, Y:-171.47, Z:-11.45 [[-8.98595362e-01 -4.38756531e-01 4.36823079e-03 1.97807459e+02] [ 4.38750970e-01 -8.98605977e-01 -2.21017957e-03 -1.71465979e+02] [ 4.89504902e-03 -6.94916166e-05 9.99988017e-01 -1.14464996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.390385723 meters 0.017610750124389455 Centerline is valid? [True, True] Translation: X:197.55, Y:-171.96, Z:-10.47 [[-9.09935787e-01 4.14678224e-01 7.67038270e-03 1.97547718e+02] [ 4.14665177e-01 9.09968097e-01 -3.29447221e-03 -1.71956513e+02] [-8.34594943e-03 1.82882437e-04 -9.99965155e-01 -1.04650241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.450385723 meters 0.016658608497298697 Centerline is valid? [True, True] Translation: X:197.76, Y:-171.45, Z:-11.45 [[-8.99990106e-01 -4.35856228e-01 6.86711536e-03 1.97759485e+02] [ 4.35841771e-01 -9.00016281e-01 -3.55600226e-03 -1.71451322e+02] [ 7.73042136e-03 -2.07391123e-04 9.99970098e-01 -1.14495536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.510385723 meters 0.016286121567107317 Centerline is valid? [True, True] Translation: X:197.51, Y:-171.94, Z:-10.47 [[-9.10576462e-01 4.13297994e-01 5.93923122e-03 1.97506236e+02] [ 4.13290311e-01 9.10595818e-01 -2.52494177e-03 -1.71938190e+02] [-6.45179248e-03 1.55474168e-04 -9.99979175e-01 -1.04667195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.570385723 meters 0.016870862305657697 Centerline is valid? [True, True] Translation: X:197.51, Y:-171.91, Z:-10.47 [[-9.37160269e-01 3.48863866e-01 4.96315626e-03 1.97508933e+02] [ 3.48859722e-01 9.37173402e-01 -1.70562354e-03 -1.71911094e+02] [-5.24636846e-03 1.33002699e-04 -9.99986229e-01 -1.04677153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.630385723 meters 0.01869916695332932 Centerline is valid? [True, True] Translation: X:197.51, Y:-171.88, Z:-10.47 [[-9.59253799e-01 2.82518032e-01 3.96365606e-03 1.97505878e+02] [ 2.82516086e-01 9.59261982e-01 -1.05422806e-03 -1.71884393e+02] [-4.10002300e-03 1.08524327e-04 -9.99991589e-01 -1.04680298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.690385723 meters 0.017800247925892354 Centerline is valid? [True, True] Translation: X:197.51, Y:-171.85, Z:-10.47 [[-9.76838000e-01 2.13919400e-01 5.10018172e-03 1.97511202e+02] [ 2.13917220e-01 9.76851305e-01 -9.75694593e-04 -1.71851899e+02] [-5.19083917e-03 1.37921139e-04 -9.99986518e-01 -1.04675279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.750385723 meters 0.016321735791432427 Centerline is valid? [True, True] Translation: X:197.61, Y:-171.31, Z:-11.45 [[-9.73025873e-01 -2.30635453e-01 5.28565539e-03 1.97605845e+02] [ 2.30631338e-01 -9.73040221e-01 -1.38355907e-03 -1.71311229e+02] [ 5.46225306e-03 -1.27201000e-04 9.99985074e-01 -1.14469726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.810385723 meters 0.015907449889998232 Centerline is valid? [True, True] Translation: X:197.46, Y:-171.84, Z:-10.47 [[-9.78831755e-01 2.04581391e-01 5.90337039e-03 1.97456724e+02] [ 2.04578437e-01 9.78849549e-01 -1.10639369e-03 -1.71839843e+02] [-6.00485900e-03 1.24729012e-04 -9.99981963e-01 -1.04673044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.870385723 meters 0.015313992653379434 Centerline is valid? [True, True] Translation: X:197.45, Y:-171.81, Z:-10.47 [[-9.91395846e-01 1.30700404e-01 7.18896085e-03 1.97449378e+02] [ 1.30697857e-01 9.91421903e-01 -8.25014118e-04 -1.71809903e+02] [-7.23512293e-03 1.21666206e-04 -9.99973819e-01 -1.04664524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.930385723 meters 0.01488903587209248 Centerline is valid? [True, True] Translation: X:197.44, Y:-171.78, Z:-10.47 [[-9.98269017e-01 5.83313050e-02 7.51187727e-03 1.97440752e+02] [ 5.83305127e-02 9.98297273e-01 -3.24700463e-04 -1.71781020e+02] [-7.51802679e-03 1.14033240e-04 -9.99971733e-01 -1.04659939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.990385723 meters 0.014605906958265647 Centerline is valid? [True, True] Translation: X:197.46, Y:-171.23, Z:-11.45 [[-9.95544555e-01 -9.40201793e-02 7.15857643e-03 1.97464872e+02] [ 9.40168145e-02 -9.95570283e-01 -8.05866226e-04 -1.71233077e+02] [ 7.20263365e-03 -1.29249181e-04 9.99974052e-01 -1.14480142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.050385723 meters 0.015562101064387336 Centerline is valid? [True, True] Translation: X:197.39, Y:-171.79, Z:-10.47 [[-9.98244825e-01 5.88248459e-02 6.84881704e-03 1.97388832e+02] [ 5.88243897e-02 9.98268310e-01 -2.68208097e-04 -1.71789435e+02] [-6.85273432e-03 1.35140138e-04 -9.99976511e-01 -1.04676844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.110385723 meters 0.01541075814971024 Centerline is valid? [True, True] Translation: X:197.41, Y:-171.22, Z:-11.45 [[-9.96089956e-01 -8.80828650e-02 6.79774402e-03 1.97407302e+02] [ 8.80798821e-02 -9.96113141e-01 -7.37528733e-04 -1.71223187e+02] [ 6.83628579e-03 -1.35900471e-04 9.99976623e-01 -1.14470171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.170385723 meters 0.014957304131463496 Centerline is valid? [True, True] Translation: X:197.33, Y:-171.79, Z:-10.47 [[-9.98628970e-01 5.18808754e-02 6.96810496e-03 1.97330510e+02] [ 5.18804264e-02 9.98653274e-01 -2.45300928e-04 -1.71792017e+02] [-6.97144725e-03 1.16543644e-04 -9.99975692e-01 -1.04683239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.230385723 meters 0.015350375883777858 Centerline is valid? [True, True] Translation: X:197.34, Y:-171.22, Z:-11.45 [[-9.96214802e-01 -8.64138593e-02 9.41882278e-03 1.97344128e+02] [ 8.64100340e-02 -9.96259326e-01 -8.13097523e-04 -1.71215540e+02] [ 9.45385293e-03 3.86100876e-06 9.99955311e-01 -1.14486445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.290385723 meters 0.016013163026102416 Centerline is valid? [True, True] Translation: X:197.27, Y:-171.80, Z:-10.47 [[-9.98691758e-01 5.02150998e-02 9.65482223e-03 1.97271804e+02] [ 5.02145306e-02 9.98738409e-01 -3.01510619e-04 -1.71800006e+02] [-9.65778218e-03 1.83696196e-04 -9.99953346e-01 -1.04667043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3503857229999 meters 0.016059269686987496 Centerline is valid? [True, True] Translation: X:197.27, Y:-171.78, Z:-10.47 [[-9.99785227e-01 -1.82247926e-02 9.86693047e-03 1.97265239e+02] [-1.82217878e-02 9.99833892e-01 3.94352979e-04 -1.71775636e+02] [-9.87247849e-03 2.14475169e-04 -9.99951243e-01 -1.04679846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.410385723 meters 0.016338877511591497 Centerline is valid? [True, True] Translation: X:197.24, Y:-171.17, Z:-11.45 [[-9.99950417e-01 -3.27750353e-03 9.40328631e-03 1.97242176e+02] [ 3.27515912e-03 -9.99994602e-01 -2.64706315e-04 -1.71170237e+02] [ 9.40410312e-03 -2.33895931e-04 9.99955753e-01 -1.14460468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4703857229999 meters 0.01704363435457156 Centerline is valid? [True, True] Translation: X:197.20, Y:-171.79, Z:-10.47 [[-9.99769386e-01 -1.90809312e-02 9.85358820e-03 1.97195906e+02] [-1.90775270e-02 9.99817911e-01 4.39360247e-04 -1.71789956e+02] [-9.86017738e-03 2.51276829e-04 -9.99951356e-01 -1.04680931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.530385723 meters 0.017209352381447718 Centerline is valid? [True, True] Translation: X:197.19, Y:-171.77, Z:-10.47 [[-9.95868630e-01 -9.03297312e-02 9.28499597e-03 1.97185203e+02] [-9.03235869e-02 9.95911886e-01 1.07981922e-03 -1.71769583e+02] [-9.34457762e-03 2.36703942e-04 -9.99956311e-01 -1.04698084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5903857229999 meters 0.01664283442959095 Centerline is valid? [True, True] Translation: X:197.17, Y:-171.75, Z:-10.47 [[-9.86397665e-01 -1.64087261e-01 9.74772540e-03 1.97170300e+02] [-1.64077037e-01 9.86445803e-01 1.84495890e-03 -1.71745360e+02] [-9.91833706e-03 2.20485254e-04 -9.99950788e-01 -1.04699049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.650385723 meters 0.01710605243448218 Centerline is valid? [True, True] Translation: X:197.15, Y:-171.73, Z:-10.47 [[-9.71873847e-01 -2.35293332e-01 9.91326872e-03 1.97151495e+02] [-2.35278820e-01 9.71924381e-01 2.62209399e-03 -1.71727137e+02] [-1.02519088e-02 2.15962403e-04 -9.99947425e-01 -1.04697260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.710385723 meters 0.016765387125804897 Centerline is valid? [True, True] Translation: X:197.12, Y:-171.71, Z:-10.47 [[-9.52562329e-01 -3.04179805e-01 9.98280602e-03 1.97118755e+02] [-3.04160588e-01 9.52614610e-01 3.42666698e-03 -1.71712487e+02] [-1.05520898e-02 2.27737728e-04 -9.99944299e-01 -1.04700751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.770385723 meters 0.017576735870185073 Centerline is valid? [True, True] Translation: X:197.07, Y:-171.71, Z:-10.47 [[-9.28560870e-01 -3.71048321e-01 9.89211066e-03 1.97069504e+02] [-3.71024359e-01 9.28613525e-01 4.22437636e-03 -1.71708009e+02] [-1.07533955e-02 2.52376574e-04 -9.99942149e-01 -1.04694222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.830385723 meters 0.01864310106263212 Centerline is valid? [True, True] Translation: X:197.01, Y:-171.72, Z:-10.47 [[-8.99036293e-01 -4.37731740e-01 1.11654866e-02 1.97005941e+02] [-4.37693769e-01 8.99105573e-01 5.77349519e-03 -1.71716000e+02] [-1.25661934e-02 3.03517789e-04 -9.99920996e-01 -1.04683710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.890385723 meters 0.018421025614075902 Centerline is valid? [True, True] Translation: X:196.93, Y:-171.73, Z:-10.47 [[-8.63419766e-01 -5.04339050e-01 1.21832193e-02 1.96933155e+02] [-5.04283488e-01 8.63505655e-01 7.49317275e-03 -1.71732108e+02] [-1.42993784e-02 3.25957120e-04 -9.99897706e-01 -1.04680536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.950385723 meters 0.016685583549660328 Centerline is valid? [True, True] Translation: X:196.85, Y:-171.76, Z:-10.47 [[-8.21414486e-01 -5.70212432e-01 1.16629200e-02 1.96850394e+02] [-5.70150154e-01 8.21497234e-01 8.43184996e-03 -1.71756612e+02] [-1.43890022e-02 2.76428062e-04 -9.99896435e-01 -1.04686558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.010385723 meters 0.015623442703226102 Centerline is valid? [True, True] Translation: X:196.77, Y:-171.79, Z:-10.47 [[-7.73262498e-01 -6.33993683e-01 1.08221432e-02 1.96767103e+02] [-6.33927920e-01 7.73338199e-01 9.13358290e-03 -1.71793218e+02] [-1.41598106e-02 2.02198369e-04 -9.99899724e-01 -1.04698882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.070385723 meters 0.015106579335654895 Centerline is valid? [True, True] Translation: X:196.68, Y:-171.84, Z:-10.47 [[-7.19898198e-01 -6.93999146e-01 1.05720749e-02 1.96679977e+02] [-6.93921504e-01 7.19975809e-01 1.03817168e-02 -1.71841097e+02] [-1.48165407e-02 1.37589092e-04 -9.99890220e-01 -1.04683240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.130385723 meters 0.01488721354677156 Centerline is valid? [True, True] Translation: X:196.59, Y:-171.90, Z:-10.47 [[-6.63886719e-01 -7.47780976e-01 8.83382063e-03 1.96593779e+02] [-7.47712826e-01 6.63945482e-01 1.00958854e-02 -1.71902693e+02] [-1.34146863e-02 9.73632430e-05 -9.99910014e-01 -1.04690102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.190385723 meters 0.015995986716430245 Centerline is valid? [True, True] Translation: X:196.52, Y:-171.97, Z:-10.47 [[-6.06281687e-01 -7.95214742e-01 7.48530931e-03 1.96517581e+02] [-7.95151912e-01 6.06327883e-01 9.99677189e-03 -1.71969159e+02] [-1.24881321e-02 1.08901716e-04 -9.99922014e-01 -1.04698930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.250385723 meters 0.015260210226267765 Centerline is valid? [True, True] Translation: X:196.44, Y:-172.05, Z:-10.47 [[-5.44751068e-01 -8.38574444e-01 6.25904542e-03 1.96438185e+02] [-8.38516681e-01 5.44787012e-01 9.84312214e-03 -1.72046721e+02] [-1.16640373e-02 1.13737306e-04 -9.99931966e-01 -1.04729675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.310385723 meters 0.014982757298759919 Centerline is valid? [True, True] Translation: X:196.36, Y:-172.13, Z:-10.47 [[-4.76841637e-01 -8.78973984e-01 5.17573202e-03 1.96355036e+02] [-8.78920394e-01 4.76869719e-01 9.70625335e-03 -1.72130604e+02] [-1.09996941e-02 7.92893070e-05 -9.99939498e-01 -1.04727870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.370385723 meters 0.015986595658791146 Centerline is valid? [True, True] Translation: X:196.28, Y:-172.22, Z:-10.47 [[-4.07754448e-01 -9.13079575e-01 4.69045374e-03 1.96277957e+02] [-9.13016900e-01 4.07781417e-01 1.06984600e-02 -1.72221747e+02] [-1.16812252e-02 7.98811118e-05 -9.99931769e-01 -1.04708682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.430385723 meters 0.015612652245293882 Centerline is valid? [True, True] Translation: X:196.21, Y:-172.32, Z:-10.47 [[-3.40211179e-01 -9.40339684e-01 4.19921073e-03 1.96211494e+02] [-9.40262950e-01 3.40237065e-01 1.20135359e-02 -1.72319002e+02] [-1.27255317e-02 1.38776961e-04 -9.99919018e-01 -1.04715195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.490385723 meters 0.0159723652882501 Centerline is valid? [True, True] Translation: X:196.15, Y:-172.42, Z:-10.47 [[-2.68443867e-01 -9.63289818e-01 3.25839035e-03 1.96149964e+02] [-9.63211518e-01 2.68463595e-01 1.22829037e-02 -1.72424513e+02] [-1.27067553e-02 1.58751059e-04 -9.99919253e-01 -1.04707006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.550385723 meters 0.016790239492588177 Centerline is valid? [True, True] Translation: X:196.10, Y:-172.53, Z:-10.47 [[-1.96887027e-01 -9.80423355e-01 2.35459681e-03 1.96096684e+02] [-9.80340190e-01 1.96900998e-01 1.27714123e-02 -1.72533612e+02] [-1.29850134e-02 2.06219513e-04 -9.99915670e-01 -1.04692371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.610385723 meters 0.017105812983013755 Centerline is valid? [True, True] Translation: X:196.05, Y:-172.66, Z:-10.47 [[-1.22172035e-01 -9.92508143e-01 1.25713010e-03 1.96050594e+02] [-9.92436848e-01 1.22178329e-01 1.18978085e-02 -1.72664002e+02] [-1.19622659e-02 2.05957242e-04 -9.99928428e-01 -1.04711354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.670385723 meters 0.016560913276018257 Centerline is valid? [True, True] Translation: X:196.01, Y:-172.77, Z:-10.47 [[-4.48485565e-02 -9.98993752e-01 3.02231650e-04 1.96012198e+02] [-9.98935609e-01 4.48492074e-02 1.07794881e-02 -1.72768452e+02] [-1.07821961e-02 1.81534525e-04 -9.99941854e-01 -1.04721957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.730385723 meters 0.016162174698158553 Centerline is valid? [True, True] Translation: X:195.98, Y:-172.90, Z:-10.47 [[ 3.44178192e-02 -9.99407426e-01 -4.58670460e-04 1.95982355e+02] [-9.99363878e-01 -3.44206017e-02 9.33067643e-03 -1.72899193e+02] [-9.34093503e-03 1.37237155e-04 -9.99956363e-01 -1.04733738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.790385723 meters 0.016410599202744396 Centerline is valid? [True, True] Translation: X:195.97, Y:-173.02, Z:-10.48 [[ 1.11103865e-01 -9.93808546e-01 -7.10627091e-04 1.95965440e+02] [-9.93792800e-01 -1.11106106e-01 5.59493774e-03 -1.73022486e+02] [-5.63925195e-03 8.45968783e-05 -9.99984096e-01 -1.04764367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8503857229999 meters 0.01673188359540423 Centerline is valid? [True, True] Translation: X:195.96, Y:-173.14, Z:-10.48 [[ 1.85271607e-01 -9.82686817e-01 -1.02490824e-03 1.95957581e+02] [-9.82674269e-01 -1.85274422e-01 4.96686305e-03 -1.73143475e+02] [-5.07076013e-03 8.69322592e-05 -9.99987140e-01 -1.04772819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.910385723 meters 0.01705927591931586 Centerline is valid? [True, True] Translation: X:195.96, Y:-173.27, Z:-10.48 [[ 2.58317138e-01 -9.66059419e-01 -1.20637301e-03 1.95961095e+02] [-9.66050353e-01 -2.58319942e-01 4.18600915e-03 -1.73271156e+02] [-4.35556377e-03 8.40991667e-05 -9.99990511e-01 -1.04774408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9703857229999 meters 0.01684287380045621 Centerline is valid? [True, True] Translation: X:195.97, Y:-173.39, Z:-10.48 [[ 3.31664049e-01 -9.43396809e-01 -1.19150294e-03 1.95971043e+02] [-9.43391425e-01 -3.31666183e-01 3.18787982e-03 -1.73394474e+02] [-3.40261688e-03 6.67485308e-05 -9.99994209e-01 -1.04774293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.030385723 meters 0.017422681566323185 Centerline is valid? [True, True] Translation: X:195.99, Y:-173.52, Z:-10.48 [[ 4.04203723e-01 -9.14667742e-01 -1.50720066e-03 1.95992597e+02] [-9.14661985e-01 -4.04206528e-01 3.24600824e-03 -1.73518069e+02] [-3.57823937e-03 6.65305336e-05 -9.99993596e-01 -1.04768289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0903857229999 meters 0.016777077036900755 Centerline is valid? [True, True] Translation: X:196.02, Y:-173.64, Z:-10.48 [[ 4.74203560e-01 -8.80412867e-01 -2.04142059e-03 1.96021149e+02] [-8.80405363e-01 -4.74207948e-01 3.63581786e-03 -1.73639445e+02] [-4.16907869e-03 7.31598636e-05 -9.99991307e-01 -1.04772795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.150385723 meters 0.017057844064820648 Centerline is valid? [True, True] Translation: X:196.06, Y:-173.75, Z:-10.48 [[ 5.38933299e-01 -8.42345244e-01 -2.32129138e-03 1.96057445e+02] [-8.42338065e-01 -5.38938293e-01 3.47858949e-03 -1.73752742e+02] [-4.18120613e-03 8.05843776e-05 -9.99991256e-01 -1.04768136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.210385723 meters 0.01792533128723127 Centerline is valid? [True, True] Translation: X:196.10, Y:-173.86, Z:-10.48 [[ 5.99185465e-01 -8.00604288e-01 -3.09071158e-03 1.96103557e+02] [-8.00594596e-01 -5.99193426e-01 3.94108680e-03 -1.73862708e+02] [-5.00718505e-03 1.12965062e-04 -9.99987458e-01 -1.04755970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.270385723 meters 0.018718647432310376 Centerline is valid? [True, True] Translation: X:196.16, Y:-173.96, Z:-10.48 [[ 6.57475307e-01 -7.53466645e-01 -3.77315435e-03 1.96155340e+02] [-7.53455397e-01 -6.57486120e-01 4.11911417e-03 -1.73964584e+02] [-5.58441174e-03 1.34687661e-04 -9.99984398e-01 -1.04750439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.330385723 meters 0.018685106545659563 Centerline is valid? [True, True] Translation: X:196.21, Y:-174.06, Z:-10.48 [[ 7.13338107e-01 -7.00814543e-01 -2.77874879e-03 1.96213486e+02] [-7.00809713e-01 -7.13343514e-01 2.60333927e-03 -1.74064988e+02] [-3.80666045e-03 9.03130392e-05 -9.99992751e-01 -1.04760920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.390385723 meters 0.01764766552496438 Centerline is valid? [True, True] Translation: X:196.23, Y:-174.10, Z:-10.48 [[ 7.67385298e-01 -6.41179238e-01 -2.99802155e-03 1.96227289e+02] [-6.41174760e-01 -7.67391150e-01 2.39784713e-03 -1.74096867e+02] [-3.83810501e-03 8.21831135e-05 -9.99992631e-01 -1.04761484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.450385723 meters 0.017271472112039443 Centerline is valid? [True, True] Translation: X:196.24, Y:-174.12, Z:-10.48 [[ 8.16196415e-01 -5.77765436e-01 -3.24238882e-03 1.96244139e+02] [-5.77761249e-01 -8.16202852e-01 2.20105810e-03 -1.74124930e+02] [-3.91814229e-03 7.68308792e-05 -9.99992321e-01 -1.04772181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.510385723 meters 0.017367180881890924 Centerline is valid? [True, True] Translation: X:196.26, Y:-174.15, Z:-10.48 [[ 8.57621679e-01 -5.14273941e-01 -2.71467787e-03 1.96262120e+02] [-5.14271617e-01 -8.57625973e-01 1.54749870e-03 -1.74151847e+02] [-3.12401651e-03 6.89133436e-05 -9.99995118e-01 -1.04785628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.570385723 meters 0.018108420651575363 Centerline is valid? [True, True] Translation: X:196.28, Y:-174.18, Z:-10.48 [[ 8.93907050e-01 -4.48245751e-01 -2.43564173e-03 1.96282532e+02] [-4.48244291e-01 -8.93910366e-01 1.14603786e-03 -1.74175190e+02] [-2.69095199e-03 6.73111751e-05 -9.99996377e-01 -1.04783723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.630385723 meters 0.0205813010632465 Centerline is valid? [True, True] Translation: X:196.31, Y:-174.19, Z:-10.48 [[ 9.22982795e-01 -3.84827594e-01 -3.23776764e-03 1.96307728e+02] [-3.84825663e-01 -9.22988467e-01 1.22474465e-03 -1.74193063e+02] [-3.45973773e-03 1.15557843e-04 -9.99994008e-01 -1.04786947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.690385723 meters 0.020869668525262283 Centerline is valid? [True, True] Translation: X:196.33, Y:-174.22, Z:-10.48 [[ 9.48786163e-01 -3.15907812e-01 -2.65899860e-03 1.96331828e+02] [-3.15906881e-01 -9.48789884e-01 7.74199581e-04 -1.74215890e+02] [-2.76740666e-03 1.05446104e-04 -9.99996165e-01 -1.04789960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.750385723 meters 0.024152878362754957 Centerline is valid? [True, True] Translation: X:196.36, Y:-174.23, Z:-10.48 [[ 9.69608586e-01 -2.44635672e-01 -3.54655468e-03 1.96355439e+02] [-2.44634608e-01 -9.69615060e-01 7.37611351e-04 -1.74230829e+02] [-3.61923888e-03 1.52415713e-04 -9.99993439e-01 -1.04788862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.810385723 meters 0.022151587204852587 Centerline is valid? [True, True] Translation: X:196.38, Y:-174.26, Z:-10.48 [[ 9.85640170e-01 -1.68833777e-01 -2.93452586e-03 1.96377769e+02] [-1.68833411e-01 -9.85644530e-01 3.73697373e-04 -1.74256859e+02] [-2.95549210e-03 1.27114868e-04 -9.99995624e-01 -1.04795866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.870385723 meters 0.02223944119385397 Centerline is valid? [True, True] Translation: X:196.40, Y:-174.28, Z:-10.48 [[ 9.95866328e-01 -9.07727858e-02 -3.24933615e-03 1.96402750e+02] [-9.07727553e-02 -9.95871619e-01 1.57170096e-04 -1.74275416e+02] [-3.25018842e-03 1.38430789e-04 -9.99994709e-01 -1.04793023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.930385723 meters 0.021563765157545146 Centerline is valid? [True, True] Translation: X:196.43, Y:-174.30, Z:-10.48 [[ 9.99940477e-01 -1.05849246e-02 -2.64620591e-03 1.96430341e+02] [-1.05851725e-02 -9.99943972e-01 -7.96863879e-05 -1.74296714e+02] [-2.64521418e-03 1.07692191e-04 -9.99996496e-01 -1.04793130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.990385723 meters 0.01960999841270093 Centerline is valid? [True, True] Translation: X:196.46, Y:-174.32, Z:-10.48 [[ 9.97450824e-01 7.12822814e-02 -3.26961746e-03 1.96460562e+02] [ 7.12814972e-02 -9.97456175e-01 -3.55888935e-04 -1.74318935e+02] [-3.28666870e-03 1.21918483e-04 -9.99994591e-01 -1.04804452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.050385723 meters 0.019034719140185164 Centerline is valid? [True, True] Translation: X:196.49, Y:-174.34, Z:-10.48 [[ 9.88255464e-01 1.52722815e-01 -5.18456641e-03 1.96492956e+02] [ 1.52719776e-01 -9.88269048e-01 -9.79421741e-04 -1.74339302e+02] [-5.27332655e-03 1.76133069e-04 -9.99986080e-01 -1.04790430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.110385723 meters 0.02089047551805566 Centerline is valid? [True, True] Translation: X:196.53, Y:-174.35, Z:-10.48 [[ 9.72769937e-01 2.31693097e-01 -6.07927829e-03 1.96525043e+02] [ 2.31687303e-01 -9.72788913e-01 -1.65032245e-03 -1.74349355e+02] [-6.29622284e-03 1.96892472e-04 -9.99980159e-01 -1.04774401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.170385723 meters 0.019837140333258823 Centerline is valid? [True, True] Translation: X:196.56, Y:-174.36, Z:-10.48 [[ 9.51724814e-01 3.06902545e-01 -5.54126839e-03 1.96559624e+02] [ 3.06896202e-01 -9.51740928e-01 -1.98182713e-03 -1.74358423e+02] [-5.88207971e-03 1.85559839e-04 -9.99982683e-01 -1.04789370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.230385723 meters 0.019817258396483805 Centerline is valid? [True, True] Translation: X:196.59, Y:-174.36, Z:-10.48 [[ 9.24452353e-01 3.81251580e-01 -5.92283292e-03 1.96594570e+02] [ 3.81242368e-01 -9.24471305e-01 -2.65781295e-03 -1.74362668e+02] [-6.48878446e-03 1.98986589e-04 -9.99978928e-01 -1.04785815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.290385723 meters 0.01814296778325083 Centerline is valid? [True, True] Translation: X:196.63, Y:-174.37, Z:-10.48 [[ 8.91092945e-01 4.53791740e-01 -5.14011735e-03 1.96632919e+02] [ 4.53783076e-01 -8.91107753e-01 -2.80930907e-03 -1.74370619e+02] [-5.85523967e-03 1.70857231e-04 -9.99982843e-01 -1.04801139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3503857229999 meters 0.01739280086113908 Centerline is valid? [True, True] Translation: X:196.67, Y:-174.38, Z:-10.48 [[ 8.52201842e-01 5.23196352e-01 -4.19501618e-03 1.96673084e+02] [ 5.23189196e-01 -8.52212155e-01 -2.74005642e-03 -1.74375651e+02] [-5.00863130e-03 1.40293986e-04 -9.99987447e-01 -1.04801609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.410385723 meters 0.018389514278579065 Centerline is valid? [True, True] Translation: X:196.71, Y:-174.37, Z:-10.48 [[ 8.08766076e-01 5.88112525e-01 -4.59259458e-03 1.96706431e+02] [ 5.88101881e-01 -8.08779099e-01 -3.54209625e-03 -1.74369103e+02] [-5.79754568e-03 1.63813776e-04 -9.99983181e-01 -1.04792983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4703857229999 meters 0.01801559548181171 Centerline is valid? [True, True] Translation: X:196.75, Y:-174.36, Z:-10.48 [[ 7.61047207e-01 6.48680740e-01 -4.52184871e-03 1.96745657e+02] [ 6.48667870e-01 -7.61060619e-01 -4.09016047e-03 -1.74364834e+02] [-6.09460930e-03 1.79627226e-04 -9.99981412e-01 -1.04789304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.530385723 meters 0.018564331197618137 Centerline is valid? [True, True] Translation: X:196.78, Y:-174.36, Z:-10.48 [[ 7.07837820e-01 7.06362960e-01 -4.12177531e-03 1.96781437e+02] [ 7.06349515e-01 -7.07849799e-01 -4.36171044e-03 -1.74355010e+02] [-5.99854852e-03 1.75969622e-04 -9.99981993e-01 -1.04790583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5903857229999 meters 0.020034879373731197 Centerline is valid? [True, True] Translation: X:196.82, Y:-174.34, Z:-10.48 [[ 6.49912278e-01 7.59996631e-01 -4.37618616e-03 1.96816142e+02] [ 7.59977292e-01 -6.49926981e-01 -5.42544326e-03 -1.74340328e+02] [-6.96752007e-03 2.00260082e-04 -9.99975707e-01 -1.04766228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.650385723 meters 0.018649799684298512 Centerline is valid? [True, True] Translation: X:196.85, Y:-174.32, Z:-10.48 [[ 5.85747882e-01 8.10488481e-01 -2.80016439e-03 1.96848108e+02] [ 8.10478171e-01 -5.85754562e-01 -4.09004856e-03 -1.74321744e+02] [-4.95514631e-03 1.26265172e-04 -9.99987715e-01 -1.04786710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.710385723 meters 0.016436511384370318 Centerline is valid? [True, True] Translation: X:196.88, Y:-174.30, Z:-10.48 [[ 5.16167262e-01 8.56485573e-01 -1.95463262e-03 1.96884494e+02] [ 8.56478834e-01 -5.16170956e-01 -3.39865055e-03 -1.74304107e+02] [-3.91981976e-03 8.01706787e-05 -9.99992314e-01 -1.04799737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.770385723 meters 0.015428380938667162 Centerline is valid? [True, True] Translation: X:196.92, Y:-174.28, Z:-10.48 [[ 4.42215083e-01 8.96907178e-01 -1.82635197e-03 1.96916779e+02] [ 8.96898943e-01 -4.42218850e-01 -3.84379701e-03 -1.74281759e+02] [-4.25517639e-03 6.17318594e-05 -9.99990945e-01 -1.04799427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.830385723 meters 0.01510568177174574 Centerline is valid? [True, True] Translation: X:196.94, Y:-174.25, Z:-10.48 [[ 3.68220975e-01 9.29736989e-01 -1.56354247e-03 1.96943874e+02] [ 9.29727996e-01 -3.68224290e-01 -4.08970778e-03 -1.74254826e+02] [-4.37808691e-03 5.22469736e-05 -9.99990415e-01 -1.04794104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.890385723 meters 0.014976523532696512 Centerline is valid? [True, True] Translation: X:196.97, Y:-174.23, Z:-10.48 [[ 2.93437145e-01 9.55976990e-01 -1.62377085e-03 1.96965730e+02] [ 9.55961139e-01 -2.93441630e-01 -5.50549694e-03 -1.74225466e+02] [-5.73961036e-03 6.32554657e-05 -9.99983526e-01 -1.04788411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.950385723 meters 0.015298286314249872 Centerline is valid? [True, True] Translation: X:196.98, Y:-174.19, Z:-10.48 [[ 2.21073875e-01 9.75255617e-01 -1.68025896e-03 1.96982924e+02] [ 9.75223277e-01 -2.21080229e-01 -7.94310565e-03 -1.74193814e+02] [-8.11803044e-03 1.17385496e-04 -9.99967041e-01 -1.04774647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.010385723 meters 0.016424934928568294 Centerline is valid? [True, True] Translation: X:197.00, Y:-174.16, Z:-10.48 [[ 1.49442458e-01 9.88769485e-01 -1.36306256e-03 1.96997262e+02] [ 9.88714622e-01 -1.49448527e-01 -1.04180100e-02 -1.74161140e+02] [-1.05047181e-02 2.09213140e-04 -9.99944802e-01 -1.04759645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.070385723 meters 0.016682504867548794 Centerline is valid? [True, True] Translation: X:197.01, Y:-174.13, Z:-10.48 [[ 7.58608681e-02 9.97118289e-01 -4.97355919e-04 1.97008357e+02] [ 9.97072009e-01 -7.58621404e-02 -9.60957438e-03 -1.74127641e+02] [-9.61961284e-03 2.33090989e-04 -9.99953703e-01 -1.04774670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.130385723 meters 0.01695437315986515 Centerline is valid? [True, True] Translation: X:197.02, Y:-174.09, Z:-10.48 [[-9.09467138e-04 9.99999561e-01 2.25897235e-04 1.97015920e+02] [ 9.99963807e-01 9.11345492e-04 -8.45902594e-03 -1.74093967e+02] [-8.45922810e-03 2.18195853e-04 -9.99964196e-01 -1.04789073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.190385723 meters 0.016029392105656338 Centerline is valid? [True, True] Translation: X:197.03, Y:-174.06, Z:-10.48 [[-8.19209434e-02 9.96638452e-01 8.69101481e-04 1.97026293e+02] [ 9.96604431e-01 8.19253299e-02 -8.23706563e-03 -1.74060020e+02] [-8.28057776e-03 1.91362200e-04 -9.99965697e-01 -1.04796745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.250385723 meters 0.015503376972998497 Centerline is valid? [True, True] Translation: X:197.03, Y:-174.02, Z:-10.48 [[-1.63124868e-01 9.86604229e-01 1.54026108e-03 1.97034901e+02] [ 9.86569334e-01 1.63132055e-01 -8.29950442e-03 -1.74024515e+02] [-8.43959212e-03 1.65718788e-04 -9.99964372e-01 -1.04792691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.310385723 meters 0.01443054060359336 Centerline is valid? [True, True] Translation: X:197.04, Y:-173.99, Z:-10.48 [[-2.47198654e-01 9.68962896e-01 1.93194185e-03 1.97037024e+02] [ 9.68936097e-01 2.47206187e-01 -7.20699149e-03 -1.73989684e+02] [-7.46089532e-03 9.03695961e-05 -9.99972163e-01 -1.04804770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.370385723 meters 0.014294220395752528 Centerline is valid? [True, True] Translation: X:197.04, Y:-173.96, Z:-10.48 [[-3.23465539e-01 9.46236406e-01 2.59025148e-03 1.97035277e+02] [ 9.46208135e-01 3.23475899e-01 -7.31499755e-03 -1.73956135e+02] [-7.75960091e-03 8.47673994e-05 -9.99969890e-01 -1.04803490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.430385723 meters 0.014487040419986632 Centerline is valid? [True, True] Translation: X:197.03, Y:-173.93, Z:-10.48 [[-3.95124768e-01 9.18620657e-01 3.53638206e-03 1.97025370e+02] [ 9.18586301e-01 3.95140578e-01 -7.94547422e-03 -1.73925433e+02] [-8.69624479e-03 1.09018454e-04 -9.99962181e-01 -1.04799471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.490385723 meters 0.015287108809002517 Centerline is valid? [True, True] Translation: X:197.01, Y:-173.90, Z:-10.48 [[-4.62707632e-01 8.86501494e-01 4.09251118e-03 1.97011493e+02] [ 8.86469420e-01 4.62725710e-01 -7.54214521e-03 -1.73898842e+02] [-8.57983313e-03 1.38077863e-04 -9.99963183e-01 -1.04795898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.550385723 meters 0.01608169960321915 Centerline is valid? [True, True] Translation: X:197.00, Y:-173.87, Z:-10.48 [[-5.26655054e-01 8.50064707e-01 4.94453632e-03 1.96995559e+02] [ 8.50030565e-01 5.26678231e-01 -7.62100244e-03 -1.73872739e+02] [-9.08252484e-03 1.89367548e-04 -9.99958735e-01 -1.04798103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.610385723 meters 0.01671523660633929 Centerline is valid? [True, True] Translation: X:196.98, Y:-173.85, Z:-10.48 [[-5.89185515e-01 8.07976412e-01 5.87762351e-03 1.96980237e+02] [ 8.07940046e-01 5.89214787e-01 -7.66921392e-03 -1.73847473e+02] [-9.65972663e-03 2.30177654e-04 -9.99953317e-01 -1.04795785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.670385723 meters 0.017842977000761755 Centerline is valid? [True, True] Translation: X:196.96, Y:-173.83, Z:-10.48 [[-6.48495960e-01 7.61188118e-01 6.75561226e-03 1.96963160e+02] [ 7.61151084e-01 6.48531091e-01 -7.51344416e-03 -1.73825512e+02] [-1.01003690e-02 2.69603410e-04 -9.99948954e-01 -1.04783858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.730385723 meters 0.0186269541534444 Centerline is valid? [True, True] Translation: X:196.95, Y:-173.80, Z:-10.48 [[-7.03237216e-01 7.10907917e-01 8.20683401e-03 1.96946036e+02] [ 7.10865195e-01 7.03285015e-01 -7.80137616e-03 -1.73802051e+02] [-1.13178035e-02 3.47734609e-04 -9.99935891e-01 -1.04786007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.790385723 meters 0.020105681161806728 Centerline is valid? [True, True] Translation: X:196.96, Y:-173.79, Z:-10.48 [[-7.48985606e-01 6.62529832e-01 8.64774423e-03 1.96963127e+02] [ 6.62491615e-01 7.49035425e-01 -7.12686330e-03 -1.73787557e+02] [-1.11992263e-02 3.91140016e-04 -9.99937210e-01 -1.04789286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8503857229999 meters 0.0236749405208457 Centerline is valid? [True, True] Translation: X:196.98, Y:-173.77, Z:-10.48 [[-7.92335115e-01 6.10021515e-01 8.87786822e-03 1.96978178e+02] [ 6.09988945e-01 7.92384744e-01 -6.31700065e-03 -1.73773971e+02] [-1.08881937e-02 4.10220027e-04 -9.99940638e-01 -1.04780675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.910385723 meters 0.019357842744619012 Centerline is valid? [True, True] Translation: X:196.99, Y:-173.74, Z:-10.48 [[-8.34219395e-01 5.51339820e-01 1.01194751e-02 1.96992858e+02] [ 5.51305449e-01 8.34280659e-01 -6.17121329e-03 -1.73744328e+02] [-1.18449180e-02 4.30775971e-04 -9.99929754e-01 -1.04792304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9703857229999 meters 0.018756616866155124 Centerline is valid? [True, True] Translation: X:197.37, Y:-173.13, Z:-11.43 [[-8.35605929e-01 -5.49253973e-01 9.09968451e-03 1.97368989e+02] [ 5.49215486e-01 -8.35655355e-01 -6.51748567e-03 -1.73132440e+02] [ 1.11839550e-02 -4.48362019e-04 9.99937357e-01 -1.14345863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.030385723 meters 0.016924237782231875 Centerline is valid? [True, True] Translation: X:197.35, Y:-173.16, Z:-11.43 [[-7.91946090e-01 -6.10534463e-01 8.31019215e-03 1.97354319e+02] [ 6.10497188e-01 -7.91989643e-01 -6.75199543e-03 -1.73161429e+02] [ 1.07039120e-02 -2.73867444e-04 9.99942674e-01 -1.14330373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0903857229999 meters 0.014948200048989587 Centerline is valid? [True, True] Translation: X:196.89, Y:-173.71, Z:-10.48 [[-8.09222593e-01 5.87441817e-01 8.42061370e-03 1.96894905e+02] [ 5.87412149e-01 8.09266386e-01 -5.90625721e-03 -1.73714433e+02] [-1.02841021e-02 1.66894017e-04 -9.99947103e-01 -1.04827930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.150385723 meters 0.013624356054148794 Centerline is valid? [True, True] Translation: X:196.91, Y:-173.69, Z:-10.48 [[-8.53739184e-01 5.20638274e-01 8.07419078e-03 1.96905631e+02] [ 5.20615689e-01 8.53777362e-01 -4.84981549e-03 -1.73685419e+02] [-9.41856087e-03 6.30728735e-05 -9.99955642e-01 -1.04833124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.210385723 meters 0.013299815911665215 Centerline is valid? [True, True] Translation: X:196.92, Y:-173.66, Z:-10.48 [[-8.91542948e-01 4.52831364e-01 9.74310782e-03 1.96919021e+02] [ 4.52804305e-01 8.91596184e-01 -4.95034247e-03 -1.73662025e+02] [-1.09285881e-02 -1.72175709e-06 -9.99940281e-01 -1.04819324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.270385723 meters 0.013374142817664494 Centerline is valid? [True, True] Translation: X:196.93, Y:-173.64, Z:-10.48 [[-9.22424531e-01 3.86024263e-01 1.08744204e-02 1.96926025e+02] [ 3.85996996e-01 9.22488627e-01 -4.58826528e-03 -1.73637149e+02] [-1.18027109e-02 -3.48348370e-05 -9.99930345e-01 -1.04804471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.330385723 meters 0.013590097081032228 Centerline is valid? [True, True] Translation: X:196.93, Y:-173.61, Z:-10.48 [[-9.48143586e-01 3.17681580e-01 1.01070964e-02 1.96925342e+02] [ 3.17662912e-01 9.48197454e-01 -3.44435809e-03 -1.73611692e+02] [-1.06777322e-02 -5.50963558e-05 -9.99942990e-01 -1.04813756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.390385723 meters 0.013813334512916862 Centerline is valid? [True, True] Translation: X:197.18, Y:-172.92, Z:-11.43 [[-9.20100658e-01 -3.91547918e-01 1.02472759e-02 1.97176330e+02] [ 3.91524652e-01 -9.20157715e-01 -4.26922177e-03 -1.72917344e+02] [ 1.11007149e-02 8.39473804e-05 9.99938382e-01 -1.14333849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.450385723 meters 0.014007324457814212 Centerline is valid? [True, True] Translation: X:196.88, Y:-173.62, Z:-10.48 [[-9.49587746e-01 3.13279296e-01 1.17980676e-02 1.96884907e+02] [ 3.13254118e-01 9.49661033e-01 -3.97249519e-03 -1.73621349e+02] [-1.24486656e-02 -7.64394725e-05 -9.99922509e-01 -1.04794267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.510385723 meters 0.014039386836065591 Centerline is valid? [True, True] Translation: X:196.89, Y:-173.60, Z:-10.48 [[-9.69299262e-01 2.45510947e-01 1.35394418e-02 1.96891591e+02] [ 2.45485829e-01 9.69393815e-01 -3.51271795e-03 -1.73602696e+02] [-1.39874618e-02 -8.11338162e-05 -9.99902167e-01 -1.04791043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.570385723 meters 0.014738940902089399 Centerline is valid? [True, True] Translation: X:196.89, Y:-173.57, Z:-10.48 [[-9.85022854e-01 1.71749498e-01 1.52344427e-02 1.96887708e+02] [ 1.71726455e-01 9.85140642e-01 -2.81782499e-03 -1.73572369e+02] [-1.54920287e-02 -1.59465182e-04 -9.99879979e-01 -1.04761095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.630385723 meters 0.015779824237017626 Centerline is valid? [True, True] Translation: X:197.03, Y:-172.80, Z:-11.44 [[-9.65191697e-01 -2.60920588e-01 1.80398149e-02 1.97032416e+02] [ 2.60882668e-01 -9.65360187e-01 -4.46580837e-03 -1.72804854e+02] [ 1.85801405e-02 3.95913891e-04 9.99827296e-01 -1.14420551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.690385723 meters 0.014472407971144878 Centerline is valid? [True, True] Translation: X:196.84, Y:-173.56, Z:-10.48 [[-9.85563122e-01 1.68179042e-01 1.95228854e-02 1.96839246e+02] [ 1.68142043e-01 9.85756446e-01 -3.53317063e-03 -1.73563337e+02] [-1.98390154e-02 -1.99544835e-04 -9.99803167e-01 -1.04752258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.750385723 meters 0.01437588718308363 Centerline is valid? [True, True] Translation: X:196.86, Y:-173.54, Z:-10.47 [[-9.94224306e-01 1.05574510e-01 1.92886624e-02 1.96860189e+02] [ 1.05553735e-01 9.94411394e-01 -2.09484596e-03 -1.73541260e+02] [-1.94020280e-02 -4.67564171e-05 -9.99811762e-01 -1.04738489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.810385723 meters 0.014336094342724632 Centerline is valid? [True, True] Translation: X:196.95, Y:-172.76, Z:-11.44 [[-9.85210577e-01 -1.70231247e-01 1.95305453e-02 1.96949571e+02] [ 1.70199233e-01 -9.85404139e-01 -3.30203310e-03 -1.72755042e+02] [ 1.98075894e-02 7.08858978e-05 9.99803808e-01 -1.14401261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.870385723 meters 0.018278093634784644 Centerline is valid? [True, True] Translation: X:196.80, Y:-173.54, Z:-10.47 [[-9.93314094e-01 1.13691673e-01 2.00328387e-02 1.96797932e+02] [ 1.13672653e-01 9.93516061e-01 -2.08928962e-03 -1.73539198e+02] [-2.01404819e-02 2.01865098e-04 -9.99797140e-01 -1.04718091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.930385723 meters 0.014848341377556475 Centerline is valid? [True, True] Translation: X:196.89, Y:-172.75, Z:-11.44 [[-9.86966450e-01 -1.60100697e-01 1.62785917e-02 1.96890953e+02] [ 1.60072328e-01 -9.87100609e-01 -3.03947153e-03 -1.72746345e+02] [ 1.65552293e-02 -3.94104356e-04 9.99862875e-01 -1.14382083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.990385723 meters 0.014324773862562982 Centerline is valid? [True, True] Translation: X:196.73, Y:-173.53, Z:-10.48 [[-9.94108520e-01 1.07400636e-01 1.46066486e-02 1.96730957e+02] [ 1.07390716e-01 9.94215817e-01 -1.46407850e-03 -1.73532216e+02] [-1.46794040e-02 1.13165534e-04 -9.99892245e-01 -1.04776106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.050385723 meters 0.013792310875297756 Centerline is valid? [True, True] Translation: X:196.75, Y:-173.50, Z:-10.48 [[-9.99340227e-01 3.36275645e-02 1.37221918e-02 1.96748487e+02] [ 3.36253023e-02 9.99434431e-01 -3.95601676e-04 -1.73502815e+02] [-1.37277341e-02 6.60721800e-05 -9.99905768e-01 -1.04779745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.110385723 meters 0.01370633580491373 Centerline is valid? [True, True] Translation: X:196.76, Y:-172.71, Z:-11.44 [[-9.95776527e-01 -9.09188740e-02 1.27619500e-02 1.96764105e+02] [ 9.09098700e-02 -9.95858295e-01 -1.28508895e-03 -1.72709518e+02] [ 1.28259326e-02 -1.19474192e-04 9.99917737e-01 -1.14362290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.170385723 meters 0.013812731382398536 Centerline is valid? [True, True] Translation: X:196.67, Y:-173.50, Z:-10.48 [[-9.99455512e-01 3.10242442e-02 1.12327745e-02 1.96674983e+02] [ 3.10232283e-02 9.99518629e-01 -2.64713980e-04 -1.73504763e+02] [-1.12355799e-02 8.39070809e-05 -9.99936875e-01 -1.04789990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.230385723 meters 0.014201538859909725 Centerline is valid? [True, True] Translation: X:196.67, Y:-173.48, Z:-10.48 [[-9.99242259e-01 -3.77020861e-02 9.66748255e-03 1.96674634e+02] [-3.76993958e-02 9.99289019e-01 4.60436155e-04 -1.73480404e+02] [-9.67796855e-03 9.56290131e-05 -9.99953163e-01 -1.04792072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.290385723 meters 0.014155378134568589 Centerline is valid? [True, True] Translation: X:196.67, Y:-173.45, Z:-10.48 [[-9.93896175e-01 -1.09921526e-01 9.36219860e-03 1.96668107e+02] [-1.09915879e-01 9.93940266e-01 1.11711956e-03 -1.73452815e+02] [-9.42826165e-03 8.12465684e-05 -9.99955550e-01 -1.04787780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3503857229999 meters 0.013764115908388799 Centerline is valid? [True, True] Translation: X:196.66, Y:-173.42, Z:-10.48 [[-9.82688747e-01 -1.85030160e-01 9.30949369e-03 1.96658928e+02] [-1.85021491e-01 9.82732842e-01 1.79146984e-03 -1.73420782e+02] [-9.48022114e-03 3.80008488e-05 -9.99955061e-01 -1.04772961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.410385723 meters 0.013758551964418891 Centerline is valid? [True, True] Translation: X:196.63, Y:-173.39, Z:-10.48 [[-9.65922002e-01 -2.58668546e-01 9.23415574e-03 1.96628917e+02] [-2.58656743e-01 9.65966140e-01 2.47098458e-03 -1.73395000e+02] [-9.55904776e-03 -1.69827407e-06 -9.99954311e-01 -1.04754305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4703857229999 meters 0.013772012351617288 Centerline is valid? [True, True] Translation: X:196.60, Y:-173.37, Z:-10.48 [[-9.43795894e-01 -3.30413638e-01 8.72572684e-03 1.96600179e+02] [-3.30399753e-01 9.43836229e-01 3.02923953e-03 -1.73373148e+02] [-9.23655917e-03 -2.39941559e-05 -9.99957342e-01 -1.04767079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.530385723 meters 0.013874776404502282 Centerline is valid? [True, True] Translation: X:196.55, Y:-173.36, Z:-10.48 [[-9.16247220e-01 -4.00532435e-01 8.04985912e-03 1.96545241e+02] [-4.00517408e-01 9.16282580e-01 3.46985930e-03 -1.73359924e+02] [-8.76573688e-03 -4.48597683e-05 -9.99961579e-01 -1.04752338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5903857229999 meters 0.013920922762297772 Centerline is valid? [True, True] Translation: X:196.47, Y:-173.37, Z:-10.48 [[-8.84003378e-01 -4.67412305e-01 7.98527876e-03 1.96465052e+02] [-4.67393786e-01 8.84039442e-01 4.16106122e-03 -1.73368250e+02] [-9.00423259e-03 -5.38774973e-05 -9.99959460e-01 -1.04756779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.650385723 meters 0.013936145110816584 Centerline is valid? [True, True] Translation: X:196.41, Y:-173.37, Z:-10.48 [[-8.47238111e-01 -5.31158655e-01 7.62014748e-03 1.96407304e+02] [-5.31137631e-01 8.47272377e-01 4.72604808e-03 -1.73370106e+02] [-8.96662182e-03 -4.32590347e-05 -9.99959798e-01 -1.04750121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.710385723 meters 0.013827558132133374 Centerline is valid? [True, True] Translation: X:196.33, Y:-173.39, Z:-10.48 [[-8.07844786e-01 -5.89360743e-01 6.38098460e-03 1.96330987e+02] [-5.89342369e-01 8.07869986e-01 4.65375392e-03 -1.73393179e+02] [-7.89774581e-03 -1.07373488e-06 -9.99968812e-01 -1.04759522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.770385723 meters 0.01413005764899926 Centerline is valid? [True, True] Translation: X:196.24, Y:-173.43, Z:-10.48 [[-7.65095189e-01 -6.43899713e-01 4.74454542e-03 1.96242132e+02] [-6.43887039e-01 7.65109899e-01 4.04011501e-03 -1.73434998e+02] [-6.23152757e-03 3.61212515e-05 -9.99980583e-01 -1.04780380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.830385723 meters 0.01439930234195941 Centerline is valid? [True, True] Translation: X:196.16, Y:-173.48, Z:-10.48 [[-7.16804181e-01 -6.97265514e-01 3.54531977e-03 1.96158150e+02] [-6.97256652e-01 7.16812947e-01 3.51571340e-03 -1.73477322e+02] [-4.99271683e-03 4.80802700e-05 -9.99987535e-01 -1.04794098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.890385723 meters 0.016140822130553817 Centerline is valid? [True, True] Translation: X:196.08, Y:-173.53, Z:-10.48 [[-6.66522431e-01 -7.45480417e-01 2.60693307e-03 1.96075743e+02] [-7.45474334e-01 6.66527527e-01 3.01219749e-03 -1.73532486e+02] [-3.98312689e-03 6.42955029e-05 -9.99992065e-01 -1.04794913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.950385723 meters 0.0157613107895108 Centerline is valid? [True, True] Translation: X:195.99, Y:-173.60, Z:-10.48 [[-6.09232731e-01 -7.92987741e-01 2.43366782e-03 1.95985168e+02] [-7.92980926e-01 6.09237587e-01 3.28825790e-03 -1.73598328e+02] [-4.09023011e-03 7.34621782e-05 -9.99991632e-01 -1.04798536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.010385723 meters 0.015736137242958737 Centerline is valid? [True, True] Translation: X:195.90, Y:-173.67, Z:-10.48 [[-5.47662007e-01 -8.36695512e-01 2.63562323e-03 1.95901475e+02] [-8.36684986e-01 5.47668341e-01 4.19796007e-03 -1.73666648e+02] [-4.95586175e-03 9.38768516e-05 -9.99987715e-01 -1.04790338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.070385723 meters 0.016256228058552355 Centerline is valid? [True, True] Translation: X:195.81, Y:-173.77, Z:-10.48 [[-4.80140221e-01 -8.77187215e-01 2.82100129e-03 1.95808244e+02] [-8.77170821e-01 4.80148497e-01 5.36397827e-03 -1.73771023e+02] [-6.05971269e-03 1.00961694e-04 -9.99981635e-01 -1.04785841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.130385723 meters 0.01504609823926854 Centerline is valid? [True, True] Translation: X:195.73, Y:-173.84, Z:-10.48 [[-4.08036392e-01 -9.12962859e-01 2.26281491e-03 1.95733768e+02] [-9.12947795e-01 4.08042659e-01 5.24517632e-03 -1.73844678e+02] [-5.71197619e-03 7.43909432e-05 -9.99983684e-01 -1.04799832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.190385723 meters 0.014959848301550378 Centerline is valid? [True, True] Translation: X:195.66, Y:-173.94, Z:-10.48 [[-3.35880588e-01 -9.41902918e-01 1.76733177e-03 1.95663999e+02] [-9.41888828e-01 3.35885231e-01 5.15235296e-03 -1.73939965e+02] [-5.44663693e-03 6.59452876e-05 -9.99985165e-01 -1.04799641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.250385723 meters 0.014317612773545015 Centerline is valid? [True, True] Translation: X:195.59, Y:-174.05, Z:-10.48 [[-2.58656653e-01 -9.65968850e-01 9.57666396e-04 1.95594176e+02] [-9.65961779e-01 2.58658424e-01 3.69600084e-03 -1.74047830e+02] [-3.81793016e-03 3.09260715e-05 -9.99992711e-01 -1.04814511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.310385723 meters 0.013933439922180185 Centerline is valid? [True, True] Translation: X:195.54, Y:-174.16, Z:-10.48 [[-1.81699727e-01 -9.83353947e-01 4.73471116e-04 1.95535520e+02] [-9.83350365e-01 1.81700343e-01 2.65424642e-03 -1.74160246e+02] [-2.69609356e-03 1.66878554e-05 -9.99996365e-01 -1.04832533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.370385723 meters 0.013928642736781432 Centerline is valid? [True, True] Translation: X:195.49, Y:-174.28, Z:-10.48 [[-1.05487215e-01 -9.94420644e-01 1.73978464e-04 1.95488625e+02] [-9.94419113e-01 1.05487358e-01 1.74481548e-03 -1.74275904e+02] [-1.75343306e-03 1.10482164e-05 -9.99998463e-01 -1.04839062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.430385723 meters 0.013976704620472869 Centerline is valid? [True, True] Translation: X:195.45, Y:-174.40, Z:-10.48 [[-2.87541324e-02 -9.99586513e-01 6.14883876e-05 1.95447766e+02] [-9.99582792e-01 2.87541931e-02 2.72748408e-03 -1.74398627e+02] [-2.72812435e-03 1.69637043e-05 -9.99996279e-01 -1.04828270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.490385723 meters 0.013964870316522425 Centerline is valid? [True, True] Translation: X:195.42, Y:-174.51, Z:-10.48 [[ 4.69952716e-02 -9.98895086e-01 -2.28837164e-04 1.95419105e+02] [-9.98885789e-01 -4.69958216e-02 4.30964234e-03 -1.74505561e+02] [-4.31563494e-03 2.60493786e-05 -9.99990687e-01 -1.04822351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.550385723 meters 0.01425156320568409 Centerline is valid? [True, True] Translation: X:195.40, Y:-174.63, Z:-10.48 [[ 1.20623535e-01 -9.92697971e-01 -8.37139271e-04 1.95399876e+02] [-9.92677345e-01 -1.20626426e-01 6.39947824e-03 -1.74627625e+02] [-6.45373019e-03 5.90815005e-05 -9.99979173e-01 -1.04801668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.610385723 meters 0.015038779372057817 Centerline is valid? [True, True] Translation: X:195.40, Y:-174.76, Z:-10.48 [[ 1.92712209e-01 -9.81254240e-01 -1.45630001e-03 1.95395937e+02] [-9.81229765e-01 -1.92717689e-01 6.93116840e-03 -1.74761937e+02] [-7.08189315e-03 9.32441392e-05 -9.99974919e-01 -1.04795999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.670385723 meters 0.016247348462819198 Centerline is valid? [True, True] Translation: X:195.40, Y:-174.87, Z:-10.48 [[ 2.60175133e-01 -9.65559562e-01 -1.90569128e-03 1.95398297e+02] [-9.65537526e-01 -2.60182074e-01 6.52498429e-03 -1.74874941e+02] [-6.79608768e-03 1.42377782e-04 -9.99976896e-01 -1.04812761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.730385723 meters 0.017850407574405796 Centerline is valid? [True, True] Translation: X:195.41, Y:-174.99, Z:-10.48 [[ 3.27747205e-01 -9.44762270e-01 -2.45404564e-03 1.95406827e+02] [-9.44739943e-01 -3.27756338e-01 6.49797182e-03 -1.74993844e+02] [-6.94336762e-03 1.88742832e-04 -9.99975877e-01 -1.04798771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.790385723 meters 0.01903712794570089 Centerline is valid? [True, True] Translation: X:195.43, Y:-175.12, Z:-10.48 [[ 3.98388680e-01 -9.17212324e-01 -2.83051758e-03 1.95426676e+02] [-9.17192398e-01 -3.98398691e-01 6.04883560e-03 -1.75120081e+02] [-6.67574106e-03 1.86341575e-04 -9.99977700e-01 -1.04795496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8503857229999 meters 0.01692237592625059 Centerline is valid? [True, True] Translation: X:195.44, Y:-175.24, Z:-10.48 [[ 4.69605939e-01 -8.82868968e-01 -3.55639865e-03 1.95443597e+02] [-8.82846555e-01 -4.69619369e-01 6.29348360e-03 -1.75237806e+02] [-7.22647505e-03 1.84297023e-04 -9.99973872e-01 -1.04806710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.910385723 meters 0.016135149228018546 Centerline is valid? [True, True] Translation: X:195.47, Y:-175.36, Z:-10.48 [[ 5.38968963e-01 -8.42313085e-01 -4.59601919e-03 1.95474694e+02] [-8.42285235e-01 -5.38988530e-01 6.85190697e-03 -1.75356216e+02] [-8.24865252e-03 1.78193907e-04 -9.99965963e-01 -1.04807628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9703857229999 meters 0.015376550402467035 Centerline is valid? [True, True] Translation: X:195.51, Y:-175.47, Z:-10.48 [[ 6.05068210e-01 -7.96159637e-01 -4.72175490e-03 1.95512003e+02] [-7.96137080e-01 -6.05086618e-01 5.99445579e-03 -1.75469490e+02] [-7.62961445e-03 1.32109533e-04 -9.99970885e-01 -1.04810877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.030385723 meters 0.014940859797844704 Centerline is valid? [True, True] Translation: X:195.56, Y:-175.58, Z:-10.48 [[ 6.66030119e-01 -7.45905840e-01 -5.32522585e-03 1.95558132e+02] [-7.45883348e-01 -6.66051398e-01 5.79359018e-03 -1.75575520e+02] [-7.86834687e-03 1.13291732e-04 -9.99969038e-01 -1.04810919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0903857229999 meters 0.014712036166454891 Centerline is valid? [True, True] Translation: X:195.61, Y:-175.68, Z:-10.48 [[ 7.23056114e-01 -6.90764339e-01 -5.87240767e-03 1.95611121e+02] [-6.90742541e-01 -7.23079955e-01 5.48821981e-03 -1.75676775e+02] [-8.03728679e-03 8.80309130e-05 -9.99967697e-01 -1.04812317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.150385723 meters 0.014748198584653845 Centerline is valid? [True, True] Translation: X:195.63, Y:-175.71, Z:-10.48 [[ 7.75366007e-01 -6.31482590e-01 -6.10683770e-03 1.95629634e+02] [-6.31463806e-01 -7.75390052e-01 4.87133958e-03 -1.75706427e+02] [-7.81134734e-03 7.91758534e-05 -9.99969488e-01 -1.04803562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.210385723 meters 0.016122052097236064 Centerline is valid? [True, True] Translation: X:195.65, Y:-175.74, Z:-10.48 [[ 8.22672434e-01 -5.68471568e-01 -7.08106883e-03 1.95650358e+02] [-5.68451366e-01 -8.22702905e-01 4.79326744e-03 -1.75736025e+02] [-8.55045216e-03 8.19542546e-05 -9.99963441e-01 -1.04796796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.270385723 meters 0.014118241321710995 Centerline is valid? [True, True] Translation: X:195.67, Y:-175.77, Z:-10.48 [[ 8.65781180e-01 -5.00381021e-01 -6.46385908e-03 1.95672580e+02] [-5.00367537e-01 -8.65805308e-01 3.67388621e-03 -1.75765578e+02] [-7.43478643e-03 5.35237050e-05 -9.99972360e-01 -1.04816773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.330385723 meters 0.014110181159802514 Centerline is valid? [True, True] Translation: X:195.70, Y:-175.79, Z:-10.48 [[ 9.02591088e-01 -4.30439089e-01 -7.17770238e-03 1.95698872e+02] [-4.30425923e-01 -9.02619626e-01 3.36701838e-03 -1.75789541e+02] [-7.92803136e-03 5.04283830e-05 -9.99968571e-01 -1.04806781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.390385723 meters 0.01415784354918961 Centerline is valid? [True, True] Translation: X:195.73, Y:-175.81, Z:-10.48 [[ 9.33735478e-01 -3.57871746e-01 -8.11606347e-03 1.95727016e+02] [-3.57858684e-01 -9.33770749e-01 3.05800946e-03 -1.75807715e+02] [-8.67291785e-03 4.90318648e-05 -9.99962388e-01 -1.04782798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.450385723 meters 0.01379692663828062 Centerline is valid? [True, True] Translation: X:195.76, Y:-175.83, Z:-10.48 [[ 9.59000119e-01 -2.83224176e-01 -1.01409461e-02 1.95756526e+02] [-2.83208926e-01 -9.59053733e-01 2.93947731e-03 -1.75829102e+02] [-1.05582433e-02 5.30473850e-05 -9.99944259e-01 -1.04793133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.510385723 meters 0.01376414378482735 Centerline is valid? [True, True] Translation: X:195.79, Y:-175.85, Z:-10.48 [[ 9.78227999e-01 -2.07215596e-01 -1.14751843e-02 1.95787752e+02] [-2.07202018e-01 -9.78295300e-01 2.37276342e-03 -1.75845858e+02] [-1.17177925e-02 5.65777395e-05 -9.99931343e-01 -1.04785712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.570385723 meters 0.013810649035551764 Centerline is valid? [True, True] Translation: X:195.82, Y:-175.86, Z:-10.48 [[ 9.91586082e-01 -1.28804345e-01 -1.29028180e-02 1.95816079e+02] [-1.28794063e-01 -9.91670025e-01 1.62816558e-03 -1.75858723e+02] [-1.30050527e-02 4.73400335e-05 -9.99915430e-01 -1.04777555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.630385723 meters 0.013668854824009086 Centerline is valid? [True, True] Translation: X:195.85, Y:-175.86, Z:-10.48 [[ 9.98614331e-01 -5.10575567e-02 -1.27492993e-02 1.95845190e+02] [-5.10540312e-02 -9.98695711e-01 6.02047095e-04 -1.75864776e+02] [-1.27634096e-02 4.96902671e-05 -9.99918543e-01 -1.04764306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.690385723 meters 0.01366806174660936 Centerline is valid? [True, True] Translation: X:195.87, Y:-175.87, Z:-10.48 [[ 9.99542065e-01 2.74345197e-02 -1.27674020e-02 1.95874660e+02] [ 2.74316710e-02 -9.99623602e-01 -3.98231420e-04 -1.75867875e+02] [-1.27735217e-02 4.78178851e-05 -9.99918414e-01 -1.04770411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.750385723 meters 0.013514264528780268 Centerline is valid? [True, True] Translation: X:195.90, Y:-175.87, Z:-10.48 [[ 9.94220577e-01 1.06760890e-01 -1.12940663e-02 1.95904253e+02] [ 1.06753668e-01 -9.94284724e-01 -1.24215730e-03 -1.75870427e+02] [-1.13621314e-02 2.92953504e-05 -9.99935449e-01 -1.04798119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.810385723 meters 0.013333504780698915 Centerline is valid? [True, True] Translation: X:195.93, Y:-175.87, Z:-10.48 [[ 9.82359739e-01 1.86746045e-01 -9.76004083e-03 1.95933969e+02] [ 1.86736824e-01 -9.82408222e-01 -1.85580040e-03 -1.75870435e+02] [-9.93490775e-03 5.04571583e-07 -9.99950648e-01 -1.04815072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.870385723 meters 0.014315907263878722 Centerline is valid? [True, True] Translation: X:195.96, Y:-175.87, Z:-10.48 [[ 9.63860125e-01 2.66173102e-01 -1.12044628e-02 1.95963642e+02] [ 2.66155567e-01 -9.63925245e-01 -3.05546160e-03 -1.75870792e+02] [-1.16135462e-02 -3.70925424e-05 -9.99932560e-01 -1.04800988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.930385723 meters 0.017715726114335386 Centerline is valid? [True, True] Translation: X:195.99, Y:-175.87, Z:-10.48 [[ 9.38836795e-01 3.44131602e-01 -1.26060576e-02 1.95992313e+02] [ 3.44101874e-01 -9.38921420e-01 -4.52413040e-03 -1.75867200e+02] [-1.33929937e-02 -9.03479530e-05 -9.99910306e-01 -1.04774637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.990385723 meters 0.014030806816029476 Centerline is valid? [True, True] Translation: X:196.02, Y:-175.86, Z:-10.48 [[ 9.08189915e-01 4.18422493e-01 -1.06628377e-02 1.96018583e+02] [ 4.18394980e-01 -9.08252502e-01 -4.79936693e-03 -1.75858602e+02] [-1.16927121e-02 -1.02541136e-04 -9.99931633e-01 -1.04809700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.050385723 meters 0.013918064290872913 Centerline is valid? [True, True] Translation: X:196.04, Y:-175.85, Z:-10.48 [[ 8.73136353e-01 4.87358765e-01 -1.06931166e-02 1.96042710e+02] [ 4.87323541e-01 -8.73201824e-01 -5.86012433e-03 -1.75846772e+02] [-1.21932319e-02 -9.43198696e-05 -9.99925655e-01 -1.04820645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.110385723 meters 0.014139640773691039 Centerline is valid? [True, True] Translation: X:196.07, Y:-175.84, Z:-10.48 [[ 8.32599048e-01 5.53786228e-01 -9.98191024e-03 1.96067912e+02] [ 5.53747670e-01 -8.32658877e-01 -6.53544041e-03 -1.75839233e+02] [-1.19307631e-02 -8.60580775e-05 -9.99928822e-01 -1.04811161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.170385723 meters 0.014073709989326806 Centerline is valid? [True, True] Translation: X:196.09, Y:-175.82, Z:-10.48 [[ 7.87553295e-01 6.16154215e-01 -1.06673165e-02 1.96089223e+02] [ 6.16099049e-01 -7.87625531e-01 -8.24527085e-03 -1.75824112e+02] [-1.34822092e-02 -7.85333180e-05 -9.99909108e-01 -1.04812259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.230385723 meters 0.014455351450621786 Centerline is valid? [True, True] Translation: X:196.11, Y:-175.82, Z:-10.48 [[ 7.35369745e-01 6.77587734e-01 -1.03053748e-02 1.96114604e+02] [ 6.77523353e-01 -7.35441942e-01 -9.34111687e-03 -1.75815023e+02] [-1.39084311e-02 -1.12957390e-04 -9.99903267e-01 -1.04814372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.290385723 meters 0.01451058317350715 Centerline is valid? [True, True] Translation: X:196.14, Y:-175.81, Z:-10.48 [[ 6.80970351e-01 7.32225170e-01 -1.12107337e-02 1.96141541e+02] [ 7.32128658e-01 -6.81062616e-01 -1.18887095e-02 -1.75807207e+02] [-1.63404239e-02 -1.11840711e-04 -9.99866480e-01 -1.04791430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3503857229999 meters 0.01431418032639343 Centerline is valid? [True, True] Translation: X:196.16, Y:-175.79, Z:-10.48 [[ 6.25730543e-01 7.79973473e-01 -1.01326288e-02 1.96162277e+02] [ 7.79871853e-01 -6.25812577e-01 -1.25901573e-02 -1.75793303e+02] [-1.61611152e-02 -2.41060523e-05 -9.99869400e-01 -1.04793050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.410385723 meters 0.014290411577957093 Centerline is valid? [True, True] Translation: X:196.18, Y:-175.78, Z:-10.48 [[ 5.66070687e-01 8.24311156e-01 -8.66582342e-03 1.96180756e+02] [ 8.24213545e-01 -5.66137013e-01 -1.26852386e-02 -1.75775930e+02] [-1.53626270e-02 3.82526729e-05 -9.99881987e-01 -1.04819813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4703857229999 meters 0.01497138258084424 Centerline is valid? [True, True] Translation: X:196.20, Y:-175.76, Z:-10.48 [[ 5.05578523e-01 8.62742557e-01 -8.10166985e-03 1.96199629e+02] [ 8.62627030e-01 -5.05643409e-01 -1.41191178e-02 -1.75758798e+02] [-1.62777198e-02 1.49603337e-04 -9.99867498e-01 -1.04797013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.530385723 meters 0.015357795021545719 Centerline is valid? [True, True] Translation: X:196.22, Y:-175.74, Z:-10.48 [[ 4.37866169e-01 8.99009353e-01 -7.44321733e-03 1.96219727e+02] [ 8.98872166e-01 -4.37929388e-01 -1.57060434e-02 -1.75742456e+02] [-1.73794835e-02 1.86644182e-04 -9.99848948e-01 -1.04785310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5903857229999 meters 0.015497687595898644 Centerline is valid? [True, True] Translation: X:196.24, Y:-175.72, Z:-10.48 [[ 3.65909018e-01 9.30634212e-01 -5.52758761e-03 1.96235250e+02] [ 9.30521242e-01 -3.65950730e-01 -1.45010985e-02 -1.75723229e+02] [-1.55180431e-02 1.62545013e-04 -9.99879575e-01 -1.04811749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.650385723 meters 0.014910552780217795 Centerline is valid? [True, True] Translation: X:196.26, Y:-175.70, Z:-10.48 [[ 2.89574821e-01 9.57147633e-01 -3.85128240e-03 1.96256353e+02] [ 9.57057888e-01 -2.89600410e-01 -1.31073447e-02 -1.75704593e+02] [-1.36609969e-02 1.09656806e-04 -9.99906678e-01 -1.04825985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.710385723 meters 0.017550022130816512 Centerline is valid? [True, True] Translation: X:196.27, Y:-175.68, Z:-10.48 [[ 2.11751266e-01 9.77318282e-01 -3.22128362e-03 1.96274416e+02] [ 9.77198341e-01 -2.11775746e-01 -1.53113246e-02 -1.75684028e+02] [-1.56462272e-02 9.43593565e-05 -9.99877586e-01 -1.04784692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.770385723 meters 0.01631622921671605 Centerline is valid? [True, True] Translation: X:196.29, Y:-175.66, Z:-10.48 [[ 1.34670300e-01 9.90889087e-01 -1.65166485e-03 1.96287147e+02] [ 9.90807220e-01 -1.34680405e-01 -1.27373933e-02 -1.75661633e+02] [-1.28437909e-02 7.88671245e-05 -9.99917512e-01 -1.04806711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.830385723 meters 0.014810439498126188 Centerline is valid? [True, True] Translation: X:196.30, Y:-175.64, Z:-10.48 [[ 5.85353519e-02 9.98285194e-01 -5.32819596e-04 1.96296442e+02] [ 9.98229702e-01 -5.85377162e-02 -1.05260756e-02 -1.75638683e+02] [-1.05392155e-02 8.42711918e-05 -9.99944457e-01 -1.04837093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.890385723 meters 0.01501909371043699 Centerline is valid? [True, True] Translation: X:196.30, Y:-175.62, Z:-10.48 [[-1.77861246e-02 9.99841774e-01 2.84496536e-04 1.96304350e+02] [ 9.99789705e-01 1.77881019e-02 -1.02043567e-02 -1.75615305e+02] [-1.02078028e-02 1.02940748e-04 -9.99947894e-01 -1.04830211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.950385723 meters 0.015690159843444025 Centerline is valid? [True, True] Translation: X:196.31, Y:-175.59, Z:-10.48 [[-9.30959115e-02 9.95656462e-01 1.16686662e-03 1.96308795e+02] [ 9.95596451e-01 9.31031126e-02 -1.09324153e-02 -1.75592408e+02] [-1.09935688e-02 1.43965106e-04 -9.99939559e-01 -1.04807682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.010385723 meters 0.01694798806042948 Centerline is valid? [True, True] Translation: X:196.32, Y:-175.57, Z:-10.48 [[-1.68784179e-01 9.85650979e-01 2.01206672e-03 1.96315088e+02] [ 9.85592181e-01 1.68796090e-01 -1.07671831e-02 -1.75568013e+02] [-1.09523136e-02 1.65747066e-04 -9.99940008e-01 -1.04794290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.070385723 meters 0.015950903061577062 Centerline is valid? [True, True] Translation: X:196.32, Y:-175.54, Z:-10.48 [[-2.46087576e-01 9.69243973e-01 2.65051342e-03 1.96317419e+02] [ 9.69194062e-01 2.46101805e-01 -9.83728773e-03 -1.75543581e+02] [-1.01870280e-02 1.48027574e-04 -9.99948100e-01 -1.04804372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.130385723 meters 0.01536239726001175 Centerline is valid? [True, True] Translation: X:196.32, Y:-175.52, Z:-10.48 [[-3.23201737e-01 9.46324936e-01 3.12304940e-03 1.96324038e+02] [ 9.46284171e-01 3.23216805e-01 -8.78433190e-03 -1.75516879e+02] [-9.32225437e-03 1.16180889e-04 -9.99956540e-01 -1.04813878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.190385723 meters 0.015073181843046483 Centerline is valid? [True, True] Translation: X:196.33, Y:-175.49, Z:-10.48 [[-3.99011161e-01 9.16940497e-01 3.19673333e-03 1.96328046e+02] [ 9.16912560e-01 3.99023959e-01 -7.15802814e-03 -1.75489569e+02] [-7.83905906e-03 7.49918254e-05 -9.99969271e-01 -1.04816046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.250385723 meters 0.014755959285015104 Centerline is valid? [True, True] Translation: X:196.33, Y:-175.46, Z:-10.48 [[-4.72215972e-01 8.81477138e-01 3.18301194e-03 1.96330282e+02] [ 8.81457736e-01 4.72226697e-01 -5.84856919e-03 -1.75461851e+02] [-6.65848324e-03 4.39027167e-05 -9.99977831e-01 -1.04819282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.310385723 meters 0.014696585568830611 Centerline is valid? [True, True] Translation: X:196.33, Y:-175.43, Z:-10.48 [[-5.40946274e-01 8.41051054e-01 3.20210661e-03 1.96329955e+02] [ 8.41036655e-01 5.40955750e-01 -4.92156707e-03 -1.75433706e+02] [-5.87148716e-03 3.07856600e-05 -9.99982762e-01 -1.04824543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.370385723 meters 0.014789531664044136 Centerline is valid? [True, True] Translation: X:196.33, Y:-175.41, Z:-10.48 [[-6.05587304e-01 7.95773749e-01 2.85606334e-03 1.96327043e+02] [ 7.95765071e-01 6.05594038e-01 -3.71649138e-03 -1.75405577e+02] [-4.68710121e-03 2.20954561e-05 -9.99989015e-01 -1.04831340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.430385723 meters 0.015009794459302861 Centerline is valid? [True, True] Translation: X:196.32, Y:-175.38, Z:-10.48 [[-6.64580780e-01 7.47207034e-01 3.74635609e-03 1.96318906e+02] [ 7.47195479e-01 6.64591338e-01 -4.15570522e-03 -1.75382254e+02] [-5.59496798e-03 3.74585201e-05 -9.99984347e-01 -1.04817417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.490385723 meters 0.015235329458514794 Centerline is valid? [True, True] Translation: X:196.31, Y:-175.36, Z:-10.48 [[-7.19490785e-01 6.94486026e-01 4.70841736e-03 1.96307733e+02] [ 6.94471683e-01 7.19506189e-01 -4.46387037e-03 -1.75358914e+02] [-6.48783102e-03 5.81489346e-05 -9.99978952e-01 -1.04823977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.550385723 meters 0.01553114871518854 Centerline is valid? [True, True] Translation: X:196.33, Y:-175.34, Z:-10.48 [[-7.65337877e-01 6.43613141e-01 4.47875618e-03 1.96327156e+02] [ 6.43602615e-01 7.65350979e-01 -3.68142990e-03 -1.75336213e+02] [-5.79723709e-03 6.50014458e-05 -9.99983194e-01 -1.04825843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.610385723 meters 0.01565392219370681 Centerline is valid? [True, True] Translation: X:196.35, Y:-175.32, Z:-10.48 [[-8.08203280e-01 5.88891720e-01 3.74163642e-03 1.96353135e+02] [ 5.88885737e-01 8.08211939e-01 -2.65508055e-03 -1.75318274e+02] [-4.58759018e-03 5.75515093e-05 -9.99989475e-01 -1.04845961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.670385723 meters 0.0159185696158914 Centerline is valid? [True, True] Translation: X:196.37, Y:-175.30, Z:-10.48 [[-8.47403731e-01 5.30930077e-01 4.49104421e-03 1.96374117e+02] [ 5.30923059e-01 8.47415629e-01 -2.73078978e-03 -1.75296240e+02] [-5.25563948e-03 7.03174851e-05 -9.99986187e-01 -1.04831556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.730385723 meters 0.015847052980798224 Centerline is valid? [True, True] Translation: X:196.78, Y:-174.64, Z:-11.43 [[-8.25218801e-01 -5.64798095e-01 4.12839529e-03 1.96781236e+02] [ 5.64790542e-01 -8.25229123e-01 -2.92182770e-03 -1.74639303e+02] [ 5.05711475e-03 -7.94685360e-05 9.99987210e-01 -1.14308228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.790385723 meters 0.016518221130759774 Centerline is valid? [True, True] Translation: X:196.75, Y:-174.66, Z:-11.43 [[-7.86740382e-01 -6.17275841e-01 3.17934199e-03 1.96754781e+02] [ 6.17270468e-01 -7.86746803e-01 -2.57639831e-03 -1.74658230e+02] [ 4.09168558e-03 -6.44426764e-05 9.99991627e-01 -1.14298379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8503857229999 meters 0.01721435232809589 Centerline is valid? [True, True] Translation: X:196.75, Y:-174.70, Z:-11.43 [[-7.45639791e-01 -6.66341761e-01 3.15599319e-03 1.96748995e+02] [ 6.66335321e-01 -7.45646465e-01 -2.93071112e-03 -1.74695239e+02] [ 4.30611037e-03 -8.23050903e-05 9.99990725e-01 -1.14301940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.910385723 meters 0.018837993195820555 Centerline is valid? [True, True] Translation: X:196.24, Y:-175.27, Z:-10.48 [[-7.64893932e-01 6.44149877e-01 2.86520622e-03 1.96235876e+02] [ 6.44145758e-01 7.64899294e-01 -2.30502623e-03 -1.75265510e+02] [-3.67637658e-03 8.25098589e-05 -9.99993239e-01 -1.04841872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9703857229999 meters 0.017982984370740918 Centerline is valid? [True, True] Translation: X:196.26, Y:-175.24, Z:-10.48 [[-8.08233336e-01 5.88857065e-01 2.49613639e-03 1.96257957e+02] [ 5.88854522e-01 8.08237188e-01 -1.73209278e-03 -1.75242884e+02] [-3.03742533e-03 6.99260769e-05 -9.99995385e-01 -1.04849261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.030385723 meters 0.01788281947786862 Centerline is valid? [True, True] Translation: X:196.69, Y:-174.63, Z:-11.43 [[-7.95857336e-01 -6.05480113e-01 2.22091467e-03 1.96691499e+02] [ 6.05477484e-01 -7.95860431e-01 -1.78592941e-03 -1.74625816e+02] [ 2.84888285e-03 -7.66311921e-05 9.99995939e-01 -1.14289044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0903857229999 meters 0.018535631228703296 Centerline is valid? [True, True] Translation: X:196.22, Y:-175.21, Z:-10.49 [[-8.08608097e-01 5.88346335e-01 1.23899819e-03 1.96223091e+02] [ 5.88345718e-01 8.08609046e-01 -8.52868568e-04 -1.75213090e+02] [-1.50364724e-03 3.93228484e-05 -9.99998869e-01 -1.04874942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.150385723 meters 0.018922287909347805 Centerline is valid? [True, True] Translation: X:196.24, Y:-175.18, Z:-10.49 [[-8.47854520e-01 5.30227639e-01 1.16794319e-03 1.96238072e+02] [ 5.30227195e-01 8.47855323e-01 -6.87373362e-04 -1.75184007e+02] [-1.35471121e-03 3.64826306e-05 -9.99999082e-01 -1.04874546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.210385723 meters 0.019109214850501495 Centerline is valid? [True, True] Translation: X:196.62, Y:-174.57, Z:-11.43 [[-8.41172756e-01 -5.40763501e-01 1.79740511e-03 1.96621699e+02] [ 5.40762238e-01 -8.41174676e-01 -1.16877252e-03 -1.74565802e+02] [ 2.14396119e-03 -1.11707876e-05 9.99997702e-01 -1.14287508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.270385723 meters 0.019720945966599745 Centerline is valid? [True, True] Translation: X:196.21, Y:-175.15, Z:-10.48 [[-8.48696670e-01 5.28873313e-01 2.64241834e-03 1.96212260e+02] [ 5.28871067e-01 8.48700779e-01 -1.54351418e-03 -1.75154902e+02] [-3.05894596e-03 8.75232643e-05 -9.99995318e-01 -1.04841091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.330385723 meters 0.018731366033295394 Centerline is valid? [True, True] Translation: X:196.23, Y:-175.12, Z:-10.48 [[-8.85247803e-01 4.65114893e-01 2.11261646e-03 1.96230910e+02] [ 4.65113732e-01 8.85250322e-01 -1.04078177e-03 -1.75116900e+02] [-2.35427750e-03 6.12571547e-05 -9.99997227e-01 -1.04829927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.390385723 meters 0.017767001054847225 Centerline is valid? [True, True] Translation: X:196.53, Y:-174.51, Z:-11.43 [[-8.76847263e-01 -4.80766857e-01 1.45169117e-03 1.96533728e+02] [ 4.80766034e-01 -8.76848460e-01 -8.93509817e-04 -1.74511105e+02] [ 1.70248307e-03 -8.55478311e-05 9.99998547e-01 -1.14311548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.450385723 meters 0.01736907817739426 Centerline is valid? [True, True] Translation: X:196.19, Y:-175.08, Z:-10.49 [[-8.89386678e-01 4.57154699e-01 -9.58743268e-04 1.96191205e+02] [ 4.57154458e-01 8.89387194e-01 4.68996137e-04 -1.75081620e+02] [ 1.06709777e-03 -2.11748434e-05 -9.99999430e-01 -1.04850185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.510385723 meters 0.017317029911534935 Centerline is valid? [True, True] Translation: X:196.21, Y:-175.05, Z:-10.48 [[-9.20529111e-01 3.90672416e-01 -1.10409710e-03 1.96208172e+02] [ 3.90672161e-01 9.20529773e-01 4.46300033e-04 -1.75051142e+02] [ 1.19071136e-03 -2.05078273e-05 -9.99999291e-01 -1.04849054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.570385723 meters 0.017313925620925243 Centerline is valid? [True, True] Translation: X:196.22, Y:-175.01, Z:-10.48 [[-9.47047167e-01 3.21093116e-01 -9.35279642e-04 1.96218176e+02] [ 3.21092973e-01 9.47047629e-01 3.03358672e-04 -1.75014804e+02] [ 9.83160748e-04 -1.30167502e-05 -9.99999517e-01 -1.04835778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.630385723 meters 0.01769428339760175 Centerline is valid? [True, True] Translation: X:196.41, Y:-174.43, Z:-11.43 [[-9.31871373e-01 -3.62787382e-01 -1.02939456e-03 1.96406908e+02] [ 3.62787153e-01 -9.31871942e-01 4.07655361e-04 -1.74427883e+02] [-1.10715613e-03 6.43123741e-06 9.99999387e-01 -1.14322740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.690385723 meters 0.015855313593099513 Centerline is valid? [True, True] Translation: X:196.17, Y:-174.99, Z:-10.48 [[-9.50867885e-01 3.09596550e-01 -4.92274334e-04 1.96171494e+02] [ 3.09596509e-01 9.50868012e-01 1.58003897e-04 -1.74988333e+02] [ 5.17005379e-04 -2.16558421e-06 -9.99999866e-01 -1.04833631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.750385723 meters 0.015785453478398954 Centerline is valid? [True, True] Translation: X:196.35, Y:-174.42, Z:-11.43 [[-9.30690818e-01 -3.65806209e-01 6.46549909e-04 1.96351456e+02] [ 3.65806175e-01 -9.30691040e-01 -1.75379812e-04 -1.74418575e+02] [ 6.65893232e-04 7.32875687e-05 9.99999776e-01 -1.14321915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.810385723 meters 0.015730828852307584 Centerline is valid? [True, True] Translation: X:196.12, Y:-174.97, Z:-10.48 [[-9.53785596e-01 3.00487895e-01 -2.48085592e-04 1.96123162e+02] [ 3.00487885e-01 9.53785628e-01 7.85858983e-05 -1.74969388e+02] [ 2.60234583e-04 4.07383146e-07 -9.99999966e-01 -1.04822788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.870385723 meters 0.015813048544861374 Centerline is valid? [True, True] Translation: X:196.12, Y:-174.94, Z:-10.48 [[-9.73092837e-01 2.30413185e-01 -3.07802188e-04 1.96124657e+02] [ 2.30413173e-01 9.73092886e-01 7.39018022e-05 -1.74942975e+02] [ 3.16548069e-04 9.91635615e-07 -9.99999950e-01 -1.04826222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.930385723 meters 0.015875511233056704 Centerline is valid? [True, True] Translation: X:196.12, Y:-174.92, Z:-10.48 [[-9.86969416e-01 1.60907695e-01 2.94074314e-04 1.96124248e+02] [ 1.60907687e-01 9.86969459e-01 -4.82882126e-05 -1.74916872e+02] [-2.98012312e-04 -3.40171186e-07 -9.99999956e-01 -1.04824582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.990385723 meters 0.01587239320030351 Centerline is valid? [True, True] Translation: X:196.22, Y:-174.32, Z:-11.43 [[-9.73013534e-01 -2.30747813e-01 3.32130287e-04 1.96223692e+02] [ 2.30747801e-01 -9.73013590e-01 -7.55618335e-05 -1.74315145e+02] [ 3.40603011e-04 3.11564672e-06 9.99999942e-01 -1.14326826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.050385723 meters 0.015937889459059537 Centerline is valid? [True, True] Translation: X:196.07, Y:-174.92, Z:-10.48 [[-9.87781239e-01 1.55839939e-01 1.46228473e-03 1.96070879e+02] [ 1.55839761e-01 9.87782321e-01 -2.35584416e-04 -1.74921608e+02] [-1.48113247e-03 -4.82376354e-06 -9.99998903e-01 -1.04819663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.110385723 meters 0.016258391723879093 Centerline is valid? [True, True] Translation: X:196.17, Y:-174.30, Z:-11.43 [[-9.72287432e-01 -2.33763127e-01 3.45686858e-03 1.96169750e+02] [ 2.33762201e-01 -9.72293566e-01 -6.75253581e-04 -1.74298038e+02] [ 3.51894047e-03 1.51544637e-04 9.99993797e-01 -1.14347142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.170385723 meters 0.017044625999745492 Centerline is valid? [True, True] Translation: X:196.01, Y:-174.92, Z:-10.48 [[-9.89815925e-01 1.42285706e-01 4.38318292e-03 1.96014745e+02] [ 1.42284043e-01 9.89825628e-01 -6.90503618e-04 -1.74922311e+02] [-4.43683559e-03 -5.98144884e-05 -9.99990155e-01 -1.04787122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2303857229999 meters 0.016978990143775376 Centerline is valid? [True, True] Translation: X:196.01, Y:-174.90, Z:-10.48 [[-9.97496448e-01 7.04410744e-02 6.23627127e-03 1.96011634e+02] [ 7.04391185e-02 9.97515938e-01 -5.32985579e-04 -1.74904854e+02] [-6.25832406e-03 -9.23737712e-05 -9.99980412e-01 -1.04788361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.290385723 meters 0.016962755824363827 Centerline is valid? [True, True] Translation: X:196.01, Y:-174.89, Z:-10.48 [[-9.99982757e-01 6.22342354e-04 5.83935020e-03 1.96009922e+02] [ 6.21867977e-04 9.99999803e-01 -8.30532547e-05 -1.74888088e+02] [-5.83940073e-03 -7.94205177e-05 -9.99982947e-01 -1.04799919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3503857229999 meters 0.016823224641559508 Centerline is valid? [True, True] Translation: X:196.02, Y:-174.19, Z:-11.43 [[-9.95602213e-01 -9.34578016e-02 6.47085263e-03 1.96022323e+02] [ 9.34566703e-02 -9.95623233e-01 -4.77652629e-04 -1.74185292e+02] [ 6.48717158e-03 1.29192326e-04 9.99978950e-01 -1.14339567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.410385723 meters 0.016938680737318284 Centerline is valid? [True, True] Translation: X:195.94, Y:-174.91, Z:-10.48 [[-9.99975254e-01 -2.47503909e-03 6.58532394e-03 1.95944562e+02] [-2.47551888e-03 9.99996934e-01 -6.47078612e-05 -1.74908078e+02] [-6.58514360e-03 -8.10083537e-05 -9.99978314e-01 -1.04808262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4703857229999 meters 0.016921521152733748 Centerline is valid? [True, True] Translation: X:195.94, Y:-174.89, Z:-10.48 [[-9.97230238e-01 -7.40344540e-02 7.12406054e-03 1.95942566e+02] [-7.40332211e-02 9.97255680e-01 4.36977567e-04 -1.74889981e+02] [-7.13686123e-03 -9.16499062e-05 -9.99974528e-01 -1.04805319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.530385723 meters 0.017031544588329374 Centerline is valid? [True, True] Translation: X:195.93, Y:-174.87, Z:-10.48 [[-9.89562728e-01 -1.43869161e-01 8.20192667e-03 1.95931943e+02] [-1.43865046e-01 9.89596713e-01 1.09258054e-03 -1.74874987e+02] [-8.27378832e-03 -9.87935770e-05 -9.99965767e-01 -1.04805115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5903857229999 meters 0.016548519797507592 Centerline is valid? [True, True] Translation: X:195.93, Y:-174.86, Z:-10.48 [[-9.77469909e-01 -2.10872967e-01 9.22864760e-03 1.95929159e+02] [-2.10864354e-01 9.77513471e-01 1.90759662e-03 -1.74861218e+02] [-9.42338790e-03 -8.13745226e-05 -9.99955596e-01 -1.04821505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.650385723 meters 0.016480597441940324 Centerline is valid? [True, True] Translation: X:195.91, Y:-174.84, Z:-10.48 [[-9.60162326e-01 -2.79289759e-01 9.24874043e-03 1.95907679e+02] [-2.79277535e-01 9.60206866e-01 2.61410210e-03 -1.74837101e+02] [-9.61079601e-03 -7.30030745e-05 -9.99953813e-01 -1.04811885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.710385723 meters 0.01622606796319455 Centerline is valid? [True, True] Translation: X:195.87, Y:-174.82, Z:-10.48 [[-9.38897290e-01 -3.44027616e-01 1.08110499e-02 1.95869593e+02] [-3.44005203e-01 9.38959530e-01 3.92708893e-03 -1.74817686e+02] [-1.15021654e-02 -3.19242573e-05 -9.99933847e-01 -1.04790832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.770385723 meters 0.016048977235398835 Centerline is valid? [True, True] Translation: X:195.81, Y:-174.81, Z:-10.48 [[-9.13197602e-01 -4.07425916e-01 8.61760064e-03 1.95809632e+02] [-4.07407540e-01 9.13238262e-01 3.86956329e-03 -1.74814442e+02] [-9.44648299e-03 2.28004453e-05 -9.99955381e-01 -1.04834851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.830385723 meters 0.015955338937697284 Centerline is valid? [True, True] Translation: X:195.73, Y:-174.82, Z:-10.48 [[-8.82300245e-01 -4.70607500e-01 8.65202441e-03 1.95733901e+02] [-4.70584223e-01 8.82342664e-01 4.68098668e-03 -1.74820852e+02] [-9.83695771e-03 5.85295056e-05 -9.99951614e-01 -1.04849315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.890385723 meters 0.0161341475739556 Centerline is valid? [True, True] Translation: X:195.66, Y:-174.83, Z:-10.48 [[-8.45651184e-01 -5.33664460e-01 8.73610761e-03 1.95663082e+02] [-5.33634985e-01 8.45696303e-01 5.60939066e-03 -1.74828493e+02] [-1.03816263e-02 8.16951987e-05 -9.99946106e-01 -1.04828686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.950385723 meters 0.0162464173316704 Centerline is valid? [True, True] Translation: X:195.58, Y:-174.85, Z:-10.48 [[-8.04245362e-01 -5.94219335e-01 9.63224486e-03 1.95575530e+02] [-5.94175003e-01 8.04303033e-01 7.25930716e-03 -1.74854759e+02] [-1.20608644e-02 1.15025004e-04 -9.99927259e-01 -1.04814159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.010385723 meters 0.016523568700082397 Centerline is valid? [True, True] Translation: X:195.49, Y:-174.89, Z:-10.48 [[-7.56804730e-01 -6.53568938e-01 9.70798903e-03 1.95492282e+02] [-6.53513174e-01 7.56866983e-01 8.53820427e-03 -1.74890109e+02] [-1.29279615e-02 1.17454645e-04 -9.99916424e-01 -1.04830036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.070385723 meters 0.016177533631862393 Centerline is valid? [True, True] Translation: X:195.40, Y:-174.94, Z:-10.48 [[-7.03238246e-01 -7.10886358e-01 9.82625787e-03 1.95396105e+02] [-7.10815202e-01 7.03306888e-01 1.00583353e-02 -1.74937732e+02] [-1.40612082e-02 8.87526300e-05 -9.99901132e-01 -1.04820976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.130385723 meters 0.015944715838043588 Centerline is valid? [True, True] Translation: X:195.30, Y:-174.99, Z:-10.48 [[-6.43985257e-01 -7.64982171e-01 9.23405437e-03 1.95303864e+02] [-7.64902899e-01 6.44051456e-01 1.10125695e-02 -1.74991715e+02] [-1.43716255e-02 2.87774615e-05 -9.99896722e-01 -1.04797985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.190385723 meters 0.01594278688711954 Centerline is valid? [True, True] Translation: X:195.22, Y:-175.06, Z:-10.48 [[-5.81974984e-01 -8.13156366e-01 9.04666519e-03 1.95217593e+02] [-8.13058257e-01 5.82045294e-01 1.26311961e-02 -1.75058989e+02] [-1.55367064e-02 -4.42568013e-06 -9.99879298e-01 -1.04792140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.250385723 meters 0.015657006409409077 Centerline is valid? [True, True] Translation: X:195.14, Y:-175.13, Z:-10.48 [[-5.16261510e-01 -8.56396526e-01 7.68398979e-03 1.95135700e+02] [-8.56302773e-01 5.16318690e-01 1.26716606e-02 -1.75132909e+02] [-1.48193536e-02 -3.79311390e-05 -9.99890187e-01 -1.04826249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.310385723 meters 0.015395065594790633 Centerline is valid? [True, True] Translation: X:195.05, Y:-175.22, Z:-10.48 [[-4.46555149e-01 -8.94735998e-01 5.99943463e-03 1.95053180e+02] [-8.94657537e-01 4.46595442e-01 1.18491787e-02 -1.75216723e+02] [-1.32812069e-02 -7.61276534e-05 -9.99911798e-01 -1.04827083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.370385723 meters 0.015341864399832351 Centerline is valid? [True, True] Translation: X:194.98, Y:-175.31, Z:-10.48 [[-3.76281459e-01 -9.26492322e-01 4.92355422e-03 1.94979219e+02] [-9.26415758e-01 3.76313661e-01 1.19110174e-02 -1.75311732e+02] [-1.28882669e-02 -7.93631830e-05 -9.99916940e-01 -1.04826577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.430385723 meters 0.01497350174792182 Centerline is valid? [True, True] Translation: X:194.92, Y:-175.41, Z:-10.48 [[-3.06267730e-01 -9.51937174e-01 3.96154027e-03 1.94915230e+02] [-9.51859595e-01 3.06293346e-01 1.21530679e-02 -1.75411991e+02] [-1.27823506e-02 -4.87375870e-05 -9.99918301e-01 -1.04841756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.490385723 meters 0.014650058443550244 Centerline is valid? [True, True] Translation: X:194.86, Y:-175.51, Z:-10.48 [[-2.36003550e-01 -9.71747608e-01 2.98496485e-03 1.94857773e+02] [-9.71669771e-01 2.36022426e-01 1.22991946e-02 -1.75511410e+02] [-1.26562316e-02 2.25346889e-06 -9.99919907e-01 -1.04830016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.550385723 meters 0.014698589631673259 Centerline is valid? [True, True] Translation: X:194.81, Y:-175.63, Z:-10.48 [[-1.66181860e-01 -9.86092829e-01 2.12667584e-03 1.94808127e+02] [-9.86005856e-01 1.66195448e-01 1.30967565e-02 -1.75627820e+02] [-1.32680615e-02 7.95285132e-05 -9.99911972e-01 -1.04827579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.610385723 meters 0.015340702951958236 Centerline is valid? [True, True] Translation: X:194.76, Y:-175.78, Z:-10.48 [[-9.54346096e-02 -9.95435076e-01 1.11601526e-03 1.94763444e+02] [-9.95346745e-01 9.54410092e-02 1.32616157e-02 -1.75783485e+02] [-1.33075911e-02 1.54794964e-04 -9.99911438e-01 -1.04814245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.670385723 meters 0.015551669596522958 Centerline is valid? [True, True] Translation: X:193.96, Y:-175.79, Z:-11.43 [[-1.35014167e-01 9.90841933e-01 1.85447971e-03 1.93955992e+02] [-9.90769058e-01 -1.35026731e-01 1.20189612e-02 -1.75789109e+02] [ 1.21592951e-02 -2.14631092e-04 9.99926050e-01 -1.14326286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7303857229999 meters 0.0160356321396544 Centerline is valid? [True, True] Translation: X:194.74, Y:-176.05, Z:-10.48 [[-9.27354305e-02 -9.95690401e-01 8.75073870e-04 1.94737927e+02] [-9.95620380e-01 9.27392886e-02 1.18102681e-02 -1.76050352e+02] [-1.18405243e-02 2.23988919e-04 -9.99929873e-01 -1.04822976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.790385723 meters 0.01602738436437354 Centerline is valid? [True, True] Translation: X:194.70, Y:-176.16, Z:-10.48 [[-1.83962827e-02 -9.99830774e-01 -3.40798138e-05 1.94703566e+02] [-9.99776344e-01 1.83949255e-02 1.04349366e-02 -1.76159732e+02] [-1.04325438e-02 2.26036235e-04 -9.99945554e-01 -1.04838813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8503857229999 meters 0.016329931718848983 Centerline is valid? [True, True] Translation: X:194.68, Y:-176.28, Z:-10.48 [[ 5.81656560e-02 -9.98306669e-01 -7.41901218e-04 1.94677792e+02] [-9.98263777e-01 -5.81700358e-02 9.25621669e-03 -1.76277039e+02] [-9.28369927e-03 2.02219197e-04 -9.99956885e-01 -1.04840402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.910385723 meters 0.016388539955753737 Centerline is valid? [True, True] Translation: X:194.66, Y:-176.40, Z:-10.48 [[ 1.35486455e-01 -9.90778116e-01 -1.46504213e-03 1.94659382e+02] [-9.90734993e-01 -1.35494230e-01 9.24595449e-03 -1.76400933e+02] [-9.35919412e-03 1.98766905e-04 -9.99956182e-01 -1.04821634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9703857229999 meters 0.016911387615621012 Centerline is valid? [True, True] Translation: X:194.66, Y:-176.53, Z:-10.48 [[ 2.10839495e-01 -9.77518479e-01 -2.08126441e-03 1.94655673e+02] [-9.77479598e-01 -2.10849676e-01 8.72070120e-03 -1.76533097e+02] [-8.96348050e-03 1.95725262e-04 -9.99959808e-01 -1.04822133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.030385723 meters 0.015989293919732965 Centerline is valid? [True, True] Translation: X:194.66, Y:-176.66, Z:-10.48 [[ 2.84926519e-01 -9.58544642e-01 -3.00806784e-03 1.94655896e+02] [-9.58499072e-01 -2.84942313e-01 9.34914839e-03 -1.76656466e+02] [-9.81870190e-03 2.19409925e-04 -9.99951771e-01 -1.04830265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0903857229999 meters 0.015572181635691573 Centerline is valid? [True, True] Translation: X:194.67, Y:-176.78, Z:-10.48 [[ 3.57127266e-01 -9.34046629e-01 -4.12435316e-03 1.94666330e+02] [-9.33992224e-01 -3.57150992e-01 1.00843856e-02 -1.76782821e+02] [-1.08923032e-02 2.50704709e-04 -9.99940646e-01 -1.04821696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.150385723 meters 0.01657264109350452 Centerline is valid? [True, True] Translation: X:194.69, Y:-176.90, Z:-10.48 [[ 4.26241589e-01 -9.04597128e-01 -4.70579743e-03 1.94688440e+02] [-9.04548561e-01 -4.26267485e-01 9.37720245e-03 -1.76901474e+02] [-1.04885188e-02 2.59668630e-04 -9.99944960e-01 -1.04819050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.210385723 meters 0.016366088732095295 Centerline is valid? [True, True] Translation: X:194.72, Y:-177.02, Z:-10.48 [[ 4.93111288e-01 -8.69952687e-01 -4.85593385e-03 1.94718597e+02] [-8.69915314e-01 -4.93135136e-01 8.06749962e-03 -1.77019810e+02] [-9.41297457e-03 2.46076091e-04 -9.99955667e-01 -1.04835833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.270385723 meters 0.017674077387579402 Centerline is valid? [True, True] Translation: X:194.76, Y:-177.14, Z:-10.48 [[ 5.57538224e-01 -8.30138518e-01 -4.60106129e-03 1.94759376e+02] [-8.30113363e-01 -5.57557168e-01 6.46605237e-03 -1.77135282e+02] [-7.93307383e-03 2.14331105e-04 -9.99968510e-01 -1.04849762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.330385723 meters 0.01607565911997958 Centerline is valid? [True, True] Translation: X:194.80, Y:-177.25, Z:-10.49 [[ 6.20791385e-01 -7.83966857e-01 -3.74486725e-03 1.94798790e+02] [-7.83953998e-01 -6.20802663e-01 4.49250773e-03 -1.77245991e+02] [-5.84680072e-03 1.46893557e-04 -9.99982897e-01 -1.04866045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.390385723 meters 0.015464744792511748 Centerline is valid? [True, True] Translation: X:194.85, Y:-177.35, Z:-10.49 [[ 6.80553165e-01 -7.32680314e-01 -5.19104661e-03 1.94848585e+02] [-7.32660861e-01 -6.80572942e-01 5.34166677e-03 -1.77354088e+02] [-7.44661994e-03 1.67988454e-04 -9.99972259e-01 -1.04850828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.450385723 meters 0.014843820230612908 Centerline is valid? [True, True] Translation: X:194.90, Y:-177.45, Z:-10.49 [[ 7.34085420e-01 -6.79017901e-01 -7.29967980e-03 1.94899800e+02] [-6.78987296e-01 -7.34121680e-01 6.45065769e-03 -1.77447440e+02] [-9.73896524e-03 2.21056083e-04 -9.99952551e-01 -1.04855472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.510385723 meters 0.015208425822379941 Centerline is valid? [True, True] Translation: X:194.92, Y:-177.48, Z:-10.49 [[ 7.84022540e-01 -6.20697950e-01 -6.53546036e-03 1.94915327e+02] [-6.20678466e-01 -7.84049753e-01 4.92205693e-03 -1.77479900e+02] [-8.17923673e-03 1.97415933e-04 -9.99966530e-01 -1.04866666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.570385723 meters 0.01590286542310205 Centerline is valid? [True, True] Translation: X:194.93, Y:-177.51, Z:-10.49 [[ 8.29707284e-01 -5.58158407e-01 -6.70933003e-03 1.94932123e+02] [-5.58142075e-01 -8.29734387e-01 4.27442667e-03 -1.77510854e+02] [-7.95276902e-03 1.98236442e-04 -9.99968357e-01 -1.04866753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.630385723 meters 0.01575785981531218 Centerline is valid? [True, True] Translation: X:194.95, Y:-177.54, Z:-10.49 [[ 8.70991005e-01 -4.91251231e-01 -6.84808733e-03 1.94953718e+02] [-4.91237753e-01 -8.71017905e-01 3.64394396e-03 -1.77539692e+02] [-7.75489863e-03 1.90196623e-04 -9.99969912e-01 -1.04866907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.690385723 meters 0.015561278081348972 Centerline is valid? [True, True] Translation: X:194.98, Y:-177.57, Z:-10.49 [[ 9.06784871e-01 -4.21548864e-01 -6.14443732e-03 1.94976622e+02] [-4.21540400e-01 -9.06805673e-01 2.67622984e-03 -1.77568449e+02] [-6.69997227e-03 1.63363833e-04 -9.99977542e-01 -1.04869533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.750385723 meters 0.01574882483580944 Centerline is valid? [True, True] Translation: X:195.00, Y:-177.59, Z:-10.49 [[ 9.37467930e-01 -3.47990980e-01 -7.49390180e-03 1.95001555e+02] [-3.47981405e-01 -9.37497864e-01 2.58790873e-03 -1.77593116e+02] [-7.92608583e-03 1.81657035e-04 -9.99968572e-01 -1.04852995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.810385723 meters 0.015668766196996184 Centerline is valid? [True, True] Translation: X:195.03, Y:-177.61, Z:-10.49 [[ 9.61999646e-01 -2.72935556e-01 -7.92869211e-03 1.95030903e+02] [-2.72927837e-01 -9.62032302e-01 2.06066852e-03 -1.77612340e+02] [-8.19008763e-03 1.81598398e-04 -9.99966444e-01 -1.04850482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.870385723 meters 0.014434191028835142 Centerline is valid? [True, True] Translation: X:195.06, Y:-177.64, Z:-10.49 [[ 9.81058540e-01 -1.93575749e-01 -7.25055402e-03 1.95059809e+02] [-1.93571501e-01 -9.81085323e-01 1.28976550e-03 -1.77635954e+02] [-7.36307945e-03 1.38165173e-04 -9.99972883e-01 -1.04850595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.930385723 meters 0.013949073705001038 Centerline is valid? [True, True] Translation: X:195.09, Y:-177.65, Z:-10.48 [[ 9.93617204e-01 -1.12573961e-01 -7.20798582e-03 1.95088061e+02] [-1.12571800e-01 -9.93643342e-01 7.06145420e-04 -1.77652533e+02] [-7.24166071e-03 1.09777700e-04 -9.99973773e-01 -1.04840268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.990385723 meters 0.013003115456675252 Centerline is valid? [True, True] Translation: X:195.12, Y:-177.67, Z:-10.48 [[ 9.99560998e-01 -2.88783042e-02 -6.62235273e-03 1.95117843e+02] [-2.88780919e-02 -9.99582933e-01 1.27689998e-04 -1.77667531e+02] [-6.62327824e-03 6.36069690e-05 -9.99978064e-01 -1.04840850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.050385723 meters 0.012633350702187683 Centerline is valid? [True, True] Translation: X:195.15, Y:-177.68, Z:-10.48 [[ 9.98397644e-01 5.62265896e-02 -6.38077787e-03 1.95148584e+02] [ 5.62253262e-02 -9.98418034e-01 -3.77352430e-04 -1.77679429e+02] [-6.39190094e-03 1.79864602e-05 -9.99979571e-01 -1.04832057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.110385723 meters 0.012727292458655635 Centerline is valid? [True, True] Translation: X:195.18, Y:-177.69, Z:-10.48 [[ 9.89819820e-01 1.42072088e-01 -8.49970211e-03 1.95180442e+02] [ 1.42067230e-01 -9.89856313e-01 -1.17572294e-03 -1.77691465e+02] [-8.58052120e-03 -4.37752628e-05 -9.99963186e-01 -1.04820075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.170385723 meters 0.013591148035448166 Centerline is valid? [True, True] Translation: X:195.21, Y:-177.70, Z:-10.48 [[ 9.74058676e-01 2.26109464e-01 -9.17634309e-03 1.95212032e+02] [ 2.26100542e-01 -9.74101893e-01 -2.01200314e-03 -1.77698443e+02] [-9.39362612e-03 -1.14967027e-04 -9.99955872e-01 -1.04808870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2303857229999 meters 0.0141288509582486 Centerline is valid? [True, True] Translation: X:195.24, Y:-177.70, Z:-10.48 [[ 9.52486580e-01 3.04457355e-01 -8.66222977e-03 1.95243968e+02] [ 3.04446068e-01 -9.52525958e-01 -2.62505518e-03 -1.77699799e+02] [-9.05021606e-03 -1.36851964e-04 -9.99959037e-01 -1.04810249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.290385723 meters 0.014640659708375848 Centerline is valid? [True, True] Translation: X:195.27, Y:-177.70, Z:-10.48 [[ 9.25538239e-01 3.78559239e-01 -8.47761313e-03 1.95274448e+02] [ 3.78544765e-01 -9.25577054e-01 -3.31345803e-03 -1.77697448e+02] [-9.10102434e-03 -1.42423953e-04 -9.99958575e-01 -1.04805770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3503857229999 meters 0.014307820565869643 Centerline is valid? [True, True] Translation: X:195.30, Y:-177.69, Z:-10.48 [[ 8.93703761e-01 4.48578231e-01 -8.43554781e-03 1.95303677e+02] [ 4.48559653e-01 -8.93743561e-01 -4.08472706e-03 -1.77688935e+02] [-9.37153618e-03 -1.33310463e-04 -9.99956077e-01 -1.04801052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.410385723 meters 0.014344678100147735 Centerline is valid? [True, True] Translation: X:195.33, Y:-177.68, Z:-10.48 [[ 8.56105166e-01 5.16705322e-01 -9.97770686e-03 1.95332135e+02] [ 5.16672374e-01 -8.56163294e-01 -5.83717429e-03 -1.77679530e+02] [-1.15586454e-02 -1.57970420e-04 -9.99933184e-01 -1.04783040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4703857229999 meters 0.014376127186318016 Centerline is valid? [True, True] Translation: X:195.36, Y:-177.67, Z:-10.48 [[ 8.13720189e-01 5.81171452e-01 -9.95984084e-03 1.95358756e+02] [ 5.81130190e-01 -8.13781126e-01 -6.92685410e-03 -1.77666549e+02] [-1.21308203e-02 -1.51443174e-04 -9.99926407e-01 -1.04775038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.530385723 meters 0.014187632789263617 Centerline is valid? [True, True] Translation: X:195.38, Y:-177.65, Z:-10.48 [[ 7.68031287e-01 6.40339474e-01 -9.65919242e-03 1.95379950e+02] [ 6.40290650e-01 -7.68092016e-01 -7.90812666e-03 -1.77649593e+02] [-1.24830342e-02 -1.11001892e-04 -9.99922078e-01 -1.04762100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5903857229999 meters 0.013876971423536532 Centerline is valid? [True, True] Translation: X:195.40, Y:-177.63, Z:-10.48 [[ 7.17553600e-01 6.96445593e-01 -8.96482333e-03 1.95401976e+02] [ 6.96392535e-01 -7.17609595e-01 -8.59692472e-03 -1.77633344e+02] [-1.24205336e-02 -7.42817675e-05 -9.99922859e-01 -1.04776715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.650385723 meters 0.013945459263803736 Centerline is valid? [True, True] Translation: X:195.42, Y:-177.61, Z:-10.48 [[ 6.64885757e-01 7.46912686e-01 -6.95490104e-03 1.95415931e+02] [ 7.46871923e-01 -6.64922131e-01 -7.80328072e-03 -1.77611158e+02] [-1.04528370e-02 -6.13010305e-06 -9.99945368e-01 -1.04775974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.710385723 meters 0.01388423332783275 Centerline is valid? [True, True] Translation: X:195.43, Y:-177.59, Z:-10.48 [[ 6.05485967e-01 7.95833656e-01 -5.96121127e-03 1.95432202e+02] [ 7.95794954e-01 -6.05515311e-01 -7.84853402e-03 -1.77591205e+02] [-9.85573222e-03 8.27535890e-06 -9.99951431e-01 -1.04795299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.770385723 meters 0.013881056192782371 Centerline is valid? [True, True] Translation: X:195.45, Y:-177.58, Z:-10.48 [[ 5.38722250e-01 8.42471633e-01 -4.45926786e-03 1.95454195e+02] [ 8.42443057e-01 -5.38740705e-01 -6.93888430e-03 -1.77577071e+02] [-8.24820230e-03 -1.85478926e-05 -9.99965983e-01 -1.04795716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.830385723 meters 0.014224137137787514 Centerline is valid? [True, True] Translation: X:195.48, Y:-177.56, Z:-10.48 [[ 4.67482955e-01 8.83989688e-01 -4.68170830e-03 1.95477225e+02] [ 8.83946686e-01 -4.67506393e-01 -8.71941214e-03 -1.77561936e+02] [-9.89659898e-03 -6.22039903e-05 -9.99951026e-01 -1.04794495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.890385723 meters 0.014341618247585789 Centerline is valid? [True, True] Translation: X:195.50, Y:-177.54, Z:-10.48 [[ 3.96234787e-01 9.18140129e-01 -4.08616654e-03 1.95498013e+02] [ 9.18093129e-01 -3.96255850e-01 -9.29025545e-03 -1.77543698e+02] [-1.01489237e-02 -7.03590247e-05 -9.99948496e-01 -1.04797195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.950385723 meters 0.01436238735665037 Centerline is valid? [True, True] Translation: X:195.52, Y:-177.53, Z:-10.48 [[ 3.23848909e-01 9.46103687e-01 -3.11406241e-03 1.95517241e+02] [ 9.46061657e-01 -3.23863875e-01 -8.91800593e-03 -1.77525914e+02] [-9.44589062e-03 -5.80085543e-05 -9.99955385e-01 -1.04795420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.010385723 meters 0.014261810979889954 Centerline is valid? [True, True] Translation: X:195.53, Y:-177.50, Z:-10.48 [[ 2.50849083e-01 9.68022673e-01 -2.61589512e-03 1.95531584e+02] [ 9.67971719e-01 -2.50862719e-01 -9.93210703e-03 -1.77503535e+02] [-1.02707354e-02 -4.06525519e-05 -9.99947254e-01 -1.04790475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.070385723 meters 0.014325810905078529 Centerline is valid? [True, True] Translation: X:195.54, Y:-177.48, Z:-10.48 [[ 1.78430517e-01 9.83950597e-01 -1.94230153e-03 1.95542260e+02] [ 9.83892095e-01 -1.78441089e-01 -1.07295624e-02 -1.77480482e+02] [-1.09039457e-02 3.46623874e-06 -9.99940550e-01 -1.04796304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.130385723 meters 0.014435784171312006 Centerline is valid? [True, True] Translation: X:195.55, Y:-177.46, Z:-10.48 [[ 1.03565611e-01 9.94622164e-01 -9.56572911e-04 1.95550802e+02] [ 9.94577102e-01 -1.03570025e-01 -9.46773398e-03 -1.77457683e+02] [-9.51589034e-03 2.91461449e-05 -9.99954723e-01 -1.04807611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.190385723 meters 0.014503177624783169 Centerline is valid? [True, True] Translation: X:195.56, Y:-177.43, Z:-10.48 [[ 2.55118808e-02 9.99674499e-01 -2.01162714e-04 1.95563888e+02] [ 9.99633767e-01 -2.55126573e-02 -9.02416778e-03 -1.77433604e+02] [-9.02636259e-03 2.91344506e-05 -9.99959261e-01 -1.04816596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.250385723 meters 0.014505368570819464 Centerline is valid? [True, True] Translation: X:195.57, Y:-177.41, Z:-10.48 [[-5.37904727e-02 9.98552106e-01 5.25817793e-04 1.95572553e+02] [ 9.98508293e-01 5.37930382e-02 -9.35401506e-03 -1.77409589e+02] [-9.36875677e-03 2.18765359e-05 -9.99956112e-01 -1.04820131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.310385723 meters 0.014567215442030495 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.38, Z:-10.48 [[-1.31808961e-01 9.91274220e-01 1.34837491e-03 1.95577458e+02] [ 9.91224187e-01 1.31815855e-01 -9.95945517e-03 -1.77384403e+02] [-1.00502884e-02 2.37963918e-05 -9.99949494e-01 -1.04814479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.370385723 meters 0.014676270498268825 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.36, Z:-10.48 [[-2.08982346e-01 9.77916604e-01 2.34396903e-03 1.95579247e+02] [ 9.77856543e-01 2.08995489e-01 -1.08382392e-02 -1.77360809e+02] [-1.10887730e-02 2.70648096e-05 -9.99938517e-01 -1.04808656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.430385723 meters 0.014700708087867654 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.33, Z:-10.48 [[-2.84919789e-01 9.58544426e-01 3.64660409e-03 1.95582860e+02] [ 9.58467312e-01 2.84943122e-01 -1.21584840e-02 -1.77334308e+02] [-1.26935218e-02 3.09581251e-05 -9.99919434e-01 -1.04823755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.490385723 meters 0.014925480664338053 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.31, Z:-10.48 [[-3.58604995e-01 9.33477053e-01 4.80103945e-03 1.95582456e+02] [ 9.33394878e-01 3.58637130e-01 -1.23859290e-02 -1.77309542e+02] [-1.32838115e-02 3.96096333e-05 -9.99911766e-01 -1.04814239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.550385723 meters 0.01493932112013032 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.28, Z:-10.48 [[-4.30286093e-01 9.02672235e-01 6.05925330e-03 1.95584504e+02] [ 9.02584288e-01 4.30328751e-01 -1.26003568e-02 -1.77281395e+02] [-1.39814632e-02 4.72285061e-05 -9.99902253e-01 -1.04837436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.610385723 meters 0.014985563138714096 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.26, Z:-10.48 [[-4.99723589e-01 8.66157486e-01 6.89520504e-03 1.95583310e+02] [ 8.66076296e-01 4.99771155e-01 -1.18592555e-02 -1.77255578e+02] [-1.37180075e-02 4.54239381e-05 -9.99905903e-01 -1.04840687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.670385723 meters 0.014996905352712689 Centerline is valid? [True, True] Translation: X:195.58, Y:-177.23, Z:-10.49 [[-5.65968461e-01 8.24396229e-01 7.11040826e-03 1.95576953e+02] [ 8.24332114e-01 5.66013123e-01 -1.02815917e-02 -1.77230639e+02] [-1.25006898e-02 4.22812502e-05 -9.99921862e-01 -1.04864358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7303857229999 meters 0.014945295099623645 Centerline is valid? [True, True] Translation: X:195.57, Y:-177.21, Z:-10.49 [[-6.28241504e-01 7.77982105e-01 7.51377548e-03 1.95568025e+02] [ 7.77927386e-01 6.28286433e-01 -9.22711178e-03 -1.77206732e+02] [-1.18993310e-02 4.83171384e-05 -9.99929199e-01 -1.04872115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.790385723 meters 0.015084952661869459 Centerline is valid? [True, True] Translation: X:195.56, Y:-177.18, Z:-10.49 [[-6.87958676e-01 7.25694319e-01 8.97859125e-03 1.95557974e+02] [ 7.25633275e-01 6.88017263e-01 -9.41252600e-03 -1.77183194e+02] [-1.30080424e-02 3.97356526e-05 -9.99915391e-01 -1.04863250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8503857229999 meters 0.015018449853548423 Centerline is valid? [True, True] Translation: X:195.55, Y:-177.16, Z:-10.49 [[-7.44014391e-01 6.68108834e-01 8.55403120e-03 1.95545783e+02] [ 6.68064874e-01 7.44063563e-01 -7.66407412e-03 -1.77162333e+02] [-1.14851786e-02 1.24663354e-05 -9.99934043e-01 -1.04875374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.910385723 meters 0.014906350262397915 Centerline is valid? [True, True] Translation: X:195.56, Y:-177.14, Z:-10.49 [[-7.89538208e-01 6.13641391e-01 8.58269165e-03 1.95564698e+02] [ 6.13605272e-01 7.89584855e-01 -6.65786309e-03 -1.77140886e+02] [-1.08623037e-02 9.74755042e-06 -9.99941003e-01 -1.04891799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9703857229999 meters 0.014746380901047672 Centerline is valid? [True, True] Translation: X:195.59, Y:-177.12, Z:-10.49 [[-8.30643263e-01 5.56742462e-01 8.34266186e-03 1.95585192e+02] [ 5.56714564e-01 8.30685158e-01 -5.57347336e-03 -1.77119650e+02] [-1.00331147e-02 1.49132624e-05 -9.99949667e-01 -1.04897290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.030385723 meters 0.014687899141404876 Centerline is valid? [True, True] Translation: X:195.60, Y:-177.10, Z:-10.49 [[-8.67372593e-01 4.97600617e-01 7.64275626e-03 1.95598998e+02] [ 4.97581527e-01 8.67406264e-01 -4.35870730e-03 -1.77095680e+02] [-8.79827009e-03 2.22710779e-05 -9.99961294e-01 -1.04903949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0903857229999 meters 0.014676662589804074 Centerline is valid? [True, True] Translation: X:195.62, Y:-177.08, Z:-10.49 [[-9.00299158e-01 4.35212225e-01 7.19338659e-03 1.95624598e+02] [ 4.35198531e-01 9.00327895e-01 -3.45245581e-03 -1.77075599e+02] [-7.97895758e-03 2.23082148e-05 -9.99968167e-01 -1.04906154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.150385723 meters 0.014657127643610577 Centerline is valid? [True, True] Translation: X:195.64, Y:-177.05, Z:-10.49 [[-9.29063161e-01 3.69846173e-01 7.44651272e-03 1.95639296e+02] [ 3.69834448e-01 9.29093003e-01 -2.94495694e-03 -1.77049753e+02] [-8.00768391e-03 1.79259166e-05 -9.99967938e-01 -1.04898729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.210385723 meters 0.014783729709398959 Centerline is valid? [True, True] Translation: X:195.63, Y:-177.02, Z:-10.49 [[-9.53344998e-01 3.01784019e-01 7.72789578e-03 1.95629556e+02] [ 3.01774163e-01 9.53376319e-01 -2.43898116e-03 -1.77015155e+02] [-8.10363837e-03 6.88878984e-06 -9.99967165e-01 -1.04871438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.270385723 meters 0.01724291721931829 Centerline is valid? [True, True] Translation: X:195.66, Y:-176.99, Z:-10.49 [[-9.71990559e-01 2.34808915e-01 9.95624342e-03 1.95655666e+02] [ 2.34796846e-01 9.72041549e-01 -2.38085104e-03 -1.76992774e+02] [-1.02369273e-02 2.35298230e-05 -9.99947601e-01 -1.04865114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.330385723 meters 0.01488557591714838 Centerline is valid? [True, True] Translation: X:195.84, Y:-176.24, Z:-11.43 [[-9.56008169e-01 -2.93234816e-01 7.85647690e-03 1.95836904e+02] [ 2.93223726e-01 -9.56040441e-01 -2.55399577e-03 -1.76236553e+02] [ 8.26003011e-03 -1.37935390e-04 9.99965876e-01 -1.14267371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.390385723 meters 0.01523810718532671 Centerline is valid? [True, True] Translation: X:195.62, Y:-176.99, Z:-10.49 [[-9.71317458e-01 2.37716346e-01 5.77356994e-03 1.95617593e+02] [ 2.37712480e-01 9.71334616e-01 -1.35679928e-03 -1.76986323e+02] [-5.93060170e-03 5.45668050e-05 -9.99982412e-01 -1.04885325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.450385723 meters 0.01578271321989644 Centerline is valid? [True, True] Translation: X:195.62, Y:-176.96, Z:-10.49 [[-9.85072454e-01 1.71994234e-01 7.08832571e-03 1.95622692e+02] [ 1.71990464e-01 9.85097952e-01 -1.14249187e-03 -1.76958380e+02] [-7.17919715e-03 9.36871618e-05 -9.99974225e-01 -1.04857953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.510385723 meters 0.016132558842042496 Centerline is valid? [True, True] Translation: X:195.63, Y:-176.93, Z:-10.48 [[-9.94634692e-01 1.03191228e-01 7.30760200e-03 1.95630593e+02] [ 1.03189231e-01 9.94661530e-01 -6.50748834e-04 -1.76931050e+02] [-7.33574216e-03 1.06808465e-04 -9.99973087e-01 -1.04845109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.570385723 meters 0.016252809354442503 Centerline is valid? [True, True] Translation: X:195.63, Y:-176.90, Z:-10.48 [[-9.99448105e-01 3.25399232e-02 6.68123279e-03 1.95629536e+02] [ 3.25398576e-02 9.99470432e-01 -1.18550343e-04 -1.76901265e+02] [-6.68155224e-03 9.89214480e-05 -9.99977673e-01 -1.04837019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.630385723 meters 0.016160409763324196 Centerline is valid? [True, True] Translation: X:195.65, Y:-176.13, Z:-11.43 [[-9.97419219e-01 -7.15229320e-02 6.27476384e-03 1.95648420e+02] [ 7.15207686e-02 -9.97438949e-01 -5.68790115e-04 -1.76126068e+02] [ 6.29937538e-03 -1.18546260e-04 9.99980152e-01 -1.14318840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.690385723 meters 0.016249250369418645 Centerline is valid? [True, True] Translation: X:195.56, Y:-176.90, Z:-10.48 [[-9.99644664e-01 2.63404249e-02 4.09008162e-03 1.95557885e+02] [ 2.63404272e-02 9.99653029e-01 -5.33291375e-05 -1.76898418e+02] [-4.09006720e-03 5.44243095e-05 -9.99991634e-01 -1.04846586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.750385723 meters 0.01636673471871868 Centerline is valid? [True, True] Translation: X:195.57, Y:-176.13, Z:-11.43 [[-9.97698670e-01 -6.77316013e-02 3.12966392e-03 1.95572637e+02] [ 6.77309413e-02 -9.97703573e-01 -3.16517517e-04 -1.76128958e+02] [ 3.14391511e-03 -1.03814023e-04 9.99995053e-01 -1.14309788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.810385723 meters 0.016259640115183834 Centerline is valid? [True, True] Translation: X:195.49, Y:-176.89, Z:-10.49 [[-9.99738963e-01 2.28070609e-02 1.35817974e-03 1.95490515e+02] [ 2.28070670e-02 9.99739885e-01 -1.09629069e-05 -1.76892345e+02] [-1.35807649e-03 2.00160512e-05 -9.99999078e-01 -1.04852705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.870385723 meters 0.01714286524257561 Centerline is valid? [True, True] Translation: X:195.50, Y:-176.13, Z:-11.43 [[-9.98314563e-01 -5.80347626e-02 -1.89293563e-05 1.95504755e+02] [ 5.80347640e-02 -9.98314559e-01 -8.39254562e-05 -1.76128604e+02] [-1.40268579e-05 -8.48825658e-05 9.99999996e-01 -1.14289587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.930385723 meters 0.01710521177568109 Centerline is valid? [True, True] Translation: X:195.42, Y:-176.89, Z:-10.48 [[-9.99763118e-01 2.17639759e-02 1.93292605e-04 1.95422832e+02] [ 2.17639764e-02 9.99763137e-01 2.64157508e-07 -1.76889885e+02] [-1.93241072e-04 4.47091063e-06 -9.99999981e-01 -1.04840873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.990385723 meters 0.017156403441843635 Centerline is valid? [True, True] Translation: X:195.43, Y:-176.13, Z:-11.43 [[-9.98494748e-01 -5.48250730e-02 1.56493400e-03 1.95429419e+02] [ 5.48251032e-02 -9.98495973e-01 -2.35948732e-05 -1.76132752e+02] [ 1.56387388e-03 6.22383108e-05 9.99998775e-01 -1.14315811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.050385723 meters 0.01658697886854589 Centerline is valid? [True, True] Translation: X:195.34, Y:-176.88, Z:-10.48 [[-9.99916020e-01 1.28448890e-02 1.72096555e-03 1.95343569e+02] [ 1.28449106e-02 9.99917501e-01 1.54461022e-06 -1.76883765e+02] [-1.72080373e-03 2.36501292e-05 -9.99998519e-01 -1.04829583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.110385723 meters 0.016361550129089585 Centerline is valid? [True, True] Translation: X:195.35, Y:-176.14, Z:-11.43 [[-9.98434115e-01 -5.58784179e-02 2.63080548e-03 1.95351235e+02] [ 5.58782922e-02 -9.98437580e-01 -1.21331710e-04 -1.76141590e+02] [ 2.63347488e-03 2.58631988e-05 9.99996532e-01 -1.14332192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.170385723 meters 0.016260204395341905 Centerline is valid? [True, True] Translation: X:195.27, Y:-176.88, Z:-10.48 [[-9.99990616e-01 3.70872833e-03 2.23893043e-03 1.95273059e+02] [ 3.70876384e-03 9.99993122e-01 1.17074782e-05 -1.76877186e+02] [-2.23887161e-03 2.00110326e-05 -9.99997494e-01 -1.04813390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2303857229999 meters 0.016305817057049553 Centerline is valid? [True, True] Translation: X:195.29, Y:-176.15, Z:-11.43 [[-9.98544095e-01 -5.39325432e-02 9.85541664e-04 1.95285160e+02] [ 5.39324266e-02 -9.98544577e-01 -1.44541907e-04 -1.76145452e+02] [ 9.91902797e-04 -9.11788142e-05 9.99999504e-01 -1.14320920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.290385723 meters 0.016655507666749263 Centerline is valid? [True, True] Translation: X:195.21, Y:-176.87, Z:-10.48 [[-9.99994158e-01 -3.03552918e-03 1.57167743e-03 1.95214039e+02] [-3.03550794e-03 9.99995393e-01 1.58993104e-05 -1.76874971e+02] [-1.57171845e-03 1.11283782e-05 -9.99998765e-01 -1.04807234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3503857229999 meters 0.016202647802611034 Centerline is valid? [True, True] Translation: X:195.21, Y:-176.84, Z:-10.48 [[-9.96955251e-01 -7.79110930e-02 3.17641089e-03 1.95207078e+02] [-7.79106665e-02 9.96960311e-01 2.57954609e-04 -1.76843351e+02] [-3.18685312e-03 9.69291173e-06 -9.99994922e-01 -1.04798318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.410385723 meters 0.016262721915294206 Centerline is valid? [True, True] Translation: X:195.14, Y:-176.13, Z:-11.43 [[-9.99900250e-01 1.34113647e-02 4.42996001e-03 1.95141168e+02] [-1.34109144e-02 -9.99910061e-01 1.31327651e-04 -1.76128176e+02] [ 4.43132287e-03 7.19047365e-05 9.99990179e-01 -1.14341332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4703857229999 meters 0.016209364724916416 Centerline is valid? [True, True] Translation: X:195.12, Y:-176.85, Z:-10.48 [[-9.96116206e-01 -8.79568195e-02 4.01281642e-03 1.95118872e+02] [-8.79561353e-02 9.96124288e-01 3.47000083e-04 -1.76846539e+02] [-4.02778492e-03 -7.29941767e-06 -9.99991888e-01 -1.04812968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.530385723 meters 0.016313462038220306 Centerline is valid? [True, True] Translation: X:195.05, Y:-176.14, Z:-11.43 [[-9.99848774e-01 1.67920154e-02 4.52291585e-03 1.95052103e+02] [-1.67916586e-02 -9.99859003e-01 1.16857908e-04 -1.76136717e+02] [ 4.52424041e-03 4.08929774e-05 9.99989765e-01 -1.14332836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5903857229999 meters 0.016271972502663375 Centerline is valid? [True, True] Translation: X:195.03, Y:-176.86, Z:-10.48 [[-9.95850677e-01 -9.08218648e-02 5.72875729e-03 1.95028120e+02] [-9.08203315e-02 9.95867154e-01 5.27766843e-04 -1.76857265e+02] [-5.75301399e-03 5.28933172e-06 -9.99983451e-01 -1.04809932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.650385723 meters 0.016280952623663282 Centerline is valid? [True, True] Translation: X:194.97, Y:-176.14, Z:-11.43 [[-9.99651225e-01 2.57818724e-02 5.72052728e-03 1.94965493e+02] [-2.57814920e-02 -9.99667592e-01 1.40251825e-04 -1.76140400e+02] [ 5.72224169e-03 -7.28081951e-06 9.99983628e-01 -1.14333557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.710385723 meters 0.016276684848772326 Centerline is valid? [True, True] Translation: X:194.94, Y:-176.87, Z:-10.48 [[-9.95544265e-01 -9.41350908e-02 5.49559531e-03 1.94942359e+02] [-9.41335588e-02 9.95559433e-01 5.37340833e-04 -1.76868240e+02] [-5.52177438e-03 1.76266405e-05 -9.99984755e-01 -1.04824318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.770385723 meters 0.016349143840018086 Centerline is valid? [True, True] Translation: X:194.87, Y:-176.14, Z:-11.43 [[-9.99430799e-01 3.27297464e-02 8.17568241e-03 1.94871174e+02] [-3.27274135e-02 -9.99464227e-01 4.19004657e-04 -1.76142793e+02] [ 8.18501602e-03 1.51197220e-04 9.99966491e-01 -1.14330527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.830385723 meters 0.016208186217837293 Centerline is valid? [True, True] Translation: X:194.85, Y:-176.88, Z:-10.48 [[-9.94668433e-01 -1.02690945e-01 9.44869686e-03 1.94848698e+02] [-1.02686293e-01 9.94713310e-01 9.77439797e-04 -1.76880908e+02] [-9.49911874e-03 1.97685515e-06 -9.99954882e-01 -1.04824415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.890385723 meters 0.01613239374637157 Centerline is valid? [True, True] Translation: X:194.77, Y:-176.15, Z:-11.43 [[-9.99387697e-01 3.36605180e-02 9.54985655e-03 1.94772998e+02] [-3.36589636e-02 -9.99433324e-01 3.23493353e-04 -1.76149145e+02] [ 9.55533383e-03 1.85700346e-06 9.99954347e-01 -1.14319207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.950385723 meters 0.01614948802007038 Centerline is valid? [True, True] Translation: X:194.75, Y:-176.90, Z:-10.48 [[-9.93769281e-01 -1.10997120e-01 1.01121559e-02 1.94747131e+02] [-1.10991674e-01 9.93820728e-01 1.09995411e-03 -1.76897242e+02] [-1.01717619e-02 -2.92645054e-05 -9.99948266e-01 -1.04833966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.010385723 meters 0.0161480411325106 Centerline is valid? [True, True] Translation: X:194.75, Y:-176.87, Z:-10.48 [[-9.83229248e-01 -1.82133268e-01 9.36584551e-03 1.94753977e+02] [-1.82125322e-01 9.83273854e-01 1.70160015e-03 -1.76871756e+02] [-9.51910901e-03 -3.26945955e-05 -9.99954692e-01 -1.04841575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.070385723 meters 0.016079199168833352 Centerline is valid? [True, True] Translation: X:194.73, Y:-176.85, Z:-10.48 [[-9.67379690e-01 -2.53158422e-01 9.34604208e-03 1.94734289e+02] [-2.53147072e-01 9.67424835e-01 2.39757895e-03 -1.76851260e+02] [-9.64856052e-03 -4.65540149e-05 -9.99953451e-01 -1.04845349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.130385723 meters 0.016251217830581925 Centerline is valid? [True, True] Translation: X:194.71, Y:-176.84, Z:-10.48 [[-9.46116321e-01 -3.23619369e-01 1.15935832e-02 1.94710886e+02] [-3.23596051e-01 9.46187349e-01 3.88550825e-03 -1.76835077e+02] [-1.22271275e-02 -7.54949688e-05 -9.99925243e-01 -1.04838534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.190385723 meters 0.016545807537898412 Centerline is valid? [True, True] Translation: X:194.66, Y:-176.83, Z:-10.48 [[-9.19578254e-01 -3.92697783e-01 1.28174049e-02 1.94662193e+02] [-3.92661198e-01 9.19667571e-01 5.36123561e-03 -1.76828590e+02] [-1.38930970e-02 -1.02821873e-04 -9.99903481e-01 -1.04826408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.250385723 meters 0.01661777216670733 Centerline is valid? [True, True] Translation: X:194.59, Y:-176.84, Z:-10.48 [[-8.87835515e-01 -4.59979129e-01 1.29344021e-02 1.94586892e+02] [-4.59932371e-01 8.87929719e-01 6.55965049e-03 -1.76837037e+02] [-1.45021423e-02 -1.25059549e-04 -9.99894831e-01 -1.04825991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.310385723 meters 0.017074530733434855 Centerline is valid? [True, True] Translation: X:194.53, Y:-176.84, Z:-10.48 [[-8.50409023e-01 -5.25931753e-01 1.41521945e-02 1.94530207e+02] [-5.25862080e-01 8.50526758e-01 8.56195292e-03 -1.76841918e+02] [-1.65398230e-02 -1.60940422e-04 -9.99863195e-01 -1.04804500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.370385723 meters 0.016640001597239083 Centerline is valid? [True, True] Translation: X:194.45, Y:-176.86, Z:-10.48 [[-8.08895254e-01 -5.87799704e-01 1.34155214e-02 1.94448138e+02] [-5.87722046e-01 8.09006480e-01 9.55576270e-03 -1.76863981e+02] [-1.64701183e-02 -1.54986600e-04 -9.99864346e-01 -1.04817786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.430385723 meters 0.016356829125941812 Centerline is valid? [True, True] Translation: X:193.91, Y:-176.26, Z:-11.43 [[-8.56068736e-01 5.16716313e-01 1.22707931e-02 1.93910692e+02] [-5.16663346e-01 -8.56156675e-01 7.39828136e-03 -1.76261286e+02] [ 1.43285340e-02 -6.43163186e-06 9.99897341e-01 -1.14315313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.490385723 meters 0.01613388319328009 Centerline is valid? [True, True] Translation: X:194.25, Y:-177.00, Z:-10.49 [[-8.05692328e-01 -5.92255421e-01 9.66382719e-03 1.94251135e+02] [-5.92213845e-01 8.05750279e-01 7.01779797e-03 -1.77000129e+02] [-1.19429603e-02 -6.88662766e-05 -9.99928678e-01 -1.04857555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.550385723 meters 0.015913374830931304 Centerline is valid? [True, True] Translation: X:194.17, Y:-177.03, Z:-10.48 [[-7.60647114e-01 -6.49098584e-01 9.32722849e-03 1.94169328e+02] [-6.49050360e-01 7.60704297e-01 7.91215980e-03 -1.77030042e+02] [-1.22310345e-02 -3.54794955e-05 -9.99925198e-01 -1.04848084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.610385723 meters 0.017900130607492844 Centerline is valid? [True, True] Translation: X:194.08, Y:-177.07, Z:-10.48 [[-7.12300985e-01 -7.01795512e-01 1.05054748e-02 1.94080757e+02] [-7.01718793e-01 7.12378452e-01 1.03767559e-02 -1.77074420e+02] [-1.47662346e-02 1.94843647e-05 -9.99890973e-01 -1.04818515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.670385723 meters 0.01581951579722424 Centerline is valid? [True, True] Translation: X:193.98, Y:-177.14, Z:-10.48 [[-6.59487472e-01 -7.51658684e-01 9.24648078e-03 1.93978772e+02] [-7.51583473e-01 6.59552287e-01 1.06331629e-02 -1.77144401e+02] [-1.40910468e-02 6.29355882e-05 -9.99900714e-01 -1.04836054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7303857229999 meters 0.016122848400245637 Centerline is valid? [True, True] Translation: X:193.91, Y:-177.19, Z:-10.48 [[-6.02871338e-01 -7.97799659e-01 7.86469902e-03 1.93907056e+02] [-7.97729528e-01 6.02922626e-01 1.05785983e-02 -1.77191938e+02] [-1.31814071e-02 1.03631041e-04 -9.99913116e-01 -1.04839258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.790385723 meters 0.01598152195191071 Centerline is valid? [True, True] Translation: X:193.82, Y:-177.27, Z:-10.48 [[-5.41198923e-01 -8.40869210e-01 6.53429852e-03 1.93821638e+02] [-8.40805431e-01 5.41238357e-01 1.03570337e-02 -1.77265267e+02] [-1.22455237e-02 1.11141781e-04 -9.99925015e-01 -1.04843658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8503857229999 meters 0.015787727421619928 Centerline is valid? [True, True] Translation: X:193.72, Y:-177.38, Z:-10.48 [[-4.74418322e-01 -8.80281088e-01 5.69754029e-03 1.93721573e+02] [-8.80215163e-01 4.74452524e-01 1.07735711e-02 -1.77381158e+02] [-1.21869832e-02 9.61181533e-05 -9.99925731e-01 -1.04847672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.910385723 meters 0.01603206222492644 Centerline is valid? [True, True] Translation: X:193.66, Y:-177.44, Z:-10.48 [[-4.03666804e-01 -9.14891557e-01 5.15264984e-03 1.93663022e+02] [-9.14814480e-01 4.03699681e-01 1.18757866e-02 -1.77436299e+02] [-1.29451800e-02 8.01421343e-05 -9.99916204e-01 -1.04828463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9703857229999 meters 0.015556439035354154 Centerline is valid? [True, True] Translation: X:193.59, Y:-177.54, Z:-10.49 [[-3.31346731e-01 -9.43501433e-01 3.79344629e-03 1.93590096e+02] [-9.43437475e-01 3.31368439e-01 1.09858486e-02 -1.77538289e+02] [-1.16221923e-02 6.12456253e-05 -9.99932458e-01 -1.04853126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.030385723 meters 0.015516388940945775 Centerline is valid? [True, True] Translation: X:193.53, Y:-177.64, Z:-10.48 [[-2.57944772e-01 -9.66154948e-01 3.01861301e-03 1.93528509e+02] [-9.66085834e-01 2.57962426e-01 1.15563003e-02 -1.77642855e+02] [-1.19438655e-02 6.46479736e-05 -9.99928667e-01 -1.04849258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0903857229999 meters 0.015583291662446564 Centerline is valid? [True, True] Translation: X:193.47, Y:-177.77, Z:-10.48 [[-1.83471785e-01 -9.83022296e-01 2.29549746e-03 1.93469692e+02] [-9.82939948e-01 1.83486128e-01 1.27239627e-02 -1.77771678e+02] [-1.29291309e-02 7.81519886e-05 -9.99916412e-01 -1.04837957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.150385723 meters 0.015443380596998436 Centerline is valid? [True, True] Translation: X:193.43, Y:-177.88, Z:-10.49 [[-1.08241035e-01 -9.94123979e-01 1.17989769e-03 1.93425176e+02] [-9.94056938e-01 1.08247438e-01 1.15453639e-02 -1.77877368e+02] [-1.16052440e-02 7.67966546e-05 -9.99932654e-01 -1.04856039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.210385723 meters 0.01571673997472614 Centerline is valid? [True, True] Translation: X:193.39, Y:-177.98, Z:-10.48 [[-3.24276081e-02 -9.99474037e-01 3.16767771e-04 1.93390684e+02] [-9.99390780e-01 3.24289955e-02 1.29007461e-02 -1.77978377e+02] [-1.29042332e-02 1.01765547e-04 -9.99916732e-01 -1.04845026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.270385723 meters 0.01600496397669983 Centerline is valid? [True, True] Translation: X:193.36, Y:-178.11, Z:-10.48 [[ 4.26970066e-02 -9.99087833e-01 -6.83652098e-04 1.93364619e+02] [-9.99003402e-01 -4.27022865e-02 1.29891609e-02 -1.78105768e+02] [-1.30065061e-02 1.28372483e-04 -9.99915404e-01 -1.04845941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.330385723 meters 0.015571247338081507 Centerline is valid? [True, True] Translation: X:193.35, Y:-178.23, Z:-10.49 [[ 1.19060612e-01 -9.92885727e-01 -1.58225623e-03 1.93345563e+02] [-9.92811720e-01 -1.19071057e-01 1.21231679e-02 -1.78228873e+02] [-1.22253213e-02 1.27490740e-04 -9.99925260e-01 -1.04883374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.390385723 meters 0.015377925429449933 Centerline is valid? [True, True] Translation: X:193.33, Y:-178.35, Z:-10.49 [[ 1.95976724e-01 -9.80605011e-01 -2.63368852e-03 1.93334958e+02] [-9.80524786e-01 -1.95994381e-01 1.25437721e-02 -1.78354716e+02] [-1.28166739e-02 1.24109517e-04 -9.99917855e-01 -1.04886854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.450385723 meters 0.015105574082315576 Centerline is valid? [True, True] Translation: X:193.33, Y:-178.47, Z:-10.49 [[ 2.71333538e-01 -9.62478231e-01 -3.71022384e-03 1.93330901e+02] [-9.62393994e-01 -2.71358879e-01 1.27341577e-02 -1.78472709e+02] [-1.32631517e-02 1.15493088e-04 -9.99912034e-01 -1.04876863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.510385723 meters 0.01521576834353568 Centerline is valid? [True, True] Translation: X:193.34, Y:-178.60, Z:-10.49 [[ 3.43697437e-01 -9.39069116e-01 -4.61169351e-03 1.93343222e+02] [-9.38989472e-01 -3.43728352e-01 1.22307468e-02 -1.78600790e+02] [-1.30706864e-02 1.26655344e-04 -9.99914567e-01 -1.04878948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.570385723 meters 0.01520559499093575 Centerline is valid? [True, True] Translation: X:193.36, Y:-178.72, Z:-10.49 [[ 4.13900519e-01 -9.10305082e-01 -5.56941736e-03 1.93362922e+02] [-9.10227230e-01 -4.13937964e-01 1.19059273e-02 -1.78721700e+02] [-1.31434194e-02 1.41565831e-04 -9.99913612e-01 -1.04888827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.630385723 meters 0.015187513618358602 Centerline is valid? [True, True] Translation: X:193.39, Y:-178.85, Z:-10.49 [[ 4.81510772e-01 -8.76417360e-01 -6.32356586e-03 1.93392637e+02] [-8.76345936e-01 -4.81552269e-01 1.11898413e-02 -1.78846296e+02] [-1.28520986e-02 1.53602128e-04 -9.99917397e-01 -1.04901108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.690385723 meters 0.015036115755298259 Centerline is valid? [True, True] Translation: X:193.42, Y:-178.96, Z:-10.49 [[ 5.47257305e-01 -8.36934030e-01 -7.13237495e-03 1.93423708e+02] [-8.36866589e-01 -5.47303760e-01 1.06257537e-02 -1.78955142e+02] [-1.27966305e-02 1.53824968e-04 -9.99918108e-01 -1.04903195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.750385723 meters 0.015060489951631777 Centerline is valid? [True, True] Translation: X:193.47, Y:-179.07, Z:-10.49 [[ 6.09627915e-01 -7.92649729e-01 -7.75961064e-03 1.93469264e+02] [-7.92588663e-01 -6.09677279e-01 9.84009035e-03 -1.79067737e+02] [-1.25306032e-02 1.51385652e-04 -9.99921477e-01 -1.04907820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.810385723 meters 0.01499674979517551 Centerline is valid? [True, True] Translation: X:193.52, Y:-179.17, Z:-10.49 [[ 6.68174346e-01 -7.43956450e-01 -8.47605154e-03 1.93516763e+02] [-7.43899506e-01 -6.68228087e-01 9.20585698e-03 -1.79169383e+02] [-1.25126924e-02 1.54213087e-04 -9.99921701e-01 -1.04910773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.870385723 meters 0.01483227740738915 Centerline is valid? [True, True] Translation: X:193.57, Y:-179.27, Z:-10.49 [[ 7.23736981e-01 -6.90025160e-01 -8.37030196e-03 1.93572076e+02] [-6.89981030e-01 -7.23785371e-01 7.80481173e-03 -1.79269792e+02] [-1.14438186e-02 1.26718694e-04 -9.99934509e-01 -1.04914835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.930385723 meters 0.014706298982697177 Centerline is valid? [True, True] Translation: X:193.59, Y:-179.30, Z:-10.49 [[ 7.76453476e-01 -6.30112175e-01 -8.86827883e-03 1.93588732e+02] [-6.30072654e-01 -7.76504112e-01 7.05796457e-03 -1.79298449e+02] [-1.13335644e-02 1.07478853e-04 -9.99935767e-01 -1.04922381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.990385723 meters 0.01444955199619083 Centerline is valid? [True, True] Translation: X:193.61, Y:-179.33, Z:-10.49 [[ 8.24466137e-01 -5.65805704e-01 -1.09313691e-02 1.93605238e+02] [-5.65757554e-01 -8.24538596e-01 7.38200290e-03 -1.79329410e+02] [-1.31901151e-02 9.82932337e-05 -9.99913002e-01 -1.04920584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.050385723 meters 0.014169377909484618 Centerline is valid? [True, True] Translation: X:193.62, Y:-179.36, Z:-10.49 [[ 8.67082105e-01 -4.98020642e-01 -1.20026027e-02 1.93624069e+02] [-4.97974169e-01 -8.67165171e-01 6.80394754e-03 -1.79358513e+02] [-1.37967454e-02 7.74049482e-05 -9.99904817e-01 -1.04925149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.110385723 meters 0.014380948300602698 Centerline is valid? [True, True] Translation: X:193.65, Y:-179.38, Z:-10.49 [[ 9.03041960e-01 -4.29387053e-01 -1.19154165e-02 1.93646811e+02] [-4.29350897e-01 -9.03120563e-01 5.57275302e-03 -1.79384014e+02] [-1.31539256e-02 8.34649516e-05 -9.99913480e-01 -1.04940943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.170385723 meters 0.014569098930080904 Centerline is valid? [True, True] Translation: X:193.67, Y:-179.40, Z:-10.49 [[ 9.33140194e-01 -3.59316934e-01 -1.18624982e-02 1.93670693e+02] [-3.59289341e-01 -9.33215586e-01 4.45412012e-03 -1.79404874e+02] [-1.26707090e-02 1.05750651e-04 -9.99919718e-01 -1.04940162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2303857229999 meters 0.014794566970023168 Centerline is valid? [True, True] Translation: X:193.70, Y:-179.42, Z:-10.49 [[ 9.57948044e-01 -2.86709102e-01 -1.15514553e-02 1.93697374e+02] [-2.86689744e-01 -9.58017681e-01 3.33373513e-03 -1.79424084e+02] [-1.20223106e-02 1.18138715e-04 -9.99927722e-01 -1.04937766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.290385723 meters 0.014862925159125039 Centerline is valid? [True, True] Translation: X:193.73, Y:-179.44, Z:-10.50 [[ 9.77429511e-01 -2.10972170e-01 -1.10587297e-02 1.93726488e+02] [-2.10959956e-01 -9.77492062e-01 2.27284000e-03 -1.79440424e+02] [-1.12893265e-02 1.11408251e-04 -9.99936267e-01 -1.04957135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3503857229999 meters 0.014628900581352633 Centerline is valid? [True, True] Translation: X:193.75, Y:-179.46, Z:-10.50 [[ 9.91124525e-01 -1.32423878e-01 -1.16658321e-02 1.93751436e+02] [-1.32415891e-01 -9.91193173e-01 1.45782259e-03 -1.79459447e+02] [-1.17561437e-02 9.98578355e-05 -9.99930889e-01 -1.04950183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.410385723 meters 0.014522190989322947 Centerline is valid? [True, True] Translation: X:193.78, Y:-179.47, Z:-10.49 [[ 9.98602552e-01 -5.13426701e-02 -1.25248956e-02 1.93778503e+02] [-5.13394788e-02 -9.98681093e-01 5.76401514e-04 -1.79473449e+02] [-1.25379704e-02 6.74255885e-05 -9.99921394e-01 -1.04946444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4703857229999 meters 0.014332059304567577 Centerline is valid? [True, True] Translation: X:193.81, Y:-179.49, Z:-10.49 [[ 9.99471367e-01 3.01225120e-02 -1.22319282e-02 1.93806633e+02] [ 3.01199170e-02 -9.99546214e-01 -3.96361217e-04 -1.79485045e+02] [-1.22383169e-02 2.77270267e-05 -9.99925109e-01 -1.04948845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.530385723 meters 0.014186851589998195 Centerline is valid? [True, True] Translation: X:193.84, Y:-179.49, Z:-10.50 [[ 9.93700989e-01 1.11507978e-01 -1.11496699e-02 1.93835509e+02] [ 1.11501087e-01 -9.93763539e-01 -1.23972479e-03 -1.79494857e+02] [-1.12183746e-02 -1.12845667e-05 -9.99937072e-01 -1.04951915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5903857229999 meters 0.01625130771434473 Centerline is valid? [True, True] Translation: X:193.86, Y:-179.50, Z:-10.49 [[ 9.81416558e-01 1.91563074e-01 -1.11860466e-02 1.93864179e+02] [ 1.91551119e-01 -9.81480304e-01 -2.14055383e-03 -1.79499272e+02] [-1.13889354e-02 -4.19247597e-05 -9.99935143e-01 -1.04929877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.650385723 meters 0.014387339748502342 Centerline is valid? [True, True] Translation: X:193.89, Y:-179.50, Z:-10.49 [[ 9.62696011e-01 2.70376287e-01 -1.06326672e-02 1.93894107e+02] [ 2.70360603e-01 -9.62754724e-01 -2.91310065e-03 -1.79503204e+02] [-1.10242839e-02 -7.02239276e-05 -9.99939228e-01 -1.04941125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.710385723 meters 0.014888668539522684 Centerline is valid? [True, True] Translation: X:193.92, Y:-179.50, Z:-10.49 [[ 9.36920320e-01 3.49387333e-01 -1.04310066e-02 1.93923023e+02] [ 3.49367146e-01 -9.36978376e-01 -3.75777398e-03 -1.79502485e+02] [-1.10865463e-02 -1.23516220e-04 -9.99938535e-01 -1.04934180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.770385723 meters 0.015983039619867422 Centerline is valid? [True, True] Translation: X:193.95, Y:-179.50, Z:-10.49 [[ 9.05807326e-01 4.23582671e-01 -9.52940676e-03 1.93951360e+02] [ 4.23560837e-01 -9.05857440e-01 -4.30298839e-03 -1.79500888e+02] [-1.04549553e-02 -1.38605099e-04 -9.99945336e-01 -1.04911845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.830385723 meters 0.01575148486357402 Centerline is valid? [True, True] Translation: X:193.98, Y:-179.49, Z:-10.49 [[ 8.68814468e-01 4.95068915e-01 -8.25776827e-03 1.93977175e+02] [ 4.95048134e-01 -8.68853698e-01 -4.53829993e-03 -1.79489853e+02] [-9.42156372e-03 -1.45052140e-04 -9.99955606e-01 -1.04920562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.890385723 meters 0.01567616982524639 Centerline is valid? [True, True] Translation: X:194.00, Y:-179.48, Z:-10.49 [[ 8.27140393e-01 5.61937248e-01 -8.08079172e-03 1.94004402e+02] [ 5.61912233e-01 -8.27179851e-01 -5.30445281e-03 -1.79481177e+02] [-9.66503771e-03 -1.53168536e-04 -9.99953281e-01 -1.04917619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.950385723 meters 0.01564003801137715 Centerline is valid? [True, True] Translation: X:194.03, Y:-179.47, Z:-10.49 [[ 7.80977963e-01 6.24512078e-01 -7.62137019e-03 1.94027999e+02] [ 6.24484171e-01 -7.81015136e-01 -5.90574455e-03 -1.79467563e+02] [-9.64061428e-03 -1.47168697e-04 -9.99953517e-01 -1.04909359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.010385723 meters 0.01519031892280727 Centerline is valid? [True, True] Translation: X:194.05, Y:-179.45, Z:-10.49 [[ 7.31984482e-01 6.81296166e-01 -5.85261731e-03 1.94046397e+02] [ 6.81275412e-01 -7.32007873e-01 -5.31858000e-03 -1.79448729e+02] [-7.90769011e-03 -9.41262488e-05 -9.99968729e-01 -1.04914861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.070385723 meters 0.01486737858418336 Centerline is valid? [True, True] Translation: X:194.07, Y:-179.43, Z:-10.49 [[ 6.77763303e-01 7.35261269e-01 -5.26981704e-03 1.94066519e+02] [ 7.35239926e-01 -6.77783786e-01 -5.60282768e-03 -1.79432725e+02] [-7.69133874e-03 -7.71888900e-05 -9.99970418e-01 -1.04916411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.130385723 meters 0.014979205278852287 Centerline is valid? [True, True] Translation: X:194.08, Y:-179.41, Z:-10.49 [[ 6.19329804e-01 7.85113462e-01 -5.23877938e-03 1.94082558e+02] [ 7.85086340e-01 -6.19351957e-01 -6.52624062e-03 -1.79414960e+02] [-8.36848763e-03 -7.09988034e-05 -9.99964981e-01 -1.04904828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.190385723 meters 0.01470018004640642 Centerline is valid? [True, True] Translation: X:194.10, Y:-179.40, Z:-10.49 [[ 5.56182668e-01 8.31047193e-01 -4.62624317e-03 1.94100836e+02] [ 8.31019448e-01 -5.56201904e-01 -6.79104287e-03 -1.79398193e+02] [-8.21680238e-03 -6.74377009e-05 -9.99966239e-01 -1.04907253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.250385723 meters 0.01467458927735417 Centerline is valid? [True, True] Translation: X:194.12, Y:-179.38, Z:-10.49 [[ 4.89299263e-01 8.72106314e-01 -4.09990338e-03 1.94120609e+02] [ 8.72076872e-01 -4.89316434e-01 -7.16633633e-03 -1.79382406e+02] [-8.25595726e-03 -6.89478328e-05 -9.99965917e-01 -1.04902508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.310385723 meters 0.014521765995982372 Centerline is valid? [True, True] Translation: X:194.14, Y:-179.37, Z:-10.49 [[ 4.20850450e-01 9.07123684e-01 -3.39422434e-03 1.94138462e+02] [ 9.07095220e-01 -4.20864134e-01 -7.18621800e-03 -1.79365979e+02] [-7.94729583e-03 -5.45615972e-05 -9.99968418e-01 -1.04903430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.370385723 meters 0.014296522560896197 Centerline is valid? [True, True] Translation: X:194.15, Y:-179.35, Z:-10.49 [[ 3.51844308e-01 9.36055571e-01 -2.35603441e-03 1.94154428e+02] [ 9.36035004e-01 -3.51852196e-01 -6.20518453e-03 -1.79347239e+02] [-6.63737343e-03 -2.20718205e-05 -9.99977972e-01 -1.04916064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.430385723 meters 0.01423590359405819 Centerline is valid? [True, True] Translation: X:194.17, Y:-179.33, Z:-10.49 [[ 2.78951394e-01 9.60303666e-01 -1.72852264e-03 1.94170671e+02] [ 9.60285476e-01 -2.78956749e-01 -5.91077469e-03 -1.79328347e+02] [-6.15832166e-03 -1.10563488e-05 -9.99981037e-01 -1.04919369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.490385723 meters 0.014180435117782055 Centerline is valid? [True, True] Translation: X:194.19, Y:-179.31, Z:-10.49 [[ 2.08246066e-01 9.78075873e-01 -1.07842731e-03 1.94186566e+02] [ 9.78062273e-01 -2.08248857e-01 -5.15786301e-03 -1.79308170e+02] [-5.26936262e-03 1.93356107e-05 -9.99986117e-01 -1.04915607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.550385723 meters 0.014375703917059602 Centerline is valid? [True, True] Translation: X:194.20, Y:-179.29, Z:-10.49 [[ 1.33444688e-01 9.91056087e-01 -5.89742825e-04 1.94200705e+02] [ 9.91045442e-01 -1.33445988e-01 -4.59342965e-03 -1.79288019e+02] [-4.63104523e-03 2.85068483e-05 -9.99989276e-01 -1.04906372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.610385723 meters 0.01441093874612894 Centerline is valid? [True, True] Translation: X:194.21, Y:-179.27, Z:-10.49 [[ 5.54171814e-02 9.98463276e-01 -1.51355113e-04 1.94208728e+02] [ 9.98458561e-01 -5.54173848e-02 -3.06845640e-03 -1.79267170e+02] [-3.07212873e-03 1.89233969e-05 -9.99995281e-01 -1.04913488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.670385723 meters 0.014303486307141546 Centerline is valid? [True, True] Translation: X:194.22, Y:-179.24, Z:-10.49 [[-2.37911837e-02 9.99716948e-01 5.03093980e-05 1.94221806e+02] [ 9.99715457e-01 2.37912351e-02 -1.72663933e-03 -1.79243670e+02] [-1.72734753e-03 9.21628923e-06 -9.99998508e-01 -1.04925298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7303857229999 meters 0.01414973801744147 Centerline is valid? [True, True] Translation: X:194.23, Y:-179.22, Z:-10.49 [[-1.05061158e-01 9.94465739e-01 2.18454634e-04 1.94232046e+02] [ 9.94463681e-01 1.05061386e-01 -2.02305052e-03 -1.79221178e+02] [-2.03480558e-03 4.70116741e-06 -9.99997930e-01 -1.04911079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.790385723 meters 0.0139982728724994 Centerline is valid? [True, True] Translation: X:194.24, Y:-179.20, Z:-10.49 [[-1.84777357e-01 9.82780279e-01 5.02709595e-04 1.94237736e+02] [ 9.82776647e-01 1.84778041e-01 -2.67187302e-03 -1.79196652e+02] [-2.71875380e-03 3.49616572e-07 -9.99996304e-01 -1.04908790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8503857229999 meters 0.013971042179697345 Centerline is valid? [True, True] Translation: X:194.24, Y:-179.17, Z:-10.49 [[-2.61597102e-01 9.65176852e-01 7.74886028e-04 1.94240373e+02] [ 9.65172609e-01 2.61598250e-01 -2.86188898e-03 -1.79173072e+02] [-2.96493783e-03 -7.63093591e-07 -9.99995605e-01 -1.04900429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.910385723 meters 0.014110439557942476 Centerline is valid? [True, True] Translation: X:194.24, Y:-179.15, Z:-10.49 [[-3.34344633e-01 9.42449905e-01 1.35766740e-03 1.94240147e+02] [ 9.42442229e-01 3.34347389e-01 -3.80369410e-03 -1.79148569e+02] [-4.03872369e-03 7.77837976e-06 -9.99991844e-01 -1.04886424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9703857229999 meters 0.01415350325324168 Centerline is valid? [True, True] Translation: X:194.24, Y:-179.12, Z:-10.49 [[-4.05464456e-01 9.14109999e-01 1.21883473e-03 1.94239612e+02] [ 9.14105952e-01 4.05466288e-01 -2.71986634e-03 -1.79123708e+02] [-2.98045341e-03 1.13349511e-05 -9.99995558e-01 -1.04886216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.030385723 meters 0.014310186307612546 Centerline is valid? [True, True] Translation: X:194.24, Y:-179.10, Z:-10.49 [[-4.74232464e-01 8.80398781e-01 1.24751977e-03 1.94236419e+02] [ 8.80395816e-01 4.74234104e-01 -2.28505688e-03 -1.79099729e+02] [-2.60337771e-03 1.46630280e-05 -9.99996611e-01 -1.04893072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0903857229999 meters 0.014508195613053295 Centerline is valid? [True, True] Translation: X:194.23, Y:-179.08, Z:-10.49 [[-5.40356082e-01 8.41434643e-01 1.74523809e-03 1.94230303e+02] [ 8.41430393e-01 5.40358900e-01 -2.67468028e-03 -1.79076506e+02] [-3.19362358e-03 2.32166186e-05 -9.99994900e-01 -1.04883171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.150385723 meters 0.014732475958029493 Centerline is valid? [True, True] Translation: X:194.22, Y:-179.06, Z:-10.49 [[-6.03926647e-01 7.97034486e-01 2.93828579e-03 1.94221132e+02] [ 7.97025367e-01 6.03933793e-01 -3.81291186e-03 -1.79056560e+02] [-4.81355233e-03 3.91692347e-05 -9.99988414e-01 -1.04873465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.210385723 meters 0.014907260848529263 Centerline is valid? [True, True] Translation: X:194.21, Y:-179.04, Z:-10.49 [[-6.64179546e-01 7.47560306e-01 4.37259002e-03 1.94210239e+02] [ 7.47544657e-01 6.64193937e-01 -4.83725866e-03 -1.79036753e+02] [-6.52039035e-03 5.58980471e-05 -9.99978741e-01 -1.04864483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.270385723 meters 0.014828807333743416 Centerline is valid? [True, True] Translation: X:194.20, Y:-179.02, Z:-10.49 [[-7.20896732e-01 6.93028208e-01 4.45035027e-03 1.94198277e+02] [ 6.93015434e-01 7.20910466e-01 -4.20802185e-03 -1.79018069e+02] [-6.12458193e-03 5.06122288e-05 -9.99981243e-01 -1.04858743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.330385723 meters 0.014826337838178329 Centerline is valid? [True, True] Translation: X:194.22, Y:-179.00, Z:-10.49 [[-7.68005778e-01 6.40427329e-01 4.46786714e-03 1.94217627e+02] [ 6.40416858e-01 7.68018772e-01 -3.66249939e-03 -1.78996657e+02] [-5.77697054e-03 4.84767447e-05 -9.99983312e-01 -1.04869307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.390385723 meters 0.014710027035025988 Centerline is valid? [True, True] Translation: X:194.75, Y:-178.36, Z:-11.43 [[-7.35015845e-01 -6.78044541e-01 2.70357210e-03 1.94749234e+02] [ 6.78039215e-01 -7.35020802e-01 -2.69139834e-03 -1.78360285e+02] [ 3.81206969e-03 -1.45092523e-04 9.99992724e-01 -1.14257972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.450385723 meters 0.01462704282123887 Centerline is valid? [True, True] Translation: X:194.18, Y:-178.96, Z:-10.49 [[-7.70050762e-01 6.37980682e-01 1.57256826e-03 1.94175348e+02] [ 6.37979400e-01 7.70052368e-01 -1.27914539e-03 -1.78958133e+02] [-2.02702996e-03 1.82592674e-05 -9.99997945e-01 -1.04902634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.510385723 meters 0.014756260595284955 Centerline is valid? [True, True] Translation: X:194.21, Y:-178.95, Z:-10.49 [[-8.13094058e-01 5.82124777e-01 2.96595896e-03 1.94212300e+02] [ 5.82121049e-01 8.13099467e-01 -2.08347577e-03 -1.78947315e+02] [-3.62446252e-03 3.24853694e-05 -9.99993431e-01 -1.04887246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.570385723 meters 0.014684706139453522 Centerline is valid? [True, True] Translation: X:194.69, Y:-178.29, Z:-11.43 [[-7.83324119e-01 -6.21603816e-01 3.46715229e-03 1.94690978e+02] [ 6.21597767e-01 -7.83331792e-01 -2.74213510e-03 -1.78288441e+02] [ 4.42045225e-03 7.19356210e-06 9.99990230e-01 -1.14274434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.630385723 meters 0.015403946578137165 Centerline is valid? [True, True] Translation: X:194.18, Y:-178.92, Z:-10.48 [[-8.14537976e-01 5.80090821e-01 4.74607414e-03 1.94180526e+02] [ 5.80081384e-01 8.14551801e-01 -3.30927594e-03 -1.78922717e+02] [-5.78560383e-03 5.75783294e-05 -9.99983262e-01 -1.04846962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.690385723 meters 0.014889828451301825 Centerline is valid? [True, True] Translation: X:194.20, Y:-178.90, Z:-10.49 [[-8.52560836e-01 5.22606619e-01 4.72677904e-03 1.94199712e+02] [ 5.22599010e-01 8.52573937e-01 -2.82092704e-03 -1.78896714e+02] [-5.50416376e-03 6.51981245e-05 -9.99984850e-01 -1.04864756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.750385723 meters 0.015317351591496343 Centerline is valid? [True, True] Translation: X:194.22, Y:-178.87, Z:-10.49 [[-8.86044404e-01 4.63581617e-01 4.17110812e-03 1.94218887e+02] [ 4.63576847e-01 8.86054219e-01 -2.10420384e-03 -1.78874678e+02] [-4.67129817e-03 6.92111076e-05 -9.99989087e-01 -1.04870567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.810385723 meters 0.015498050032489885 Centerline is valid? [True, True] Translation: X:194.24, Y:-178.85, Z:-10.49 [[-9.15980668e-01 4.01211068e-01 3.01564035e-03 1.94239926e+02] [ 4.01209087e-01 9.15985631e-01 -1.26180470e-03 -1.78851240e+02] [-3.26853324e-03 5.41136013e-05 -9.99994657e-01 -1.04873157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.870385723 meters 0.016022307582927085 Centerline is valid? [True, True] Translation: X:194.26, Y:-178.83, Z:-10.49 [[-9.41375523e-01 3.37354174e-01 2.07013207e-03 1.94256296e+02] [ 3.37353454e-01 9.41377798e-01 -6.98407433e-04 -1.78825381e+02] [-2.18438704e-03 4.09025421e-05 -9.99997613e-01 -1.04884465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.930385723 meters 0.01535544580861136 Centerline is valid? [True, True] Translation: X:194.26, Y:-178.79, Z:-10.49 [[-9.63475771e-01 2.67784901e-01 2.38465096e-03 1.94263108e+02] [ 2.67784185e-01 9.63478721e-01 -6.20334990e-04 -1.78794563e+02] [-2.46367680e-03 4.08940837e-05 -9.99996964e-01 -1.04889235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.990385723 meters 0.014746109554168645 Centerline is valid? [True, True] Translation: X:194.46, Y:-178.04, Z:-11.43 [[-9.52316775e-01 -3.05096227e-01 3.00873113e-03 1.94464308e+02] [ 3.05094685e-01 -9.52321528e-01 -9.70074681e-04 -1.78035792e+02] [ 3.16124555e-03 -5.87051817e-06 9.99995003e-01 -1.14266092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.050385723 meters 0.014258154410969396 Centerline is valid? [True, True] Translation: X:194.21, Y:-178.77, Z:-10.49 [[-9.66913136e-01 2.55070352e-01 4.25485121e-03 1.94209731e+02] [ 2.55068024e-01 9.66922497e-01 -1.09020272e-03 -1.78769475e+02] [-4.39218975e-03 3.11451595e-05 -9.99990354e-01 -1.04865142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.110385723 meters 0.013982537072226355 Centerline is valid? [True, True] Translation: X:194.22, Y:-178.74, Z:-10.48 [[-9.83380701e-01 1.81417286e-01 7.08267099e-03 1.94216773e+02] [ 1.81412714e-01 9.83406207e-01 -1.28809935e-03 -1.78737369e+02] [-7.19882610e-03 1.81945264e-05 -9.99974088e-01 -1.04844545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.170385723 meters 0.013994810793318989 Centerline is valid? [True, True] Translation: X:194.36, Y:-178.00, Z:-11.43 [[-9.69805022e-01 -2.43757736e-01 7.77074751e-03 1.94361206e+02] [ 2.43750175e-01 -9.69836154e-01 -1.92023071e-03 -1.77996503e+02] [ 8.00442297e-03 3.18716830e-05 9.99967964e-01 -1.14313078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2303857229999 meters 0.013927084896336695 Centerline is valid? [True, True] Translation: X:194.17, Y:-178.73, Z:-10.48 [[-9.83952336e-01 1.78262327e-01 7.76805098e-03 1.94170548e+02] [ 1.78256969e-01 9.83982999e-01 -1.38231387e-03 -1.78726500e+02] [-7.89004459e-03 2.45782596e-05 -9.99968873e-01 -1.04837562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.290385723 meters 0.014404927983308065 Centerline is valid? [True, True] Translation: X:194.17, Y:-178.70, Z:-10.48 [[-9.93510936e-01 1.13488967e-01 7.50159652e-03 1.94171594e+02] [ 1.13486228e-01 9.93539254e-01 -7.91172905e-04 -1.78700140e+02] [-7.54292001e-03 6.52889605e-05 -9.99971550e-01 -1.04839532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3503857229999 meters 0.014575125012598335 Centerline is valid? [True, True] Translation: X:194.26, Y:-177.95, Z:-11.43 [[-9.87284038e-01 -1.58781729e-01 7.65443461e-03 1.94262998e+02] [ 1.58776532e-01 -9.87313709e-01 -1.28578194e-03 -1.77949114e+02] [ 7.76148690e-03 -5.40874057e-05 9.99969878e-01 -1.14298734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.410385723 meters 0.015198486822281681 Centerline is valid? [True, True] Translation: X:194.12, Y:-178.70, Z:-10.49 [[-9.93097683e-01 1.17035992e-01 7.71808512e-03 1.94124605e+02] [ 1.17033449e-01 9.93127666e-01 -7.81831471e-04 -1.78699297e+02] [-7.75654628e-03 1.26839103e-04 -9.99969910e-01 -1.04861418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4703857229999 meters 0.015122613673819254 Centerline is valid? [True, True] Translation: X:194.13, Y:-178.67, Z:-10.49 [[-9.98877877e-01 4.68160988e-02 7.15821176e-03 1.94125414e+02] [ 4.68157652e-02 9.98903518e-01 -2.14256259e-04 -1.78667458e+02] [-7.16039355e-03 1.21101324e-04 -9.99974357e-01 -1.04869628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.530385723 meters 0.015016193590794742 Centerline is valid? [True, True] Translation: X:194.13, Y:-178.63, Z:-10.49 [[-9.99726139e-01 -2.18996761e-02 8.24927492e-03 1.94127877e+02] [-2.18983748e-02 9.99760171e-01 2.48053077e-04 -1.78634537e+02] [-8.25272879e-03 6.73394316e-05 -9.99965943e-01 -1.04863779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5903857229999 meters 0.014760682313746906 Centerline is valid? [True, True] Translation: X:194.10, Y:-177.89, Z:-11.43 [[-9.99825890e-01 -1.61015442e-02 9.43028910e-03 1.94101959e+02] [ 1.61007691e-02 -9.99870362e-01 -1.58108026e-04 -1.77886663e+02] [ 9.43161236e-03 -6.24559021e-06 9.99955521e-01 -1.14303190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.650385723 meters 0.014619966093992328 Centerline is valid? [True, True] Translation: X:194.05, Y:-178.63, Z:-10.49 [[-9.99494403e-01 -3.03305438e-02 9.53924211e-03 1.94048217e+02] [-3.03280461e-02 9.99539916e-01 4.06417347e-04 -1.78632462e+02] [-9.54718012e-03 1.16905289e-04 -9.99954418e-01 -1.04853127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.710385723 meters 0.014778523780389546 Centerline is valid? [True, True] Translation: X:194.04, Y:-178.60, Z:-10.49 [[-9.94857086e-01 -1.00917132e-01 8.66666193e-03 1.94041176e+02] [-1.00912335e-01 9.94894829e-01 9.90225548e-04 -1.78604838e+02] [-8.72234786e-03 1.10559814e-04 -9.99961954e-01 -1.04866977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.770385723 meters 0.015024845691041362 Centerline is valid? [True, True] Translation: X:194.03, Y:-178.58, Z:-10.49 [[-9.85283228e-01 -1.70726438e-01 8.33337246e-03 1.94031379e+02] [-1.70719348e-01 9.85318461e-01 1.56004576e-03 -1.78575692e+02] [-8.47736679e-03 1.14419008e-04 -9.99964060e-01 -1.04858678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.830385723 meters 0.015438182234731795 Centerline is valid? [True, True] Translation: X:194.01, Y:-178.55, Z:-10.48 [[-9.70678118e-01 -2.40239962e-01 8.29173145e-03 1.94011719e+02] [-2.40230136e-01 9.70713524e-01 2.17610120e-03 -1.78550425e+02] [-8.57168233e-03 1.20370041e-04 -9.99963255e-01 -1.04848436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.890385723 meters 0.014897987785105876 Centerline is valid? [True, True] Translation: X:193.98, Y:-178.53, Z:-10.49 [[-9.50956056e-01 -3.09204254e-01 8.67807007e-03 1.93977412e+02] [-3.09190118e-01 9.50995643e-01 2.95950834e-03 -1.78529075e+02] [-9.16789939e-03 1.31188865e-04 -9.99957965e-01 -1.04855520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.950385723 meters 0.015594067936360067 Centerline is valid? [True, True] Translation: X:193.92, Y:-178.52, Z:-10.48 [[-9.25494057e-01 -3.78676519e-01 8.05254881e-03 1.93924252e+02] [-3.78661070e-01 9.25529081e-01 3.42267423e-03 -1.78518552e+02] [-8.74895447e-03 1.18477912e-04 -9.99961720e-01 -1.04836321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.010385723 meters 0.01454648722044922 Centerline is valid? [True, True] Translation: X:193.86, Y:-178.52, Z:-10.49 [[-8.94558738e-01 -4.46878128e-01 8.03764935e-03 1.93855481e+02] [-4.46858971e-01 8.94594839e-01 4.13920230e-03 -1.78516196e+02] [-9.04015861e-03 1.11063862e-04 -9.99959131e-01 -1.04851390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.070385723 meters 0.014255431826991639 Centerline is valid? [True, True] Translation: X:193.78, Y:-178.52, Z:-10.49 [[-8.58338126e-01 -5.13036308e-01 7.02905344e-03 1.93779463e+02] [-5.13018247e-01 8.58366902e-01 4.30570400e-03 -1.78524781e+02] [-8.24248931e-03 8.97172259e-05 -9.99966026e-01 -1.04854394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.130385723 meters 0.014360568945121268 Centerline is valid? [True, True] Translation: X:193.70, Y:-178.54, Z:-10.48 [[-8.17539161e-01 -5.75832147e-01 6.85999172e-03 1.93702003e+02] [-5.75810955e-01 8.17567936e-01 4.94097927e-03 -1.78540767e+02] [-8.45368398e-03 8.93856599e-05 -9.99964263e-01 -1.04845297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.190385723 meters 0.014510744205126805 Centerline is valid? [True, True] Translation: X:193.62, Y:-178.57, Z:-10.48 [[-7.72110553e-01 -6.35438350e-01 7.96222094e-03 1.93617607e+02] [-6.35403080e-01 7.72151599e-01 6.69581760e-03 -1.78572663e+02] [-1.04028209e-02 1.10691723e-04 -9.99945883e-01 -1.04835592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.250385723 meters 0.014578282956134083 Centerline is valid? [True, True] Translation: X:193.53, Y:-178.62, Z:-10.48 [[-7.22145133e-01 -6.91704177e-01 7.19297422e-03 1.93528024e+02] [-6.91668379e-01 7.22180947e-01 7.03794277e-03 -1.78615904e+02] [-1.00628033e-02 1.07263301e-04 -9.99949363e-01 -1.04833307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.310385723 meters 0.014568657580458081 Centerline is valid? [True, True] Translation: X:193.44, Y:-178.67, Z:-10.48 [[-6.66928657e-01 -7.45088918e-01 6.97642578e-03 1.93435198e+02] [-7.45046608e-01 6.66965137e-01 7.94094704e-03 -1.78671743e+02] [-1.05697444e-02 9.82827794e-05 -9.99944134e-01 -1.04830096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.370385723 meters 0.014109723075821177 Centerline is valid? [True, True] Translation: X:193.35, Y:-178.73, Z:-10.48 [[-6.06190092e-01 -7.95288141e-01 7.09549855e-03 1.93352739e+02] [-7.95232202e-01 6.06231612e-01 9.43279051e-03 -1.78727724e+02] [-1.18033020e-02 7.54952118e-05 -9.99930336e-01 -1.04835731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.430385723 meters 0.014007427990658296 Centerline is valid? [True, True] Translation: X:193.27, Y:-178.80, Z:-10.48 [[-5.42829486e-01 -8.39819435e-01 6.28212576e-03 1.93269989e+02] [-8.39761958e-01 5.42865833e-01 9.82550345e-03 -1.78798414e+02] [-1.16620002e-02 5.80827615e-05 -9.99931995e-01 -1.04844333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.490385723 meters 0.013978259155820807 Centerline is valid? [True, True] Translation: X:193.19, Y:-178.88, Z:-10.49 [[-4.76849773e-01 -8.78973122e-01 4.53260699e-03 1.93191676e+02] [-8.78932551e-01 4.76871313e-01 8.44526027e-03 -1.78879753e+02] [-9.58462703e-03 4.32646181e-05 -9.99954066e-01 -1.04865797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.550385723 meters 0.0139684993064022 Centerline is valid? [True, True] Translation: X:193.12, Y:-178.97, Z:-10.49 [[-4.06913717e-01 -9.13459649e-01 3.56310554e-03 1.93118946e+02] [-9.13424069e-01 4.06929316e-01 8.06237839e-03 -1.78970318e+02] [-8.81458944e-03 2.60659963e-05 -9.99961150e-01 -1.04877927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.610385723 meters 0.013968081570653596 Centerline is valid? [True, True] Translation: X:193.05, Y:-179.07, Z:-10.49 [[-3.32307693e-01 -9.43167094e-01 2.72568147e-03 1.93048149e+02] [-9.43135533e-01 3.32318871e-01 7.71592191e-03 -1.79070127e+02] [-8.18319903e-03 -6.62683877e-06 -9.99966517e-01 -1.04881739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.670385723 meters 0.013890395153995122 Centerline is valid? [True, True] Translation: X:192.99, Y:-179.18, Z:-10.49 [[-2.57781408e-01 -9.66200552e-01 2.28888553e-03 1.92987668e+02] [-9.66163094e-01 2.57791569e-01 8.50785783e-03 -1.79175550e+02] [-8.81035232e-03 -1.82691571e-05 -9.99961188e-01 -1.04877374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7303857229999 meters 0.014030179516015918 Centerline is valid? [True, True] Translation: X:192.94, Y:-179.28, Z:-10.49 [[-1.86838217e-01 -9.82389181e-01 1.72582264e-03 1.92942549e+02] [-9.82346529e-01 1.86846187e-01 9.15421529e-03 -1.79282168e+02] [-9.31546544e-03 1.50013846e-05 -9.99956610e-01 -1.04882465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.790385723 meters 0.014180501228831494 Centerline is valid? [True, True] Translation: X:192.90, Y:-179.39, Z:-10.49 [[-1.12746606e-01 -9.93623178e-01 1.08794321e-03 1.92901193e+02] [-9.93573689e-01 1.12751849e-01 9.91692036e-03 -1.79391214e+02] [-9.97634953e-03 3.71473658e-05 -9.99950234e-01 -1.04869939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8503857229999 meters 0.014592286677370886 Centerline is valid? [True, True] Translation: X:192.87, Y:-179.52, Z:-10.49 [[-3.83210023e-02 -9.99265421e-01 3.45789180e-04 1.92871280e+02] [-9.99207813e-01 3.83225061e-02 1.07299872e-02 -1.79516505e+02] [-1.07353567e-02 6.56686126e-05 -9.99942372e-01 -1.04867469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.910385723 meters 0.01468341046883193 Centerline is valid? [True, True] Translation: X:192.85, Y:-179.65, Z:-10.49 [[ 3.82353762e-02 -9.99268651e-01 -4.68867117e-04 1.92846868e+02] [-9.99214176e-01 -3.82381876e-02 1.04341472e-02 -1.79645862e+02] [-1.04444448e-02 6.95451262e-05 -9.99945453e-01 -1.04869379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9703857229999 meters 0.014663418748825329 Centerline is valid? [True, True] Translation: X:192.84, Y:-179.80, Z:-10.49 [[ 1.14715507e-01 -9.93397782e-01 -1.09497976e-03 1.92837397e+02] [-9.93357625e-01 -1.14720715e-01 8.93230240e-03 -1.79803078e+02] [-8.99894625e-03 6.30328926e-05 -9.99959507e-01 -1.04887649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.030385723 meters 0.01441613011458786 Centerline is valid? [True, True] Translation: X:192.82, Y:-179.88, Z:-10.49 [[ 1.91623946e-01 -9.81467359e-01 -1.44426479e-03 1.92823812e+02] [-9.81441234e-01 -1.91629383e-01 7.16127281e-03 -1.79877854e+02] [-7.30531909e-03 4.51896703e-05 -9.99973315e-01 -1.04912902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0903857229999 meters 0.014295297348529166 Centerline is valid? [True, True] Translation: X:192.83, Y:-180.01, Z:-10.49 [[ 2.68809959e-01 -9.63190839e-01 -2.14810273e-03 1.92826949e+02] [-9.63161008e-01 -2.68818540e-01 7.58053972e-03 -1.80009162e+02] [-7.87895625e-03 3.12442183e-05 -9.99968960e-01 -1.04901896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.150385723 meters 0.014168730596289517 Centerline is valid? [True, True] Translation: X:192.84, Y:-180.13, Z:-10.49 [[ 3.43801624e-01 -9.39038777e-01 -2.57274876e-03 1.92836600e+02] [-9.39012844e-01 -3.43811250e-01 6.97874287e-03 -1.80125065e+02] [-7.43785013e-03 1.65409945e-05 -9.99972339e-01 -1.04915864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.210385723 meters 0.014053055533237182 Centerline is valid? [True, True] Translation: X:192.86, Y:-180.25, Z:-10.49 [[ 4.15841410e-01 -9.09431562e-01 -3.18695347e-03 1.92857915e+02] [-9.09405047e-01 -4.15853621e-01 6.94444388e-03 -1.80247807e+02] [-7.64080259e-03 1.04442392e-05 -9.99970809e-01 -1.04924055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.270385723 meters 0.01411565430141748 Centerline is valid? [True, True] Translation: X:192.89, Y:-180.37, Z:-10.49 [[ 4.84835588e-01 -8.74596696e-01 -3.88219201e-03 1.92886940e+02] [-8.74568793e-01 -4.84851130e-01 6.98625781e-03 -1.80366940e+02] [-7.99244319e-03 8.05756497e-06 -9.99968060e-01 -1.04925752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.330385723 meters 0.015780546580077718 Centerline is valid? [True, True] Translation: X:192.93, Y:-180.48, Z:-10.49 [[ 5.50497431e-01 -8.34821442e-01 -5.07326791e-03 1.92925739e+02] [-8.34786165e-01 -5.50520808e-01 7.67456472e-03 -1.80482069e+02] [-9.19983073e-03 1.02657009e-05 -9.99957681e-01 -1.04901767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.390385723 meters 0.01411792693147421 Centerline is valid? [True, True] Translation: X:192.98, Y:-180.60, Z:-10.49 [[ 6.13184981e-01 -7.89921577e-01 -5.29916831e-03 1.92976402e+02] [-7.89892177e-01 -6.13207878e-01 6.81520011e-03 -1.80597607e+02] [-8.63296538e-03 6.79324570e-06 -9.99962735e-01 -1.04918209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.450385723 meters 0.01413797410035549 Centerline is valid? [True, True] Translation: X:193.02, Y:-180.69, Z:-10.49 [[ 6.71520119e-01 -7.40968645e-01 -5.11834115e-03 1.93023956e+02] [-7.40947234e-01 -6.71539625e-01 5.63290213e-03 -1.80694789e+02] [-7.61097275e-03 9.81360653e-06 -9.99971036e-01 -1.04926943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.510385723 meters 0.014100666975186143 Centerline is valid? [True, True] Translation: X:193.09, Y:-180.80, Z:-10.49 [[ 7.25743148e-01 -6.87943834e-01 -5.49220877e-03 1.93086946e+02] [-6.87924284e-01 -7.25763930e-01 5.18632170e-03 -1.80797660e+02] [-7.55394505e-03 1.42863515e-05 -9.99971468e-01 -1.04918988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.570385723 meters 0.01409492586629876 Centerline is valid? [True, True] Translation: X:193.10, Y:-180.83, Z:-10.49 [[ 7.77611784e-01 -6.28702840e-01 -7.25618768e-03 1.93102791e+02] [-6.28675614e-01 -7.77645639e-01 5.85095679e-03 -1.80826611e+02] [-9.32125585e-03 1.20152920e-05 -9.99956556e-01 -1.04913163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.630385723 meters 0.014217013466810952 Centerline is valid? [True, True] Translation: X:193.12, Y:-180.85, Z:-10.49 [[ 8.25305168e-01 -5.64615952e-01 -8.95580710e-03 1.93119575e+02] [-5.64582656e-01 -8.25353758e-01 6.13177441e-03 -1.80853013e+02] [-1.08538067e-02 -4.29175250e-06 -9.99941096e-01 -1.04907027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.690385723 meters 0.014189512510685861 Centerline is valid? [True, True] Translation: X:193.14, Y:-180.88, Z:-10.49 [[ 8.66869022e-01 -4.98459472e-01 -8.73228553e-03 1.93138486e+02] [-4.98434148e-01 -8.66913003e-01 5.02447594e-03 -1.80877750e+02] [-1.00746295e-02 -3.09324519e-06 -9.99949250e-01 -1.04911511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.750385723 meters 0.014227649266348622 Centerline is valid? [True, True] Translation: X:193.16, Y:-180.90, Z:-10.49 [[ 9.02497359e-01 -4.30579141e-01 -1.00060615e-02 1.93159694e+02] [-4.30552853e-01 -9.02552826e-01 4.75783570e-03 -1.80897647e+02] [-1.10796239e-02 1.42041859e-05 -9.99938619e-01 -1.04902256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.810385723 meters 0.016080619816441693 Centerline is valid? [True, True] Translation: X:193.18, Y:-180.92, Z:-10.49 [[ 9.32556053e-01 -3.60807367e-01 -1.25400072e-02 1.93182239e+02] [-3.60775443e-01 -9.32640360e-01 4.79982417e-03 -1.80918030e+02] [-1.34271287e-02 4.80215536e-05 -9.99909851e-01 -1.04878098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.870385723 meters 0.014401024598291477 Centerline is valid? [True, True] Translation: X:193.21, Y:-180.94, Z:-10.49 [[ 9.57589898e-01 -2.87884197e-01 -1.20114880e-02 1.93206839e+02] [-2.87862326e-01 -9.57665226e-01 3.54904279e-03 -1.80935224e+02] [-1.25246977e-02 5.91273487e-05 -9.99921561e-01 -1.04897465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.930385723 meters 0.01456021407663575 Centerline is valid? [True, True] Translation: X:193.23, Y:-180.95, Z:-10.49 [[ 9.76479644e-01 -2.15355347e-01 -1.04680478e-02 1.93231586e+02] [-2.15343921e-01 -9.76535748e-01 2.22006000e-03 -1.80950178e+02] [-1.07005247e-02 8.63870528e-05 -9.99942744e-01 -1.04921876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.990385723 meters 0.014682078351302585 Centerline is valid? [True, True] Translation: X:193.25, Y:-180.97, Z:-10.49 [[ 9.90022178e-01 -1.40644705e-01 -8.66910286e-03 1.93254243e+02] [-1.40640125e-01 -9.90060129e-01 1.13868557e-03 -1.80965658e+02] [-8.74308319e-03 9.18997371e-05 -9.99961774e-01 -1.04943148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.050385723 meters 0.014869798926186903 Centerline is valid? [True, True] Translation: X:193.28, Y:-180.98, Z:-10.49 [[ 9.97949502e-01 -6.34585792e-02 -8.35464487e-03 1.93278085e+02] [-6.34571437e-02 -9.97984469e-01 4.37060606e-04 -1.80978924e+02] [-8.36554107e-03 9.39974859e-05 -9.99965004e-01 -1.04942434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.110385723 meters 0.017320009234897484 Centerline is valid? [True, True] Translation: X:193.30, Y:-180.99, Z:-10.49 [[ 9.99817436e-01 1.52092913e-02 -1.15659563e-02 1.93302013e+02] [ 1.52068155e-02 -9.99884324e-01 -3.01977369e-04 -1.80991003e+02] [-1.15692112e-02 1.26040875e-04 -9.99933067e-01 -1.04884612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.170385723 meters 0.014580213354590879 Centerline is valid? [True, True] Translation: X:193.33, Y:-181.00, Z:-10.49 [[ 9.95455511e-01 9.45244686e-02 -1.15520404e-02 1.93328182e+02] [ 9.45167737e-02 -9.95522532e-01 -1.21146962e-03 -1.81003037e+02] [-1.16148300e-02 1.14102526e-04 -9.99932539e-01 -1.04916850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2303857229999 meters 0.014530772591891478 Centerline is valid? [True, True] Translation: X:193.35, Y:-181.01, Z:-10.49 [[ 9.84769344e-01 1.73557621e-01 -1.03485139e-02 1.93353783e+02] [ 1.73547094e-01 -9.84823712e-01 -1.91353863e-03 -1.81011256e+02] [-1.05235710e-02 8.84396692e-05 -9.99944622e-01 -1.04920363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.290385723 meters 0.01470041056605095 Centerline is valid? [True, True] Translation: X:193.38, Y:-181.01, Z:-10.49 [[ 9.68162177e-01 2.50099928e-01 -1.05841455e-02 1.93380094e+02] [ 2.50083941e-01 -9.68220025e-01 -2.82930551e-03 -1.81014557e+02] [-1.09553908e-02 9.23017522e-05 -9.99939984e-01 -1.04910263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3503857229999 meters 0.01466100128562832 Centerline is valid? [True, True] Translation: X:193.41, Y:-181.02, Z:-10.49 [[ 9.46348374e-01 3.23014983e-01 -9.27774390e-03 1.93407906e+02] [ 3.22998371e-01 -9.46393845e-01 -3.27760422e-03 -1.81017208e+02] [-9.83911499e-03 1.05059253e-04 -9.99951589e-01 -1.04926066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.410385723 meters 0.015020286906403207 Centerline is valid? [True, True] Translation: X:193.44, Y:-181.02, Z:-10.49 [[ 9.19716318e-01 3.92505563e-01 -7.82798603e-03 1.93435589e+02] [ 3.92490184e-01 -9.19749622e-01 -3.47680115e-03 -1.81017263e+02] [-8.56445099e-03 1.25263074e-04 -9.99963317e-01 -1.04940730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4703857229999 meters 0.015557512492190397 Centerline is valid? [True, True] Translation: X:193.46, Y:-181.02, Z:-10.49 [[ 8.87218277e-01 4.61304451e-01 -6.47556130e-03 1.93463896e+02] [ 4.61291138e-01 -8.87241899e-01 -3.50686757e-03 -1.81016650e+02] [-7.36312293e-03 1.24237962e-04 -9.99972884e-01 -1.04937727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.530385723 meters 0.01588872165845173 Centerline is valid? [True, True] Translation: X:193.49, Y:-181.01, Z:-10.49 [[ 8.49272678e-01 5.27899084e-01 -7.64686335e-03 1.93492384e+02] [ 5.27875877e-01 -8.49307087e-01 -4.95282673e-03 -1.81013815e+02] [-9.10912794e-03 1.69705726e-04 -9.99958497e-01 -1.04929363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5903857229999 meters 0.016403477873095137 Centerline is valid? [True, True] Translation: X:193.52, Y:-181.01, Z:-10.49 [[ 8.05862245e-01 5.92042567e-01 -8.46413445e-03 1.93520983e+02] [ 5.92007181e-01 -8.05906667e-01 -6.47628653e-03 -1.81009476e+02] [-1.06555397e-02 2.08166426e-04 -9.99943206e-01 -1.04916416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.650385723 meters 0.01707158742093056 Centerline is valid? [True, True] Translation: X:193.55, Y:-181.00, Z:-10.49 [[ 7.57501084e-01 6.52779029e-01 -8.46440913e-03 1.93546569e+02] [ 6.52734858e-01 -7.57548339e-01 -7.59734562e-03 -1.81002393e+02] [-1.13715870e-02 2.29982657e-04 -9.99935315e-01 -1.04905177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.710385723 meters 0.01713264296329871 Centerline is valid? [True, True] Translation: X:193.57, Y:-180.99, Z:-10.49 [[ 7.04067701e-01 7.10091256e-01 -7.68634733e-03 1.93571998e+02] [ 7.10045416e-01 -7.04109620e-01 -8.07156561e-03 -1.80992543e+02] [-1.11435793e-02 2.25272952e-04 -9.99937883e-01 -1.04910904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.770385723 meters 0.015923159745255128 Centerline is valid? [True, True] Translation: X:193.60, Y:-180.99, Z:-10.49 [[ 6.45374098e-01 7.63840118e-01 -6.36775561e-03 1.93603006e+02] [ 7.63799972e-01 -6.45405483e-01 -7.83361053e-03 -1.80985779e+02] [-1.00934104e-02 1.91917771e-04 -9.99949042e-01 -1.04923307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.830385723 meters 0.015745168930959962 Centerline is valid? [True, True] Translation: X:193.63, Y:-180.97, Z:-10.49 [[ 5.82085758e-01 8.13115414e-01 -4.41514349e-03 1.93630775e+02] [ 8.13090271e-01 -5.82102487e-01 -6.39583517e-03 -1.80974505e+02] [-7.77061817e-03 1.33014346e-04 -9.99969799e-01 -1.04932805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.890385723 meters 0.01538097724858843 Centerline is valid? [True, True] Translation: X:193.66, Y:-180.96, Z:-10.49 [[ 5.15012255e-01 8.57176920e-01 -3.17868806e-03 1.93657165e+02] [ 8.57159423e-01 -5.15022056e-01 -5.47779026e-03 -1.80960706e+02] [-6.33252985e-03 9.64866920e-05 -9.99979945e-01 -1.04949567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.950385723 meters 0.01506200246694732 Centerline is valid? [True, True] Translation: X:193.68, Y:-180.95, Z:-10.50 [[ 4.45041093e-01 8.95507940e-01 -1.98867944e-03 1.93683826e+02] [ 8.95498354e-01 -4.45045531e-01 -4.14407499e-03 -1.80945369e+02] [-4.59610496e-03 6.34244957e-05 -9.99989436e-01 -1.04950678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.010385723 meters 0.014920500037580699 Centerline is valid? [True, True] Translation: X:193.71, Y:-180.93, Z:-10.49 [[ 3.73758386e-01 9.27524009e-01 -1.97041492e-03 1.93711964e+02] [ 9.27510018e-01 -3.73763572e-01 -5.09495610e-03 -1.80928501e+02] [-5.46216342e-03 7.67029944e-05 -9.99985079e-01 -1.04933142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.070385723 meters 0.01636637331458367 Centerline is valid? [True, True] Translation: X:193.73, Y:-180.91, Z:-10.49 [[ 3.01596712e-01 9.53433220e-01 -2.12581790e-03 1.93734317e+02] [ 9.53406724e-01 -3.01604181e-01 -7.10885979e-03 -1.80908325e+02] [-7.41897865e-03 1.17239660e-04 -9.99972472e-01 -1.04897597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.130385723 meters 0.015526091578875575 Centerline is valid? [True, True] Translation: X:193.75, Y:-180.89, Z:-10.49 [[ 2.26684755e-01 9.73967012e-01 -1.51073204e-03 1.93752285e+02] [ 9.73941774e-01 -2.26689758e-01 -7.01250223e-03 -1.80885531e+02] [-7.17241332e-03 1.18262305e-04 -9.99974271e-01 -1.04909968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.190385723 meters 0.01649533696743602 Centerline is valid? [True, True] Translation: X:193.77, Y:-180.86, Z:-10.49 [[ 1.53746362e-01 9.88109952e-01 -8.82836402e-04 1.93767799e+02] [ 9.88088204e-01 -1.53748837e-01 -6.55714298e-03 -1.80861071e+02] [-6.61491330e-03 1.35816645e-04 -9.99978112e-01 -1.04917728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.250385723 meters 0.018281340964030956 Centerline is valid? [True, True] Translation: X:193.79, Y:-180.84, Z:-10.49 [[ 7.77491340e-02 9.96972863e-01 -4.26298182e-04 1.93786772e+02] [ 9.96943251e-01 -7.77501111e-02 -7.68604506e-03 -1.80835271e+02] [-7.69592308e-03 1.72588251e-04 -9.99970371e-01 -1.04878389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.310385723 meters 0.016912855306468258 Centerline is valid? [True, True] Translation: X:193.80, Y:-180.81, Z:-10.49 [[-1.06062851e-03 9.99999422e-01 1.76889073e-04 1.93801818e+02] [ 9.99969833e-01 1.06195820e-03 -7.69451631e-03 -1.80807788e+02] [-7.69469971e-03 1.68722713e-04 -9.99970381e-01 -1.04890823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.370385723 meters 0.01683653278276921 Centerline is valid? [True, True] Translation: X:193.81, Y:-180.78, Z:-10.49 [[-8.06818324e-02 9.96739643e-01 7.25162726e-04 1.93814280e+02] [ 9.96714169e-01 8.06849560e-02 -7.12762070e-03 -1.80779634e+02] [-7.16289184e-03 1.47710465e-04 -9.99974335e-01 -1.04893845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.430385723 meters 0.01654985368132672 Centerline is valid? [True, True] Translation: X:193.82, Y:-180.75, Z:-10.49 [[-1.60485975e-01 9.87037488e-01 1.11792990e-03 1.93824062e+02] [ 9.87018335e-01 1.60489827e-01 -6.14999021e-03 -1.80750094e+02] [-6.24968726e-03 1.16430134e-04 -9.99980464e-01 -1.04895587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.490385723 meters 0.015742947005987294 Centerline is valid? [True, True] Translation: X:193.83, Y:-180.72, Z:-10.49 [[-2.39175204e-01 9.70975691e-01 1.19551798e-03 1.93833972e+02] [ 9.70965140e-01 2.39178180e-01 -4.52717603e-03 -1.80719103e+02] [-4.68171969e-03 7.80180303e-05 -9.99989038e-01 -1.04916958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.550385723 meters 0.01826304461503916 Centerline is valid? [True, True] Translation: X:193.84, Y:-180.69, Z:-10.49 [[-3.13917139e-01 9.49449116e-01 1.55105826e-03 1.93838419e+02] [ 9.49438771e-01 3.13920960e-01 -4.43295399e-03 -1.80687627e+02] [-4.69577394e-03 8.10546128e-05 -9.99988972e-01 -1.04896375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.610385723 meters 0.01854923313254077 Centerline is valid? [True, True] Translation: X:193.84, Y:-180.66, Z:-10.49 [[-3.87256888e-01 9.21969947e-01 1.87582558e-03 1.93839119e+02] [ 9.21960119e-01 3.87261423e-01 -4.25775875e-03 -1.80657765e+02] [-4.65196050e-03 8.05899716e-05 -9.99989176e-01 -1.04897110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.670385723 meters 0.015665497631154185 Centerline is valid? [True, True] Translation: X:193.84, Y:-180.63, Z:-10.49 [[-4.59524782e-01 8.88162605e-01 2.04007141e-03 1.93839807e+02] [ 8.88154507e-01 4.59529305e-01 -3.79343998e-03 -1.80625229e+02] [-4.30666414e-03 6.87189384e-05 -9.99990724e-01 -1.04926444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7303857229999 meters 0.017315292255071446 Centerline is valid? [True, True] Translation: X:193.83, Y:-180.60, Z:-10.49 [[-5.27759471e-01 8.49391284e-01 2.09473789e-03 1.93834345e+02] [ 8.49385048e-01 5.27763625e-01 -3.25533132e-03 -1.80595950e+02] [-3.87057651e-03 6.12071075e-05 -9.99992507e-01 -1.04904083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.790385723 meters 0.01673804819878467 Centerline is valid? [True, True] Translation: X:193.83, Y:-180.57, Z:-10.49 [[-5.93186346e-01 8.05062778e-01 1.97068148e-03 1.93826996e+02] [ 8.05058608e-01 5.93189617e-01 -2.59142526e-03 -1.80565400e+02] [-3.25524781e-03 4.93160106e-05 -9.99994700e-01 -1.04919698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8503857229999 meters 0.018365255921513356 Centerline is valid? [True, True] Translation: X:193.82, Y:-180.54, Z:-10.49 [[-6.54185230e-01 7.56327704e-01 3.17630458e-03 1.93816228e+02] [ 7.56319334e-01 6.54192936e-01 -3.55905495e-03 -1.80536145e+02] [-4.76972788e-03 7.40193889e-05 -9.99988622e-01 -1.04894288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.910385723 meters 0.01622288592518474 Centerline is valid? [True, True] Translation: X:193.80, Y:-180.51, Z:-10.49 [[-7.11339215e-01 7.02839315e-01 3.66328297e-03 1.93802755e+02] [ 7.02830564e-01 7.11348643e-01 -3.50808213e-03 -1.80507915e+02] [-5.07148940e-03 7.92308499e-05 -9.99987137e-01 -1.04908913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9703857229999 meters 0.016527135933542315 Centerline is valid? [True, True] Translation: X:193.82, Y:-180.48, Z:-10.49 [[-7.59864457e-01 6.50069251e-01 3.99701517e-03 1.93821267e+02] [ 6.50060778e-01 7.59874966e-01 -3.31984517e-03 -1.80483705e+02] [-5.19536103e-03 7.56704406e-05 -9.99986501e-01 -1.04904611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.030385723 meters 0.015797327683595038 Centerline is valid? [True, True] Translation: X:194.25, Y:-179.97, Z:-11.42 [[-7.34426695e-01 -6.78683615e-01 2.44545156e-03 1.94245505e+02] [ 6.78679145e-01 -7.34430751e-01 -2.46801888e-03 -1.79969046e+02] [ 3.47101880e-03 -1.52901974e-04 9.99993964e-01 -1.14228344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0903857229999 meters 0.016041539518609416 Centerline is valid? [True, True] Translation: X:193.79, Y:-180.46, Z:-10.49 [[-7.61340927e-01 6.48341629e-01 3.62278701e-03 1.93791075e+02] [ 6.48334753e-01 7.61349543e-01 -2.98699688e-03 -1.80462074e+02] [-4.69480166e-03 7.46557465e-05 -9.99988977e-01 -1.04915944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.150385723 meters 0.01630729461219532 Centerline is valid? [True, True] Translation: X:194.22, Y:-179.95, Z:-11.42 [[-7.38286510e-01 -6.74478175e-01 3.49583224e-03 1.94219288e+02] [ 6.74470161e-01 -7.38294783e-01 -3.28873842e-03 -1.79945383e+02] [ 4.79913699e-03 -7.01966772e-05 9.99988482e-01 -1.14237630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.210385723 meters 0.017850888851560616 Centerline is valid? [True, True] Translation: X:193.75, Y:-180.43, Z:-10.49 [[-7.65332501e-01 6.43621221e-01 4.22925354e-03 1.93749612e+02] [ 6.43611913e-01 7.65344183e-01 -3.46229990e-03 -1.80432869e+02] [-5.46524429e-03 7.21873220e-05 -9.99985063e-01 -1.04887987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.270385723 meters 0.015647911099155698 Centerline is valid? [True, True] Translation: X:194.18, Y:-179.92, Z:-11.42 [[-7.36548207e-01 -6.76374514e-01 3.77564874e-03 1.94182190e+02] [ 6.76365032e-01 -7.36557879e-01 -3.58247119e-03 -1.79915328e+02] [ 5.20407604e-03 -8.49459444e-05 9.99986455e-01 -1.14244481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.330385723 meters 0.01605760242297486 Centerline is valid? [True, True] Translation: X:194.17, Y:-179.94, Z:-11.42 [[-6.87212119e-01 -7.26446023e-01 3.95970237e-03 1.94165949e+02] [ 7.26433595e-01 -6.87223526e-01 -4.24948243e-03 -1.79935347e+02] [ 5.80822023e-03 -4.38350006e-05 9.99983131e-01 -1.14240874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.390385723 meters 0.015502687807338295 Centerline is valid? [True, True] Translation: X:194.13, Y:-179.89, Z:-11.42 [[-6.87617686e-01 -7.26066687e-01 3.01390910e-03 1.94129540e+02] [ 7.26059492e-01 -6.87624290e-01 -3.23263514e-03 -1.79891258e+02] [ 4.41954579e-03 -3.45397871e-05 9.99990233e-01 -1.14214383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.450385723 meters 0.018127367272524907 Centerline is valid? [True, True] Translation: X:194.09, Y:-179.85, Z:-11.43 [[-6.88713869e-01 -7.25024229e-01 3.61579113e-03 1.94094384e+02] [ 7.25013871e-01 -6.88723359e-01 -3.87582485e-03 -1.79846265e+02] [ 5.30034673e-03 -4.78356073e-05 9.99985952e-01 -1.14252538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.510385723 meters 0.01635106971027894 Centerline is valid? [True, True] Translation: X:194.06, Y:-179.80, Z:-11.42 [[-6.88033863e-01 -7.25670402e-01 3.44539409e-03 1.94057740e+02] [ 7.25661017e-01 -6.88042489e-01 -3.69088463e-03 -1.79802058e+02] [ 5.04894326e-03 -3.92654364e-05 9.99987253e-01 -1.14239852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.570385723 meters 0.015287846265697404 Centerline is valid? [True, True] Translation: X:194.02, Y:-179.76, Z:-11.42 [[-6.86452515e-01 -7.27163885e-01 3.95348928e-03 1.94019821e+02] [ 7.27151566e-01 -6.86463898e-01 -4.23279141e-03 -1.79757556e+02] [ 5.79186071e-03 -3.08243855e-05 9.99983227e-01 -1.14234616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.630385723 meters 0.017402390014174336 Centerline is valid? [True, True] Translation: X:193.98, Y:-179.71, Z:-11.43 [[-6.85633472e-01 -7.27918496e-01 6.43461901e-03 1.93983470e+02] [ 7.27885933e-01 -6.85663665e-01 -6.88532956e-03 -1.79711813e+02] [ 9.42394319e-03 -3.71437567e-05 9.99955593e-01 -1.14292346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.690385723 meters 0.018354227447397252 Centerline is valid? [True, True] Translation: X:193.95, Y:-179.66, Z:-11.43 [[-6.86576051e-01 -7.27029354e-01 6.45334353e-03 1.93949438e+02] [ 7.26996598e-01 -6.86606377e-01 -6.90145715e-03 -1.79663617e+02] [ 9.44846875e-03 -4.68163995e-05 9.99955361e-01 -1.14296760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.750385723 meters 0.015531291831841303 Centerline is valid? [True, True] Translation: X:193.91, Y:-179.62, Z:-11.43 [[-6.87558015e-01 -7.26107675e-01 5.62316989e-03 1.93914180e+02] [ 7.26082802e-01 -6.87581008e-01 -6.01024190e-03 -1.79616419e+02] [ 8.23046759e-03 -4.95030480e-05 9.99966128e-01 -1.14266129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.810385723 meters 0.01728763451666485 Centerline is valid? [True, True] Translation: X:193.88, Y:-179.57, Z:-11.43 [[-6.88458858e-01 -7.25241814e-01 6.97934477e-03 1.93881612e+02] [ 7.25203482e-01 -6.88494231e-01 -7.45684299e-03 -1.79569366e+02] [ 1.02132529e-02 -7.22844832e-05 9.99947841e-01 -1.14292835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.870385723 meters 0.015740957721027994 Centerline is valid? [True, True] Translation: X:193.85, Y:-179.52, Z:-11.43 [[-6.87541608e-01 -7.26116052e-01 6.48194709e-03 1.93845616e+02] [ 7.26083068e-01 -6.87572161e-01 -6.92115035e-03 -1.79524481e+02] [ 9.48236474e-03 -5.21468134e-05 9.99955040e-01 -1.14281697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.930385723 meters 0.017772813845248706 Centerline is valid? [True, True] Translation: X:193.81, Y:-179.48, Z:-11.43 [[-6.86204974e-01 -7.27370787e-01 7.38045192e-03 1.93810915e+02] [ 7.27328152e-01 -6.86244662e-01 -7.87549284e-03 -1.79480127e+02] [ 1.07931992e-02 -3.61919104e-05 9.99941751e-01 -1.14296546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.990385723 meters 0.015711754796447513 Centerline is valid? [True, True] Translation: X:193.77, Y:-179.44, Z:-11.43 [[-6.85520399e-01 -7.28029630e-01 5.88559391e-03 1.93774431e+02] [ 7.28002573e-01 -6.85545664e-01 -6.27661180e-03 -1.79435348e+02] [ 8.60440276e-03 -1.80179184e-05 9.99962981e-01 -1.14269037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.050385723 meters 0.015658493521075696 Centerline is valid? [True, True] Translation: X:193.74, Y:-179.39, Z:-11.43 [[-6.86006224e-01 -7.27574148e-01 5.59650688e-03 1.93736977e+02] [ 7.27549698e-01 -6.86029051e-01 -5.96475490e-03 -1.79392229e+02] [ 8.17916776e-03 -2.01220986e-05 9.99966550e-01 -1.14267432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.110385723 meters 0.01581034166948624 Centerline is valid? [True, True] Translation: X:193.70, Y:-179.35, Z:-11.43 [[-6.87925758e-01 -7.25754025e-01 6.26477578e-03 1.93702289e+02] [ 7.25723349e-01 -6.87954282e-01 -6.67284690e-03 -1.79345759e+02] [ 9.15272481e-03 -4.39291995e-05 9.99958112e-01 -1.14260547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.170385723 meters 0.01579099704661269 Centerline is valid? [True, True] Translation: X:193.66, Y:-179.31, Z:-11.43 [[-6.87339359e-01 -7.26301177e-01 7.15584373e-03 1.93663457e+02] [ 7.26261236e-01 -6.87376607e-01 -7.61697097e-03 -1.79305532e+02] [ 1.04509746e-02 -3.84320385e-05 9.99945386e-01 -1.14275654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2303857229999 meters 0.0156683802588948 Centerline is valid? [True, True] Translation: X:193.62, Y:-179.27, Z:-11.43 [[-6.86222646e-01 -7.27346516e-01 8.09474948e-03 1.93620922e+02] [ 7.27295542e-01 -6.86270388e-01 -8.61105076e-03 -1.79266329e+02] [ 1.18184046e-02 -2.18228372e-05 9.99930160e-01 -1.14281795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.290385723 meters 0.015649668733773 Centerline is valid? [True, True] Translation: X:193.58, Y:-179.23, Z:-11.43 [[-6.88583413e-01 -7.25116470e-01 7.68037877e-03 1.93582554e+02] [ 7.25070500e-01 -6.88626243e-01 -8.16500187e-03 -1.79225312e+02] [ 1.12094877e-02 -5.34687782e-05 9.99937170e-01 -1.14277439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3503857229999 meters 0.016772091178646545 Centerline is valid? [True, True] Translation: X:193.54, Y:-179.18, Z:-11.43 [[-6.95274583e-01 -7.18701299e-01 7.85471733e-03 1.93544725e+02] [ 7.18652856e-01 -6.95318933e-01 -8.34594600e-03 -1.79180706e+02] [ 1.14597759e-02 -1.57909092e-04 9.99934322e-01 -1.14276091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.410385723 meters 0.017571478090636698 Centerline is valid? [True, True] Translation: X:193.50, Y:-179.14, Z:-11.43 [[-7.00935358e-01 -7.13180565e-01 7.94389802e-03 1.93504545e+02] [ 7.13130713e-01 -7.00980328e-01 -8.43598588e-03 -1.79138951e+02] [ 1.15848974e-02 -2.48043127e-04 9.99932862e-01 -1.14269212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4703857229999 meters 0.018891964357897535 Centerline is valid? [True, True] Translation: X:193.46, Y:-179.10, Z:-11.43 [[-7.04635832e-01 -7.09533093e-01 7.15087205e-03 1.93464165e+02] [ 7.09492549e-01 -7.04672062e-01 -7.59003010e-03 -1.79099403e+02] [ 1.04243973e-02 -2.74716739e-04 9.99945627e-01 -1.14278223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.530385723 meters 0.018247721009179756 Centerline is valid? [True, True] Translation: X:193.42, Y:-179.06, Z:-11.43 [[-7.05341352e-01 -7.08834529e-01 6.86940917e-03 1.93421361e+02] [ 7.08797121e-01 -7.05374750e-01 -7.28723147e-03 -1.79060386e+02] [ 1.00109491e-02 -2.70968250e-04 9.99949853e-01 -1.14264383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5903857229999 meters 0.01795155253064374 Centerline is valid? [True, True] Translation: X:193.38, Y:-179.02, Z:-11.43 [[-7.04071265e-01 -7.10105464e-01 5.82091968e-03 1.93378394e+02] [ 7.10078677e-01 -7.04095295e-01 -6.17156185e-03 -1.79020861e+02] [ 8.48094195e-03 -2.11908415e-04 9.99964014e-01 -1.14253217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.650385723 meters 0.017357103397122403 Centerline is valid? [True, True] Translation: X:193.33, Y:-178.98, Z:-11.43 [[-7.02338837e-01 -7.11823426e-01 5.25059299e-03 1.93334296e+02] [ 7.11801702e-01 -7.02358442e-01 -5.56379214e-03 -1.78982377e+02] [ 7.64823589e-03 -1.70286269e-04 9.99970737e-01 -1.14257595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.710385723 meters 0.01663983906316423 Centerline is valid? [True, True] Translation: X:193.29, Y:-178.94, Z:-11.42 [[-6.99789434e-01 -7.14329867e-01 5.25248043e-03 1.93291548e+02] [ 7.14308220e-01 -6.99809132e-01 -5.56287873e-03 -1.78942151e+02] [ 7.64946419e-03 -1.40953814e-04 9.99970733e-01 -1.14249140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.770385723 meters 0.01611120959013135 Centerline is valid? [True, True] Translation: X:193.25, Y:-178.90, Z:-11.43 [[-6.97794982e-01 -7.16275448e-01 5.62540873e-03 1.93248564e+02] [ 7.16250708e-01 -6.97817646e-01 -5.95456938e-03 -1.78902756e+02] [ 8.19062133e-03 -1.25865648e-04 9.99966448e-01 -1.14256211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.830385723 meters 0.015625238370508086 Centerline is valid? [True, True] Translation: X:193.21, Y:-178.86, Z:-11.43 [[-6.96582911e-01 -7.17460022e-01 4.83387173e-03 1.93207199e+02] [ 7.17441802e-01 -6.96599676e-01 -5.11392202e-03 -1.78862451e+02] [ 7.03630809e-03 -9.42490405e-05 9.99975240e-01 -1.14252288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.890385723 meters 0.015508871826882537 Centerline is valid? [True, True] Translation: X:193.17, Y:-178.82, Z:-11.42 [[-6.96462739e-01 -7.17584073e-01 3.57075105e-03 1.93168408e+02] [ 7.17574145e-01 -6.96471890e-01 -3.77533156e-03 -1.78820719e+02] [ 5.19604553e-03 -6.70991291e-05 9.99986498e-01 -1.14232923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.950385723 meters 0.015036016288655012 Centerline is valid? [True, True] Translation: X:193.13, Y:-178.78, Z:-11.42 [[-6.95854703e-01 -7.18174318e-01 3.44698973e-03 1.93126672e+02] [ 7.18165084e-01 -6.95863237e-01 -3.64243103e-03 -1.78780309e+02] [ 5.01453385e-03 -5.90950928e-05 9.99987425e-01 -1.14229908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.010385723 meters 0.014964960856364175 Centerline is valid? [True, True] Translation: X:193.09, Y:-178.74, Z:-11.42 [[-6.95616637e-01 -7.18403741e-01 3.68218365e-03 1.93087605e+02] [ 7.18393221e-01 -6.95626380e-01 -3.88839960e-03 -1.78739144e+02] [ 5.35486491e-03 -5.95796841e-05 9.99985661e-01 -1.14236086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.070385723 meters 0.014673202900311301 Centerline is valid? [True, True] Translation: X:193.05, Y:-178.70, Z:-11.42 [[-6.95434951e-01 -7.18578335e-01 3.92498091e-03 1.93047338e+02] [ 7.18566397e-01 -6.95446024e-01 -4.14248318e-03 -1.78697283e+02] [ 5.70631103e-03 -6.04681910e-05 9.99983717e-01 -1.14235970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.130385723 meters 0.014742843918816577 Centerline is valid? [True, True] Translation: X:193.01, Y:-178.66, Z:-11.42 [[-6.96222770e-01 -7.17814733e-01 3.98291812e-03 1.93007565e+02] [ 7.17802441e-01 -6.96234159e-01 -4.20129572e-03 -1.78655097e+02] [ 5.78879561e-03 -6.60893949e-05 9.99983243e-01 -1.14233567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.190385723 meters 0.015314252942816672 Centerline is valid? [True, True] Translation: X:192.97, Y:-178.61, Z:-11.42 [[-6.98750737e-01 -7.15355630e-01 3.70548634e-03 1.92970724e+02] [ 7.15344968e-01 -6.98760557e-01 -3.90637794e-03 -1.78610957e+02] [ 5.38369715e-03 -7.88834606e-05 9.99985505e-01 -1.14224119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.250385723 meters 0.016189326857354188 Centerline is valid? [True, True] Translation: X:192.93, Y:-178.57, Z:-11.42 [[-7.02942489e-01 -7.11236371e-01 3.83171410e-03 1.92931808e+02] [ 7.11224922e-01 -7.02952923e-01 -4.03721636e-03 -1.78567437e+02] [ 5.56492974e-03 -1.12720355e-04 9.99984509e-01 -1.14234004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.310385723 meters 0.016920274839986732 Centerline is valid? [True, True] Translation: X:192.89, Y:-178.53, Z:-11.42 [[-7.06024421e-01 -7.08177938e-01 3.67768106e-03 1.92891802e+02] [ 7.08167360e-01 -7.06033988e-01 -3.87277629e-03 -1.78525448e+02] [ 5.33918255e-03 -1.29860951e-04 9.99985738e-01 -1.14236166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.370385723 meters 0.018977540472376358 Centerline is valid? [True, True] Translation: X:192.85, Y:-178.48, Z:-11.42 [[-7.06679373e-01 -7.07523806e-01 3.78518600e-03 1.92853129e+02] [ 7.07512606e-01 -7.06689497e-01 -3.98340179e-03 -1.78483921e+02] [ 5.49330278e-03 -1.36921069e-04 9.99984902e-01 -1.14246923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.430385723 meters 0.01740693361916947 Centerline is valid? [True, True] Translation: X:192.81, Y:-178.45, Z:-11.43 [[-7.05061605e-01 -7.09135995e-01 3.77803019e-03 1.92807260e+02] [ 7.09124872e-01 -7.05071717e-01 -3.97364101e-03 -1.78446972e+02] [ 5.48163410e-03 -1.22566538e-04 9.99984968e-01 -1.14251760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.490385723 meters 0.01611939398775311 Centerline is valid? [True, True] Translation: X:192.76, Y:-178.41, Z:-11.43 [[-7.02061603e-01 -7.12099530e-01 4.87490177e-03 1.92763254e+02] [ 7.12081103e-01 -7.02078516e-01 -5.12443285e-03 -1.78408443e+02] [ 7.07167003e-03 -1.26342116e-04 9.99974987e-01 -1.14265146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.550385723 meters 0.015040823149187407 Centerline is valid? [True, True] Translation: X:192.72, Y:-178.37, Z:-11.43 [[-6.99535206e-01 -7.14585537e-01 4.24327684e-03 1.92720233e+02] [ 7.14571636e-01 -6.99548071e-01 -4.45802808e-03 -1.78369679e+02] [ 6.15401852e-03 -8.64223185e-05 9.99981060e-01 -1.14258950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.610385723 meters 0.015194584710502666 Centerline is valid? [True, True] Translation: X:192.68, Y:-178.33, Z:-11.43 [[-6.98780505e-01 -7.15321653e-01 4.55391827e-03 1.92678490e+02] [ 7.15305678e-01 -6.98795339e-01 -4.78142074e-03 -1.78330589e+02] [ 6.60251065e-03 -8.37200046e-05 9.99978200e-01 -1.14266197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.670385723 meters 0.014490827001162505 Centerline is valid? [True, True] Translation: X:192.64, Y:-178.29, Z:-11.43 [[-6.97324158e-01 -7.16741164e-01 4.59599279e-03 1.92636926e+02] [ 7.16724943e-01 -6.97339300e-01 -4.82261552e-03 -1.78290567e+02] [ 6.66153345e-03 -6.88636363e-05 9.99977809e-01 -1.14269327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7303857229999 meters 0.01412280402321402 Centerline is valid? [True, True] Translation: X:192.60, Y:-178.25, Z:-11.43 [[-6.95793602e-01 -7.18226112e-01 4.74514953e-03 1.92595326e+02] [ 7.18208876e-01 -6.95809780e-01 -4.97606969e-03 -1.78250656e+02] [ 6.87566464e-03 -5.43089425e-05 9.99976361e-01 -1.14273565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.790385723 meters 0.014060464373349435 Centerline is valid? [True, True] Translation: X:192.56, Y:-178.21, Z:-11.43 [[-6.94508285e-01 -7.19471086e-01 4.42700391e-03 1.92555111e+02] [ 7.19456128e-01 -6.94522394e-01 -4.63947775e-03 -1.78210983e+02] [ 6.41262345e-03 -3.71206445e-05 9.99979438e-01 -1.14275903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8503857229999 meters 0.013947219290001946 Centerline is valid? [True, True] Translation: X:192.52, Y:-178.17, Z:-11.43 [[-6.93662230e-01 -7.20280265e-01 5.38989245e-03 1.92515642e+02] [ 7.20258144e-01 -6.93683169e-01 -5.64512962e-03 -1.78169539e+02] [ 7.80495313e-03 -3.36992716e-05 9.99969540e-01 -1.14281023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.910385723 meters 0.013968501910587258 Centerline is valid? [True, True] Translation: X:192.48, Y:-178.13, Z:-11.43 [[-6.93329188e-01 -7.20594003e-01 6.23860757e-03 1.92476503e+02] [ 7.20564416e-01 -6.93357254e-01 -6.52996222e-03 -1.78128247e+02] [ 9.03103543e-03 -3.20947805e-05 9.99959219e-01 -1.14291949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9703857229999 meters 0.013989277777025912 Centerline is valid? [True, True] Translation: X:192.44, Y:-178.09, Z:-11.43 [[-6.93795005e-01 -7.20141764e-01 6.65817718e-03 1.92437502e+02] [ 7.20108084e-01 -6.93826952e-01 -6.96481530e-03 -1.78086259e+02] [ 9.63527715e-03 -3.75468533e-05 9.99953579e-01 -1.14294961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.030385723 meters 0.017282422571724118 Centerline is valid? [True, True] Translation: X:192.40, Y:-178.04, Z:-11.43 [[-6.93558910e-01 -7.20354711e-01 8.07020026e-03 1.92400942e+02] [ 7.20305302e-01 -6.93605860e-01 -8.43701357e-03 -1.78042375e+02] [ 1.16751807e-02 -3.85579002e-05 9.99931842e-01 -1.14322989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0903857229999 meters 0.014010652781669753 Centerline is valid? [True, True] Translation: X:192.36, Y:-178.00, Z:-11.43 [[-6.90303262e-01 -7.23476779e-01 7.92196537e-03 1.92361587e+02] [ 7.23429426e-01 -6.90348716e-01 -8.27740484e-03 -1.77999887e+02] [ 1.14574288e-02 1.70633040e-05 9.99934361e-01 -1.14297994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.150385723 meters 0.01402342975879396 Centerline is valid? [True, True] Translation: X:192.32, Y:-177.96, Z:-11.43 [[-6.88914180e-01 -7.24797477e-01 8.11604921e-03 1.92322990e+02] [ 7.24747923e-01 -6.88961984e-01 -8.47543009e-03 -1.77956539e+02] [ 1.17346197e-02 4.32458353e-05 9.99931146e-01 -1.14301705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.210385723 meters 0.016697483850350033 Centerline is valid? [True, True] Translation: X:192.29, Y:-177.91, Z:-11.43 [[-6.89093174e-01 -7.24606996e-01 9.76212175e-03 1.92286181e+02] [ 7.24535362e-01 -6.89162317e-01 -1.01887114e-02 -1.77911107e+02] [ 1.41104980e-02 5.20309164e-05 9.99900441e-01 -1.14314774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.270385723 meters 0.014158237134988629 Centerline is valid? [True, True] Translation: X:192.25, Y:-177.87, Z:-11.43 [[-6.89757008e-01 -7.23985695e-01 8.94335464e-03 1.92250043e+02] [ 7.23925590e-01 -6.89814984e-01 -9.32892497e-03 -1.77865384e+02] [ 1.29232683e-02 3.96319089e-05 9.99916490e-01 -1.14287980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.330385723 meters 0.01406412616989817 Centerline is valid? [True, True] Translation: X:192.21, Y:-177.82, Z:-11.43 [[-6.91362844e-01 -7.22459780e-01 8.32369067e-03 1.92214393e+02] [ 7.22407664e-01 -6.91412949e-01 -8.67764912e-03 -1.77818774e+02] [ 1.20243600e-02 1.36937586e-05 9.99927705e-01 -1.14276569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.390385723 meters 0.014173152844516458 Centerline is valid? [True, True] Translation: X:192.18, Y:-177.77, Z:-11.43 [[-6.92590637e-01 -7.21282136e-01 8.38390524e-03 1.92179585e+02] [ 7.21229246e-01 -6.92641379e-01 -8.73466825e-03 -1.77773649e+02] [ 1.21071999e-02 -2.83179555e-06 9.99926705e-01 -1.14271279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.450385723 meters 0.014158957343044917 Centerline is valid? [True, True] Translation: X:192.14, Y:-177.73, Z:-11.43 [[-6.94024927e-01 -7.19901484e-01 8.44117681e-03 1.92143705e+02] [ 7.19847836e-01 -6.94076259e-01 -8.78866590e-03 -1.77729471e+02] [ 1.21857940e-02 -2.31903580e-05 9.99925750e-01 -1.14278978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.510385723 meters 0.015606464037373952 Centerline is valid? [True, True] Translation: X:192.11, Y:-177.68, Z:-11.43 [[-6.97528429e-01 -7.16503229e-01 8.78711177e-03 1.92108295e+02] [ 7.16444887e-01 -6.97583770e-01 -9.14373947e-03 -1.77682585e+02] [ 1.26812654e-02 -8.25369321e-05 9.99919586e-01 -1.14276169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.570385723 meters 0.015320457826542839 Centerline is valid? [True, True] Translation: X:192.07, Y:-177.64, Z:-11.43 [[-7.00998626e-01 -7.13104280e-01 9.12210281e-03 1.92074257e+02] [ 7.13041188e-01 -7.01057961e-01 -9.48680219e-03 -1.77635875e+02] [ 1.31602020e-02 -1.45800278e-04 9.99913390e-01 -1.14280389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.630385723 meters 0.01560462857609426 Centerline is valid? [True, True] Translation: X:192.04, Y:-177.59, Z:-11.43 [[-7.03661882e-01 -7.10478360e-01 8.96972136e-03 1.92036843e+02] [ 7.10417210e-01 -7.03719024e-01 -9.32328647e-03 -1.77590789e+02] [ 1.29361568e-02 -1.88196887e-04 9.99916307e-01 -1.14268528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.690385723 meters 0.015374358979948276 Centerline is valid? [True, True] Translation: X:192.00, Y:-177.55, Z:-11.43 [[-7.03596501e-01 -7.10541593e-01 9.08893104e-03 1.91998381e+02] [ 7.10478888e-01 -7.03655178e-01 -9.44141647e-03 -1.77548778e+02] [ 1.31039925e-02 -1.85453976e-04 9.99914122e-01 -1.14269097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.750385723 meters 0.015943978831855814 Centerline is valid? [True, True] Translation: X:191.96, Y:-177.51, Z:-11.43 [[-7.02973128e-01 -7.11153411e-01 9.46615394e-03 1.91958048e+02] [ 7.11085529e-01 -7.03036838e-01 -9.82728651e-03 -1.77507841e+02] [ 1.36437633e-02 -1.77073257e-04 9.99906904e-01 -1.14278662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.810385723 meters 0.014790574234576678 Centerline is valid? [True, True] Translation: X:191.92, Y:-177.47, Z:-11.43 [[-7.01475233e-01 -7.12639686e-01 8.78497634e-03 1.91915951e+02] [ 7.12581400e-01 -7.01530227e-01 -9.11526575e-03 -1.77467333e+02] [ 1.26588266e-02 -1.34122427e-04 9.99919865e-01 -1.14270979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.870385723 meters 0.014082556321883882 Centerline is valid? [True, True] Translation: X:191.87, Y:-177.43, Z:-11.42 [[-6.98708100e-01 -7.15362498e-01 7.96796241e-03 1.91874284e+02] [ 7.15314763e-01 -6.98753527e-01 -8.26432723e-03 -1.77427955e+02] [ 1.14796316e-02 -7.47512357e-05 9.99934104e-01 -1.14242196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.930385723 meters 0.01350824266286578 Centerline is valid? [True, True] Translation: X:191.83, Y:-177.39, Z:-11.42 [[-6.97050580e-01 -7.16983245e-01 7.45082931e-03 1.91830840e+02] [ 7.16941649e-01 -6.97090399e-01 -7.72311643e-03 -1.77390547e+02] [ 1.07312467e-02 -4.15929338e-05 9.99942418e-01 -1.14230917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.990385723 meters 0.01343003266826205 Centerline is valid? [True, True] Translation: X:191.79, Y:-177.35, Z:-11.42 [[-6.96722427e-01 -7.17300790e-01 7.57864883e-03 1.91789704e+02] [ 7.17257827e-01 -6.96763644e-01 -7.85072887e-03 -1.77350598e+02] [ 1.09118610e-02 -3.39336870e-05 9.99940463e-01 -1.14232195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.050385723 meters 0.013429575242201426 Centerline is valid? [True, True] Translation: X:191.75, Y:-177.31, Z:-11.42 [[-6.97685615e-01 -7.16357675e-01 8.15251481e-03 1.91750028e+02] [ 7.16307959e-01 -6.97733243e-01 -8.43970359e-03 -1.77310000e+02] [ 1.17341270e-02 -4.85485469e-05 9.99931152e-01 -1.14230574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.110385723 meters 0.013438609040029447 Centerline is valid? [True, True] Translation: X:191.71, Y:-177.27, Z:-11.42 [[-6.98442422e-01 -7.15617882e-01 8.32048656e-03 1.91708675e+02] [ 7.15566102e-01 -6.98491978e-01 -8.60872097e-03 -1.77269131e+02] [ 1.19723478e-02 -5.88377910e-05 9.99928327e-01 -1.14235509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.170385723 meters 0.015969747987417054 Centerline is valid? [True, True] Translation: X:191.67, Y:-177.23, Z:-11.43 [[-6.98426547e-01 -7.15630786e-01 8.54027435e-03 1.91668880e+02] [ 7.15576308e-01 -6.98478758e-01 -8.83023345e-03 -1.77229939e+02] [ 1.22843871e-02 -5.60514775e-05 9.99924543e-01 -1.14257414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2303857229999 meters 0.013195136079572444 Centerline is valid? [True, True] Translation: X:191.63, Y:-177.19, Z:-11.42 [[-6.96211142e-01 -7.17804115e-01 6.87743166e-03 1.91626617e+02] [ 7.17768930e-01 -6.96245110e-01 -7.10704115e-03 -1.77190117e+02] [ 9.88984154e-03 -1.15944682e-05 9.99951094e-01 -1.14231391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.290385723 meters 0.013262753300440197 Centerline is valid? [True, True] Translation: X:191.59, Y:-177.15, Z:-11.42 [[-6.95216313e-01 -7.18764435e-01 7.20876090e-03 1.91587427e+02] [ 7.18725879e-01 -6.95253686e-01 -7.44466169e-03 -1.77150366e+02] [ 1.03628756e-02 5.47277196e-06 9.99946304e-01 -1.14243937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3503857229999 meters 0.013359475386729734 Centerline is valid? [True, True] Translation: X:191.55, Y:-177.11, Z:-11.42 [[-6.95284163e-01 -7.18690256e-01 8.01552898e-03 1.91547589e+02] [ 7.18642642e-01 -6.95330365e-01 -8.27264437e-03 -1.77108954e+02] [ 1.15189096e-02 8.46230448e-06 9.99933655e-01 -1.14243197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.410385723 meters 0.013431365564329733 Centerline is valid? [True, True] Translation: X:191.51, Y:-177.07, Z:-11.43 [[-6.95996029e-01 -7.18004000e-01 7.73196282e-03 1.91508497e+02] [ 7.17959711e-01 -6.96038976e-01 -7.97477566e-03 -1.77068129e+02] [ 1.11076683e-02 8.25595287e-07 9.99938308e-01 -1.14253092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4703857229999 meters 0.013318891252001126 Centerline is valid? [True, True] Translation: X:191.47, Y:-177.03, Z:-11.42 [[-6.97239372e-01 -7.16799136e-01 7.50036930e-03 1.91469815e+02] [ 7.16757444e-01 -6.97279713e-01 -7.73105896e-03 -1.77025515e+02] [ 1.07714717e-02 -1.44531759e-05 9.99941986e-01 -1.14234579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.530385723 meters 0.013433432676937663 Centerline is valid? [True, True] Translation: X:191.43, Y:-176.98, Z:-11.42 [[-6.98405299e-01 -7.15662210e-01 7.59211425e-03 1.91431756e+02] [ 7.15619479e-01 -6.98446563e-01 -7.82051469e-03 -1.76984626e+02] [ 1.08995329e-02 -2.88240558e-05 9.99940598e-01 -1.14244470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5903857229999 meters 0.013567456789121243 Centerline is valid? [True, True] Translation: X:191.39, Y:-176.94, Z:-11.42 [[-6.99708951e-01 -7.14385718e-01 7.77364594e-03 1.91392988e+02] [ 7.14340895e-01 -6.99752130e-01 -8.00261968e-03 -1.76941965e+02] [ 1.11565825e-02 -4.64714209e-05 9.99937762e-01 -1.14240131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.650385723 meters 0.01371973228025462 Centerline is valid? [True, True] Translation: X:191.35, Y:-176.90, Z:-11.43 [[-7.00659115e-01 -7.13442638e-01 8.74106088e-03 1.91353887e+02] [ 7.13385952e-01 -7.00713634e-01 -8.99368008e-03 -1.76899280e+02] [ 1.25414554e-02 -6.57538916e-05 9.99921351e-01 -1.14255833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.710385723 meters 0.013922398125962144 Centerline is valid? [True, True] Translation: X:191.32, Y:-176.86, Z:-11.43 [[-7.01815440e-01 -7.12300825e-01 9.08975037e-03 1.91315546e+02] [ 7.12239506e-01 -7.01874296e-01 -9.34656294e-03 -1.76858115e+02] [ 1.30374266e-02 -8.54828667e-05 9.99915006e-01 -1.14267451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.770385723 meters 0.014069605350652898 Centerline is valid? [True, True] Translation: X:191.28, Y:-176.82, Z:-11.43 [[-7.04104153e-01 -7.10040387e-01 8.94381803e-03 1.91276300e+02] [ 7.09980903e-01 -7.04160944e-01 -9.19146165e-03 -1.76815869e+02] [ 1.28241963e-02 -1.21806315e-04 9.99917759e-01 -1.14257199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.830385723 meters 0.01466903043547032 Centerline is valid? [True, True] Translation: X:191.24, Y:-176.77, Z:-11.43 [[-7.05683347e-01 -7.08482911e-01 7.93590585e-03 1.91238145e+02] [ 7.08436040e-01 -7.05727957e-01 -8.15039829e-03 -1.76774462e+02] [ 1.13750085e-02 -1.29518641e-04 9.99935294e-01 -1.14251255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.890385723 meters 0.01433167183179443 Centerline is valid? [True, True] Translation: X:191.20, Y:-176.73, Z:-11.42 [[-7.06119642e-01 -7.08061560e-01 6.62403399e-03 1.91196964e+02] [ 7.08028926e-01 -7.06150703e-01 -6.79889752e-03 -1.76734610e+02] [ 9.49160424e-03 -1.10827415e-04 9.99954948e-01 -1.14238948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.950385723 meters 0.014131947630625231 Centerline is valid? [True, True] Translation: X:191.16, Y:-176.70, Z:-11.42 [[-7.05739241e-01 -7.08452010e-01 5.27946425e-03 1.91156061e+02] [ 7.08431316e-01 -7.05758984e-01 -5.41549516e-03 -1.76695093e+02] [ 7.56264775e-03 -8.17896375e-05 9.99971399e-01 -1.14232583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.010385723 meters 0.013954683067572476 Centerline is valid? [True, True] Translation: X:191.12, Y:-176.66, Z:-11.42 [[-7.04246116e-01 -7.09942019e-01 4.44267623e-03 1.91116197e+02] [ 7.09927414e-01 -7.04260127e-01 -4.55421759e-03 -1.76655336e+02] [ 6.36203016e-03 -5.33124058e-05 9.99979761e-01 -1.14232721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.070385723 meters 0.013219055269199094 Centerline is valid? [True, True] Translation: X:191.07, Y:-176.62, Z:-11.42 [[-7.00975935e-01 -7.13173610e-01 4.01744061e-03 1.91072539e+02] [ 7.13161733e-01 -7.00987447e-01 -4.11601462e-03 -1.76616898e+02] [ 5.75160845e-03 -2.01422920e-05 9.99983459e-01 -1.14232194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.130385723 meters 0.013092225020472853 Centerline is valid? [True, True] Translation: X:191.03, Y:-176.58, Z:-11.42 [[-6.98390738e-01 -7.15704869e-01 4.11315166e-03 1.91030200e+02] [ 7.15692474e-01 -6.98402850e-01 -4.21204257e-03 -1.76579048e+02] [ 5.88721621e-03 2.10016758e-06 9.99982670e-01 -1.14242131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.190385723 meters 0.013021216685264412 Centerline is valid? [True, True] Translation: X:190.99, Y:-176.54, Z:-11.42 [[-6.97282003e-01 -7.16789602e-01 3.23629461e-03 1.90988525e+02] [ 7.16781950e-01 -6.97289514e-01 -3.31224347e-03 -1.76539196e+02] [ 4.63081598e-03 1.01497999e-05 9.99989278e-01 -1.14240021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.250385723 meters 0.01315527842284869 Centerline is valid? [True, True] Translation: X:190.95, Y:-176.50, Z:-11.42 [[-6.97706043e-01 -7.16380697e-01 2.23050560e-03 1.90946646e+02] [ 7.16377063e-01 -6.97709608e-01 -2.28156909e-03 -1.76498248e+02] [ 3.19071724e-03 6.01850505e-06 9.99994910e-01 -1.14241333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.310385723 meters 0.01317348099064519 Centerline is valid? [True, True] Translation: X:190.91, Y:-176.46, Z:-11.42 [[-6.99411709e-01 -7.14717254e-01 1.58343359e-03 1.90905798e+02] [ 7.14715421e-01 -6.99413502e-01 -1.61866998e-03 -1.76457439e+02] [ 2.26436620e-03 -4.12333349e-07 9.99997436e-01 -1.14247993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.370385723 meters 0.013313983964483635 Centerline is valid? [True, True] Translation: X:190.87, Y:-176.42, Z:-11.42 [[-7.02046770e-01 -7.12130604e-01 5.79719122e-04 1.90865693e+02] [ 7.12130358e-01 -7.02047009e-01 -5.92235302e-04 -1.76417397e+02] [ 8.28738959e-04 -2.94129437e-06 9.99999657e-01 -1.14249898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.430385723 meters 0.013763075183856074 Centerline is valid? [True, True] Translation: X:190.83, Y:-176.37, Z:-11.42 [[-7.05398473e-01 -7.08810212e-01 1.03835728e-03 1.90825756e+02] [ 7.08809419e-01 -7.05399237e-01 -1.06019803e-03 -1.76374677e+02] [ 1.48393563e-03 -1.18646466e-05 9.99998899e-01 -1.14248910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.490385723 meters 0.014649610601765247 Centerline is valid? [True, True] Translation: X:190.79, Y:-176.33, Z:-11.43 [[-7.08612742e-01 -7.05588637e-01 3.55775710e-03 1.90785254e+02] [ 7.05579300e-01 -7.08621670e-01 -3.63052521e-03 -1.76333962e+02] [ 5.08276111e-03 -6.23566604e-05 9.99987081e-01 -1.14291431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.550385723 meters 0.014893043248359383 Centerline is valid? [True, True] Translation: X:190.74, Y:-176.29, Z:-11.43 [[-7.11207772e-01 -7.02974624e-01 3.19118073e-03 1.90743148e+02] [ 7.02967093e-01 -7.11214928e-01 -3.25464156e-03 -1.76294159e+02] [ 4.55754580e-03 -7.14313339e-05 9.99989612e-01 -1.14291972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.610385723 meters 0.017095600152042003 Centerline is valid? [True, True] Translation: X:190.70, Y:-176.25, Z:-11.43 [[-7.14446299e-01 -6.99684911e-01 2.74079428e-03 1.90704446e+02] [ 6.99679338e-01 -7.14451551e-01 -2.79367845e-03 -1.76252092e+02] [ 3.91285939e-03 -7.82561040e-05 9.99992342e-01 -1.14291395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.670385723 meters 0.016203556461914737 Centerline is valid? [True, True] Translation: X:190.66, Y:-176.21, Z:-11.43 [[-7.16504142e-01 -6.97579428e-01 2.18082306e-03 1.90660082e+02] [ 6.97575894e-01 -7.16507457e-01 -2.22167168e-03 -1.76214501e+02] [ 3.11236845e-03 -7.05473691e-05 9.99995154e-01 -1.14281424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7303857229999 meters 0.016926307971346522 Centerline is valid? [True, True] Translation: X:190.62, Y:-176.18, Z:-11.43 [[-7.17611694e-01 -6.96442156e-01 1.33429318e-03 1.90617697e+02] [ 6.96440832e-01 -7.17612933e-01 -1.35849793e-03 -1.76176346e+02] [ 1.90362127e-03 -4.56177479e-05 9.99998187e-01 -1.14279717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.790385723 meters 0.016092368224445975 Centerline is valid? [True, True] Translation: X:190.57, Y:-176.14, Z:-11.43 [[-7.16835424e-01 -6.97241947e-01 8.01941812e-04 1.90571915e+02] [ 6.97241470e-01 -7.16835872e-01 -8.16035775e-04 -1.76140175e+02] [ 1.14383503e-03 -2.58162632e-05 9.99999346e-01 -1.14278940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8503857229999 meters 0.01535316807916386 Centerline is valid? [True, True] Translation: X:190.53, Y:-176.10, Z:-11.43 [[-7.13783680e-01 -7.00364666e-01 1.48049599e-03 1.90527148e+02] [ 7.00363049e-01 -7.13785215e-01 -1.50566980e-03 -1.76102604e+02] [ 2.11127407e-03 -3.78378470e-05 9.99997771e-01 -1.14284713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.910385723 meters 0.014401662104114856 Centerline is valid? [True, True] Translation: X:190.48, Y:-176.07, Z:-11.43 [[-7.10134604e-01 -7.04065090e-01 1.09251590e-03 1.90480124e+02] [ 7.04064214e-01 -7.10135444e-01 -1.11069985e-03 -1.76066884e+02] [ 1.55783925e-03 -1.95450472e-05 9.99998786e-01 -1.14288790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9703857229999 meters 0.01393220774433201 Centerline is valid? [True, True] Translation: X:190.43, Y:-176.03, Z:-11.43 [[-7.06768561e-01 -7.07443168e-01 1.53807297e-03 1.90433493e+02] [ 7.07441442e-01 -7.06770234e-01 -1.56286454e-03 -1.76030675e+02] [ 2.19270203e-03 -1.64869599e-05 9.99997596e-01 -1.14299086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.030385723 meters 0.01373820197024806 Centerline is valid? [True, True] Translation: X:190.39, Y:-175.99, Z:-11.43 [[-7.05287656e-01 -7.08919177e-01 1.70952932e-03 1.90389113e+02] [ 7.08917052e-01 -7.05289728e-01 -1.73601715e-03 -1.75993365e+02] [ 2.43640932e-03 -1.24769783e-05 9.99997032e-01 -1.14305565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0903857229999 meters 0.013661173480294608 Centerline is valid? [True, True] Translation: X:190.35, Y:-175.96, Z:-11.43 [[-7.05078728e-01 -7.09124765e-01 2.46074793e-03 1.90345058e+02] [ 7.09120367e-01 -7.05083022e-01 -2.49747776e-03 -1.75955022e+02] [ 3.50605492e-03 -1.59519714e-05 9.99993854e-01 -1.14311596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.150385723 meters 0.013873798105039751 Centerline is valid? [True, True] Translation: X:190.30, Y:-175.92, Z:-11.43 [[-7.05780093e-01 -7.08424043e-01 3.13627386e-03 1.90303923e+02] [ 7.08416901e-01 -7.05787061e-01 -3.18100518e-03 -1.75916172e+02] [ 4.46704207e-03 -2.33007206e-05 9.99990022e-01 -1.14318675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.210385723 meters 0.014000758246711254 Centerline is valid? [True, True] Translation: X:190.26, Y:-175.88, Z:-11.43 [[-7.06139994e-01 -7.08059732e-01 4.21022742e-03 1.90262597e+02] [ 7.08046870e-01 -7.06152544e-01 -4.26790528e-03 -1.75875808e+02] [ 5.99499467e-03 -3.27002646e-05 9.99982029e-01 -1.14330875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.270385723 meters 0.013978552442406146 Centerline is valid? [True, True] Translation: X:190.22, Y:-175.84, Z:-11.43 [[-7.05829976e-01 -7.08363426e-01 5.03012696e-03 1.90220838e+02] [ 7.08345095e-01 -7.05847898e-01 -5.09617003e-03 -1.75835167e+02] [ 7.16044500e-03 -3.39638123e-05 9.99974363e-01 -1.14334192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.330385723 meters 0.013917025690694123 Centerline is valid? [True, True] Translation: X:190.18, Y:-175.80, Z:-11.43 [[-7.04434650e-01 -7.09744413e-01 5.89000102e-03 1.90179563e+02] [ 7.09719357e-01 -7.04459273e-01 -5.96382391e-03 -1.75795147e+02] [ 8.38205654e-03 -2.08764713e-05 9.99964870e-01 -1.14332229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.390385723 meters 0.013963088714709979 Centerline is valid? [True, True] Translation: X:190.14, Y:-175.76, Z:-11.43 [[-7.02465287e-01 -7.11684388e-01 6.91761769e-03 1.90138158e+02] [ 7.11649961e-01 -7.02499347e-01 -7.00010362e-03 -1.75755092e+02] [ 9.84148637e-03 5.59255945e-06 9.99951571e-01 -1.14325723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.450385723 meters 0.014033527200875006 Centerline is valid? [True, True] Translation: X:190.10, Y:-175.72, Z:-11.43 [[-7.00510892e-01 -7.13611040e-01 6.61622805e-03 1.90096779e+02] [ 7.13579659e-01 -7.00542135e-01 -6.69237435e-03 -1.75715215e+02] [ 9.41069874e-03 3.31246348e-05 9.99955718e-01 -1.14323224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.510385723 meters 0.014113008656483449 Centerline is valid? [True, True] Translation: X:190.06, Y:-175.67, Z:-11.43 [[-6.99059172e-01 -7.15028179e-01 7.13985710e-03 1.90059154e+02] [ 7.14991752e-01 -6.99095630e-01 -7.21759474e-03 -1.75672426e+02] [ 1.01522265e-02 5.94131367e-05 9.99948463e-01 -1.14316277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.570385723 meters 0.014168668099073939 Centerline is valid? [True, True] Translation: X:190.02, Y:-175.63, Z:-11.43 [[-6.98137227e-01 -7.15934016e-01 6.54953685e-03 1.90019624e+02] [ 7.15903438e-01 -6.98167945e-01 -6.61717419e-03 -1.75630081e+02] [ 9.31013678e-03 6.91403093e-05 9.99956657e-01 -1.14305972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.630385723 meters 0.014436639551085867 Centerline is valid? [True, True] Translation: X:189.98, Y:-175.59, Z:-11.43 [[-6.96856525e-01 -7.17190670e-01 5.34110269e-03 1.89981194e+02] [ 7.17170391e-01 -6.96876989e-01 -5.39367691e-03 -1.75589386e+02] [ 7.59038632e-03 7.18617579e-05 9.99971190e-01 -1.14294838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.690385723 meters 0.014482886912770603 Centerline is valid? [True, True] Translation: X:189.94, Y:-175.55, Z:-11.43 [[-6.97091608e-01 -7.16962611e-01 5.28248555e-03 1.89943388e+02] [ 7.16942793e-01 -6.97111619e-01 -5.33124241e-03 -1.75546179e+02] [ 7.50478353e-03 7.08756002e-05 9.99971836e-01 -1.14295515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.750385723 meters 0.014257403845290166 Centerline is valid? [True, True] Translation: X:189.91, Y:-175.50, Z:-11.43 [[-6.97888361e-01 -7.16186041e-01 5.42120496e-03 1.89905670e+02] [ 7.16165171e-01 -6.97909414e-01 -5.46786273e-03 -1.75502410e+02] [ 7.69951693e-03 6.65204169e-05 9.99970356e-01 -1.14288522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.810385723 meters 0.014278452657794295 Centerline is valid? [True, True] Translation: X:189.87, Y:-175.46, Z:-11.43 [[-6.98503331e-01 -7.15590805e-01 4.78491721e-03 1.89868693e+02] [ 7.15574553e-01 -6.98519718e-01 -4.82315418e-03 -1.75458825e+02] [ 6.79376380e-03 5.49757303e-05 9.99976921e-01 -1.14278295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.870385723 meters 0.014264515005038792 Centerline is valid? [True, True] Translation: X:189.83, Y:-175.42, Z:-11.43 [[-6.98281805e-01 -7.15811000e-01 4.13926762e-03 1.89830612e+02] [ 7.15798857e-01 -6.98294071e-01 -4.16975797e-03 -1.75415541e+02] [ 5.87518466e-03 5.12169052e-05 9.99982740e-01 -1.14270724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.930385723 meters 0.014337214102576261 Centerline is valid? [True, True] Translation: X:189.79, Y:-175.37, Z:-11.43 [[-6.98947792e-01 -7.15163681e-01 3.59079495e-03 1.89793520e+02] [ 7.15154546e-01 -6.98957015e-01 -3.61491448e-03 -1.75373722e+02] [ 5.09506687e-03 4.13368374e-05 9.99987019e-01 -1.14270766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.990385723 meters 0.014051241182063173 Centerline is valid? [True, True] Translation: X:189.76, Y:-175.33, Z:-11.43 [[-7.00907676e-01 -7.13243142e-01 3.55677087e-03 1.89757459e+02] [ 7.13234164e-01 -7.00916700e-01 -3.57866240e-03 -1.75328318e+02] [ 5.04545651e-03 2.84985565e-05 9.99987271e-01 -1.14264877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.050385723 meters 0.013983225307256066 Centerline is valid? [True, True] Translation: X:189.72, Y:-175.28, Z:-11.43 [[-7.03638707e-01 -7.10542602e-01 4.66694821e-03 1.89721681e+02] [ 7.10527102e-01 -7.03654184e-01 -4.69340942e-03 -1.75284413e+02] [ 6.61878498e-03 1.35286552e-05 9.99978096e-01 -1.14279997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.110385723 meters 0.013950424360646958 Centerline is valid? [True, True] Translation: X:189.68, Y:-175.24, Z:-11.43 [[-7.06796302e-01 -7.07404631e-01 4.20430295e-03 1.89683877e+02] [ 7.07392009e-01 -7.06808806e-01 -4.22577893e-03 -1.75239924e+02] [ 5.96097393e-03 -1.26746044e-05 9.99982233e-01 -1.14271091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.170385723 meters 0.014293767879324258 Centerline is valid? [True, True] Translation: X:189.65, Y:-175.19, Z:-11.43 [[-7.10463500e-01 -7.03721663e-01 4.17565168e-03 1.89648227e+02] [ 7.03709159e-01 -7.10475770e-01 -4.19528843e-03 -1.75194958e+02] [ 5.91901469e-03 -4.21549690e-05 9.99982482e-01 -1.14272749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2303857229999 meters 0.014671047530747511 Centerline is valid? [True, True] Translation: X:189.61, Y:-175.15, Z:-11.43 [[-7.13759593e-01 -7.00374278e-01 4.80767689e-03 1.89609888e+02] [ 7.00357644e-01 -7.13775780e-01 -4.82761003e-03 -1.75151248e+02] [ 6.81273722e-03 -7.86597137e-05 9.99976790e-01 -1.14270856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.290385723 meters 0.015286964682159425 Centerline is valid? [True, True] Translation: X:189.57, Y:-175.11, Z:-11.43 [[-7.15608521e-01 -6.98493153e-01 3.42929059e-03 1.89573525e+02] [ 6.98484675e-01 -7.15616734e-01 -3.44212893e-03 -1.75107151e+02] [ 4.85836122e-03 -6.79098656e-05 9.99988196e-01 -1.14261166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3503857229999 meters 0.014763681514156331 Centerline is valid? [True, True] Translation: X:189.53, Y:-175.07, Z:-11.43 [[-7.15069361e-01 -6.99044168e-01 3.61399797e-03 1.89533014e+02] [ 6.99034771e-01 -7.15078490e-01 -3.62525967e-03 -1.75066003e+02] [ 5.11850885e-03 -6.60018724e-05 9.99986898e-01 -1.14252018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.410385723 meters 0.014493566921440859 Centerline is valid? [True, True] Translation: X:189.49, Y:-175.03, Z:-11.43 [[-7.13142493e-01 -7.01010544e-01 3.46439339e-03 1.89492391e+02] [ 7.01001941e-01 -7.13150906e-01 -3.47325244e-03 -1.75025015e+02] [ 4.90542187e-03 -4.83774074e-05 9.99987967e-01 -1.14251711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4703857229999 meters 0.01423903318876969 Centerline is valid? [True, True] Translation: X:189.45, Y:-174.98, Z:-11.43 [[-7.10240154e-01 -7.03950729e-01 3.50645062e-03 1.89452378e+02] [ 7.03941961e-01 -7.10248809e-01 -3.51349121e-03 -1.74983653e+02] [ 4.96377707e-03 -2.70848142e-05 9.99987680e-01 -1.14255662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.530385723 meters 0.014336526107563126 Centerline is valid? [True, True] Translation: X:189.41, Y:-174.94, Z:-11.43 [[-7.10557686e-01 -7.03631303e-01 3.28100237e-03 1.89412539e+02] [ 7.03623633e-01 -7.10565260e-01 -3.28552692e-03 -1.74942363e+02] [ 4.64316589e-03 -2.59655943e-05 9.99989220e-01 -1.14252915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5903857229999 meters 0.014695793091496361 Centerline is valid? [True, True] Translation: X:189.37, Y:-174.90, Z:-11.42 [[-7.12883697e-01 -7.01276232e-01 2.91209052e-03 1.89374292e+02] [ 7.01270177e-01 -7.12889644e-01 -2.91448144e-03 -1.74899010e+02] [ 4.11985574e-03 -3.55240705e-05 9.99991513e-01 -1.14243291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.650385723 meters 0.015098000265389487 Centerline is valid? [True, True] Translation: X:189.34, Y:-174.86, Z:-11.42 [[-7.15757429e-01 -6.98341238e-01 3.28905797e-03 1.89335663e+02] [ 6.98333491e-01 -7.15764984e-01 -3.28993529e-03 -1.74855548e+02] [ 4.65169000e-03 -5.79362926e-05 9.99989179e-01 -1.14244861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.710385723 meters 0.01565963213204341 Centerline is valid? [True, True] Translation: X:189.30, Y:-174.81, Z:-11.43 [[-7.17982802e-01 -6.96045242e-01 4.66026146e-03 1.89295957e+02] [ 6.96029658e-01 -7.17997919e-01 -4.65877998e-03 -1.74813688e+02] [ 6.58877967e-03 -1.01243712e-04 9.99978289e-01 -1.14262657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.770385723 meters 0.015869465878641895 Centerline is valid? [True, True] Translation: X:188.72, Y:-175.40, Z:-10.49 [[-7.44866660e-01 6.67184459e-01 6.20944904e-03 1.88723717e+02] [ 6.67162737e-01 7.44892530e-01 -5.38525487e-03 -1.75396098e+02] [-8.21833056e-03 1.31416209e-04 -9.99966220e-01 -1.04872723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.830385723 meters 0.015751079656459072 Centerline is valid? [True, True] Translation: X:188.74, Y:-175.38, Z:-10.49 [[-7.90076075e-01 6.12971585e-01 6.75520855e-03 1.88742304e+02] [ 6.12950644e-01 7.90104941e-01 -5.06849604e-03 -1.75375646e+02] [-8.44416771e-03 1.36111975e-04 -9.99964338e-01 -1.04874065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.890385723 meters 0.015387348138408002 Centerline is valid? [True, True] Translation: X:188.76, Y:-175.35, Z:-10.49 [[-8.32520964e-01 5.53957939e-01 6.28061481e-03 1.88764900e+02] [ 5.53943135e-01 8.32544648e-01 -4.05129445e-03 -1.75354855e+02] [-7.47313897e-03 1.06315894e-04 -9.99972070e-01 -1.04880757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.950385723 meters 0.015216549066541686 Centerline is valid? [True, True] Translation: X:189.21, Y:-174.68, Z:-11.43 [[-8.09518629e-01 -5.87068171e-01 5.52738050e-03 1.89212859e+02] [ 5.87053367e-01 -8.09537489e-01 -4.17121729e-03 -1.74675240e+02] [ 6.92341063e-03 -1.31810774e-04 9.99976024e-01 -1.14252552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.010385723 meters 0.015469791662547043 Centerline is valid? [True, True] Translation: X:189.20, Y:-174.70, Z:-11.43 [[-7.68544869e-01 -6.39770733e-01 5.67395381e-03 1.89199022e+02] [ 6.39752335e-01 -7.68565807e-01 -4.85289599e-03 -1.74703926e+02] [ 7.46554771e-03 -9.97431178e-05 9.99972127e-01 -1.14257446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.070385723 meters 0.015808525568403817 Centerline is valid? [True, True] Translation: X:188.67, Y:-175.33, Z:-10.49 [[-7.94797481e-01 6.06849511e-01 5.53489897e-03 1.88674464e+02] [ 6.06835665e-01 7.94816747e-01 -4.10053760e-03 -1.75328303e+02] [-6.88763963e-03 9.96771399e-05 -9.99976275e-01 -1.04901060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.130385723 meters 0.015416520242996418 Centerline is valid? [True, True] Translation: X:188.69, Y:-175.30, Z:-10.49 [[-8.35489765e-01 5.49470843e-01 6.21648765e-03 1.88692278e+02] [ 5.49456609e-01 8.35512885e-01 -3.95665515e-03 -1.75304145e+02] [-7.36802217e-03 1.09945342e-04 -9.99972850e-01 -1.04902086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.190385723 meters 0.015330306438673901 Centerline is valid? [True, True] Translation: X:188.70, Y:-175.27, Z:-10.49 [[-8.72331400e-01 4.88884068e-01 5.50415002e-03 1.88698323e+02] [ 4.88875005e-01 8.72348760e-01 -2.97833429e-03 -1.75273790e+02] [-6.25759863e-03 9.27468503e-05 -9.99980417e-01 -1.04912289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.250385723 meters 0.015010937028273814 Centerline is valid? [True, True] Translation: X:189.11, Y:-174.58, Z:-11.42 [[-8.52692526e-01 -5.22379450e-01 5.93022581e-03 1.89106260e+02] [ 5.22366338e-01 -8.52713145e-01 -3.70164804e-03 -1.74577876e+02] [ 6.99044637e-03 -5.86172803e-05 9.99975565e-01 -1.14231980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.310385723 meters 0.0149689096896238 Centerline is valid? [True, True] Translation: X:188.68, Y:-175.26, Z:-10.49 [[-8.74841143e-01 4.84368931e-01 6.30181038e-03 1.88679997e+02] [ 4.84357138e-01 8.74863835e-01 -3.38124992e-03 -1.75262658e+02] [-7.15099841e-03 9.42702954e-05 -9.99974427e-01 -1.04907408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.370385723 meters 0.01520244444851461 Centerline is valid? [True, True] Translation: X:189.07, Y:-174.56, Z:-11.42 [[-8.54386992e-01 -5.19601538e-01 6.09170407e-03 1.89065509e+02] [ 5.19587556e-01 -8.54408704e-01 -3.81304126e-03 -1.74558498e+02] [ 7.18606708e-03 -9.26392223e-05 9.99974176e-01 -1.14245648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.430385723 meters 0.015927877120778297 Centerline is valid? [True, True] Translation: X:189.06, Y:-174.59, Z:-11.42 [[-8.18814586e-01 -5.74037854e-01 4.81836209e-03 1.89058839e+02] [ 5.74027238e-01 -8.18828757e-01 -3.49226525e-03 -1.74589922e+02] [ 5.95010589e-03 -9.36466418e-05 9.99982294e-01 -1.14246686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.490385723 meters 0.015880759636850872 Centerline is valid? [True, True] Translation: X:188.59, Y:-175.25, Z:-10.49 [[-8.39479643e-01 5.43371744e-01 4.59100939e-03 1.88590374e+02] [ 5.43364222e-01 8.39492191e-01 -2.86066904e-03 -1.75246922e+02] [-5.40852326e-03 9.31168203e-05 -9.99985370e-01 -1.04903349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.550385723 meters 0.016011205400315205 Centerline is valid? [True, True] Translation: X:188.61, Y:-175.22, Z:-10.49 [[-8.76118335e-01 4.82079279e-01 4.02877247e-03 1.88612564e+02] [ 4.82074579e-01 8.76127595e-01 -2.13022212e-03 -1.75224685e+02] [-4.55665467e-03 7.58421361e-05 -9.99989616e-01 -1.04898295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.610385723 meters 0.015227626351808935 Centerline is valid? [True, True] Translation: X:188.62, Y:-175.19, Z:-10.49 [[-9.09047355e-01 4.16666901e-01 4.64769531e-03 1.88624652e+02] [ 4.16661863e-01 9.09059233e-01 -2.05028192e-03 -1.75193786e+02] [-5.07931495e-03 7.27140322e-05 -9.99987098e-01 -1.04889957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.670385723 meters 0.015479776262707369 Centerline is valid? [True, True] Translation: X:188.63, Y:-175.17, Z:-10.49 [[-9.37119186e-01 3.48966919e-01 5.45170690e-03 1.88634794e+02] [ 3.48961441e-01 9.37135041e-01 -1.95655428e-03 -1.75167864e+02] [-5.79175829e-03 6.89109400e-05 -9.99983225e-01 -1.04880101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7303857229999 meters 0.014856983360249392 Centerline is valid? [True, True] Translation: X:188.63, Y:-175.13, Z:-10.49 [[-9.60248270e-01 2.79054259e-01 7.20971154e-03 1.88634397e+02] [ 2.79046925e-01 9.60275333e-01 -2.02437159e-03 -1.75132928e+02] [-7.48821767e-03 6.79485119e-05 -9.99971961e-01 -1.04865875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.790385723 meters 0.015020700240959101 Centerline is valid? [True, True] Translation: X:188.86, Y:-174.39, Z:-11.43 [[-9.45481122e-01 -3.25583168e-01 7.81343202e-03 1.88864342e+02] [ 3.25571820e-01 -9.45513406e-01 -2.71844768e-03 -1.74385899e+02] [ 8.27278552e-03 -2.64076830e-05 9.99965780e-01 -1.14285612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8503857229999 meters 0.015467291967097252 Centerline is valid? [True, True] Translation: X:188.60, Y:-175.13, Z:-10.49 [[-9.60454494e-01 2.78321613e-01 8.01522378e-03 1.88599383e+02] [ 2.78312791e-01 9.60487933e-01 -2.21827625e-03 -1.75127149e+02] [-8.31591995e-03 1.00185911e-04 -9.99965417e-01 -1.04878322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.910385723 meters 0.016129383675644513 Centerline is valid? [True, True] Translation: X:188.82, Y:-174.37, Z:-11.43 [[-9.48334740e-01 -3.17167333e-01 8.13037026e-03 1.88821366e+02] [ 3.17154894e-01 -9.48369588e-01 -2.81031658e-03 -1.74371170e+02] [ 8.60193651e-03 -8.65341214e-05 9.99962999e-01 -1.14279880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9703857229999 meters 0.015936740004122322 Centerline is valid? [True, True] Translation: X:188.56, Y:-175.12, Z:-10.49 [[-9.60288756e-01 2.78883489e-01 8.33695596e-03 1.88556342e+02] [ 2.78874259e-01 9.60324934e-01 -2.27338603e-03 -1.75115513e+02] [-8.64019651e-03 1.41855369e-04 -9.99962663e-01 -1.04880525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.030385723 meters 0.01612199651424815 Centerline is valid? [True, True] Translation: X:188.56, Y:-175.09, Z:-10.49 [[-9.77476535e-01 2.10916931e-01 7.32614694e-03 1.88559754e+02] [ 2.10911991e-01 9.77503980e-01 -1.44928387e-03 -1.75085668e+02] [-7.46701630e-03 1.28531257e-04 -9.99972113e-01 -1.04894464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0903857229999 meters 0.01579997824121238 Centerline is valid? [True, True] Translation: X:188.58, Y:-175.06, Z:-10.49 [[-9.90201514e-01 1.39528177e-01 5.73152707e-03 1.88575640e+02] [ 1.39526367e-01 9.90218097e-01 -7.16362890e-04 -1.75056220e+02] [-5.77541464e-03 9.03555326e-05 -9.99983318e-01 -1.04897658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.150385723 meters 0.015435865838500656 Centerline is valid? [True, True] Translation: X:188.67, Y:-174.29, Z:-11.43 [[-9.83986834e-01 -1.78123229e-01 6.48270690e-03 1.88673753e+02] [ 1.78119039e-01 -9.84008187e-01 -1.22269742e-03 -1.74288688e+02] [ 6.59682748e-03 -4.84246429e-05 9.99978240e-01 -1.14258160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.210385723 meters 0.015112354303296383 Centerline is valid? [True, True] Translation: X:188.52, Y:-175.04, Z:-10.49 [[-9.91545684e-01 1.29512780e-01 7.97467933e-03 1.88517253e+02] [ 1.29509214e-01 9.91577750e-01 -9.64142388e-04 -1.75042977e+02] [-8.03238335e-03 7.68032265e-05 -9.99967737e-01 -1.04881887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.270385723 meters 0.014812139241311924 Centerline is valid? [True, True] Translation: X:188.51, Y:-175.01, Z:-10.49 [[-9.98412491e-01 5.58262597e-02 7.47841387e-03 1.88508535e+02] [ 5.58250616e-02 9.98440497e-01 -3.69021431e-04 -1.75009800e+02] [-7.48735235e-03 4.90473094e-05 -9.99971968e-01 -1.04878682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.330385723 meters 0.014575425570509457 Centerline is valid? [True, True] Translation: X:188.49, Y:-174.98, Z:-10.49 [[-9.99848671e-01 -1.60835050e-02 6.62986901e-03 1.88486700e+02] [-1.60829050e-02 9.99870651e-01 1.43815512e-04 -1.74980692e+02] [-6.63132450e-03 3.71661956e-05 -9.99978012e-01 -1.04901079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.390385723 meters 0.014518722485142918 Centerline is valid? [True, True] Translation: X:188.50, Y:-174.23, Z:-11.42 [[-9.99184508e-01 -4.01426922e-02 4.34550701e-03 1.88495990e+02] [ 4.01415523e-02 -9.99193942e-01 -3.49250563e-04 -1.74230207e+02] [ 4.35602413e-03 -1.74530355e-04 9.99990497e-01 -1.14232241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.450385723 meters 0.0144331312338616 Centerline is valid? [True, True] Translation: X:188.44, Y:-174.98, Z:-10.49 [[-9.99769155e-01 -2.09073396e-02 4.95176523e-03 1.88435660e+02] [-2.09069468e-02 9.99781417e-01 1.31073959e-04 -1.74977648e+02] [-4.95342327e-03 2.75174087e-05 -9.99987731e-01 -1.04916638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.510385723 meters 0.014422264782902738 Centerline is valid? [True, True] Translation: X:188.44, Y:-174.95, Z:-10.49 [[-9.95762767e-01 -9.17401419e-02 6.34491879e-03 1.88442822e+02] [-9.17380437e-02 9.95782981e-01 6.21548390e-04 -1.74946901e+02] [-6.37518309e-03 3.68443070e-05 -9.99979678e-01 -1.04902498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.570385723 meters 0.014416499455951085 Centerline is valid? [True, True] Translation: X:188.37, Y:-174.21, Z:-11.43 [[-9.99340818e-01 3.57249603e-02 6.45416658e-03 1.88372708e+02] [-3.57244212e-02 -9.99361659e-01 1.98826200e-04 -1.74212633e+02] [ 6.45714968e-03 -3.18762286e-05 9.99979152e-01 -1.14251051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.630385723 meters 0.014472479644438187 Centerline is valid? [True, True] Translation: X:188.35, Y:-174.95, Z:-10.49 [[-9.95123273e-01 -9.83781941e-02 7.16954247e-03 1.88347004e+02] [-9.83754072e-02 9.95149099e-01 7.41196456e-04 -1.74953983e+02] [-7.20768130e-03 3.22751840e-05 -9.99974024e-01 -1.04901012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.690385723 meters 0.014486215526295676 Centerline is valid? [True, True] Translation: X:188.35, Y:-174.92, Z:-10.49 [[-9.85201720e-01 -1.71193844e-01 8.38087576e-03 1.88345717e+02] [-1.71187487e-01 9.85237366e-01 1.47538153e-03 -1.74923525e+02] [-8.50972819e-03 1.88473618e-05 -9.99963791e-01 -1.04875875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.750385723 meters 0.014396572595378944 Centerline is valid? [True, True] Translation: X:188.22, Y:-174.20, Z:-11.43 [[-9.94277085e-01 1.06487090e-01 8.57772613e-03 1.88219771e+02] [-1.06483224e-01 -9.94314085e-01 9.07471743e-04 -1.74202184e+02] [ 8.62558794e-03 -1.11055702e-05 9.99962799e-01 -1.14258615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.810385723 meters 0.01446807604476854 Centerline is valid? [True, True] Translation: X:188.23, Y:-174.94, Z:-10.49 [[-9.83949955e-01 -1.78323518e-01 6.57341624e-03 1.88229600e+02] [-1.78319487e-01 9.83971912e-01 1.19897185e-03 -1.74944389e+02] [-6.68186182e-03 7.56008390e-06 -9.99977676e-01 -1.04897250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.870385723 meters 0.014521839420462673 Centerline is valid? [True, True] Translation: X:188.11, Y:-174.22, Z:-11.43 [[-9.93346503e-01 1.14923361e-01 7.43943826e-03 1.88105677e+02] [-1.14919801e-01 -9.93374360e-01 9.05723549e-04 -1.74217443e+02] [ 7.49423601e-03 4.47585555e-05 9.99971917e-01 -1.14256923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.930385723 meters 0.014682643698304824 Centerline is valid? [True, True] Translation: X:188.13, Y:-174.97, Z:-10.49 [[-9.83494455e-01 -1.80805203e-01 6.93795443e-03 1.88134251e+02] [-1.80800459e-01 9.83518926e-01 1.31020354e-03 -1.74966385e+02] [-7.06050110e-03 3.41925717e-05 -9.99975074e-01 -1.04891496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.990385723 meters 0.014719661852959995 Centerline is valid? [True, True] Translation: X:188.12, Y:-174.94, Z:-10.49 [[-9.68311192e-01 -2.49633357e-01 7.52487070e-03 1.88115211e+02] [-2.49625450e-01 9.68340428e-01 1.98735608e-03 -1.74944009e+02] [-7.78274688e-03 4.59798964e-05 -9.99969713e-01 -1.04881131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.050385723 meters 0.014577095982757578 Centerline is valid? [True, True] Translation: X:188.08, Y:-174.93, Z:-10.49 [[-9.47508490e-01 -3.19601981e-01 9.06840598e-03 1.88077431e+02] [-3.19586870e-01 9.47551883e-01 3.10824289e-03 -1.74926964e+02] [-9.58618574e-03 4.69430429e-05 -9.99954050e-01 -1.04875282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.110385723 meters 0.014673563393547164 Centerline is valid? [True, True] Translation: X:188.02, Y:-174.92, Z:-10.49 [[-9.21072886e-01 -3.89247575e-01 1.05387160e-02 1.88024912e+02] [-3.89221522e-01 9.21133174e-01 4.50373190e-03 -1.74917306e+02] [-1.14606276e-02 4.63702716e-05 -9.99934324e-01 -1.04855473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.170385723 meters 0.014590619454629392 Centerline is valid? [True, True] Translation: X:187.96, Y:-174.92, Z:-10.49 [[-8.89377644e-01 -4.57064760e-01 9.96047465e-03 1.87957137e+02] [-4.57035696e-01 8.89433417e-01 5.15450464e-03 -1.74921732e+02] [-1.12151214e-02 3.20087282e-05 -9.99937108e-01 -1.04869554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2303857229999 meters 0.014584361117409007 Centerline is valid? [True, True] Translation: X:187.88, Y:-174.93, Z:-10.49 [[-8.52891704e-01 -5.22024417e-01 8.13939449e-03 1.87884112e+02] [-5.22000373e-01 8.52930541e-01 5.01035861e-03 -1.74932452e+02] [-9.55786767e-03 2.45263324e-05 -9.99954322e-01 -1.04880248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.290385723 meters 0.014520651023253076 Centerline is valid? [True, True] Translation: X:187.81, Y:-174.95, Z:-10.49 [[-8.11251123e-01 -5.84669738e-01 5.73698822e-03 1.87806411e+02] [-5.84654991e-01 8.11271408e-01 4.15262796e-03 -1.74952807e+02] [-7.08217041e-03 1.46653046e-05 -9.99974921e-01 -1.04890470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3503857229999 meters 0.01441539681292341 Centerline is valid? [True, True] Translation: X:187.72, Y:-174.98, Z:-10.49 [[-7.65043587e-01 -6.43964770e-01 4.20522234e-03 1.87724080e+02] [-6.43954965e-01 7.65055145e-01 3.55373313e-03 -1.74984810e+02] [-5.50570593e-03 1.07869397e-05 -9.99984843e-01 -1.04895278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.410385723 meters 0.014379185242517164 Centerline is valid? [True, True] Translation: X:187.63, Y:-175.04, Z:-10.49 [[-7.13445715e-01 -7.00700159e-01 3.80779244e-03 1.87626833e+02] [-7.00690158e-01 7.13455876e-01 3.74360284e-03 -1.75038426e+02] [-5.33983500e-03 2.77471723e-06 -9.99985743e-01 -1.04892242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4703857229999 meters 0.014465246255898644 Centerline is valid? [True, True] Translation: X:187.54, Y:-175.09, Z:-10.49 [[-6.55637766e-01 -7.55058220e-01 5.11912858e-03 1.87540189e+02] [-7.55035486e-01 6.55657750e-01 5.85916379e-03 -1.75090813e+02] [-7.78040611e-03 -2.36346757e-05 -9.99969732e-01 -1.04868140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.530385723 meters 0.014602888440960091 Centerline is valid? [True, True] Translation: X:187.46, Y:-175.15, Z:-10.48 [[-5.94677334e-01 -8.03937349e-01 6.60362976e-03 1.87463763e+02] [-8.03888787e-01 5.94713995e-01 8.83641665e-03 -1.75145234e+02] [-1.10311964e-02 -5.37672248e-05 -9.99939153e-01 -1.04839963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5903857229999 meters 0.014643847020828294 Centerline is valid? [True, True] Translation: X:187.37, Y:-175.24, Z:-10.48 [[-5.31349234e-01 -8.47129385e-01 6.30848693e-03 1.87369953e+02] [-8.47071097e-01 5.31386678e-01 9.93756226e-03 -1.75235946e+02] [-1.17706469e-02 -6.34208552e-05 -9.99930722e-01 -1.04829096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.650385723 meters 0.014606012278425843 Centerline is valid? [True, True] Translation: X:187.30, Y:-175.31, Z:-10.48 [[-4.65288438e-01 -8.85144384e-01 5.10774894e-03 1.87298436e+02] [-8.85092316e-01 4.65316470e-01 9.60077014e-03 -1.75310148e+02] [-1.08747875e-02 -5.37019959e-05 -9.99940866e-01 -1.04835062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.710385723 meters 0.014495117215552807 Centerline is valid? [True, True] Translation: X:187.23, Y:-175.39, Z:-10.48 [[-3.97080975e-01 -9.17776245e-01 3.66930303e-03 1.87230919e+02] [-9.17737875e-01 3.97097926e-01 8.39226461e-03 -1.75393323e+02] [-9.15929372e-03 -3.50497541e-05 -9.99958052e-01 -1.04845373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.770385723 meters 0.014324184497971952 Centerline is valid? [True, True] Translation: X:187.16, Y:-175.50, Z:-10.49 [[-3.25521762e-01 -9.45531748e-01 2.30125683e-03 1.87164489e+02] [-9.45508681e-01 3.25529895e-01 6.60468737e-03 -1.75496650e+02] [-6.99406949e-03 -2.58888338e-05 -9.99975541e-01 -1.04863498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.830385723 meters 0.014588002681486913 Centerline is valid? [True, True] Translation: X:187.10, Y:-175.60, Z:-10.49 [[-2.48746718e-01 -9.68566797e-01 1.85202477e-03 1.87099997e+02] [-9.68541432e-01 2.48753608e-01 7.00974234e-03 -1.75602342e+02] [-7.25010153e-03 -5.01123151e-05 -9.99973716e-01 -1.04858870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.890385723 meters 0.014697191850634618 Centerline is valid? [True, True] Translation: X:187.04, Y:-175.72, Z:-10.48 [[-1.71169467e-01 -9.85240736e-01 1.30581299e-03 1.87041279e+02] [-9.85214971e-01 1.71174434e-01 7.12553548e-03 -1.75715362e+02] [-7.24388962e-03 -6.68323963e-05 -9.99973760e-01 -1.04848557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.950385723 meters 0.01459006772731547 Centerline is valid? [True, True] Translation: X:187.00, Y:-175.83, Z:-10.48 [[-9.44893788e-02 -9.95525556e-01 7.90494523e-04 1.86995631e+02] [-9.95496806e-01 9.44926579e-02 7.56621576e-03 -1.75833644e+02] [-7.60705708e-03 -7.20077457e-05 -9.99971063e-01 -1.04845861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.010385723 meters 0.014210462276627932 Centerline is valid? [True, True] Translation: X:186.96, Y:-175.94, Z:-10.48 [[-2.26178422e-02 -9.99744155e-01 2.41881480e-04 1.86963645e+02] [-9.99703700e-01 2.26191029e-02 8.99381838e-03 -1.75944003e+02] [-8.99698849e-03 -3.83890463e-05 -9.99959526e-01 -1.04835729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.070385723 meters 0.014159155102181726 Centerline is valid? [True, True] Translation: X:186.94, Y:-176.07, Z:-10.48 [[ 4.75691566e-02 -9.98867843e-01 -4.55205451e-04 1.86939371e+02] [-9.98827045e-01 -4.75713279e-02 9.02785263e-03 -1.76065374e+02] [-9.03928641e-03 2.52241800e-05 -9.99959145e-01 -1.04828690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.130385723 meters 0.014842884670049197 Centerline is valid? [True, True] Translation: X:186.93, Y:-176.19, Z:-10.48 [[ 1.17462980e-01 -9.93076865e-01 -8.88208090e-04 1.86926008e+02] [-9.93052749e-01 -1.17466317e-01 6.92108112e-03 -1.76190133e+02] [-6.97750007e-03 6.90666757e-05 -9.99975655e-01 -1.04842896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.190385723 meters 0.015291666621953852 Centerline is valid? [True, True] Translation: X:186.92, Y:-176.31, Z:-10.49 [[ 1.89043308e-01 -9.81968370e-01 -8.64659992e-04 1.86916681e+02] [-9.81959521e-01 -1.89045276e-01 4.16917237e-03 -1.76305596e+02] [-4.25745528e-03 6.09069749e-05 -9.99990935e-01 -1.04867087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.250385723 meters 0.015508920919865256 Centerline is valid? [True, True] Translation: X:186.92, Y:-176.44, Z:-10.49 [[ 2.63584251e-01 -9.64636191e-01 -6.01356080e-04 1.86916134e+02] [-9.64633954e-01 -2.63584935e-01 2.07795570e-03 -1.76436318e+02] [-2.16297967e-03 3.23720982e-05 -9.99997660e-01 -1.04874313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.310385723 meters 0.015303537596728329 Centerline is valid? [True, True] Translation: X:186.92, Y:-176.56, Z:-10.49 [[ 3.40031024e-01 -9.40413911e-01 -7.60888734e-04 1.86922502e+02] [-9.40411723e-01 -3.40031875e-01 2.02845690e-03 -1.76561093e+02] [-2.16631551e-03 2.58104069e-05 -9.99997653e-01 -1.04865550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.370385723 meters 0.014489808466672116 Centerline is valid? [True, True] Translation: X:186.94, Y:-176.69, Z:-10.49 [[ 4.16810025e-01 -9.08992459e-01 -1.45332955e-03 1.86938128e+02] [-9.08987102e-01 -4.16812559e-01 3.12075983e-03 -1.76689782e+02] [-3.44251317e-03 2.02938334e-05 -9.99994074e-01 -1.04855225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.430385723 meters 0.014148170742141534 Centerline is valid? [True, True] Translation: X:186.96, Y:-176.82, Z:-10.48 [[ 4.91039421e-01 -8.71135040e-01 -2.00704651e-03 1.86962364e+02] [-8.71127741e-01 -4.91043523e-01 3.56618723e-03 -1.76817735e+02] [-4.09217785e-03 -2.74462153e-06 -9.99991627e-01 -1.04832058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.490385723 meters 0.014082790790851573 Centerline is valid? [True, True] Translation: X:187.00, Y:-176.93, Z:-10.48 [[ 5.57349190e-01 -8.30275359e-01 -2.17005484e-03 1.86995686e+02] [-8.30269017e-01 -5.57353414e-01 3.24523233e-03 -1.76929053e+02] [-3.90392391e-03 -6.99831475e-06 -9.99992380e-01 -1.04834253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.550385723 meters 0.01405969616064366 Centerline is valid? [True, True] Translation: X:187.05, Y:-177.05, Z:-10.48 [[ 6.19221963e-01 -7.85214853e-01 -1.34006237e-03 1.87049356e+02] [-7.85213001e-01 -6.19223413e-01 1.70531218e-03 -1.77053612e+02] [-2.16883445e-03 -3.73235991e-06 -9.99997648e-01 -1.04845257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.610385723 meters 0.014000959383118256 Centerline is valid? [True, True] Translation: X:187.12, Y:-177.18, Z:-10.49 [[ 6.76380655e-01 -7.36552244e-01 -3.31157788e-05 1.87120135e+02] [-7.36552243e-01 -6.76380656e-01 3.60306155e-05 -1.77181870e+02] [-4.89373031e-05 2.10898607e-08 -9.99999999e-01 -1.04850820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.670385723 meters 0.014027287596379502 Centerline is valid? [True, True] Translation: X:187.14, Y:-177.24, Z:-10.48 [[ 7.27519792e-01 -6.86086584e-01 3.89691488e-04 1.87139631e+02] [-6.86086487e-01 -7.27519896e-01 -3.64451259e-04 -1.77240664e+02] [ 5.33553431e-04 -2.21655988e-06 -9.99999858e-01 -1.04848301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7303857229999 meters 0.014368986925177138 Centerline is valid? [True, True] Translation: X:187.16, Y:-177.27, Z:-10.48 [[ 7.77606870e-01 -6.28750089e-01 -9.38860627e-04 1.87155757e+02] [-6.28749643e-01 -7.77607437e-01 7.49284114e-04 -1.77269420e+02] [-1.20117746e-03 7.65980918e-06 -9.99999279e-01 -1.04828184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.790385723 meters 0.014441548500629819 Centerline is valid? [True, True] Translation: X:187.17, Y:-177.30, Z:-10.48 [[ 8.24263524e-01 -5.66202009e-01 -2.22009900e-03 1.87173499e+02] [-5.66200012e-01 -8.24266514e-01 1.50386002e-03 -1.77295848e+02] [-2.68144182e-03 1.74431200e-05 -9.99996405e-01 -1.04811794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8503857229999 meters 0.014476557264398476 Centerline is valid? [True, True] Translation: X:187.20, Y:-177.32, Z:-10.48 [[ 8.65971891e-01 -5.00084900e-01 -2.78888628e-03 1.87195288e+02] [-5.00082384e-01 -8.65976381e-01 1.58617158e-03 -1.77320873e+02] [-3.20833010e-03 2.10928953e-05 -9.99994853e-01 -1.04806315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.910385723 meters 0.014476820154834232 Centerline is valid? [True, True] Translation: X:187.22, Y:-177.35, Z:-10.48 [[ 9.02745929e-01 -4.30152880e-01 -4.27631630e-03 1.87217008e+02] [-4.30148198e-01 -9.02756057e-01 2.00721261e-03 -1.77346932e+02] [-4.72387873e-03 2.74467433e-05 -9.99988842e-01 -1.04797629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9703857229999 meters 0.014315826529583905 Centerline is valid? [True, True] Translation: X:187.24, Y:-177.37, Z:-10.48 [[ 9.34130718e-01 -3.56924084e-01 -2.23616894e-03 1.87241037e+02] [-3.56923088e-01 -9.34133394e-01 8.43203478e-04 -1.77368692e+02] [-2.38983971e-03 1.04780543e-05 -9.99997144e-01 -1.04817904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.030385723 meters 0.014215887814995514 Centerline is valid? [True, True] Translation: X:187.27, Y:-177.39, Z:-10.48 [[ 9.59462647e-01 -2.81832412e-01 -1.38594502e-03 1.87267385e+02] [-2.81832126e-01 -9.59463648e-01 4.01974049e-04 -1.77390560e+02] [-1.44305318e-03 4.92474662e-06 -9.99998959e-01 -1.04827976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0903857229999 meters 0.014135777996534822 Centerline is valid? [True, True] Translation: X:187.30, Y:-177.41, Z:-10.48 [[ 9.79028749e-01 -2.03707405e-01 -2.44977073e-03 1.87295140e+02] [-2.03706775e-01 -9.79031814e-01 5.06860930e-04 -1.77409167e+02] [-2.50165481e-03 2.80347242e-06 -9.99996871e-01 -1.04820859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.150385723 meters 0.014147474684636107 Centerline is valid? [True, True] Translation: X:187.32, Y:-177.43, Z:-10.48 [[ 9.92323355e-01 -1.23649266e-01 -2.28456842e-03 1.87321356e+02] [-1.23648929e-01 -9.92325984e-01 2.88500361e-04 -1.77426022e+02] [-2.30270946e-03 -3.80120779e-06 -9.99997349e-01 -1.04818139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.210385723 meters 0.014139440906154325 Centerline is valid? [True, True] Translation: X:187.35, Y:-177.44, Z:-10.48 [[ 9.99051986e-01 -4.33796491e-02 -3.65163309e-03 1.87348400e+02] [-4.33793081e-02 -9.99058660e-01 1.72583196e-04 -1.77440132e+02] [-3.65568226e-03 -1.40142680e-05 -9.99993318e-01 -1.04802855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.270385723 meters 0.014318785610115941 Centerline is valid? [True, True] Translation: X:187.38, Y:-177.45, Z:-10.48 [[ 9.99281465e-01 3.76768650e-02 -4.12413975e-03 1.87376606e+02] [ 3.76766556e-02 -9.99289975e-01 -1.28479751e-04 -1.77451590e+02] [-4.12605222e-03 -2.69963594e-05 -9.99991487e-01 -1.04796420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.330385723 meters 0.014559933062703876 Centerline is valid? [True, True] Translation: X:187.41, Y:-177.46, Z:-10.48 [[ 9.92868756e-01 1.19050715e-01 -6.20966161e-03 1.87405358e+02] [ 1.19048772e-01 -9.92888173e-01 -6.82830757e-04 -1.77460418e+02] [-6.24679106e-03 -6.12912662e-05 -9.99980487e-01 -1.04787293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.390385723 meters 0.015011259383646934 Centerline is valid? [True, True] Translation: X:187.43, Y:-177.47, Z:-10.48 [[ 9.79920106e-01 1.99315083e-01 -5.48474941e-03 1.87434756e+02] [ 1.99312368e-01 -9.79935453e-01 -1.04279223e-03 -1.77465075e+02] [-5.58254462e-03 -7.13253269e-05 -9.99984415e-01 -1.04784901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.450385723 meters 0.015339430653030128 Centerline is valid? [True, True] Translation: X:187.46, Y:-177.46, Z:-10.48 [[ 9.60951275e-01 2.76648382e-01 -6.19026436e-03 1.87463983e+02] [ 2.76643245e-01 -9.60971209e-01 -1.68830816e-03 -1.77464852e+02] [-6.41573355e-03 -9.01129394e-05 -9.99979415e-01 -1.04783982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.510385723 meters 0.015418006027874156 Centerline is valid? [True, True] Translation: X:187.49, Y:-177.46, Z:-10.48 [[ 9.36339052e-01 3.51032596e-01 -6.73019959e-03 1.87492286e+02] [ 3.51024300e-01 -9.36363234e-01 -2.41556763e-03 -1.77461832e+02] [-7.14985443e-03 -1.00673294e-04 -9.99974434e-01 -1.04784003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.570385723 meters 0.015114429684415042 Centerline is valid? [True, True] Translation: X:187.52, Y:-177.46, Z:-10.48 [[ 9.06353867e-01 4.22460590e-01 -7.05105982e-03 1.87520057e+02] [ 4.22448679e-01 -9.06381288e-01 -3.17395474e-03 -1.77457980e+02] [-7.73181947e-03 -1.01984758e-04 -9.99970104e-01 -1.04786002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.630385723 meters 0.014828424174411006 Centerline is valid? [True, True] Translation: X:187.55, Y:-177.45, Z:-10.48 [[ 8.71854103e-01 4.89711224e-01 -7.30349011e-03 1.87546124e+02] [ 4.89694877e-01 -8.71884688e-01 -4.00223566e-03 -1.77449332e+02] [-8.32774092e-03 -8.71161082e-05 -9.99965320e-01 -1.04779862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.690385723 meters 0.014954274452518825 Centerline is valid? [True, True] Translation: X:187.57, Y:-177.44, Z:-10.48 [[ 8.31718730e-01 5.55132626e-01 -8.46884213e-03 1.87570387e+02] [ 5.55104949e-01 -8.31761840e-01 -5.54407445e-03 -1.77438525e+02] [-1.01217563e-02 -8.99856159e-05 -9.99948770e-01 -1.04760873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.750385723 meters 0.01454935375678355 Centerline is valid? [True, True] Translation: X:187.59, Y:-177.42, Z:-10.48 [[ 7.86541880e-01 6.17470704e-01 -9.04434995e-03 1.87592353e+02] [ 6.17431134e-01 -7.86593874e-01 -6.99089328e-03 -1.77424344e+02] [-1.14309021e-02 -8.56329087e-05 -9.99934661e-01 -1.04775254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.810385723 meters 0.014735236617460712 Centerline is valid? [True, True] Translation: X:187.61, Y:-177.41, Z:-10.48 [[ 7.36620882e-01 6.76252920e-01 -8.46551239e-03 1.87614662e+02] [ 6.76209381e-01 -7.36669521e-01 -7.67398052e-03 -1.77411782e+02] [-1.14258367e-02 -7.16445916e-05 -9.99934720e-01 -1.04766791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.870385723 meters 0.014318705881268523 Centerline is valid? [True, True] Translation: X:187.63, Y:-177.40, Z:-10.48 [[ 6.82659187e-01 7.30695059e-01 -7.82081662e-03 1.87634112e+02] [ 7.30647986e-01 -6.82703982e-01 -8.29412910e-03 -1.77396170e+02] [-1.13997818e-02 -5.22004888e-05 -9.99935019e-01 -1.04782737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.930385723 meters 0.014291316750860563 Centerline is valid? [True, True] Translation: X:187.65, Y:-177.38, Z:-10.48 [[ 6.24604973e-01 7.80909524e-01 -6.99595873e-03 1.87652329e+02] [ 7.80861144e-01 -6.24644150e-01 -8.69248565e-03 -1.77380463e+02] [-1.11580295e-02 -3.35025753e-05 -9.99937747e-01 -1.04779880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.990385723 meters 0.014139066492139578 Centerline is valid? [True, True] Translation: X:187.67, Y:-177.36, Z:-10.48 [[ 5.62108547e-01 8.27045650e-01 -5.42904965e-03 1.87671929e+02] [ 8.27007455e-01 -5.62134764e-01 -7.94835421e-03 -1.77364664e+02] [-9.62550931e-03 -2.20267032e-05 -9.99953674e-01 -1.04801766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.050385723 meters 0.014151648549791994 Centerline is valid? [True, True] Translation: X:187.69, Y:-177.35, Z:-10.48 [[ 4.94895176e-01 8.68941139e-01 -4.47911364e-03 1.87694756e+02] [ 8.68906066e-01 -4.94915444e-01 -7.80720888e-03 -1.77349990e+02] [-9.00078749e-03 -2.81789968e-05 -9.99959492e-01 -1.04805424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.110385723 meters 0.014017871474658281 Centerline is valid? [True, True] Translation: X:187.72, Y:-177.33, Z:-10.48 [[ 4.25105251e-01 9.05136575e-01 -3.64778832e-03 1.87716876e+02] [ 9.05103828e-01 -4.25120900e-01 -7.69942294e-03 -1.77334148e+02] [-8.51978036e-03 -2.85620536e-05 -9.99963706e-01 -1.04814709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.170385723 meters 0.013974274971176944 Centerline is valid? [True, True] Translation: X:187.74, Y:-177.32, Z:-10.48 [[ 3.54311347e-01 9.35123504e-01 -2.73900100e-03 1.87736916e+02] [ 9.35095869e-01 -3.54321934e-01 -7.18910378e-03 -1.77315656e+02] [-7.69318805e-03 -1.40474768e-05 -9.99970407e-01 -1.04829338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2303857229999 meters 0.013888230861540297 Centerline is valid? [True, True] Translation: X:187.76, Y:-177.30, Z:-10.48 [[ 2.81152831e-01 9.59660819e-01 -2.04896267e-03 1.87755414e+02] [ 9.59635452e-01 -2.81160297e-01 -6.97757648e-03 -1.77297165e+02] [-7.27219371e-03 -4.49183550e-06 -9.99973557e-01 -1.04823620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.290385723 meters 0.013759050233254768 Centerline is valid? [True, True] Translation: X:187.77, Y:-177.28, Z:-10.48 [[ 2.05771397e-01 9.78599010e-01 -1.45239383e-03 1.87774745e+02] [ 9.78574624e-01 -2.05776522e-01 -6.90856279e-03 -1.77277091e+02] [-7.05958126e-03 3.08865589e-07 -9.99975081e-01 -1.04824572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3503857229999 meters 0.01376060073873394 Centerline is valid? [True, True] Translation: X:187.79, Y:-177.25, Z:-10.48 [[ 1.29319317e-01 9.91602611e-01 -8.80637140e-04 1.87792065e+02] [ 9.91579293e-01 -1.29322315e-01 -6.80028720e-03 -1.77254652e+02] [-6.85706858e-03 6.18694375e-06 -9.99976490e-01 -1.04823747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.410385723 meters 0.013728162497152233 Centerline is valid? [True, True] Translation: X:187.81, Y:-177.23, Z:-10.48 [[ 5.11579458e-02 9.98690508e-01 -3.65350012e-04 1.87805122e+02] [ 9.98664248e-01 -5.11592500e-02 -7.24224338e-03 -1.77231930e+02] [-7.25145075e-03 5.63629836e-06 -9.99973708e-01 -1.04823829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4703857229999 meters 0.013639902899901002 Centerline is valid? [True, True] Translation: X:187.82, Y:-177.21, Z:-10.48 [[-2.73333462e-02 9.99626338e-01 2.70102390e-04 1.87817096e+02] [ 9.99579968e-01 2.73346799e-02 -9.62819175e-03 -1.77207696e+02] [-9.63197722e-03 6.81823905e-06 -9.99953611e-01 -1.04808538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.530385723 meters 0.013742792315177908 Centerline is valid? [True, True] Translation: X:187.82, Y:-177.18, Z:-10.48 [[-1.03772636e-01 9.94600424e-01 1.11202351e-03 1.87824544e+02] [ 9.94545931e-01 1.03778591e-01 -1.04113152e-02 -1.77182430e+02] [-1.04705027e-02 2.55488311e-05 -9.99945182e-01 -1.04815312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5903857229999 meters 0.013664859201629355 Centerline is valid? [True, True] Translation: X:187.83, Y:-177.16, Z:-10.48 [[-1.79929908e-01 9.83677682e-01 1.85642215e-03 1.87832421e+02] [ 9.83627540e-01 1.79939481e-01 -9.93205513e-03 -1.77156252e+02] [-1.01039846e-02 3.89541866e-05 -9.99948953e-01 -1.04822845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.650385723 meters 0.013574837858498707 Centerline is valid? [True, True] Translation: X:187.84, Y:-177.13, Z:-10.48 [[-2.55320386e-01 9.66853466e-01 2.42392576e-03 1.87837555e+02] [ 9.66811614e-01 2.55331888e-01 -8.99610597e-03 -1.77129862e+02] [-9.31682178e-03 4.65903279e-05 -9.99956596e-01 -1.04832850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.710385723 meters 0.013494793496908639 Centerline is valid? [True, True] Translation: X:187.84, Y:-177.10, Z:-10.48 [[-3.29402066e-01 9.44184727e-01 3.07909455e-03 1.87843401e+02] [ 9.44145017e-01 3.29416453e-01 -8.65952877e-03 -1.77101423e+02] [-9.19049921e-03 5.46451072e-05 -9.99957765e-01 -1.04839789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.770385723 meters 0.013508463724174991 Centerline is valid? [True, True] Translation: X:187.85, Y:-177.07, Z:-10.48 [[-4.01956863e-01 9.15650278e-01 3.90489616e-03 1.87845501e+02] [ 9.15608538e-01 4.01975825e-01 -8.74306085e-03 -1.77074037e+02] [-9.57525996e-03 6.10229515e-05 -9.99954154e-01 -1.04833127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.830385723 meters 0.013578138318054387 Centerline is valid? [True, True] Translation: X:187.85, Y:-177.05, Z:-10.48 [[-4.73678223e-01 8.80685078e-01 4.76800692e-03 1.87846082e+02] [ 8.80641510e-01 4.73702217e-01 -8.76012439e-03 -1.77046009e+02] [-9.97352628e-03 4.94246577e-05 -9.99950262e-01 -1.04831342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.890385723 meters 0.013303778335452635 Centerline is valid? [True, True] Translation: X:187.84, Y:-177.02, Z:-10.48 [[-5.43120827e-01 8.39640128e-01 4.92167147e-03 1.87843449e+02] [ 8.39606062e-01 5.43143125e-01 -7.56345312e-03 -1.77018192e+02] [-9.02375077e-03 2.43962941e-05 -9.99959285e-01 -1.04831804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.950385723 meters 0.013252443480110287 Centerline is valid? [True, True] Translation: X:187.84, Y:-176.99, Z:-10.48 [[-6.08471765e-01 7.93554855e-01 5.72751235e-03 1.87837202e+02] [ 7.93519864e-01 6.08498720e-01 -7.45206453e-03 -1.76992611e+02] [-9.39880592e-03 1.05239661e-05 -9.99955830e-01 -1.04820693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.010385723 meters 0.013184751262596531 Centerline is valid? [True, True] Translation: X:187.82, Y:-176.97, Z:-10.48 [[-6.68355293e-01 7.43818683e-01 5.91352365e-03 1.87824757e+02] [ 7.43789761e-01 6.68381453e-01 -6.55931712e-03 -1.76969605e+02] [-8.83143215e-03 1.44640250e-05 -9.99961002e-01 -1.04826975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.070385723 meters 0.013280213376487826 Centerline is valid? [True, True] Translation: X:187.81, Y:-176.95, Z:-10.48 [[-7.24457617e-01 6.89295476e-01 5.73653267e-03 1.87810464e+02] [ 6.89274018e-01 7.24480329e-01 -5.43883515e-03 -1.76947807e+02] [-7.90496954e-03 1.38373680e-05 -9.99968755e-01 -1.04818794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.130385723 meters 0.01333775713494515 Centerline is valid? [True, True] Translation: X:188.34, Y:-176.40, Z:-11.43 [[-6.78647348e-01 -7.34442568e-01 5.64719696e-03 1.88337975e+02] [ 7.34417255e-01 -6.78670843e-01 -6.09763221e-03 -1.76400480e+02] [ 8.31094858e-03 9.25696632e-06 9.99965463e-01 -1.14335794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.190385723 meters 0.013232248326105965 Centerline is valid? [True, True] Translation: X:188.30, Y:-176.36, Z:-11.43 [[-6.76626332e-01 -7.36306750e-01 5.40146602e-03 1.88298422e+02] [ 7.36283459e-01 -6.76647892e-01 -5.85657237e-03 -1.76359472e+02] [ 7.96712436e-03 1.42989966e-05 9.99968262e-01 -1.14329487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.250385723 meters 0.013530648286007528 Centerline is valid? [True, True] Translation: X:188.26, Y:-176.32, Z:-11.43 [[-6.72991539e-01 -7.39627710e-01 5.76528764e-03 1.88257409e+02] [ 7.39601326e-01 -6.73016231e-01 -6.24757311e-03 -1.76318094e+02] [ 8.50101035e-03 5.94505416e-05 9.99963864e-01 -1.14341128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.310385723 meters 0.014600922801051236 Centerline is valid? [True, True] Translation: X:188.22, Y:-176.28, Z:-11.44 [[-6.69869147e-01 -7.42449976e-01 6.58479373e-03 1.88217079e+02] [ 7.42415734e-01 -6.69901501e-01 -7.13148495e-03 -1.76277111e+02] [ 9.70593403e-03 1.11492733e-04 9.99952890e-01 -1.14360059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.370385723 meters 0.014286344122355792 Centerline is valid? [True, True] Translation: X:188.18, Y:-176.23, Z:-11.44 [[-6.69305594e-01 -7.42951654e-01 7.27064354e-03 1.88179320e+02] [ 7.42909982e-01 -6.69345070e-01 -7.86992585e-03 -1.76233085e+02] [ 1.07135438e-02 1.34048269e-04 9.99942599e-01 -1.14355980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.430385723 meters 0.014214725973258274 Centerline is valid? [True, True] Translation: X:188.14, Y:-176.19, Z:-11.43 [[-6.69702450e-01 -7.42598107e-01 6.83226796e-03 1.88142309e+02] [ 7.42561332e-01 -6.69737289e-01 -7.39127255e-03 -1.76188094e+02] [ 1.00645696e-02 1.23424665e-04 9.99949343e-01 -1.14344788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.490385723 meters 0.014014395028320017 Centerline is valid? [True, True] Translation: X:188.11, Y:-176.14, Z:-11.43 [[-6.71625340e-01 -7.40862611e-01 6.48032652e-03 1.88105749e+02] [ 7.40829489e-01 -6.71656596e-01 -7.00616607e-03 -1.76143414e+02] [ 9.54316054e-03 9.52983191e-05 9.99954459e-01 -1.14346372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.550385723 meters 0.013783211558621758 Centerline is valid? [True, True] Translation: X:188.07, Y:-176.10, Z:-11.43 [[-6.73871148e-01 -7.38818621e-01 6.68734070e-03 1.88070419e+02] [ 7.38783288e-01 -6.73904325e-01 -7.22592277e-03 -1.76096711e+02] [ 9.84527412e-03 7.11546817e-05 9.99951532e-01 -1.14337273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.610385723 meters 0.013745393482611943 Centerline is valid? [True, True] Translation: X:188.03, Y:-176.05, Z:-11.43 [[-6.76377299e-01 -7.36524503e-01 6.73837717e-03 1.88034237e+02] [ 7.36488561e-01 -6.76410862e-01 -7.27629712e-03 -1.76053150e+02] [ 9.91708264e-03 4.12155166e-05 9.99950824e-01 -1.14339902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.670385723 meters 0.013700261828036702 Centerline is valid? [True, True] Translation: X:188.00, Y:-176.01, Z:-11.43 [[-6.79792518e-01 -7.33368597e-01 7.25486312e-03 1.87998165e+02] [ 7.33326802e-01 -6.79831230e-01 -7.82950636e-03 -1.76007820e+02] [ 1.06739966e-02 -2.25427827e-06 9.99943031e-01 -1.14342600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7303857229999 meters 0.01373721875369451 Centerline is valid? [True, True] Translation: X:187.96, Y:-175.96, Z:-11.43 [[-6.81484235e-01 -7.31796305e-01 7.30793966e-03 1.87960840e+02] [ 7.31753857e-01 -6.81523417e-01 -7.88193221e-03 -1.75964875e+02] [ 1.07485009e-02 -2.37995022e-05 9.99942233e-01 -1.14340221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.790385723 meters 0.01382532037590566 Centerline is valid? [True, True] Translation: X:187.92, Y:-175.92, Z:-11.44 [[-6.83592604e-01 -7.29828124e-01 7.21533799e-03 1.87922535e+02] [ 7.29786688e-01 -6.83630680e-01 -7.77707500e-03 -1.75923554e+02] [ 1.06085545e-02 -5.06933397e-05 9.99943726e-01 -1.14351539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8503857229999 meters 0.013881873481499107 Centerline is valid? [True, True] Translation: X:187.88, Y:-175.88, Z:-11.43 [[-6.85035119e-01 -7.28475928e-01 7.05036595e-03 1.87882970e+02] [ 7.28436338e-01 -6.85071396e-01 -7.59502240e-03 -1.75880702e+02] [ 1.03627950e-02 -6.71143225e-05 9.99946303e-01 -1.14337865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.910385723 meters 0.013864876196596963 Centerline is valid? [True, True] Translation: X:187.84, Y:-175.84, Z:-11.43 [[-6.84919802e-01 -7.28592227e-01 6.18309325e-03 1.87843922e+02] [ 7.28561822e-01 -6.84947708e-01 -6.65639400e-03 -1.75840712e+02] [ 9.08489248e-03 -5.43303784e-05 9.99958730e-01 -1.14314369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9703857229999 meters 0.013651606817276814 Centerline is valid? [True, True] Translation: X:187.80, Y:-175.80, Z:-11.43 [[-6.83941849e-01 -7.29515582e-01 5.52831015e-03 1.87801354e+02] [ 7.29491333e-01 -6.83964191e-01 -5.94813367e-03 -1.75801197e+02] [ 8.12042238e-03 -3.53231964e-05 9.99967028e-01 -1.14296973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.030385723 meters 0.014937980635620563 Centerline is valid? [True, True] Translation: X:187.76, Y:-175.76, Z:-11.43 [[-6.84619870e-01 -7.28881463e-01 5.23883253e-03 1.87760541e+02] [ 7.28859698e-01 -6.84639913e-01 -5.63295694e-03 -1.75762291e+02] [ 7.69247175e-03 -3.80603563e-05 9.99970412e-01 -1.14295916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0903857229999 meters 0.013915797138324136 Centerline is valid? [True, True] Translation: X:187.72, Y:-175.72, Z:-11.43 [[-6.87369803e-01 -7.26291813e-01 4.79135574e-03 1.87720722e+02] [ 7.26273565e-01 -6.87386499e-01 -5.14879406e-03 -1.75720674e+02] [ 7.03304022e-03 -5.92905517e-05 9.99975266e-01 -1.14260175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.150385723 meters 0.014476373600623938 Centerline is valid? [True, True] Translation: X:187.68, Y:-175.68, Z:-11.43 [[-6.91139501e-01 -7.22700677e-01 5.47011383e-03 1.87677960e+02] [ 7.22676805e-01 -6.91161139e-01 -5.87493181e-03 -1.75680921e+02] [ 8.02654731e-03 -1.07273049e-04 9.99967781e-01 -1.14270860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.210385723 meters 0.015217777825115264 Centerline is valid? [True, True] Translation: X:187.64, Y:-175.64, Z:-11.43 [[-6.94484590e-01 -7.19480703e-01 6.21871361e-03 1.87635351e+02] [ 7.19449754e-01 -6.94512413e-01 -6.67523728e-03 -1.75640937e+02] [ 9.12167821e-03 -1.61797448e-04 9.99958384e-01 -1.14275382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.270385723 meters 0.015480679979968265 Centerline is valid? [True, True] Translation: X:187.59, Y:-175.60, Z:-11.43 [[-6.96656845e-01 -7.17373040e-01 6.72027772e-03 1.87588759e+02] [ 7.17336840e-01 -6.96689228e-01 -7.20956881e-03 -1.75604429e+02] [ 9.85389540e-03 -2.01892676e-04 9.99951429e-01 -1.14262130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.330385723 meters 0.015241801013690508 Centerline is valid? [True, True] Translation: X:187.54, Y:-175.57, Z:-11.43 [[-6.96149088e-01 -7.17863373e-01 6.97314543e-03 1.87541985e+02] [ 7.17824464e-01 -6.96183983e-01 -7.47665356e-03 -1.75568696e+02] [ 1.02218079e-02 -1.99371168e-04 9.99947736e-01 -1.14255357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.390385723 meters 0.0151986023573007 Centerline is valid? [True, True] Translation: X:187.49, Y:-175.53, Z:-11.43 [[-6.95152127e-01 -7.18834760e-01 6.33313605e-03 1.87494991e+02] [ 7.18802732e-01 -6.95180955e-01 -6.78766633e-03 -1.75534061e+02] [ 9.28188606e-03 -1.66185195e-04 9.99956909e-01 -1.14254349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.450385723 meters 0.014966084318506729 Centerline is valid? [True, True] Translation: X:187.45, Y:-175.50, Z:-11.43 [[-6.93362169e-01 -7.20563621e-01 6.08039950e-03 1.87446680e+02] [ 7.20534196e-01 -6.93388816e-01 -6.51325897e-03 -1.75500432e+02] [ 8.90929848e-03 -1.34911601e-04 9.99960302e-01 -1.14250538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.510385723 meters 0.014489916215298507 Centerline is valid? [True, True] Translation: X:187.40, Y:-175.47, Z:-11.42 [[-6.93346924e-01 -7.20579147e-01 5.97797515e-03 1.87397476e+02] [ 7.20550737e-01 -6.93372682e-01 -6.39994657e-03 -1.75467175e+02] [ 8.75663270e-03 -1.29948870e-04 9.99961652e-01 -1.14244799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.570385723 meters 0.015304609535824519 Centerline is valid? [True, True] Translation: X:187.35, Y:-175.43, Z:-11.43 [[-6.95698909e-01 -7.18301290e-01 6.80322771e-03 1.87351667e+02] [ 7.18264428e-01 -6.95732150e-01 -7.27917322e-03 -1.75432326e+02] [ 9.96186376e-03 -1.77596411e-04 9.99950364e-01 -1.14253163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.630385723 meters 0.016115734028942574 Centerline is valid? [True, True] Translation: X:187.30, Y:-175.40, Z:-11.42 [[-7.00201638e-01 -7.13908146e-01 7.26807616e-03 1.87304853e+02] [ 7.13865881e-01 -7.00239312e-01 -7.77235789e-03 -1.75395868e+02] [ 1.06381423e-02 -2.53786136e-04 9.99943381e-01 -1.14246732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.690385723 meters 0.018576451336299742 Centerline is valid? [True, True] Translation: X:187.26, Y:-175.36, Z:-11.43 [[-7.04266410e-01 -7.09881825e-01 8.75313977e-03 1.87261569e+02] [ 7.09820282e-01 -7.04320704e-01 -9.35489419e-03 -1.75359407e+02] [ 1.28058869e-02 -3.75181611e-04 9.99917931e-01 -1.14271008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.750385723 meters 0.017790419311800296 Centerline is valid? [True, True] Translation: X:187.21, Y:-175.33, Z:-11.43 [[-7.05821626e-01 -7.08332134e-01 9.02328417e-03 1.87212712e+02] [ 7.08266674e-01 -7.05879180e-01 -9.63856202e-03 -1.75325367e+02] [ 1.31966516e-02 -4.12214048e-04 9.99912835e-01 -1.14267180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.810385723 meters 0.017415106732636368 Centerline is valid? [True, True] Translation: X:187.16, Y:-175.29, Z:-11.43 [[-7.02450178e-01 -7.11687350e-01 8.05375748e-03 1.87162607e+02] [ 7.11635476e-01 -7.02496278e-01 -8.59820573e-03 -1.75292284e+02] [ 1.17769689e-02 -3.08471607e-04 9.99930602e-01 -1.14257542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.870385723 meters 0.015481809207387405 Centerline is valid? [True, True] Translation: X:187.11, Y:-175.26, Z:-11.43 [[-6.97578876e-01 -7.16467540e-01 7.61421940e-03 1.87114352e+02] [ 7.16421510e-01 -6.97620398e-01 -8.12409341e-03 -1.75258572e+02] [ 1.11324840e-02 -2.12205398e-04 9.99938010e-01 -1.14250932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.930385723 meters 0.01452416493671898 Centerline is valid? [True, True] Translation: X:187.07, Y:-175.22, Z:-11.42 [[-6.93615005e-01 -7.20311875e-01 7.00197823e-03 1.87068162e+02] [ 7.20273184e-01 -6.93650333e-01 -7.46694352e-03 -1.75221664e+02] [ 1.02354526e-02 -1.35846912e-04 9.99947607e-01 -1.14243897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.990385723 meters 0.013741698700851403 Centerline is valid? [True, True] Translation: X:187.02, Y:-175.18, Z:-11.42 [[-6.91287242e-01 -7.22554392e-01 6.09095609e-03 1.87022077e+02] [ 7.22525233e-01 -6.91314070e-01 -6.49191823e-03 -1.75184924e+02] [ 8.90152767e-03 -8.69107844e-05 9.99960377e-01 -1.14228171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.050385723 meters 0.013909378653188836 Centerline is valid? [True, True] Translation: X:186.98, Y:-175.15, Z:-11.42 [[-6.90229904e-01 -7.23570309e-01 5.35607594e-03 1.86979863e+02] [ 7.23547817e-01 -6.90250682e-01 -5.70541358e-03 -1.75146903e+02] [ 7.82530294e-03 -6.26700169e-05 9.99969380e-01 -1.14238906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.110385723 meters 0.014141514424690993 Centerline is valid? [True, True] Translation: X:186.94, Y:-175.11, Z:-11.42 [[-6.90659811e-01 -7.23158292e-01 5.57769083e-03 1.86939184e+02] [ 7.23133915e-01 -6.90682329e-01 -5.93804125e-03 -1.75106388e+02] [ 8.14655627e-03 -6.77490361e-05 9.99966814e-01 -1.14245246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.170385723 meters 0.013861770640661455 Centerline is valid? [True, True] Translation: X:186.90, Y:-175.07, Z:-11.42 [[-6.91018311e-01 -7.22806876e-01 6.62678136e-03 1.86897383e+02] [ 7.22772489e-01 -6.91050080e-01 -7.05095262e-03 -1.75065741e+02] [ 9.67591482e-03 -8.26821119e-05 9.99953184e-01 -1.14243889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2303857229999 meters 0.013694484088897483 Centerline is valid? [True, True] Translation: X:186.86, Y:-175.03, Z:-11.42 [[-6.90003812e-01 -7.23773080e-01 6.87521043e-03 1.86855686e+02] [ 7.23736155e-01 -6.90038060e-01 -7.31122347e-03 -1.75025118e+02] [ 1.00358236e-02 -6.89337052e-05 9.99949638e-01 -1.14246156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.290385723 meters 0.013622187974914763 Centerline is valid? [True, True] Translation: X:186.82, Y:-174.98, Z:-11.42 [[-6.89725609e-01 -7.24045785e-01 6.02376442e-03 1.86816026e+02] [ 7.24017482e-01 -6.89751910e-01 -6.40221378e-03 -1.74983187e+02] [ 8.79039892e-03 -5.44600462e-05 9.99961362e-01 -1.14234005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3503857229999 meters 0.013824995545935068 Centerline is valid? [True, True] Translation: X:186.78, Y:-174.94, Z:-11.42 [[-6.91271985e-01 -7.22573104e-01 5.58144754e-03 1.86779631e+02] [ 7.22548784e-01 -6.91294515e-01 -5.92864833e-03 -1.74938811e+02] [ 8.14230589e-03 -6.54403695e-05 9.99966849e-01 -1.14224282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.410385723 meters 0.013805340582418085 Centerline is valid? [True, True] Translation: X:186.74, Y:-174.90, Z:-11.42 [[-6.93568211e-01 -7.20368975e-01 5.62830703e-03 1.86740133e+02] [ 7.20344199e-01 -6.93591041e-01 -5.97517958e-03 -1.74895547e+02] [ 8.20807732e-03 -8.98762976e-05 9.99966309e-01 -1.14221364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4703857229999 meters 0.013922991988041068 Centerline is valid? [True, True] Translation: X:186.70, Y:-174.85, Z:-11.42 [[-6.95668656e-01 -7.18345277e-01 5.01841873e-03 1.86701744e+02] [ 7.18325548e-01 -6.95686750e-01 -5.32477851e-03 -1.74851057e+02] [ 7.31627691e-03 -9.94231279e-05 9.99973231e-01 -1.14211809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.530385723 meters 0.015376043224424589 Centerline is valid? [True, True] Translation: X:186.66, Y:-174.81, Z:-11.42 [[-6.95617980e-01 -7.18395647e-01 4.82910838e-03 1.86662996e+02] [ 7.18377401e-01 -6.95634736e-01 -5.12095395e-03 -1.74808442e+02] [ 7.03816656e-03 -9.31053220e-05 9.99975228e-01 -1.14213212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5903857229999 meters 0.013834092786668929 Centerline is valid? [True, True] Translation: X:186.62, Y:-174.77, Z:-11.42 [[-6.92281759e-01 -7.21613525e-01 4.45954913e-03 1.86623050e+02] [ 7.21598048e-01 -6.92296120e-01 -4.72648282e-03 -1.74766687e+02] [ 6.49802249e-03 -5.40558925e-05 9.99978886e-01 -1.14218216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.650385723 meters 0.013249996690677905 Centerline is valid? [True, True] Translation: X:186.58, Y:-174.73, Z:-11.42 [[-6.89284901e-01 -7.24474458e-01 4.80471283e-03 1.86581669e+02] [ 7.24456581e-01 -6.89301646e-01 -5.08947529e-03 -1.74726208e+02] [ 6.99909131e-03 -2.72926465e-05 9.99975506e-01 -1.14208512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.710385723 meters 0.013067501823421129 Centerline is valid? [True, True] Translation: X:186.54, Y:-174.68, Z:-11.42 [[-6.88434149e-01 -7.25278793e-01 5.39399676e-03 1.86541443e+02] [ 7.25256313e-01 -6.88455280e-01 -5.71038753e-03 -1.74683714e+02] [ 7.85514852e-03 -1.91955772e-05 9.99969148e-01 -1.14210053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.770385723 meters 0.013139486915441872 Centerline is valid? [True, True] Translation: X:186.50, Y:-174.64, Z:-11.42 [[-6.90453158e-01 -7.23353915e-01 5.79233352e-03 1.86503714e+02] [ 7.23327954e-01 -6.90477452e-01 -6.12858764e-03 -1.74638989e+02] [ 8.43261356e-03 -4.17459395e-05 9.99964444e-01 -1.14211164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.830385723 meters 0.01350085866768798 Centerline is valid? [True, True] Translation: X:186.47, Y:-174.59, Z:-11.42 [[-6.92795226e-01 -7.21111321e-01 5.76528613e-03 1.86468080e+02] [ 7.21085549e-01 -6.92819211e-01 -6.09690798e-03 -1.74593964e+02] [ 8.39085035e-03 -6.66442255e-05 9.99964794e-01 -1.14219989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.890385723 meters 0.013862366775584488 Centerline is valid? [True, True] Translation: X:186.43, Y:-174.55, Z:-11.42 [[-6.95543341e-01 -7.18454108e-01 6.56925368e-03 1.86431587e+02] [ 7.18420563e-01 -6.95574355e-01 -6.94347858e-03 -1.74547751e+02] [ 9.55797510e-03 -1.10003361e-04 9.99954316e-01 -1.14227713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.950385723 meters 0.013812036235759932 Centerline is valid? [True, True] Translation: X:186.39, Y:-174.50, Z:-11.42 [[-6.95896157e-01 -7.18118763e-01 5.82936203e-03 1.86393828e+02] [ 7.18092366e-01 -6.95920565e-01 -6.15800634e-03 -1.74503085e+02] [ 8.47895281e-03 -9.93125695e-05 9.99964048e-01 -1.14221118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.010385723 meters 0.01359543974593307 Centerline is valid? [True, True] Translation: X:186.36, Y:-174.46, Z:-11.42 [[-6.94128269e-01 -7.19830533e-01 5.47261583e-03 1.86355814e+02] [ 7.19807347e-01 -6.94149838e-01 -5.77794246e-03 -1.74460905e+02] [ 7.95795479e-03 -7.14041120e-05 9.99968332e-01 -1.14219112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.070385723 meters 0.013182090043303354 Centerline is valid? [True, True] Translation: X:186.32, Y:-174.42, Z:-11.42 [[-6.92859875e-01 -7.21054273e-01 5.09203434e-03 1.86316700e+02] [ 7.21034256e-01 -6.92878584e-01 -5.37305596e-03 -1.74417735e+02] [ 7.40242650e-03 -5.12436875e-05 9.99972600e-01 -1.14212175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.130385723 meters 0.013301458405388579 Centerline is valid? [True, True] Translation: X:186.28, Y:-174.37, Z:-11.42 [[-6.93391401e-01 -7.20532020e-01 6.47869035e-03 1.86279627e+02] [ 7.20499625e-01 -6.93421663e-01 -6.83280051e-03 -1.74374160e+02] [ 9.41571579e-03 -6.99111510e-05 9.99955669e-01 -1.14222910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.190385723 meters 0.013663877022153206 Centerline is valid? [True, True] Translation: X:186.24, Y:-174.33, Z:-11.42 [[-6.95601171e-01 -7.18392458e-01 7.16158550e-03 1.86242446e+02] [ 7.18352801e-01 -6.95638028e-01 -7.54901419e-03 -1.74328755e+02] [ 1.04050261e-02 -1.06558104e-04 9.99945861e-01 -1.14225441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.250385723 meters 0.014556994104696871 Centerline is valid? [True, True] Translation: X:186.21, Y:-174.28, Z:-11.42 [[-6.98885584e-01 -7.15194708e-01 7.44783270e-03 1.86208530e+02] [ 7.15151686e-01 -6.98925250e-01 -7.84612214e-03 -1.74281951e+02] [ 1.08169834e-02 -1.57211549e-04 9.99941482e-01 -1.14229822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.310385723 meters 0.015061156068288534 Centerline is valid? [True, True] Translation: X:186.17, Y:-174.24, Z:-11.42 [[-7.01742435e-01 -7.12389266e-01 7.68690485e-03 1.86172022e+02] [ 7.12343316e-01 -7.01784505e-01 -8.09375027e-03 -1.74235635e+02] [ 1.11604515e-02 -2.04012723e-04 9.99937699e-01 -1.14224399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.370385723 meters 0.015160873240117797 Centerline is valid? [True, True] Translation: X:186.14, Y:-174.19, Z:-11.42 [[-7.03277495e-01 -7.10885177e-01 6.55969167e-03 1.86136523e+02] [ 7.10851687e-01 -7.03308060e-01 -6.90297032e-03 -1.74189352e+02] [ 9.52070331e-03 -1.91735788e-04 9.99954659e-01 -1.14188739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.430385723 meters 0.016155170568864348 Centerline is valid? [True, True] Translation: X:186.10, Y:-174.15, Z:-11.42 [[-7.03759212e-01 -7.10409160e-01 6.46501354e-03 1.86097211e+02] [ 7.10376647e-01 -7.03788880e-01 -6.79941558e-03 -1.74146835e+02] [ 9.38037175e-03 -1.92556717e-04 9.99955985e-01 -1.14189788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.490385723 meters 0.014672607721963233 Centerline is valid? [True, True] Translation: X:186.06, Y:-174.10, Z:-11.42 [[-7.02485752e-01 -7.11679300e-01 5.13241876e-03 1.86057347e+02] [ 7.11658864e-01 -7.02504487e-01 -5.39514343e-03 -1.74103436e+02] [ 7.44515911e-03 -1.37480087e-04 9.99972275e-01 -1.14168222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.550385723 meters 0.014158524952588077 Centerline is valid? [True, True] Translation: X:186.02, Y:-174.06, Z:-11.41 [[-6.99439412e-01 -7.14684347e-01 3.28541151e-03 1.86017526e+02] [ 7.14676015e-01 -6.99447125e-01 -3.45161678e-03 -1.74062047e+02] [ 4.76478812e-03 -6.61920045e-05 9.99988646e-01 -1.14145050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.610385723 meters 0.013689839934435552 Centerline is valid? [True, True] Translation: X:185.98, Y:-174.02, Z:-11.41 [[-6.96549856e-01 -7.17504871e-01 2.24896544e-03 1.85976126e+02] [ 7.17500986e-01 -6.96553486e-01 -2.36141888e-03 -1.74020814e+02] [ 3.26085427e-03 -3.12110642e-05 9.99994683e-01 -1.14132838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.670385723 meters 0.013263104526845293 Centerline is valid? [True, True] Translation: X:185.93, Y:-173.98, Z:-11.41 [[-6.94182396e-01 -7.19798441e-01 1.00268266e-03 1.85934394e+02] [ 7.19797672e-01 -6.94183120e-01 -1.05222123e-03 -1.73980895e+02] [ 1.45343258e-03 -8.70481377e-06 9.99998944e-01 -1.14125568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7303857229999 meters 0.01338560478585198 Centerline is valid? [True, True] Translation: X:185.90, Y:-173.94, Z:-11.41 [[-6.93032756e-01 -7.20906028e-01 3.13190064e-04 1.85895240e+02] [ 7.20905953e-01 -6.93032826e-01 -3.28471740e-04 -1.73938406e+02] [ 4.53848253e-04 -1.86109314e-06 9.99999897e-01 -1.14111271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.790385723 meters 0.01345059302414504 Centerline is valid? [True, True] Translation: X:185.86, Y:-173.90, Z:-11.41 [[-6.94012599e-01 -7.19962137e-01 1.01665203e-03 1.85856099e+02] [ 7.19961349e-01 -6.94013344e-01 -1.06560724e-03 -1.73897399e+02] [ 1.47276694e-03 -7.59468230e-06 9.99998915e-01 -1.14130919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8503857229999 meters 0.01378966938831349 Centerline is valid? [True, True] Translation: X:185.82, Y:-173.85, Z:-11.41 [[-6.96907425e-01 -7.17160986e-01 -4.00166453e-04 1.85817940e+02] [ 7.17160864e-01 -6.96907540e-01 4.19206819e-04 -1.73853536e+02] [-5.79517794e-04 5.16462556e-06 9.99999832e-01 -1.14126702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.910385723 meters 0.014039317970676458 Centerline is valid? [True, True] Translation: X:185.78, Y:-173.81, Z:-11.41 [[-6.98422620e-01 -7.15684371e-01 -1.31380804e-03 1.85778835e+02] [ 7.15683049e-01 -6.98423855e-01 1.37557196e-03 -1.73809689e+02] [-1.90207023e-03 2.04604239e-05 9.99998191e-01 -1.14116659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9703857229999 meters 0.01552516937300192 Centerline is valid? [True, True] Translation: X:185.74, Y:-173.77, Z:-11.41 [[-6.98410856e-01 -7.15693605e-01 -2.22274058e-03 1.85737653e+02] [ 7.15689826e-01 -6.98414392e-01 2.32589752e-03 -1.73768074e+02] [-3.21702400e-03 3.36392590e-05 9.99994825e-01 -1.14136669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.030385723 meters 0.016882300404405328 Centerline is valid? [True, True] Translation: X:185.70, Y:-173.73, Z:-11.42 [[-6.98478839e-01 -7.15628936e-01 -1.59275797e-03 1.85699280e+02] [ 7.15626998e-01 -6.98480655e-01 1.66567663e-03 -1.73725990e+02] [-2.30451703e-03 2.36192703e-05 9.99997344e-01 -1.14151376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0903857229999 meters 0.016528888168359224 Centerline is valid? [True, True] Translation: X:185.66, Y:-173.68, Z:-11.42 [[-6.98886708e-01 -7.15228847e-01 -2.25074619e-03 1.85660562e+02] [ 7.15224980e-01 -6.98890331e-01 2.35241282e-03 -1.73684057e+02] [-3.25553825e-03 3.42801522e-05 9.99994700e-01 -1.14159119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.150385723 meters 0.014425969194862743 Centerline is valid? [True, True] Translation: X:185.62, Y:-173.64, Z:-11.42 [[-6.98159483e-01 -7.15937588e-01 -2.58962009e-03 1.85620794e+02] [ 7.15932478e-01 -6.98164285e-01 2.70505920e-03 -1.73642112e+02] [-3.74463382e-03 3.45696079e-05 9.99992988e-01 -1.14151421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.210385723 meters 0.01633069736850287 Centerline is valid? [True, True] Translation: X:185.58, Y:-173.60, Z:-11.42 [[-6.98181697e-01 -7.15917564e-01 -2.08813090e-03 1.85580899e+02] [ 7.15914245e-01 -6.98184819e-01 2.17996958e-03 -1.73600044e+02] [-3.01857980e-03 2.70922047e-05 9.99995444e-01 -1.14173502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.270385723 meters 0.014010125068771258 Centerline is valid? [True, True] Translation: X:185.54, Y:-173.56, Z:-11.42 [[-6.94897342e-01 -7.19104998e-01 -2.38467685e-03 1.85540763e+02] [ 7.19100694e-01 -6.94901433e-01 2.48813762e-03 -1.73559606e+02] [-3.44634756e-03 1.41774428e-05 9.99994061e-01 -1.14173747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.330385723 meters 0.013972817817043298 Centerline is valid? [True, True] Translation: X:185.50, Y:-173.52, Z:-11.42 [[-6.93786400e-01 -7.20174450e-01 -3.03199310e-03 1.85501323e+02] [ 7.20167510e-01 -6.93793025e-01 3.16173040e-03 -1.73517173e+02] [-4.38057311e-03 1.00226335e-05 9.99990405e-01 -1.14178211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.390385723 meters 0.013920904374853237 Centerline is valid? [True, True] Translation: X:185.46, Y:-173.47, Z:-11.42 [[-6.93410781e-01 -7.20539849e-01 -1.95306529e-03 1.85463345e+02] [ 7.20536974e-01 -6.93413532e-01 2.03549078e-03 -1.73473483e+02] [-2.82093412e-03 4.17549170e-06 9.99996021e-01 -1.14187187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.450385723 meters 0.013904561841157684 Centerline is valid? [True, True] Translation: X:185.42, Y:-173.43, Z:-11.42 [[-6.92851800e-01 -7.21077836e-01 -1.77125251e-03 1.85424815e+02] [ 7.21075476e-01 -6.92854064e-01 1.84497820e-03 -1.73429940e+02] [-2.55759239e-03 1.08972018e-06 9.99996729e-01 -1.14188288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.510385723 meters 0.013895984390335956 Centerline is valid? [True, True] Translation: X:185.39, Y:-173.39, Z:-11.42 [[-6.93461948e-01 -7.20489883e-01 -2.20345150e-03 1.85386116e+02] [ 7.20486231e-01 -6.93465449e-01 2.29387650e-03 -1.73386291e+02] [-3.18073230e-03 3.15959378e-06 9.99994941e-01 -1.14179820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.570385723 meters 0.01399045065740899 Centerline is valid? [True, True] Translation: X:185.35, Y:-173.34, Z:-11.42 [[-6.95145306e-01 -7.18865716e-01 -2.25545681e-03 1.85347373e+02] [ 7.18861885e-01 -6.95148964e-01 2.34668781e-03 -1.73342536e+02] [-3.25483187e-03 9.92708016e-06 9.99994703e-01 -1.14181187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.630385723 meters 0.016008338712501395 Centerline is valid? [True, True] Translation: X:185.31, Y:-173.30, Z:-11.42 [[-6.98044231e-01 -7.16053831e-01 -1.07817372e-03 1.85309808e+02] [ 7.16052953e-01 -6.98045064e-01 1.12112194e-03 -1.73298853e+02] [-1.55539750e-03 1.05632249e-05 9.99998790e-01 -1.14206887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.690385723 meters 0.015795420880245856 Centerline is valid? [True, True] Translation: X:185.27, Y:-173.26, Z:-11.42 [[-7.00175324e-01 -7.13970221e-01 -1.01975357e-03 1.85270460e+02] [ 7.13969434e-01 -7.00176066e-01 1.05977971e-03 -1.73256261e+02] [-1.47065820e-03 1.39587172e-05 9.99998919e-01 -1.14203309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.750385723 meters 0.014794880421432111 Centerline is valid? [True, True] Translation: X:185.23, Y:-173.21, Z:-11.42 [[-7.00969406e-01 -7.13190573e-01 -1.04767697e-03 1.85231550e+02] [ 7.13189743e-01 -7.00970189e-01 1.08835789e-03 -1.73214761e+02] [-1.51059691e-03 1.57131156e-05 9.99998859e-01 -1.14188682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.810385723 meters 0.014567768373859659 Centerline is valid? [True, True] Translation: X:185.19, Y:-173.17, Z:-11.42 [[-7.00405346e-01 -7.13744973e-01 -6.81198714e-04 1.85190842e+02] [ 7.13744623e-01 -7.00405677e-01 7.07253965e-04 -1.73172779e+02] [-9.81914409e-04 9.16253887e-06 9.99999518e-01 -1.14192425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.870385723 meters 0.01458698812611574 Centerline is valid? [True, True] Translation: X:185.15, Y:-173.13, Z:-11.42 [[-6.99604183e-01 -7.14530034e-01 -9.04199129e-04 1.85151454e+02] [ 7.14529418e-01 -6.99604767e-01 9.38241006e-04 -1.73132031e+02] [-1.30298340e-03 1.03204550e-05 9.99999151e-01 -1.14188537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.930385723 meters 0.014529871799925195 Centerline is valid? [True, True] Translation: X:185.11, Y:-173.09, Z:-11.42 [[-6.98987803e-01 -7.15131593e-01 -1.69019785e-03 1.85110350e+02] [ 7.15129445e-01 -6.98989846e-01 1.75274668e-03 -1.73092177e+02] [-2.43487565e-03 1.64383005e-05 9.99997036e-01 -1.14176833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.990385723 meters 0.014553885691338114 Centerline is valid? [True, True] Translation: X:185.07, Y:-173.05, Z:-11.42 [[-6.98543455e-01 -7.15562228e-01 -2.78204696e-03 1.85069786e+02] [ 7.15556419e-01 -6.98548994e-01 2.88339566e-03 -1.73050652e+02] [-4.00664513e-03 2.34656085e-05 9.99991973e-01 -1.14165951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.050385723 meters 0.014476231583615745 Centerline is valid? [True, True] Translation: X:185.03, Y:-173.01, Z:-11.42 [[-6.97584488e-01 -7.16497000e-01 -2.81604528e-03 1.85028469e+02] [ 7.16491063e-01 -6.97590172e-01 2.91699433e-03 -1.73010069e+02] [-4.05446320e-03 1.71787237e-05 9.99991781e-01 -1.14175967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.110385723 meters 0.014526635196254243 Centerline is valid? [True, True] Translation: X:184.99, Y:-172.97, Z:-11.42 [[-6.96266495e-01 -7.17779955e-01 -2.21457904e-03 1.84988355e+02] [ 7.17776294e-01 -6.96270016e-01 2.29269881e-03 -1.72968761e+02] [-3.18759823e-03 6.75702966e-06 9.99994920e-01 -1.14183307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.170385723 meters 0.01456071354909158 Centerline is valid? [True, True] Translation: X:184.95, Y:-172.93, Z:-11.42 [[-6.94607956e-01 -7.19386506e-01 -1.68594174e-03 1.84948376e+02] [ 7.19384391e-01 -6.94610002e-01 1.74434410e-03 -1.72927514e+02] [-2.42592960e-03 -1.20487535e-06 9.99997057e-01 -1.14191717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2303857229999 meters 0.014699593587138012 Centerline is valid? [True, True] Translation: X:184.91, Y:-172.89, Z:-11.42 [[-6.93174417e-01 -7.20769263e-01 -9.47674041e-04 1.84908979e+02] [ 7.20768597e-01 -6.93175064e-01 9.79900866e-04 -1.72886436e+02] [-1.36318644e-03 -3.81147749e-06 9.99999071e-01 -1.14205990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.290385723 meters 0.014730309812618527 Centerline is valid? [True, True] Translation: X:184.87, Y:-172.84, Z:-11.42 [[-6.92258395e-01 -7.21649439e-01 6.33980815e-04 1.84870870e+02] [ 7.21649142e-01 -6.92258685e-01 -6.55169681e-04 -1.72843021e+02] [ 9.11681559e-04 3.96499925e-06 9.99999584e-01 -1.14219988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3503857229999 meters 0.014754443395590849 Centerline is valid? [True, True] Translation: X:184.83, Y:-172.80, Z:-11.42 [[-6.92874169e-01 -7.21057805e-01 1.01386260e-03 1.84832949e+02] [ 7.21057045e-01 -6.92874911e-01 -1.04714102e-03 -1.72798682e+02] [ 1.45752916e-03 5.51580449e-06 9.99998938e-01 -1.14224452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.410385723 meters 0.014818209802106712 Centerline is valid? [True, True] Translation: X:184.80, Y:-172.76, Z:-11.42 [[-6.93356720e-01 -7.20594356e-01 4.82873300e-04 1.84795503e+02] [ 7.20594184e-01 -6.93356888e-01 -4.98420723e-04 -1.72755694e+02] [ 6.93962689e-04 2.37233377e-06 9.99999759e-01 -1.14222197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4703857229999 meters 0.0148197700672455 Centerline is valid? [True, True] Translation: X:184.76, Y:-172.71, Z:-11.42 [[-6.93559241e-01 -7.20398693e-01 1.14107456e-03 1.84758222e+02] [ 7.20397731e-01 -6.93560180e-01 -1.17714347e-03 -1.72711198e+02] [ 1.63941649e-03 5.60878964e-06 9.99998656e-01 -1.14226466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.530385723 meters 0.015181962268510943 Centerline is valid? [True, True] Translation: X:184.72, Y:-172.67, Z:-11.42 [[-6.94838830e-01 -7.19160388e-01 2.70861780e-03 1.84723782e+02] [ 7.19154966e-01 -6.94844109e-01 -2.79257089e-03 -1.72665484e+02] [ 3.89037349e-03 7.52924700e-06 9.99992432e-01 -1.14243093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5903857229999 meters 0.014695316734222981 Centerline is valid? [True, True] Translation: X:184.69, Y:-172.62, Z:-11.42 [[-6.95598380e-01 -7.18424240e-01 3.08326762e-03 1.84686937e+02] [ 7.18417215e-01 -6.95605213e-01 -3.17705186e-03 -1.72620463e+02] [ 4.42720809e-03 5.12041235e-06 9.99990200e-01 -1.14239157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.650385723 meters 0.014832226276827487 Centerline is valid? [True, True] Translation: X:184.65, Y:-172.58, Z:-11.42 [[-6.97018237e-01 -7.17047994e-01 2.78401791e-03 1.84652771e+02] [ 7.17042263e-01 -6.97023797e-01 -2.86682121e-03 -1.72575236e+02] [ 3.99617514e-03 -1.96816285e-06 9.99992015e-01 -1.14236558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.710385723 meters 0.014805448580835177 Centerline is valid? [True, True] Translation: X:184.62, Y:-172.53, Z:-11.42 [[-6.99356161e-01 -7.14770498e-01 2.02373126e-03 1.84617223e+02] [ 7.14767464e-01 -6.99359089e-01 -2.08274702e-03 -1.72528641e+02] [ 2.90400097e-03 -1.00847039e-05 9.99995783e-01 -1.14219826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.770385723 meters 0.01503686631912498 Centerline is valid? [True, True] Translation: X:184.58, Y:-172.48, Z:-11.42 [[-7.01083826e-01 -7.13072399e-01 3.03691228e-03 1.84582191e+02] [ 7.13065555e-01 -7.01090403e-01 -3.12429590e-03 -1.72483793e+02] [ 4.35699922e-03 -2.48757800e-05 9.99990508e-01 -1.14228367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.830385723 meters 0.014946277443711357 Centerline is valid? [True, True] Translation: X:184.54, Y:-172.44, Z:-11.42 [[-7.00934701e-01 -7.13220954e-01 2.53277212e-03 1.84544309e+02] [ 7.13216200e-01 -7.00939277e-01 -2.60418805e-03 -1.72440238e+02] [ 3.63268095e-03 -1.89516685e-05 9.99993402e-01 -1.14220870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.890385723 meters 0.014882336563978015 Centerline is valid? [True, True] Translation: X:184.50, Y:-172.40, Z:-11.42 [[-6.99182478e-01 -7.14939627e-01 2.27855381e-03 1.84504032e+02] [ 7.14935793e-01 -6.99186191e-01 -2.34150195e-03 -1.72397820e+02] [ 3.26716589e-03 -8.11746278e-06 9.99994663e-01 -1.14215319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.950385723 meters 0.015324261275558292 Centerline is valid? [True, True] Translation: X:184.46, Y:-172.35, Z:-11.42 [[-6.97199818e-01 -7.16870858e-01 2.93011327e-03 1.84464647e+02] [ 7.16864542e-01 -6.97205976e-01 -3.00935462e-03 -1.72354403e+02] [ 4.20021111e-03 2.37281116e-06 9.99991179e-01 -1.14217942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.010385723 meters 0.01684932924537364 Centerline is valid? [True, True] Translation: X:184.43, Y:-172.31, Z:-11.42 [[-6.96961000e-01 -7.17103775e-01 2.74614015e-03 1.84427606e+02] [ 7.17098235e-01 -6.96966410e-01 -2.81873176e-03 -1.72311367e+02] [ 3.93529063e-03 4.70615225e-06 9.99992257e-01 -1.14229206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.070385723 meters 0.01497794262400762 Centerline is valid? [True, True] Translation: X:184.39, Y:-172.27, Z:-11.42 [[-6.94445545e-01 -7.19536239e-01 3.60359401e-03 1.84388765e+02] [ 7.19526743e-01 -6.94454894e-01 -3.69675087e-03 -1.72267589e+02] [ 5.16247971e-03 2.56900903e-05 9.99986674e-01 -1.14217741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.130385723 meters 0.015064349637899436 Centerline is valid? [True, True] Translation: X:184.35, Y:-172.23, Z:-11.42 [[-6.93816908e-01 -7.20140932e-01 3.89060024e-03 1.84348692e+02] [ 7.20129886e-01 -6.93827815e-01 -3.98880402e-03 -1.72226257e+02] [ 5.57190771e-03 3.42378364e-05 9.99984476e-01 -1.14220483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.190385723 meters 0.01692605300403404 Centerline is valid? [True, True] Translation: X:184.31, Y:-172.18, Z:-11.42 [[-6.92926946e-01 -7.20989971e-01 5.07036530e-03 1.84309867e+02] [ 7.20971254e-01 -6.92945495e-01 -5.19543752e-03 -1.72182487e+02] [ 7.25934513e-03 5.55289739e-05 9.99973649e-01 -1.14249085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.250385723 meters 0.015166957431504579 Centerline is valid? [True, True] Translation: X:184.27, Y:-172.14, Z:-11.42 [[-6.93212804e-01 -7.20705087e-01 6.33920485e-03 1.84272772e+02] [ 7.20675855e-01 -6.93241785e-01 -6.49151383e-03 -1.72138968e+02] [ 9.07306873e-03 6.85113683e-05 9.99958837e-01 -1.14243218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.310385723 meters 0.015198793544915882 Centerline is valid? [True, True] Translation: X:184.24, Y:-172.10, Z:-11.43 [[-6.94404997e-01 -7.19553366e-01 6.68237693e-03 1.84237491e+02] [ 7.19520872e-01 -6.94437146e-01 -6.83846972e-03 -1.72095178e+02] [ 9.56113466e-03 5.94421303e-05 9.99954290e-01 -1.14252470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.370385723 meters 0.016540765001871398 Centerline is valid? [True, True] Translation: X:184.20, Y:-172.05, Z:-11.42 [[-6.96322817e-01 -7.17700305e-01 6.38802934e-03 1.84202374e+02] [ 7.17670566e-01 -6.96352118e-01 -6.53357993e-03 -1.72048507e+02] [ 9.13747007e-03 3.50198465e-05 9.99958252e-01 -1.14247208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.430385723 meters 0.015147520397390202 Centerline is valid? [True, True] Translation: X:184.17, Y:-172.00, Z:-11.42 [[-6.96102009e-01 -7.17914812e-01 6.34947107e-03 1.84165573e+02] [ 7.17885477e-01 -6.96130965e-01 -6.49008520e-03 -1.72004160e+02] [ 9.07939172e-03 4.04317237e-05 9.99958781e-01 -1.14228622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.490385723 meters 0.01544698420586026 Centerline is valid? [True, True] Translation: X:184.13, Y:-171.96, Z:-11.42 [[-6.94594468e-01 -7.19371952e-01 6.52064001e-03 1.84129483e+02] [ 7.19341117e-01 -6.94625072e-01 -6.66093470e-03 -1.71959219e+02] [ 9.32108964e-03 6.39160649e-05 9.99956556e-01 -1.14233523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.550385723 meters 0.015388285122363019 Centerline is valid? [True, True] Translation: X:184.09, Y:-171.92, Z:-11.42 [[-6.94292553e-01 -7.19657936e-01 7.09267465e-03 1.84091668e+02] [ 7.19621509e-01 -6.94328776e-01 -7.24119554e-03 -1.71915373e+02] [ 1.01358319e-02 7.65331048e-05 9.99948628e-01 -1.14232629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.610385723 meters 0.015534485702700334 Centerline is valid? [True, True] Translation: X:184.06, Y:-171.87, Z:-11.42 [[-6.93740165e-01 -7.20193348e-01 6.79160379e-03 1.84055664e+02] [ 7.20160018e-01 -6.93773403e-01 -6.92919677e-03 -1.71872216e+02] [ 9.70219550e-03 8.39793936e-05 9.99952929e-01 -1.14224419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.670385723 meters 0.015392741578410285 Centerline is valid? [True, True] Translation: X:184.02, Y:-171.83, Z:-11.42 [[-6.94656439e-01 -7.19318984e-01 5.71237760e-03 1.84019446e+02] [ 7.19295405e-01 -6.94679923e-01 -5.82451704e-03 -1.71827744e+02] [ 8.15795971e-03 6.28487013e-05 9.99966721e-01 -1.14221530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7303857229999 meters 0.015396745657778607 Centerline is valid? [True, True] Translation: X:183.98, Y:-171.78, Z:-11.42 [[-6.95382977e-01 -7.18614031e-01 6.03243403e-03 1.83982163e+02] [ 7.18587741e-01 -6.95409140e-01 -6.14710007e-03 -1.71784276e+02] [ 8.61240212e-03 6.02443950e-05 9.99962911e-01 -1.14222901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.790385723 meters 0.015374048105202537 Centerline is valid? [True, True] Translation: X:183.94, Y:-171.74, Z:-11.42 [[-6.94786572e-01 -7.19188161e-01 6.32523565e-03 1.83941139e+02] [ 7.19159317e-01 -6.94815359e-01 -6.44151156e-03 -1.71744267e+02] [ 9.02752973e-03 7.33764185e-05 9.99959248e-01 -1.14227209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8503857229999 meters 0.015848301184840312 Centerline is valid? [True, True] Translation: X:183.90, Y:-171.71, Z:-11.43 [[-6.94959270e-01 -7.19006452e-01 7.83166970e-03 1.83898213e+02] [ 7.18962271e-01 -6.95003392e-01 -7.97107722e-03 -1.71706686e+02] [ 1.11742930e-02 9.11010261e-05 9.99937562e-01 -1.14262728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.910385723 meters 0.015119648673275933 Centerline is valid? [True, True] Translation: X:183.86, Y:-171.66, Z:-11.42 [[-6.96507930e-01 -7.17498524e-01 8.51886989e-03 1.83857512e+02] [ 7.17446196e-01 -6.96560020e-01 -8.66565973e-03 -1.71664962e+02] [ 1.21515022e-02 7.61300740e-05 9.99926165e-01 -1.14238692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9703857229999 meters 0.014961394705048538 Centerline is valid? [True, True] Translation: X:183.82, Y:-171.62, Z:-11.42 [[-6.98021395e-01 -7.16021234e-01 8.92881935e-03 1.83816925e+02] [ 7.15963699e-01 -6.98078498e-01 -9.07705210e-03 -1.71624103e+02] [ 1.27323788e-02 5.67339595e-05 9.99918938e-01 -1.14239624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.030385723 meters 0.014690933552634611 Centerline is valid? [True, True] Translation: X:183.78, Y:-171.58, Z:-11.42 [[-7.00276041e-01 -7.13828921e-01 7.85733818e-03 1.83776279e+02] [ 7.13784284e-01 -7.00320121e-01 -7.98278534e-03 -1.71584322e+02] [ 1.12009951e-02 1.82911881e-05 9.99937267e-01 -1.14227802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0903857229999 meters 0.014604400555818547 Centerline is valid? [True, True] Translation: X:183.74, Y:-171.54, Z:-11.42 [[-7.01472546e-01 -7.12659079e-01 7.30091764e-03 1.83735457e+02] [ 7.12620525e-01 -7.01510539e-01 -7.41286900e-03 -1.71544106e+02] [ 1.04045191e-02 2.85967487e-06 9.99945872e-01 -1.14220339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.150385723 meters 0.016966268919040402 Centerline is valid? [True, True] Translation: X:183.70, Y:-171.50, Z:-11.42 [[-7.01482377e-01 -7.12644720e-01 7.74458504e-03 1.83695366e+02] [ 7.12601392e-01 -7.01525127e-01 -7.85825366e-03 -1.71504950e+02] [ 1.10331640e-02 6.37563003e-06 9.99939133e-01 -1.14243485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.210385723 meters 0.014630701404568182 Centerline is valid? [True, True] Translation: X:183.65, Y:-171.47, Z:-11.42 [[-7.00689941e-01 -7.13439133e-01 6.18139792e-03 1.83653161e+02] [ 7.13411596e-01 -7.00717206e-01 -6.26838518e-03 -1.71466075e+02] [ 8.80352317e-03 1.76865142e-05 9.99961248e-01 -1.14214558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.270385723 meters 0.01467069346527664 Centerline is valid? [True, True] Translation: X:183.61, Y:-171.43, Z:-11.42 [[-6.99895836e-01 -7.14213226e-01 6.72950840e-03 1.83611858e+02] [ 7.14180663e-01 -6.99928187e-01 -6.82015205e-03 -1.71425996e+02] [ 9.58121541e-03 3.26887495e-05 9.99954099e-01 -1.14221157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.330385723 meters 0.014635878470962824 Centerline is valid? [True, True] Translation: X:183.57, Y:-171.38, Z:-11.42 [[-7.00297379e-01 -7.13827126e-01 5.86646657e-03 1.83571637e+02] [ 7.13802395e-01 -7.00321950e-01 -5.94198003e-03 -1.71384708e+02] [ 8.34996183e-03 2.63448434e-05 9.99965138e-01 -1.14219290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.390385723 meters 0.014578560575464807 Centerline is valid? [True, True] Translation: X:183.53, Y:-171.34, Z:-11.42 [[-7.01944520e-01 -7.12206730e-01 5.95528883e-03 1.83533088e+02] [ 7.12181217e-01 -7.01969782e-01 -6.02822456e-03 -1.71342661e+02] [ 8.47377490e-03 9.76565509e-06 9.99964097e-01 -1.14211791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.450385723 meters 0.014666470811457956 Centerline is valid? [True, True] Translation: X:183.50, Y:-171.30, Z:-11.42 [[-7.04903843e-01 -7.09272498e-01 6.56476002e-03 1.83496583e+02] [ 7.09241407e-01 -7.04934410e-01 -6.64107152e-03 -1.71298086e+02] [ 9.33805463e-03 -2.53171989e-05 9.99956399e-01 -1.14209925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.510385723 meters 0.01489327777059201 Centerline is valid? [True, True] Translation: X:183.46, Y:-171.25, Z:-11.42 [[-7.08138463e-01 -7.06047319e-01 6.09104243e-03 1.83460187e+02] [ 7.06020465e-01 -7.08164656e-01 -6.15813172e-03 -1.71254129e+02] [ 8.66139335e-03 -6.04093221e-05 9.99962488e-01 -1.14208250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.570385723 meters 0.015088400415333247 Centerline is valid? [True, True] Translation: X:183.42, Y:-171.21, Z:-11.42 [[-7.10024524e-01 -7.04146351e-01 6.56442893e-03 1.83421171e+02] [ 7.04115114e-01 -7.10054863e-01 -6.63310171e-03 -1.71211077e+02] [ 9.33177905e-03 -8.75512567e-05 9.99956454e-01 -1.14203409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.630385723 meters 0.015012981034403383 Centerline is valid? [True, True] Translation: X:183.38, Y:-171.17, Z:-11.42 [[-7.09807599e-01 -7.04365341e-01 6.52988698e-03 1.83380213e+02] [ 7.04334478e-01 -7.09837630e-01 -6.59410668e-03 -1.71170782e+02] [ 9.27981970e-03 -8.13224882e-05 9.99956938e-01 -1.14200205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.690385723 meters 0.017136142219712422 Centerline is valid? [True, True] Translation: X:183.34, Y:-171.13, Z:-11.42 [[-7.09056422e-01 -7.05118513e-01 6.84645136e-03 1.83339631e+02] [ 7.05084662e-01 -7.09089471e-01 -6.90953400e-03 -1.71130361e+02] [ 9.72678691e-03 -7.19216160e-05 9.99952691e-01 -1.14211933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.750385723 meters 0.014950042216114083 Centerline is valid? [True, True] Translation: X:183.30, Y:-171.09, Z:-11.42 [[-7.08075151e-01 -7.06113910e-01 5.72074448e-03 1.83298938e+02] [ 7.06090338e-01 -7.08098259e-01 -5.76977362e-03 -1.71091156e+02] [ 8.12496662e-03 -4.60709153e-05 9.99966991e-01 -1.14184656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.810385723 meters 0.015033275201952034 Centerline is valid? [True, True] Translation: X:183.26, Y:-171.05, Z:-11.42 [[-7.08114606e-01 -7.06078185e-01 5.22511824e-03 1.83257182e+02] [ 7.06058543e-01 -7.08133882e-01 -5.26673501e-03 -1.71052169e+02] [ 7.41880996e-03 -4.02126187e-05 9.99972479e-01 -1.14181675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.870385723 meters 0.015072086152581984 Centerline is valid? [True, True] Translation: X:183.22, Y:-171.01, Z:-11.42 [[-7.08951852e-01 -7.05240012e-01 4.87835801e-03 1.83216637e+02] [ 7.05222892e-01 -7.08968634e-01 -4.91414755e-03 -1.71013801e+02] [ 6.92425629e-03 -4.35642596e-05 9.99976026e-01 -1.14179573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.930385723 meters 0.015179904702684469 Centerline is valid? [True, True] Translation: X:183.18, Y:-170.97, Z:-11.42 [[-7.10312276e-01 -7.03871663e-01 4.59928449e-03 1.83175718e+02] [ 7.03856435e-01 -7.10327164e-01 -4.63033568e-03 -1.70973806e+02] [ 6.52615879e-03 -5.17482868e-05 9.99978703e-01 -1.14179052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.990385723 meters 0.015201895127752637 Centerline is valid? [True, True] Translation: X:183.13, Y:-170.93, Z:-11.42 [[-7.11343393e-01 -7.02826372e-01 5.06632002e-03 1.83133619e+02] [ 7.02807890e-01 -7.11361432e-01 -5.09734556e-03 -1.70934719e+02] [ 7.18653355e-03 -6.53134048e-05 9.99974174e-01 -1.14177040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.050385723 meters 0.015336257854616191 Centerline is valid? [True, True] Translation: X:183.09, Y:-170.90, Z:-11.42 [[-7.13291946e-01 -7.00847495e-01 5.23349237e-03 1.83091457e+02] [ 7.00827743e-01 -7.13311140e-01 -5.26242012e-03 -1.70895351e+02] [ 7.42126236e-03 -8.58652449e-05 9.99972458e-01 -1.14181906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.110385723 meters 0.01564595736710761 Centerline is valid? [True, True] Translation: X:183.05, Y:-170.86, Z:-11.42 [[-7.15131585e-01 -6.98967791e-01 5.55368917e-03 1.83049144e+02] [ 6.98945517e-01 -7.15153141e-01 -5.58112057e-03 -1.70856228e+02] [ 7.87276177e-03 -1.09509453e-04 9.99969003e-01 -1.14194155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.170385723 meters 0.015823238148523995 Centerline is valid? [True, True] Translation: X:183.01, Y:-170.82, Z:-11.42 [[-7.15460597e-01 -6.98631041e-01 5.55004686e-03 1.83006138e+02] [ 6.98608813e-01 -7.15482115e-01 -5.57405018e-03 -1.70817532e+02] [ 7.86516374e-03 -1.10701618e-04 9.99969063e-01 -1.14193491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2303857229999 meters 0.015418014690780064 Centerline is valid? [True, True] Translation: X:182.96, Y:-170.78, Z:-11.42 [[-7.14292371e-01 -6.99831140e-01 4.77336012e-03 1.82960543e+02] [ 6.99814742e-01 -7.14308315e-01 -4.79138347e-03 -1.70780533e+02] [ 6.76281018e-03 -8.19808747e-05 9.99977129e-01 -1.14193571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.290385723 meters 0.015873789970946694 Centerline is valid? [True, True] Translation: X:182.92, Y:-170.74, Z:-11.42 [[-7.12899724e-01 -7.01250936e-01 4.59437696e-03 1.82916437e+02] [ 7.01235793e-01 -7.12914525e-01 -4.60888939e-03 -1.70743710e+02] [ 6.50738607e-03 -6.39344033e-05 9.99978825e-01 -1.14196107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3503857229999 meters 0.01474878183079648 Centerline is valid? [True, True] Translation: X:182.87, Y:-170.71, Z:-11.42 [[-7.11472290e-01 -7.02697261e-01 4.87245681e-03 1.82869565e+02] [ 7.02680282e-01 -7.11488972e-01 -4.88511189e-03 -1.70707794e+02] [ 6.89945403e-03 -5.18424201e-05 9.99976197e-01 -1.14186479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.410385723 meters 0.014662554541106062 Centerline is valid? [True, True] Translation: X:182.83, Y:-170.67, Z:-11.42 [[-7.11382604e-01 -7.02785657e-01 5.20687090e-03 1.82825753e+02] [ 7.02766292e-01 -7.11401657e-01 -5.21746301e-03 -1.70669181e+02] [ 7.37093476e-03 -5.23990669e-05 9.99972833e-01 -1.14188402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4703857229999 meters 0.014777797148030283 Centerline is valid? [True, True] Translation: X:182.78, Y:-170.63, Z:-11.42 [[-7.12318517e-01 -7.01831380e-01 5.91984124e-03 1.82784340e+02] [ 7.01806348e-01 -7.12343112e-01 -5.92798354e-03 -1.70631395e+02] [ 8.37740301e-03 -6.80302770e-05 9.99964907e-01 -1.14203751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.530385723 meters 0.014724086959079206 Centerline is valid? [True, True] Translation: X:182.74, Y:-170.59, Z:-11.42 [[-7.13322549e-01 -7.00816228e-01 5.24935733e-03 1.82741602e+02] [ 7.00796541e-01 -7.13341861e-01 -5.25336273e-03 -1.70592609e+02] [ 7.42622817e-03 -6.86106353e-05 9.99972423e-01 -1.14197882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5903857229999 meters 0.016473630683968416 Centerline is valid? [True, True] Translation: X:182.70, Y:-170.55, Z:-11.42 [[-7.14250869e-01 -6.99864298e-01 5.97171582e-03 1.82698161e+02] [ 6.99838815e-01 -7.14275827e-01 -5.97296167e-03 -1.70553490e+02] [ 8.44571488e-03 -8.69545395e-05 9.99964331e-01 -1.14211937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.650385723 meters 0.014935958719434872 Centerline is valid? [True, True] Translation: X:182.66, Y:-170.52, Z:-11.42 [[-7.14472083e-01 -6.99635595e-01 6.29895683e-03 1.82655945e+02] [ 6.99607268e-01 -7.14499844e-01 -6.29638974e-03 -1.70515221e+02] [ 8.90578205e-03 -9.17987157e-05 9.99960339e-01 -1.14197683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.710385723 meters 0.015654513340972856 Centerline is valid? [True, True] Translation: X:182.14, Y:-171.03, Z:-10.49 [[-7.48881194e-01 6.62650401e-01 8.45010826e-03 1.82142153e+02] [ 6.62609890e-01 7.48928858e-01 -7.32797954e-03 -1.71032035e+02] [-1.11844185e-02 1.11339237e-04 -9.99937446e-01 -1.04934147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.770385723 meters 0.014544772969302275 Centerline is valid? [True, True] Translation: X:182.16, Y:-171.01, Z:-10.50 [[-7.94292414e-01 6.07482553e-01 8.03176059e-03 1.82162726e+02] [ 6.07452686e-01 7.94333016e-01 -6.02451306e-03 -1.71007961e+02] [-1.00396792e-02 9.36895253e-05 -9.99949597e-01 -1.04961459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.830385723 meters 0.014806334605100264 Centerline is valid? [True, True] Translation: X:182.18, Y:-170.98, Z:-10.50 [[-8.35159208e-01 5.49950437e-01 7.97583186e-03 1.82180864e+02] [ 5.49926398e-01 8.35197287e-01 -5.14282766e-03 -1.70982531e+02] [-9.48969345e-03 9.10406102e-05 -9.99954968e-01 -1.04959489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.890385723 meters 0.014504670640212122 Centerline is valid? [True, True] Translation: X:182.19, Y:-170.95, Z:-10.50 [[-8.72326618e-01 4.88849573e-01 8.50690127e-03 1.82194815e+02] [ 4.88827293e-01 8.72368092e-01 -4.66798357e-03 -1.70953903e+02] [-9.70309101e-03 8.63991981e-05 -9.99952920e-01 -1.04966868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.950385723 meters 0.014275366334868754 Centerline is valid? [True, True] Translation: X:182.21, Y:-170.92, Z:-10.50 [[-9.05959424e-01 4.23284919e-01 8.20974254e-03 1.82210008e+02] [ 4.23268085e-01 9.05996619e-01 -3.77547707e-03 -1.70923784e+02] [-9.03610149e-03 5.44929741e-05 -9.99959172e-01 -1.04971123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.010385723 meters 0.013913045572212705 Centerline is valid? [True, True] Translation: X:182.22, Y:-170.89, Z:-10.50 [[-9.34993298e-01 3.54588008e-01 7.40790686e-03 1.82219767e+02] [ 3.54577036e-01 9.35022644e-01 -2.78949416e-03 -1.70892120e+02] [-7.91568184e-03 1.85153186e-05 -9.99968670e-01 -1.04986707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.070385723 meters 0.013797124164918188 Centerline is valid? [True, True] Translation: X:182.23, Y:-170.86, Z:-10.50 [[-9.58390088e-01 2.85397828e-01 6.04310093e-03 1.82226641e+02] [ 2.85392162e-01 9.58409140e-01 -1.79828653e-03 -1.70862225e+02] [-6.30499024e-03 1.19365064e-06 -9.99980123e-01 -1.05000353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.130385723 meters 0.015236535460603546 Centerline is valid? [True, True] Translation: X:182.42, Y:-170.22, Z:-11.42 [[-9.36815853e-01 -3.49753345e-01 6.97531901e-03 1.82423013e+02] [ 3.49744198e-01 -9.36841819e-01 -2.53039155e-03 -1.70216547e+02] [ 7.41978345e-03 6.90664366e-05 9.99972471e-01 -1.14169857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.190385723 meters 0.013919267523884681 Centerline is valid? [True, True] Translation: X:182.18, Y:-170.84, Z:-10.50 [[-9.60223721e-01 2.79185471e-01 5.08712341e-03 1.82178100e+02] [ 2.79181476e-01 9.60237196e-01 -1.49357853e-03 -1.70844268e+02] [-5.30183054e-03 -1.39389109e-05 -9.99985945e-01 -1.04989091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.250385723 meters 0.013804184927046948 Centerline is valid? [True, True] Translation: X:182.18, Y:-170.82, Z:-10.50 [[-9.77621832e-01 2.10338045e-01 3.66878770e-03 1.82184044e+02] [ 2.10336526e-01 9.77628716e-01 -7.99523942e-04 -1.70816794e+02] [-3.75488252e-03 -9.95200089e-06 -9.99992950e-01 -1.04992035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.310385723 meters 0.013766685333941866 Centerline is valid? [True, True] Translation: X:182.33, Y:-170.16, Z:-11.42 [[-9.59972145e-01 -2.80077356e-01 3.18668707e-03 1.82330269e+02] [ 2.80075751e-01 -9.59977434e-01 -9.48461595e-04 -1.70162443e+02] [ 3.32479030e-03 -1.79829379e-05 9.99994473e-01 -1.14155146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.370385723 meters 0.01382090806035833 Centerline is valid? [True, True] Translation: X:182.13, Y:-170.81, Z:-10.50 [[-9.78777956e-01 2.04876478e-01 4.39795072e-03 1.82133512e+02] [ 2.04874320e-01 9.78787836e-01 -9.40699925e-04 -1.70806274e+02] [-4.49738796e-03 -1.97091875e-05 -9.99989887e-01 -1.04973030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.430385723 meters 0.014140863736217387 Centerline is valid? [True, True] Translation: X:182.13, Y:-170.77, Z:-10.49 [[-9.91450675e-01 1.30289013e-01 7.09453795e-03 1.82127566e+02] [ 1.30285208e-01 9.91476056e-01 -9.97870066e-04 -1.70773665e+02] [-7.16407601e-03 -6.50256016e-05 -9.99974336e-01 -1.04937840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.490385723 meters 0.014725631701970427 Centerline is valid? [True, True] Translation: X:182.13, Y:-170.75, Z:-10.49 [[-9.98342870e-01 5.70571883e-02 7.48272319e-03 1.82132906e+02] [ 5.70549300e-02 9.98370908e-01 -5.15102008e-04 -1.70745337e+02] [-7.49992341e-03 -8.73221699e-05 -9.99971871e-01 -1.04926685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.550385723 meters 0.014115715169137783 Centerline is valid? [True, True] Translation: X:182.18, Y:-170.08, Z:-11.42 [[-9.89277799e-01 -1.45880818e-01 6.94432834e-03 1.82182251e+02] [ 1.45877585e-01 -9.89302170e-01 -9.72561442e-04 -1.70081776e+02] [ 7.01191716e-03 5.08884058e-05 9.99975415e-01 -1.14215097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.610385723 meters 0.013749292334983815 Centerline is valid? [True, True] Translation: X:182.08, Y:-170.75, Z:-10.49 [[-9.98342549e-01 5.72692394e-02 5.69112129e-03 1.82081062e+02] [ 5.72680692e-02 9.98358769e-01 -3.68516112e-04 -1.70752436e+02] [-5.70288548e-03 -4.19857868e-05 -9.99983738e-01 -1.04945081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.670385723 meters 0.013676762529956166 Centerline is valid? [True, True] Translation: X:182.08, Y:-170.73, Z:-10.49 [[-9.99881690e-01 -1.39656908e-02 6.44715199e-03 1.82078726e+02] [-1.39657146e-02 9.99902474e-01 4.13290575e-05 -1.70726069e+02] [-6.44710042e-03 -4.87149166e-05 -9.99979216e-01 -1.04938304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7303857229999 meters 0.013776148389391424 Centerline is valid? [True, True] Translation: X:182.07, Y:-170.70, Z:-10.49 [[-9.96236680e-01 -8.63324741e-02 7.69298427e-03 1.82071776e+02] [-8.63304314e-02 9.96266380e-01 5.97827874e-04 -1.70699548e+02] [-7.71587355e-03 -6.85605956e-05 -9.99970230e-01 -1.04931369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.790385723 meters 0.015330957733239637 Centerline is valid? [True, True] Translation: X:182.02, Y:-170.01, Z:-11.42 [[-9.99961202e-01 3.57539818e-04 8.80156843e-03 1.82016119e+02] [-3.56200834e-04 -9.99999925e-01 1.53697227e-04 -1.70011733e+02] [ 8.80162272e-03 1.50556138e-04 9.99961254e-01 -1.14229943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8503857229999 meters 0.014088942047232461 Centerline is valid? [True, True] Translation: X:181.99, Y:-170.71, Z:-10.49 [[-9.95521348e-01 -9.41756749e-02 8.25761142e-03 1.81991424e+02] [-9.41732707e-02 9.95555590e-01 6.80363340e-04 -1.70710020e+02] [-8.28498488e-03 -1.00330047e-04 -9.99965674e-01 -1.04931324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.910385723 meters 0.014087170498344815 Centerline is valid? [True, True] Translation: X:181.94, Y:-170.01, Z:-11.42 [[-9.99965839e-01 2.22591521e-03 7.96031945e-03 1.81942417e+02] [-2.22524925e-03 -9.99997520e-01 9.25164024e-05 -1.70013990e+02] [ 7.96050564e-03 7.47995471e-05 9.99968312e-01 -1.14214145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9703857229999 meters 0.014060337817899782 Centerline is valid? [True, True] Translation: X:181.92, Y:-170.72, Z:-10.50 [[-9.95061381e-01 -9.90441237e-02 6.56583660e-03 1.81919900e+02] [-9.90424930e-02 9.95083039e-01 5.73862021e-04 -1.70722287e+02] [-6.59039030e-03 -7.92688900e-05 -9.99978280e-01 -1.04950836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.030385723 meters 0.014042839370315016 Centerline is valid? [True, True] Translation: X:181.86, Y:-170.01, Z:-11.42 [[-9.99936448e-01 9.50870410e-03 6.05686080e-03 1.81863869e+02] [-9.50829587e-03 -9.99954791e-01 9.61931249e-05 -1.70012838e+02] [ 6.05750165e-03 3.85965871e-05 9.99981652e-01 -1.14197280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0903857229999 meters 0.013622407167512897 Centerline is valid? [True, True] Translation: X:181.84, Y:-170.74, Z:-10.49 [[-9.95031679e-01 -9.93648964e-02 6.21092058e-03 1.81838179e+02] [-9.93632444e-02 9.95051062e-01 5.74753860e-04 -1.70738184e+02] [-6.23729347e-03 -4.52389209e-05 -9.99980547e-01 -1.04948564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.150385723 meters 0.013532736604527345 Centerline is valid? [True, True] Translation: X:181.84, Y:-170.72, Z:-10.49 [[-9.85773357e-01 -1.67911728e-01 7.51927404e-03 1.81842443e+02] [-1.67907144e-01 9.85802034e-01 1.24141114e-03 -1.70715561e+02] [-7.62096313e-03 -3.87897997e-05 -9.99970959e-01 -1.04945130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.210385723 meters 0.013586474964668162 Centerline is valid? [True, True] Translation: X:181.71, Y:-169.99, Z:-11.42 [[-9.95797077e-01 9.11738378e-02 8.68976003e-03 1.81708699e+02] [-9.11693279e-02 -9.95834985e-01 9.14533560e-04 -1.69986112e+02] [ 8.73694858e-03 1.18450265e-04 9.99961825e-01 -1.14215245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.270385723 meters 0.013539568490652257 Centerline is valid? [True, True] Translation: X:181.73, Y:-170.74, Z:-10.49 [[-9.84901303e-01 -1.72910763e-01 8.44338019e-03 1.81732532e+02] [-1.72904691e-01 9.84937494e-01 1.44947615e-03 -1.70740384e+02] [-8.56683176e-03 -3.23090947e-05 -9.99963304e-01 -1.04930591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.330385723 meters 0.013487760151811818 Centerline is valid? [True, True] Translation: X:181.71, Y:-170.72, Z:-10.49 [[-9.70790356e-01 -2.39820218e-01 7.23519189e-03 1.81708426e+02] [-2.39813606e-01 9.70817317e-01 1.78090419e-03 -1.70724483e+02] [-7.45114641e-03 -6.21284546e-06 -9.99972240e-01 -1.04935591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.390385723 meters 0.013466338990258295 Centerline is valid? [True, True] Translation: X:181.69, Y:-170.71, Z:-10.50 [[-9.51200942e-01 -3.08511922e-01 6.09599557e-03 1.81689823e+02] [-3.08505575e-01 9.51220476e-01 1.97891910e-03 -1.70706212e+02] [-6.40915594e-03 1.70109516e-06 -9.99979461e-01 -1.04950798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.450385723 meters 0.013460552051315753 Centerline is valid? [True, True] Translation: X:181.63, Y:-170.70, Z:-10.49 [[-9.26265617e-01 -3.76814999e-01 6.51637098e-03 1.81628331e+02] [-3.76805705e-01 9.26288538e-01 2.64663288e-03 -1.70703519e+02] [-7.03333072e-03 -3.92071590e-06 -9.99975266e-01 -1.04947722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.510385723 meters 0.013550559269341622 Centerline is valid? [True, True] Translation: X:181.59, Y:-170.69, Z:-10.49 [[-8.94294030e-01 -4.47414910e-01 7.62146917e-03 1.81587751e+02] [-4.47398960e-01 8.94326505e-01 3.77795918e-03 -1.70694154e+02] [-8.50639715e-03 -3.12310404e-05 -9.99963820e-01 -1.04932683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.570385723 meters 0.013905193891137596 Centerline is valid? [True, True] Translation: X:181.51, Y:-170.71, Z:-10.49 [[-8.57767169e-01 -5.13932837e-01 1.04174186e-02 1.81509507e+02] [-5.13895885e-01 8.57830423e-01 6.16313873e-03 -1.70708056e+02] [-1.21038180e-02 -6.69304863e-05 -9.99926744e-01 -1.04901755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.630385723 meters 0.013914218317511034 Centerline is valid? [True, True] Translation: X:181.44, Y:-170.73, Z:-10.49 [[-8.16209554e-01 -5.77669119e-01 1.00176740e-02 1.81437435e+02] [-5.77626836e-01 8.16271023e-01 6.98971270e-03 -1.70725303e+02] [-1.22148782e-02 -8.14070582e-05 -9.99925392e-01 -1.04898667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.690385723 meters 0.013836111640461887 Centerline is valid? [True, True] Translation: X:181.33, Y:-170.78, Z:-10.49 [[-7.71598524e-01 -6.36058995e-01 8.04194647e-03 1.81331217e+02] [-6.36025238e-01 7.71640429e-01 6.55328920e-03 -1.70776571e+02] [-1.03737696e-02 -5.83726375e-05 -9.99946189e-01 -1.04906799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.750385723 meters 0.013868829833705413 Centerline is valid? [True, True] Translation: X:181.27, Y:-170.79, Z:-10.49 [[-7.21356887e-01 -6.92531604e-01 6.64973310e-03 1.81273439e+02] [-6.92502780e-01 7.21387534e-01 6.31866295e-03 -1.70794112e+02] [-9.17290836e-03 -4.69476242e-05 -9.99957927e-01 -1.04916530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.810385723 meters 0.013953266634943192 Centerline is valid? [True, True] Translation: X:181.18, Y:-170.84, Z:-10.49 [[-6.65887907e-01 -7.46023686e-01 6.47722474e-03 1.81182400e+02] [-7.45989282e-01 6.65919406e-01 7.16483567e-03 -1.70844706e+02] [-9.65844677e-03 -6.09628035e-05 -9.99953354e-01 -1.04906020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.870385723 meters 0.014328505231761789 Centerline is valid? [True, True] Translation: X:181.09, Y:-170.91, Z:-10.49 [[-6.04882742e-01 -7.96276435e-01 7.79144781e-03 1.81085807e+02] [-7.96212880e-01 6.04932909e-01 1.00610519e-02 -1.70909683e+02] [-1.27246818e-02 -1.17894421e-04 -9.99919031e-01 -1.04884335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.930385723 meters 0.014349836376650939 Centerline is valid? [True, True] Translation: X:181.00, Y:-170.98, Z:-10.49 [[-5.42264477e-01 -8.40171454e-01 7.82077818e-03 1.80995467e+02] [-8.40087634e-01 5.42320855e-01 1.18683200e-02 -1.70983750e+02] [-1.42127948e-02 -1.34370690e-04 -9.99898984e-01 -1.04872558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.990385723 meters 0.014243026041346949 Centerline is valid? [True, True] Translation: X:180.90, Y:-171.08, Z:-10.49 [[-4.79254948e-01 -8.77644698e-01 7.38101971e-03 1.80902121e+02] [-8.77543745e-01 4.79311773e-01 1.33116510e-02 -1.71083128e+02] [-1.52207096e-02 -9.74930694e-05 -9.99884154e-01 -1.04859748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.050385723 meters 0.013951618042952925 Centerline is valid? [True, True] Translation: X:180.85, Y:-171.14, Z:-10.49 [[-4.17198613e-01 -9.08795463e-01 6.01024835e-03 1.80847140e+02] [-9.08700563e-01 4.17241903e-01 1.31332515e-02 -1.71136563e+02] [-1.44431669e-02 1.76582610e-05 -9.99895692e-01 -1.04881310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.110385723 meters 0.014187920458530836 Centerline is valid? [True, True] Translation: X:180.78, Y:-171.23, Z:-10.49 [[-3.51072466e-01 -9.36336791e-01 4.64090332e-03 1.80778598e+02] [-9.36251685e-01 3.51103129e-01 1.26244155e-02 -1.71233765e+02] [-1.34501404e-02 8.70311324e-05 -9.99909539e-01 -1.04900394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.170385723 meters 0.014617672497490642 Centerline is valid? [True, True] Translation: X:180.71, Y:-171.35, Z:-10.49 [[-2.81424849e-01 -9.59576255e-01 3.66948300e-03 1.80714328e+02] [-9.59488323e-01 2.81448739e-01 1.29909696e-02 -1.71345397e+02] [-1.34985973e-02 1.35155583e-04 -9.99908881e-01 -1.04912871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2303857229999 meters 0.015093463326324781 Centerline is valid? [True, True] Translation: X:180.66, Y:-171.45, Z:-10.49 [[-2.06700322e-01 -9.78400745e-01 2.63814640e-03 1.80659825e+02] [-9.78312516e-01 2.06717113e-01 1.31398820e-02 -1.71447724e+02] [-1.34014203e-02 1.35086191e-04 -9.99910188e-01 -1.04901281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.290385723 meters 0.014518329179161436 Centerline is valid? [True, True] Translation: X:180.61, Y:-171.57, Z:-10.49 [[-1.28433863e-01 -9.91716739e-01 1.62883100e-03 1.80609056e+02] [-9.91626303e-01 1.28444149e-01 1.33930980e-02 -1.71566119e+02] [-1.34913733e-02 1.04935657e-04 -9.99908982e-01 -1.04918351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3503857229999 meters 0.01428692127534941 Centerline is valid? [True, True] Translation: X:180.57, Y:-171.68, Z:-10.49 [[-4.85523422e-02 -9.98820489e-01 5.47852133e-04 1.80567638e+02] [-9.98743144e-01 4.85554003e-02 1.24300278e-02 -1.71682182e+02] [-1.24419676e-02 5.63434019e-05 -9.99922594e-01 -1.04930148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.410385723 meters 0.014031591558334833 Centerline is valid? [True, True] Translation: X:180.53, Y:-171.81, Z:-10.49 [[ 3.24361370e-02 -9.99473743e-01 -3.66193989e-04 1.80534054e+02] [-9.99412233e-01 -3.24382034e-02 1.10883093e-02 -1.71806546e+02] [-1.10943527e-02 6.31683203e-06 -9.99938456e-01 -1.04928752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4703857229999 meters 0.01395865910692977 Centerline is valid? [True, True] Translation: X:180.51, Y:-171.93, Z:-10.49 [[ 1.12755464e-01 -9.93622017e-01 -1.22160494e-03 1.80512761e+02] [-9.93560662e-01 -1.12762077e-01 1.10419383e-02 -1.71934386e+02] [-1.11092637e-02 -3.13002608e-05 -9.99938290e-01 -1.04940992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.530385723 meters 0.014071960367177042 Centerline is valid? [True, True] Translation: X:180.50, Y:-172.07, Z:-10.49 [[ 1.92204486e-01 -9.81352561e-01 -2.14188336e-03 1.80501316e+02] [-9.81287506e-01 -1.92216407e-01 1.12997143e-02 -1.72065256e+02] [-1.15007087e-02 -7.00523949e-05 -9.99933862e-01 -1.04943780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5903857229999 meters 0.014177784817176124 Centerline is valid? [True, True] Translation: X:180.50, Y:-172.20, Z:-10.49 [[ 2.69701185e-01 -9.62939044e-01 -3.10940109e-03 1.80500807e+02] [-9.62870602e-01 -2.69719089e-01 1.14811288e-02 -1.72195211e+02] [-1.18942921e-02 -1.02523156e-04 -9.99929255e-01 -1.04945625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.650385723 meters 0.014314154918787672 Centerline is valid? [True, True] Translation: X:180.51, Y:-172.33, Z:-10.49 [[ 3.42507929e-01 -9.39507367e-01 -3.77168717e-03 1.80514608e+02] [-9.39447460e-01 -3.42528684e-01 1.06099665e-02 -1.72329448e+02] [-1.12600527e-02 -9.06957154e-05 -9.99936600e-01 -1.04945936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.710385723 meters 0.0139256301535689 Centerline is valid? [True, True] Translation: X:180.53, Y:-172.44, Z:-10.49 [[ 4.12244610e-01 -9.11060436e-01 -4.82326974e-03 1.80528717e+02] [-9.10995948e-01 -4.12272818e-01 1.08400376e-02 -1.72436524e+02] [-1.18644324e-02 -7.47678793e-05 -9.99929612e-01 -1.04949057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.770385723 meters 0.013724279752057367 Centerline is valid? [True, True] Translation: X:180.55, Y:-172.55, Z:-10.50 [[ 4.79297939e-01 -8.77635240e-01 -5.46540416e-03 1.80554851e+02] [-8.77577034e-01 -4.79329096e-01 1.01077466e-02 -1.72547054e+02] [-1.14906418e-02 -4.83089195e-05 -9.99933979e-01 -1.04960868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.830385723 meters 0.013652560159106044 Centerline is valid? [True, True] Translation: X:180.59, Y:-172.67, Z:-10.50 [[ 5.44679268e-01 -8.38619534e-01 -6.46321146e-03 1.80592976e+02] [-8.38559592e-01 -5.44717612e-01 1.00266989e-02 -1.72665283e+02] [-1.19292107e-02 -4.15470595e-05 -9.99928844e-01 -1.04962096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.890385723 meters 0.013667201449821835 Centerline is valid? [True, True] Translation: X:180.64, Y:-172.77, Z:-10.49 [[ 6.06249062e-01 -7.95232877e-01 -8.16989356e-03 1.80635952e+02] [-7.95160068e-01 -6.06304108e-01 1.07608075e-02 -1.72774458e+02] [-1.35107879e-02 -2.73563190e-05 -9.99908725e-01 -1.04948715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.950385723 meters 0.013750616848201096 Centerline is valid? [True, True] Translation: X:180.69, Y:-172.88, Z:-10.49 [[ 6.63932286e-01 -7.47730100e-01 -9.67553767e-03 1.80689432e+02] [-7.47650681e-01 -6.64002784e-01 1.08978056e-02 -1.72881121e+02] [-1.45732012e-02 -1.48263904e-06 -9.99893805e-01 -1.04943464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.010385723 meters 0.013708415775261414 Centerline is valid? [True, True] Translation: X:180.74, Y:-172.97, Z:-10.50 [[ 7.18113516e-01 -6.95844459e-01 -1.06520750e-02 1.80743599e+02] [-6.95768318e-01 -7.18192515e-01 1.02936418e-02 -1.72974949e+02] [-1.48130142e-02 1.93730124e-05 -9.99890281e-01 -1.04959330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.070385723 meters 0.014917492258389854 Centerline is valid? [True, True] Translation: X:180.76, Y:-173.00, Z:-10.50 [[ 7.70360534e-01 -6.37529649e-01 -1.00297013e-02 1.80758953e+02] [-6.37475896e-01 -7.70425822e-01 8.27858576e-03 -1.73002579e+02] [-1.30049847e-02 1.61970837e-05 -9.99915432e-01 -1.04963380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.130385723 meters 0.013675353482712344 Centerline is valid? [True, True] Translation: X:180.78, Y:-173.03, Z:-10.50 [[ 8.18377572e-01 -5.74614713e-01 -8.72250967e-03 1.80776525e+02] [-5.74582124e-01 -8.18424054e-01 6.11967903e-03 -1.73027732e+02] [-1.06551693e-02 3.59007592e-06 -9.99943232e-01 -1.04987567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.190385723 meters 0.01385051332013312 Centerline is valid? [True, True] Translation: X:180.80, Y:-173.05, Z:-10.50 [[ 8.61547569e-01 -5.07602051e-01 -8.71458121e-03 1.80796518e+02] [-5.07575951e-01 -8.61591642e-01 5.14737486e-03 -1.73051903e+02] [-1.01212284e-02 -1.13964519e-05 -9.99948779e-01 -1.04987213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.250385723 meters 0.013821435521166579 Centerline is valid? [True, True] Translation: X:180.82, Y:-173.08, Z:-10.50 [[ 8.99206768e-01 -4.37404107e-01 -1.02389732e-02 1.80816664e+02] [-4.37375383e-01 -8.99265059e-01 5.01277511e-03 -1.73077504e+02] [-1.14001593e-02 -2.92464673e-05 -9.99935016e-01 -1.04990114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.310385723 meters 0.01392659579496055 Centerline is valid? [True, True] Translation: X:180.84, Y:-173.10, Z:-10.50 [[ 9.30781161e-01 -3.65408609e-01 -1.10895690e-02 1.80838891e+02] [-3.65382218e-01 -9.30847220e-01 4.39168486e-03 -1.73098493e+02] [-1.19274539e-02 -3.57662268e-05 -9.99928865e-01 -1.04982836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.370385723 meters 0.01406343647587084 Centerline is valid? [True, True] Translation: X:180.86, Y:-173.11, Z:-10.50 [[ 9.56150001e-01 -2.92675669e-01 -1.08686875e-02 1.80864090e+02] [-2.92656515e-01 -9.56211772e-01 3.34838188e-03 -1.73114435e+02] [-1.13727568e-02 -2.07631306e-05 -9.99935328e-01 -1.04989563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.430385723 meters 0.013999130725583581 Centerline is valid? [True, True] Translation: X:180.89, Y:-173.13, Z:-10.50 [[ 9.75764967e-01 -2.18581577e-01 -1.02383609e-02 1.80890200e+02] [-2.18569519e-01 -9.75818679e-01 2.29587091e-03 -1.73131360e+02] [-1.04926189e-02 -2.43678119e-06 -9.99944951e-01 -1.05011124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.490385723 meters 0.014089172463955827 Centerline is valid? [True, True] Translation: X:180.91, Y:-173.15, Z:-10.50 [[ 9.89673288e-01 -1.43064071e-01 -8.91376824e-03 1.80913228e+02] [-1.43058380e-01 -9.89713429e-01 1.27617035e-03 -1.73146925e+02] [-9.00465025e-03 1.21975381e-05 -9.99959457e-01 -1.05014966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.550385723 meters 0.014225300868799112 Centerline is valid? [True, True] Translation: X:180.94, Y:-173.16, Z:-10.50 [[ 9.97721634e-01 -6.69317475e-02 -8.46651534e-03 1.80938250e+02] [-6.69295634e-02 -9.97757556e-01 5.41362683e-04 -1.73159114e+02] [-8.48376400e-03 2.65309141e-05 -9.99964012e-01 -1.05019461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.610385723 meters 0.01684944212688156 Centerline is valid? [True, True] Translation: X:180.96, Y:-173.17, Z:-10.50 [[ 9.99911634e-01 7.94741808e-03 -1.06565444e-02 1.80964261e+02] [ 7.94621743e-03 -9.99968416e-01 -1.55004807e-04 -1.73172519e+02] [-1.06574398e-02 7.03118907e-05 -9.99943205e-01 -1.04991630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.670385723 meters 0.014850809262697877 Centerline is valid? [True, True] Translation: X:180.99, Y:-173.18, Z:-10.50 [[ 9.96223722e-01 8.60141261e-02 -1.18264983e-02 1.80991817e+02] [ 8.60071097e-02 -9.96293914e-01 -1.10154592e-03 -1.73184730e+02] [-1.18774168e-02 8.02232406e-05 -9.99929458e-01 -1.04994703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7303857229999 meters 0.015001016319721764 Centerline is valid? [True, True] Translation: X:181.02, Y:-173.19, Z:-10.50 [[ 9.86211028e-01 1.65040104e-01 -1.22299678e-02 1.81019291e+02] [ 1.65026568e-01 -9.86286855e-01 -2.11474477e-03 -1.73194820e+02] [-1.24112741e-02 6.73150018e-05 -9.99922975e-01 -1.04985105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.790385723 meters 0.014711388107034871 Centerline is valid? [True, True] Translation: X:181.05, Y:-173.21, Z:-10.50 [[ 9.69639650e-01 2.44289423e-01 -1.10284977e-02 1.81048665e+02] [ 2.44273253e-01 -9.69702365e-01 -2.81088064e-03 -1.73205190e+02] [-1.13810287e-02 3.15743061e-05 -9.99935234e-01 -1.04999178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8503857229999 meters 0.014540187274251591 Centerline is valid? [True, True] Translation: X:181.08, Y:-173.21, Z:-10.50 [[ 9.46816554e-01 3.21627880e-01 -9.69125631e-03 1.81079839e+02] [ 3.21610980e-01 -9.46866151e-01 -3.29700693e-03 -1.73213840e+02] [-1.02367319e-02 4.84629385e-06 -9.99947603e-01 -1.05013070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.910385723 meters 0.014611347764041334 Centerline is valid? [True, True] Translation: X:181.11, Y:-173.22, Z:-10.50 [[ 9.17946673e-01 3.96619695e-01 -8.16839744e-03 1.81111103e+02] [ 3.96604127e-01 -9.17983016e-01 -3.51417578e-03 -1.73218455e+02] [-8.89224144e-03 -1.37941660e-05 -9.99960463e-01 -1.05027825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9703857229999 meters 0.014719957680909548 Centerline is valid? [True, True] Translation: X:181.14, Y:-173.22, Z:-10.50 [[ 8.82855992e-01 4.69574351e-01 -8.07624203e-03 1.81143617e+02] [ 4.69555095e-01 -8.82892931e-01 -4.25269236e-03 -1.73222133e+02] [-9.12741225e-03 -3.77256602e-05 -9.99958344e-01 -1.05026290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.030385723 meters 0.01495076235466873 Centerline is valid? [True, True] Translation: X:181.18, Y:-173.22, Z:-10.50 [[ 8.42670977e-01 5.38365054e-01 -8.28814174e-03 1.81175004e+02] [ 5.38339635e-01 -8.42711733e-01 -5.23176471e-03 -1.73221775e+02] [-9.80111359e-03 -5.31789246e-05 -9.99951967e-01 -1.05014909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0903857229999 meters 0.01482776957983202 Centerline is valid? [True, True] Translation: X:181.21, Y:-173.22, Z:-10.50 [[ 7.98301702e-01 6.02211624e-01 -7.45333443e-03 1.81207766e+02] [ 6.02185904e-01 -7.98336494e-01 -5.56587783e-03 -1.73217855e+02] [-9.30210521e-03 -4.50431861e-05 -9.99956734e-01 -1.05015531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.150385723 meters 0.014577921300795195 Centerline is valid? [True, True] Translation: X:181.24, Y:-173.21, Z:-10.50 [[ 7.50616170e-01 6.60704458e-01 -6.70708813e-03 1.81239495e+02] [ 6.60678293e-01 -7.50646134e-01 -5.88001099e-03 -1.73210047e+02] [-8.91959925e-03 -1.75962084e-05 -9.99960219e-01 -1.05018270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.210385723 meters 0.01473872410365643 Centerline is valid? [True, True] Translation: X:181.27, Y:-173.20, Z:-10.50 [[ 7.00068614e-01 7.14051030e-01 -5.92140211e-03 1.81266748e+02] [ 7.14025191e-01 -7.00093656e-01 -6.07451111e-03 -1.73198413e+02] [-8.48304696e-03 2.45442970e-05 -9.99964018e-01 -1.05007485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.270385723 meters 0.015068862990112916 Centerline is valid? [True, True] Translation: X:181.29, Y:-173.18, Z:-10.50 [[ 6.46840985e-01 7.62601508e-01 -5.97322982e-03 1.81294430e+02] [ 7.62567762e-01 -6.46868558e-01 -7.17467119e-03 -1.73184875e+02] [-9.33530963e-03 8.58788783e-05 -9.99956421e-01 -1.05017669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.330385723 meters 0.015799967395895637 Centerline is valid? [True, True] Translation: X:181.32, Y:-173.17, Z:-10.50 [[ 5.89450325e-01 8.07783768e-01 -5.80506725e-03 1.81321113e+02] [ 8.07742142e-01 -5.89478891e-01 -8.20181662e-03 -1.73169535e+02] [-1.00472589e-02 1.45566015e-04 -9.99949514e-01 -1.05002364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.390385723 meters 0.016278699317748717 Centerline is valid? [True, True] Translation: X:181.35, Y:-173.15, Z:-10.50 [[ 5.26879804e-01 8.49922234e-01 -5.46521616e-03 1.81348004e+02] [ 8.49872793e-01 -5.26908115e-01 -9.16920994e-03 -1.73152727e+02] [-1.06727821e-02 1.86333014e-04 -9.99943027e-01 -1.04992129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.450385723 meters 0.016473496204016766 Centerline is valid? [True, True] Translation: X:181.37, Y:-173.13, Z:-10.50 [[ 4.59526510e-01 8.88152588e-01 -4.51300284e-03 1.81373165e+02] [ 8.88105681e-01 -4.59548632e-01 -9.12979705e-03 -1.73133294e+02] [-1.01825972e-02 1.87360313e-04 -9.99948139e-01 -1.05003174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.510385723 meters 0.01792900336682426 Centerline is valid? [True, True] Translation: X:181.40, Y:-173.11, Z:-10.50 [[ 3.89279423e-01 9.21113288e-01 -3.44121213e-03 1.81400155e+02] [ 9.21073173e-01 -3.89294592e-01 -8.59831850e-03 -1.73113216e+02] [-9.25967070e-03 1.77540294e-04 -9.99957113e-01 -1.04994508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.570385723 meters 0.016639797559705072 Centerline is valid? [True, True] Translation: X:181.43, Y:-173.09, Z:-10.50 [[ 3.15194001e-01 9.49022957e-01 -2.85800999e-03 1.81425017e+02] [ 9.48978715e-01 -3.15206909e-01 -9.16536359e-03 -1.73090473e+02] [-9.59900495e-03 1.76676973e-04 -9.99953913e-01 -1.05000189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.630385723 meters 0.01601774784231728 Centerline is valid? [True, True] Translation: X:181.45, Y:-173.07, Z:-10.50 [[ 2.38430297e-01 9.71158049e-01 -1.74272676e-03 1.81448241e+02] [ 9.71127904e-01 -2.38436629e-01 -7.65301491e-03 -1.73066010e+02] [-7.84781692e-03 1.32300032e-04 -9.99969197e-01 -1.05014496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.690385723 meters 0.01557283587074104 Centerline is valid? [True, True] Translation: X:181.47, Y:-173.04, Z:-10.50 [[ 1.58740654e-01 9.87319851e-01 -9.57131153e-04 1.81468824e+02] [ 9.87298243e-01 -1.58743513e-01 -6.53273795e-03 -1.73039017e+02] [-6.60184023e-03 9.20371907e-05 -9.99978203e-01 -1.05009549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.750385723 meters 0.015344984303917515 Centerline is valid? [True, True] Translation: X:181.48, Y:-173.01, Z:-10.50 [[ 7.99386436e-02 9.96799681e-01 -4.57198225e-04 1.81482478e+02] [ 9.96776459e-01 -7.99399023e-02 -6.80457038e-03 -1.73010540e+02] [-6.81934197e-03 8.82236987e-05 -9.99976744e-01 -1.05009654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.810385723 meters 0.014992829272629885 Centerline is valid? [True, True] Translation: X:181.49, Y:-172.98, Z:-10.50 [[-9.61999474e-04 9.99999534e-01 7.76591857e-05 1.81494171e+02] [ 9.99976138e-01 9.62508224e-04 -6.84088768e-03 -1.72980878e+02] [-6.84095924e-03 7.10764022e-05 -9.99976598e-01 -1.05011919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.870385723 meters 0.014540036721338584 Centerline is valid? [True, True] Translation: X:181.50, Y:-172.95, Z:-10.50 [[-8.26382389e-02 9.96579418e-01 6.20039982e-04 1.81504333e+02] [ 9.96555613e-01 8.26405507e-02 -6.88836561e-03 -1.72949432e+02] [-6.91604384e-03 4.86619210e-05 -9.99976083e-01 -1.05017163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.930385723 meters 0.01417348900612803 Centerline is valid? [True, True] Translation: X:181.51, Y:-172.92, Z:-10.50 [[-1.64699175e-01 9.86342973e-01 1.31226947e-03 1.81514312e+02] [ 9.86312709e-01 1.64704401e-01 -7.72664316e-03 -1.72916575e+02] [-7.83725674e-03 2.17363006e-05 -9.99969288e-01 -1.05004543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.990385723 meters 0.014157949433755675 Centerline is valid? [True, True] Translation: X:181.52, Y:-172.88, Z:-10.50 [[-2.46922514e-01 9.69033095e-01 2.03306555e-03 1.81520694e+02] [ 9.68999447e-01 2.46930882e-01 -8.07533388e-03 -1.72883270e+02] [-8.32729245e-03 -2.39423516e-05 -9.99965327e-01 -1.04998080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.050385723 meters 0.014637857605862498 Centerline is valid? [True, True] Translation: X:181.52, Y:-172.85, Z:-10.50 [[-3.26796475e-01 9.45091250e-01 2.56771232e-03 1.81523705e+02] [ 9.45060528e-01 3.26806556e-01 -7.62063072e-03 -1.72851098e+02] [-8.04133663e-03 -6.37516931e-05 -9.99967666e-01 -1.04997749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.110385723 meters 0.016389486584977367 Centerline is valid? [True, True] Translation: X:181.52, Y:-172.82, Z:-10.50 [[-4.02928911e-01 9.15225577e-01 3.23033341e-03 1.81521491e+02] [ 9.15194280e-01 4.02941849e-01 -7.56937520e-03 -1.72817872e+02] [-8.22932230e-03 -9.35374506e-05 -9.99966134e-01 -1.04997466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.170385723 meters 0.015670769890088684 Centerline is valid? [True, True] Translation: X:181.52, Y:-172.79, Z:-10.50 [[-4.77685413e-01 8.78522205e-01 3.92203798e-03 1.81516291e+02] [ 8.78490190e-01 4.77701493e-01 -7.50128493e-03 -1.72786430e+02] [-8.46360877e-03 -1.37782497e-04 -9.99964174e-01 -1.05023185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2303857229999 meters 0.016530742103704855 Centerline is valid? [True, True] Translation: X:181.51, Y:-172.75, Z:-10.50 [[-5.49006060e-01 8.35802891e-01 5.08658669e-03 1.81507608e+02] [ 8.35763561e-01 5.49029586e-01 -8.11068920e-03 -1.72754866e+02] [-9.57162406e-03 -2.01633715e-04 -9.99954171e-01 -1.05020671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.290385723 meters 0.016694635866909883 Centerline is valid? [True, True] Translation: X:181.49, Y:-172.73, Z:-10.50 [[-6.13536499e-01 7.89643548e-01 6.00262837e-03 1.81494744e+02] [ 7.89602173e-01 6.13565822e-01 -8.08645681e-03 -1.72726215e+02] [-1.00684261e-02 -2.21647993e-04 -9.99949288e-01 -1.05027443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3503857229999 meters 0.015766375867896264 Centerline is valid? [True, True] Translation: X:181.48, Y:-172.70, Z:-10.50 [[-6.72174064e-01 7.40361285e-01 6.86991385e-03 1.81479475e+02] [ 7.40319372e-01 6.72209136e-01 -7.88065765e-03 -1.72697968e+02] [-1.04525527e-02 -2.11243369e-04 -9.99945348e-01 -1.05030907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.410385723 meters 0.01570003656056234 Centerline is valid? [True, True] Translation: X:181.46, Y:-172.67, Z:-10.50 [[-7.25702032e-01 6.87966383e-01 7.66914419e-03 1.81462650e+02] [ 6.87925325e-01 7.25742532e-01 -7.51824369e-03 -1.72673174e+02] [-1.07381230e-02 -1.80206220e-04 -9.99942328e-01 -1.05028498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4703857229999 meters 0.014715088512889801 Centerline is valid? [True, True] Translation: X:181.48, Y:-172.66, Z:-10.50 [[-7.69396020e-01 6.38721181e-01 8.06332225e-03 1.81479273e+02] [ 6.38684357e-01 7.69438261e-01 -6.85971224e-03 -1.72662160e+02] [-1.05856721e-02 -1.27917518e-04 -9.99943962e-01 -1.05044438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.530385723 meters 0.014342889248367586 Centerline is valid? [True, True] Translation: X:181.92, Y:-172.16, Z:-11.41 [[-7.10043488e-01 -7.04123442e-01 6.95874650e-03 1.81923917e+02] [ 7.04090586e-01 -7.10077583e-01 -6.80241929e-03 -1.72157445e+02] [ 9.73099278e-03 6.95743830e-05 9.99952650e-01 -1.14091444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5903857229999 meters 0.014324115779658652 Centerline is valid? [True, True] Translation: X:181.91, Y:-172.18, Z:-11.41 [[-6.61750628e-01 -7.49695051e-01 6.59060415e-03 1.81906334e+02] [ 7.49659062e-01 -6.61783442e-01 -7.34626045e-03 -1.72175638e+02] [ 9.86900780e-03 7.93136523e-05 9.99951297e-01 -1.14084347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.650385723 meters 0.014405544715996303 Centerline is valid? [True, True] Translation: X:181.87, Y:-172.13, Z:-11.41 [[-6.61842570e-01 -7.49614285e-01 6.54488866e-03 1.81870383e+02] [ 7.49578834e-01 -6.61874925e-01 -7.29072725e-03 -1.72129506e+02] [ 9.79713099e-03 8.05963518e-05 9.99952004e-01 -1.14083253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.710385723 meters 0.014574208698638172 Centerline is valid? [True, True] Translation: X:181.83, Y:-172.08, Z:-11.41 [[-6.61370857e-01 -7.50030854e-01 6.50452359e-03 1.81834739e+02] [ 7.49995898e-01 -6.61402836e-01 -7.24170585e-03 -1.72084090e+02] [ 9.73361317e-03 8.89128073e-05 9.99952623e-01 -1.14082561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.770385723 meters 0.014718204102896757 Centerline is valid? [True, True] Translation: X:181.80, Y:-172.04, Z:-11.41 [[-6.61387212e-01 -7.50013485e-01 6.83579922e-03 1.81799830e+02] [ 7.49974926e-01 -6.61422529e-01 -7.60576479e-03 -1.72039048e+02] [ 1.02257778e-02 9.63224456e-05 9.99947711e-01 -1.14090154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.830385723 meters 0.014592175811466027 Centerline is valid? [True, True] Translation: X:181.76, Y:-171.99, Z:-11.41 [[-6.61653797e-01 -7.49777188e-01 6.95856195e-03 1.81764609e+02] [ 7.49737264e-01 -6.61690380e-01 -7.73794050e-03 -1.71992283e+02] [ 1.04061448e-02 9.72554897e-05 9.99945850e-01 -1.14083962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.890385723 meters 0.014678769838894507 Centerline is valid? [True, True] Translation: X:181.73, Y:-171.94, Z:-11.41 [[-6.61890226e-01 -7.49569965e-01 6.79679874e-03 1.81731088e+02] [ 7.49531908e-01 -6.61925116e-01 -7.55379486e-03 -1.71944157e+02] [ 1.01610695e-02 9.46345389e-05 9.99948371e-01 -1.14079886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.950385723 meters 0.014732000023625498 Centerline is valid? [True, True] Translation: X:181.70, Y:-171.90, Z:-11.41 [[-6.61978885e-01 -7.49497464e-01 6.12424936e-03 1.81695291e+02] [ 7.49466598e-01 -6.62007208e-01 -6.80252118e-03 -1.71898684e+02] [ 9.15276960e-03 8.67949473e-05 9.99958109e-01 -1.14079630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.010385723 meters 0.014818427090643956 Centerline is valid? [True, True] Translation: X:181.66, Y:-171.85, Z:-11.41 [[-6.61618286e-01 -7.49819256e-01 5.68569567e-03 1.81658896e+02] [ 7.49792694e-01 -6.61642710e-01 -6.31182989e-03 -1.71853336e+02] [ 8.49463068e-03 8.70710016e-05 9.99963916e-01 -1.14069218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.070385723 meters 0.015447279028993566 Centerline is valid? [True, True] Translation: X:181.62, Y:-171.81, Z:-11.41 [[-6.60194748e-01 -7.51073349e-01 5.63204572e-03 1.81624664e+02] [ 7.51047353e-01 -6.60218762e-01 -6.24971752e-03 -1.71807691e+02] [ 8.41237852e-03 1.03902352e-04 9.99964610e-01 -1.14068564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.130385723 meters 0.015875083932582173 Centerline is valid? [True, True] Translation: X:181.59, Y:-171.76, Z:-11.41 [[-6.58586439e-01 -7.52477133e-01 6.48587624e-03 1.81588261e+02] [ 7.52442765e-01 -6.58618360e-01 -7.19316779e-03 -1.71762548e+02] [ 9.68441145e-03 1.42927887e-04 9.99953095e-01 -1.14079636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.190385723 meters 0.016648808583948585 Centerline is valid? [True, True] Translation: X:181.55, Y:-171.72, Z:-11.41 [[-6.56142855e-01 -7.54597349e-01 7.70678773e-03 1.81552016e+02] [ 7.54549015e-01 -6.56188081e-01 -8.54321339e-03 -1.71718973e+02] [ 1.15037884e-02 2.09580663e-04 9.99933807e-01 -1.14094182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.250385723 meters 0.017012901262899144 Centerline is valid? [True, True] Translation: X:181.52, Y:-171.67, Z:-11.41 [[-6.54413778e-01 -7.56094007e-01 8.02865867e-03 1.81515852e+02] [ 7.56041724e-01 -6.54462978e-01 -8.89503706e-03 -1.71673677e+02] [ 1.19799441e-02 2.48966135e-04 9.99928207e-01 -1.14092935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.310385723 meters 0.01718450818301948 Centerline is valid? [True, True] Translation: X:181.48, Y:-171.63, Z:-11.41 [[-6.53894128e-01 -7.56552691e-01 7.10599755e-03 1.81481455e+02] [ 7.56511815e-01 -6.53932697e-01 -7.86782298e-03 -1.71628063e+02] [ 1.05992668e-02 2.31047859e-04 9.99943800e-01 -1.14077335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.370385723 meters 0.018206862684616614 Centerline is valid? [True, True] Translation: X:181.45, Y:-171.58, Z:-11.41 [[-6.54466372e-01 -7.56068240e-01 5.88094033e-03 1.81445714e+02] [ 7.56040260e-01 -6.54492767e-01 -6.50714548e-03 -1.71584665e+02] [ 8.76887894e-03 1.87519771e-04 9.99961535e-01 -1.14070420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.430385723 meters 0.0169289143219556 Centerline is valid? [True, True] Translation: X:181.41, Y:-171.54, Z:-11.41 [[-6.55669384e-01 -7.55029287e-01 5.33248985e-03 1.81412103e+02] [ 7.55006275e-01 -6.55691048e-01 -5.89694524e-03 -1.71536902e+02] [ 7.94883222e-03 1.59616851e-04 9.99968395e-01 -1.14050888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.490385723 meters 0.01697974651706296 Centerline is valid? [True, True] Translation: X:181.38, Y:-171.49, Z:-11.41 [[-6.57023397e-01 -7.53851220e-01 5.34733702e-03 1.81377875e+02] [ 7.53828072e-01 -6.57045141e-01 -5.90947258e-03 -1.71492448e+02] [ 7.96830492e-03 1.48310999e-04 9.99968242e-01 -1.14053389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.550385723 meters 0.016654643570801174 Centerline is valid? [True, True] Translation: X:181.34, Y:-171.45, Z:-11.41 [[-6.58331501e-01 -7.52707740e-01 5.54016195e-03 1.81341807e+02] [ 7.52682883e-01 -6.58354797e-01 -6.11877197e-03 -1.71447839e+02] [ 8.25303921e-03 1.41804736e-04 9.99965933e-01 -1.14062337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.610385723 meters 0.016490703237341562 Centerline is valid? [True, True] Translation: X:181.30, Y:-171.40, Z:-11.41 [[-6.58126208e-01 -7.52887282e-01 5.53489964e-03 1.81303218e+02] [ 7.52862507e-01 -6.58149466e-01 -6.10950137e-03 -1.71404680e+02] [ 8.24255712e-03 1.46195450e-04 9.99966019e-01 -1.14059216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.670385723 meters 0.017451930237640887 Centerline is valid? [True, True] Translation: X:181.26, Y:-171.36, Z:-11.41 [[-6.58361748e-01 -7.52674104e-01 6.44219490e-03 1.81263280e+02] [ 7.52640565e-01 -6.58393244e-01 -7.10752130e-03 -1.71364613e+02] [ 9.59114483e-03 1.69337060e-04 9.99953990e-01 -1.14081083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7303857229999 meters 0.016863643009293536 Centerline is valid? [True, True] Translation: X:181.23, Y:-171.32, Z:-11.41 [[-6.58299792e-01 -7.52729895e-01 6.25216277e-03 1.81225418e+02] [ 7.52698348e-01 -6.58329460e-01 -6.89346769e-03 -1.71321507e+02] [ 9.30490215e-03 1.68024237e-04 9.99956694e-01 -1.14080036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.790385723 meters 0.016879626837181097 Centerline is valid? [True, True] Translation: X:181.19, Y:-171.28, Z:-11.41 [[-6.58160973e-01 -7.52855385e-01 5.73608785e-03 1.81185797e+02] [ 7.52828871e-01 -6.58185949e-01 -6.32041569e-03 -1.71279886e+02] [ 8.53377142e-03 1.58441596e-04 9.99963574e-01 -1.14084478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8503857229999 meters 0.01723715700046238 Centerline is valid? [True, True] Translation: X:181.15, Y:-171.24, Z:-11.41 [[-6.58134661e-01 -7.52881363e-01 5.33114880e-03 1.81147834e+02] [ 7.52858492e-01 -6.58156236e-01 -5.87031962e-03 -1.71238717e+02] [ 7.92838307e-03 1.50139833e-04 9.99968559e-01 -1.14080205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.910385723 meters 0.017217175910367324 Centerline is valid? [True, True] Translation: X:181.11, Y:-171.20, Z:-11.41 [[-6.57886946e-01 -7.53099019e-01 5.16081967e-03 1.81108684e+02] [ 7.53077620e-01 -6.57907171e-01 -5.67917976e-03 -1.71196820e+02] [ 7.67232497e-03 1.50239565e-04 9.99970556e-01 -1.14074494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9703857229999 meters 0.017760120912449488 Centerline is valid? [True, True] Translation: X:181.07, Y:-171.16, Z:-11.41 [[-6.55924665e-01 -7.54802715e-01 5.97459027e-03 1.81066842e+02] [ 7.54774139e-01 -6.55951844e-01 -6.57096342e-03 -1.71156384e+02] [ 8.87882454e-03 1.99409243e-04 9.99960563e-01 -1.14089448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.030385723 meters 0.017745896340378403 Centerline is valid? [True, True] Translation: X:181.03, Y:-171.12, Z:-11.41 [[-6.56863557e-01 -7.53989328e-01 5.50999349e-03 1.81028487e+02] [ 7.53965028e-01 -6.56886643e-01 -6.05595872e-03 -1.71115142e+02] [ 8.18556937e-03 1.76403810e-04 9.99966482e-01 -1.14085603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0903857229999 meters 0.016879419322062307 Centerline is valid? [True, True] Translation: X:180.99, Y:-171.07, Z:-11.41 [[-6.61008968e-01 -7.50360578e-01 5.11342695e-03 1.80992371e+02] [ 7.50339565e-01 -6.61028734e-01 -5.61693648e-03 -1.71069535e+02] [ 7.59484985e-03 1.23961166e-04 9.99971151e-01 -1.14075420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.150385723 meters 0.015856540071414692 Centerline is valid? [True, True] Translation: X:180.96, Y:-171.02, Z:-11.41 [[-6.66813732e-01 -7.45211363e-01 4.41273298e-03 1.80957949e+02] [ 7.45195618e-01 -6.66828330e-01 -4.84450812e-03 -1.71022402e+02] [ 6.55271786e-03 5.79647423e-05 9.99978529e-01 -1.14062631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.210385723 meters 0.015367413237481566 Centerline is valid? [True, True] Translation: X:180.92, Y:-170.98, Z:-11.41 [[-6.71496355e-01 -7.40989848e-01 5.16627961e-03 1.80921848e+02] [ 7.40968168e-01 -6.71516228e-01 -5.66826743e-03 -1.70977779e+02] [ 7.66936922e-03 2.18278176e-05 9.99970590e-01 -1.14071357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.270385723 meters 0.015354730856653226 Centerline is valid? [True, True] Translation: X:180.88, Y:-170.93, Z:-11.41 [[-6.74638691e-01 -7.38121226e-01 6.30011957e-03 1.80884233e+02] [ 7.38088896e-01 -6.74668108e-01 -6.90838417e-03 -1.70933397e+02] [ 9.34971475e-03 -1.06149553e-05 9.99956290e-01 -1.14081660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.330385723 meters 0.015517041771771111 Centerline is valid? [True, True] Translation: X:180.85, Y:-170.89, Z:-11.41 [[-6.76267442e-01 -7.36617534e-01 7.54696302e-03 1.80846051e+02] [ 7.36571098e-01 -6.76309550e-01 -8.27097657e-03 -1.70889651e+02] [ 1.11966295e-02 -3.45173269e-05 9.99937315e-01 -1.14086288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.390385723 meters 0.015531608369725624 Centerline is valid? [True, True] Translation: X:180.81, Y:-170.85, Z:-11.41 [[-6.76015410e-01 -7.36844700e-01 7.94058360e-03 1.80807755e+02] [ 7.36793377e-01 -6.76062044e-01 -8.69668516e-03 -1.70848824e+02] [ 1.17764335e-02 -2.85237827e-05 9.99930655e-01 -1.14086514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.450385723 meters 0.015572828358067772 Centerline is valid? [True, True] Translation: X:180.77, Y:-170.81, Z:-11.41 [[-6.71498443e-01 -7.40956603e-01 8.55300377e-03 1.80765719e+02] [ 7.40897463e-01 -6.71552909e-01 -9.36156613e-03 -1.70809744e+02] [ 1.26803088e-02 5.06217215e-05 9.99919600e-01 -1.14082932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.510385723 meters 0.015900272897134325 Centerline is valid? [True, True] Translation: X:180.72, Y:-170.77, Z:-11.41 [[-6.68424765e-01 -7.43734277e-01 8.22552182e-03 1.80724481e+02] [ 7.43679850e-01 -6.68475366e-01 -8.99809292e-03 -1.70768288e+02] [ 1.21907488e-02 1.02606687e-04 9.99925685e-01 -1.14072855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.570385723 meters 0.016411133825648773 Centerline is valid? [True, True] Translation: X:180.68, Y:-170.73, Z:-11.41 [[-6.64779447e-01 -7.46998786e-01 7.81671367e-03 1.80682997e+02] [ 7.46949915e-01 -6.64825383e-01 -8.54607212e-03 -1.70727899e+02] [ 1.15806552e-02 1.57440514e-04 9.99932930e-01 -1.14057195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.630385723 meters 0.01670825552898883 Centerline is valid? [True, True] Translation: X:180.64, Y:-170.69, Z:-11.40 [[-6.62909486e-01 -7.48654933e-01 8.17341056e-03 1.80643227e+02] [ 7.48601686e-01 -6.62959842e-01 -8.93100996e-03 -1.70685793e+02] [ 1.21048876e-02 1.98177709e-04 9.99926714e-01 -1.14049841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.690385723 meters 0.01718900944949283 Centerline is valid? [True, True] Translation: X:180.60, Y:-170.64, Z:-11.41 [[-6.62498566e-01 -7.49014869e-01 8.50739756e-03 1.80604190e+02] [ 7.48957281e-01 -6.62553151e-01 -9.29047046e-03 -1.70644392e+02] [ 1.25953036e-02 2.16753991e-04 9.99920653e-01 -1.14051988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.750385723 meters 0.01698378462705388 Centerline is valid? [True, True] Translation: X:180.57, Y:-170.60, Z:-11.40 [[-6.63419905e-01 -7.48197718e-01 8.61419339e-03 1.80566413e+02] [ 7.48138680e-01 -6.63475795e-01 -9.40133318e-03 -1.70601760e+02] [ 1.27493648e-02 2.07579713e-04 9.99918702e-01 -1.14048569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.810385723 meters 0.0164544338875631 Centerline is valid? [True, True] Translation: X:180.53, Y:-170.56, Z:-11.40 [[-6.66049435e-01 -7.45861093e-01 8.32944581e-03 1.80529383e+02] [ 7.45805771e-01 -6.66101497e-01 -9.08559309e-03 -1.70556666e+02] [ 1.23248467e-02 1.60694608e-04 9.99924033e-01 -1.14039760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.870385723 meters 0.016193336676667374 Centerline is valid? [True, True] Translation: X:180.49, Y:-170.51, Z:-11.40 [[-6.68512477e-01 -7.43651816e-01 8.54668508e-03 1.80493353e+02] [ 7.43593464e-01 -6.68567095e-01 -9.31659284e-03 -1.70513508e+02] [ 1.26423336e-02 1.27000610e-04 9.99920074e-01 -1.14040333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.930385723 meters 0.0160936089819249 Centerline is valid? [True, True] Translation: X:180.46, Y:-170.47, Z:-11.40 [[-6.70659206e-01 -7.41719575e-01 8.26448795e-03 1.80456295e+02] [ 7.41664933e-01 -6.70710119e-01 -9.00356281e-03 -1.70469532e+02] [ 1.22211945e-02 9.11586124e-05 9.99925314e-01 -1.14039126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.990385723 meters 0.01585654172192989 Centerline is valid? [True, True] Translation: X:180.42, Y:-170.43, Z:-11.40 [[-6.72071153e-01 -7.40436691e-01 8.59487666e-03 1.80418217e+02] [ 7.40377560e-01 -6.72126105e-01 -9.35776220e-03 -1.70426983e+02] [ 1.27056714e-02 7.43717720e-05 9.99919277e-01 -1.14038122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.050385723 meters 0.01582274206480426 Centerline is valid? [True, True] Translation: X:180.38, Y:-170.38, Z:-11.40 [[-6.72464196e-01 -7.40084697e-01 8.15760474e-03 1.80379599e+02] [ 7.40031471e-01 -6.72513670e-01 -8.87616211e-03 -1.70384608e+02] [ 1.20552125e-02 6.79830228e-05 9.99927331e-01 -1.14021753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.110385723 meters 0.015591924048961455 Centerline is valid? [True, True] Translation: X:180.34, Y:-170.34, Z:-11.40 [[-6.73058941e-01 -7.39555031e-01 7.07232419e-03 1.80339738e+02] [ 7.39515047e-01 -6.73096095e-01 -7.69042203e-03 -1.70343444e+02] [ 1.04478441e-02 5.39828430e-05 9.99945418e-01 -1.14010778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.170385723 meters 0.015587456302020714 Centerline is valid? [True, True] Translation: X:180.30, Y:-170.30, Z:-11.40 [[-6.73276058e-01 -7.39362551e-01 6.50907149e-03 1.80301108e+02] [ 7.39328706e-01 -6.73307520e-01 -7.07450694e-03 -1.70302720e+02] [ 9.61323227e-03 4.92472522e-05 9.99953791e-01 -1.14011334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2303857229999 meters 0.015638493771983314 Centerline is valid? [True, True] Translation: X:180.26, Y:-170.26, Z:-11.40 [[-6.73420847e-01 -7.39234306e-01 6.08308082e-03 1.80262267e+02] [ 7.39204777e-01 -6.73448319e-01 -6.60745837e-03 -1.70260757e+02] [ 8.98110046e-03 4.70421929e-05 9.99959668e-01 -1.14002972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.290385723 meters 0.015624378109777726 Centerline is valid? [True, True] Translation: X:180.22, Y:-170.22, Z:-11.40 [[-6.72759560e-01 -7.39826851e-01 7.12785377e-03 1.80221222e+02] [ 7.39786388e-01 -6.72797315e-01 -7.73776591e-03 -1.70220267e+02] [ 1.05202079e-02 6.74332089e-05 9.99944659e-01 -1.14023670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3503857229999 meters 0.01584720136559571 Centerline is valid? [True, True] Translation: X:180.18, Y:-170.18, Z:-11.40 [[-6.71203211e-01 -7.41235410e-01 7.50445721e-03 1.80180660e+02] [ 7.41190699e-01 -6.71245154e-01 -8.14189668e-03 -1.70180541e+02] [ 1.10723927e-02 9.73666965e-05 9.99938694e-01 -1.14029721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.410385723 meters 0.015850462792458643 Centerline is valid? [True, True] Translation: X:180.14, Y:-170.14, Z:-11.40 [[-6.70322819e-01 -7.42034251e-01 7.24483772e-03 1.80140249e+02] [ 7.41992679e-01 -6.70361960e-01 -7.85532791e-03 -1.70140128e+02] [ 1.06855860e-02 1.10011000e-04 9.99942901e-01 -1.14025551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4703857229999 meters 0.01585950634046393 Centerline is valid? [True, True] Translation: X:180.10, Y:-170.10, Z:-11.40 [[-6.69584632e-01 -7.42706070e-01 6.64184666e-03 1.80099301e+02] [ 7.42671208e-01 -6.69617563e-01 -7.19699028e-03 -1.70099805e+02] [ 9.79274554e-03 1.13714200e-04 9.99952043e-01 -1.14026488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.530385723 meters 0.01590695779530888 Centerline is valid? [True, True] Translation: X:180.06, Y:-170.06, Z:-11.40 [[-6.69617977e-01 -7.42677018e-01 6.52784841e-03 1.80060196e+02] [ 7.42643383e-01 -6.69649785e-01 -7.06900959e-03 -1.70058493e+02] [ 9.62136325e-03 1.14327530e-04 9.99953707e-01 -1.14025068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5903857229999 meters 0.015782139786221422 Centerline is valid? [True, True] Translation: X:180.02, Y:-170.02, Z:-11.40 [[-6.70525565e-01 -7.41859469e-01 6.32418089e-03 1.80021242e+02] [ 7.41827905e-01 -6.70555380e-01 -6.84409563e-03 -1.70015927e+02] [ 9.31807067e-03 1.02312772e-04 9.99956581e-01 -1.14009660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.650385723 meters 0.015690114360734322 Centerline is valid? [True, True] Translation: X:179.98, Y:-169.97, Z:-11.40 [[-6.71191606e-01 -7.41253517e-01 6.71204761e-03 1.79981075e+02] [ 7.41217977e-01 -6.71225158e-01 -7.25933591e-03 -1.69974635e+02] [ 9.88630349e-03 1.02685027e-04 9.99951124e-01 -1.14016840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.710385723 meters 0.01569176298475866 Centerline is valid? [True, True] Translation: X:179.94, Y:-169.93, Z:-11.40 [[-6.71441469e-01 -7.41014894e-01 7.95486215e-03 1.79940867e+02] [ 7.40965013e-01 -6.71488579e-01 -8.59868347e-03 -1.69932768e+02] [ 1.17133516e-02 1.20761873e-04 9.99931389e-01 -1.14034209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.770385723 meters 0.01563266213125329 Centerline is valid? [True, True] Translation: X:179.90, Y:-169.89, Z:-11.40 [[-6.72350918e-01 -7.40190361e-01 7.90398419e-03 1.79902484e+02] [ 7.40141121e-01 -6.72397366e-01 -8.53833711e-03 -1.69889851e+02] [ 1.16346130e-02 1.09304933e-04 9.99932310e-01 -1.14028034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.830385723 meters 0.015573270465139405 Centerline is valid? [True, True] Translation: X:179.86, Y:-169.85, Z:-11.40 [[-6.72991508e-01 -7.39618049e-01 6.89715220e-03 1.79863821e+02] [ 7.39580573e-01 -6.73026844e-01 -7.44605315e-03 -1.69847148e+02] [ 1.01492039e-02 8.98692329e-05 9.99948492e-01 -1.14008012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.890385723 meters 0.015540397120162227 Centerline is valid? [True, True] Translation: X:179.82, Y:-169.81, Z:-11.40 [[-6.72500684e-01 -7.40072854e-01 5.91617795e-03 1.79823740e+02] [ 7.40045332e-01 -6.72526701e-01 -6.38302016e-03 -1.69806156e+02] [ 8.70268758e-03 8.56544513e-05 9.99962127e-01 -1.13994152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.950385723 meters 0.01614813841708014 Centerline is valid? [True, True] Translation: X:179.78, Y:-169.77, Z:-11.40 [[-6.70319546e-01 -7.42046298e-01 6.24481173e-03 1.79781993e+02] [ 7.42015755e-01 -6.70348624e-01 -6.73367572e-03 -1.69767388e+02] [ 9.18290009e-03 1.20034236e-04 9.99957829e-01 -1.13997065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.010385723 meters 0.016279262526346643 Centerline is valid? [True, True] Translation: X:179.74, Y:-169.73, Z:-11.40 [[-6.69463699e-01 -7.42809916e-01 7.19614070e-03 1.79740846e+02] [ 7.42769447e-01 -6.69502356e-01 -7.75523074e-03 -1.69726641e+02] [ 1.05784955e-02 1.53227997e-04 9.99944034e-01 -1.14008622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.070385723 meters 0.01626199850705272 Centerline is valid? [True, True] Translation: X:179.70, Y:-169.69, Z:-11.40 [[-6.70064398e-01 -7.42259039e-01 8.07600171e-03 1.79700039e+02] [ 7.42208094e-01 -6.70113044e-01 -8.69788885e-03 -1.69687475e+02] [ 1.18679207e-02 1.65928183e-04 9.99929560e-01 -1.14022991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.130385723 meters 0.015214422276417323 Centerline is valid? [True, True] Translation: X:179.66, Y:-169.64, Z:-11.40 [[-6.72932104e-01 -7.39661974e-01 7.90870660e-03 1.79661429e+02] [ 7.39612994e-01 -6.72978566e-01 -8.51289652e-03 -1.69643573e+02] [ 1.16190559e-02 1.20780796e-04 9.99932489e-01 -1.14004933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.190385723 meters 0.014913214725774816 Centerline is valid? [True, True] Translation: X:179.62, Y:-169.60, Z:-11.40 [[-6.76566103e-01 -7.36346072e-01 7.26439286e-03 1.79623058e+02] [ 7.36304601e-01 -6.76605098e-01 -7.81507274e-03 -1.69601755e+02] [ 1.06697234e-02 6.13925800e-05 9.99943075e-01 -1.14000025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.250385723 meters 0.014617631170990953 Centerline is valid? [True, True] Translation: X:179.58, Y:-169.56, Z:-11.40 [[-6.79535943e-01 -7.33607395e-01 7.14788726e-03 1.79583813e+02] [ 7.33567141e-01 -6.79573535e-01 -7.68504185e-03 -1.69560636e+02] [ 1.04953185e-02 2.11930620e-05 9.99944922e-01 -1.14001442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.310385723 meters 0.01456756824078254 Centerline is valid? [True, True] Translation: X:179.54, Y:-169.52, Z:-11.40 [[-6.81256033e-01 -7.32008705e-01 7.31257696e-03 1.79544218e+02] [ 7.31966534e-01 -6.81295278e-01 -7.85726701e-03 -1.69519829e+02] [ 1.07336120e-02 -2.48935819e-07 9.99942393e-01 -1.13993796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.370385723 meters 0.014517476185026728 Centerline is valid? [True, True] Translation: X:179.50, Y:-169.48, Z:-11.40 [[-6.82769754e-01 -7.30588802e-01 8.09102319e-03 1.79502674e+02] [ 7.30537133e-01 -6.82817693e-01 -8.68881915e-03 -1.69479372e+02] [ 1.18726478e-02 -2.16700311e-05 9.99929517e-01 -1.13996611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.430385723 meters 0.014753332765047334 Centerline is valid? [True, True] Translation: X:179.46, Y:-169.44, Z:-11.40 [[-6.84150541e-01 -7.29284294e-01 9.08058597e-03 1.79461783e+02] [ 7.29219174e-01 -6.84210799e-01 -9.74576803e-03 -1.69439342e+02] [ 1.33204705e-02 -4.58350663e-05 9.99911278e-01 -1.14005142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.490385723 meters 0.014758788368593892 Centerline is valid? [True, True] Translation: X:179.42, Y:-169.40, Z:-11.40 [[-6.85098986e-01 -7.28395986e-01 8.86944515e-03 1.79419935e+02] [ 7.28333862e-01 -6.85156394e-01 -9.51323986e-03 -1.69400481e+02] [ 1.30063628e-02 -5.75937396e-05 9.99915412e-01 -1.14001773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.550385723 meters 0.014620592887625506 Centerline is valid? [True, True] Translation: X:179.38, Y:-169.36, Z:-11.40 [[-6.86169525e-01 -7.27398050e-01 7.96610452e-03 1.79377835e+02] [ 7.27347931e-01 -6.86215762e-01 -8.53899719e-03 -1.69361360e+02] [ 1.16777164e-02 -6.50700029e-05 9.99931811e-01 -1.13990541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.610385723 meters 0.014600405212742534 Centerline is valid? [True, True] Translation: X:179.34, Y:-169.32, Z:-11.40 [[-6.86680512e-01 -7.26923763e-01 7.19143616e-03 1.79335531e+02] [ 7.26882943e-01 -6.86718165e-01 -7.70384349e-03 -1.69322141e+02] [ 1.05385968e-02 -6.27469144e-05 9.99944466e-01 -1.13976248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.670385723 meters 0.014553057904721858 Centerline is valid? [True, True] Translation: X:179.29, Y:-169.28, Z:-11.40 [[-6.86270458e-01 -7.27309172e-01 7.36387139e-03 1.79293405e+02] [ 7.27266448e-01 -6.86309963e-01 -7.88348453e-03 -1.69284834e+02] [ 1.07876289e-02 -5.47059535e-05 9.99941810e-01 -1.13981758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7303857229999 meters 0.014459069376496091 Centerline is valid? [True, True] Translation: X:179.25, Y:-169.25, Z:-11.40 [[-6.85611417e-01 -7.27923898e-01 7.98646936e-03 1.79250387e+02] [ 7.27873745e-01 -6.85657930e-01 -8.54481183e-03 -1.69247317e+02] [ 1.16959588e-02 -4.52791927e-05 9.99931599e-01 -1.13987404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.790385723 meters 0.014407263561198425 Centerline is valid? [True, True] Translation: X:179.21, Y:-169.21, Z:-11.40 [[-6.85514219e-01 -7.28007119e-01 8.71153707e-03 1.79208466e+02] [ 7.27947527e-01 -6.85569568e-01 -9.31479859e-03 -1.69208689e+02] [ 1.27536044e-02 -4.38850172e-05 9.99918669e-01 -1.13985831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8503857229999 meters 0.01432948351295476 Centerline is valid? [True, True] Translation: X:179.17, Y:-169.17, Z:-11.40 [[-6.86202266e-01 -7.27368459e-01 7.84696136e-03 1.79166748e+02] [ 7.27320126e-01 -6.86247129e-01 -8.38523736e-03 -1.69169958e+02] [ 1.14841119e-02 -4.67159556e-05 9.99934054e-01 -1.13974153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.910385723 meters 0.014350502955794427 Centerline is valid? [True, True] Translation: X:179.12, Y:-169.13, Z:-11.40 [[-6.86681766e-01 -7.26916771e-01 7.75637177e-03 1.79124992e+02] [ 7.26869575e-01 -6.86725568e-01 -8.28346083e-03 -1.69130405e+02] [ 1.13478854e-02 -5.02308588e-05 9.99935609e-01 -1.13972555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9703857229999 meters 0.014138062507764795 Centerline is valid? [True, True] Translation: X:179.08, Y:-169.09, Z:-11.40 [[-6.85753805e-01 -7.27792120e-01 7.76843872e-03 1.79082458e+02] [ 7.27744891e-01 -6.85797805e-01 -8.29124999e-03 -1.69092161e+02] [ 1.13618846e-02 -3.23146381e-05 9.99935451e-01 -1.13961706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.030385723 meters 0.013830372445888072 Centerline is valid? [True, True] Translation: X:179.04, Y:-169.05, Z:-11.39 [[-6.83767913e-01 -7.29666475e-01 6.94822076e-03 1.79038855e+02] [ 7.29628831e-01 -6.83803214e-01 -7.41163976e-03 -1.69053077e+02] [ 1.01592407e-02 1.78074693e-06 9.99948394e-01 -1.13945837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0903857229999 meters 0.014010301950546387 Centerline is valid? [True, True] Translation: X:178.99, Y:-169.02, Z:-11.40 [[-6.80021114e-01 -7.33154590e-01 7.45867864e-03 1.78993967e+02] [ 7.33111470e-01 -6.80062014e-01 -7.95168532e-03 -1.69015157e+02] [ 1.09021786e-02 6.07289562e-05 9.99940568e-01 -1.13957327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.150385723 meters 0.014317578549489745 Centerline is valid? [True, True] Translation: X:178.95, Y:-168.98, Z:-11.40 [[-6.77233855e-01 -7.35730881e-01 7.37412057e-03 1.78950672e+02] [ 7.35688932e-01 -6.77273992e-01 -7.85715078e-03 -1.68975939e+02] [ 1.07750485e-02 1.03930378e-04 9.99941942e-01 -1.13961945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.210385723 meters 0.014605246258883695 Centerline is valid? [True, True] Translation: X:178.91, Y:-168.94, Z:-11.40 [[-6.75766721e-01 -7.37080505e-01 7.18802897e-03 1.78909485e+02] [ 7.37040770e-01 -6.75804937e-01 -7.65439269e-03 -1.68935929e+02] [ 1.04996091e-02 1.25286553e-04 9.99944870e-01 -1.13957576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.270385723 meters 0.014702329469710965 Centerline is valid? [True, True] Translation: X:178.87, Y:-168.89, Z:-11.39 [[-6.75344002e-01 -7.37473185e-01 6.61662606e-03 1.78869321e+02] [ 7.37439578e-01 -6.75376403e-01 -7.04151567e-03 -1.68894606e+02] [ 9.66164210e-03 1.23916554e-04 9.99953318e-01 -1.13949905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.330385723 meters 0.0144740165203665 Centerline is valid? [True, True] Translation: X:178.83, Y:-168.85, Z:-11.39 [[-6.75865317e-01 -7.37001080e-01 5.95658413e-03 1.78831208e+02] [ 7.36973856e-01 -6.75891557e-01 -6.33552271e-03 -1.68850996e+02] [ 8.69529200e-03 1.07886708e-04 9.99962189e-01 -1.13945127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.390385723 meters 0.01514136832961549 Centerline is valid? [True, True] Translation: X:178.79, Y:-168.81, Z:-11.40 [[-6.75005061e-01 -7.37788073e-01 6.07676572e-03 1.78791933e+02] [ 7.37759805e-01 -6.75032402e-01 -6.45955147e-03 -1.68808963e+02] [ 8.86779380e-03 1.22963563e-04 9.99960673e-01 -1.13958820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.450385723 meters 0.01644008590080046 Centerline is valid? [True, True] Translation: X:178.75, Y:-168.77, Z:-11.40 [[-6.74725957e-01 -7.38038430e-01 6.64523221e-03 1.78753186e+02] [ 7.38004677e-01 -6.74758665e-01 -7.05983241e-03 -1.68765321e+02] [ 9.69435564e-03 1.40760275e-04 9.99952999e-01 -1.13973682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.510385723 meters 0.01624920394781243 Centerline is valid? [True, True] Translation: X:178.71, Y:-168.72, Z:-11.40 [[-6.72141327e-01 -7.40385512e-01 7.43839379e-03 1.78714874e+02] [ 7.40343412e-01 -6.72182456e-01 -7.89804893e-03 -1.68721250e+02] [ 1.08475588e-02 1.98360747e-04 9.99941144e-01 -1.13970189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.570385723 meters 0.016796275554624554 Centerline is valid? [True, True] Translation: X:178.68, Y:-168.68, Z:-11.40 [[-6.70728550e-01 -7.41666710e-01 7.32833329e-03 1.78675067e+02] [ 7.41625956e-01 -6.70768548e-01 -7.77803146e-03 -1.68679966e+02] [ 1.06843225e-02 2.17934419e-04 9.99942897e-01 -1.13973500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.630385723 meters 0.016300436166072536 Centerline is valid? [True, True] Translation: X:178.64, Y:-168.63, Z:-11.40 [[-6.68987720e-01 -7.43236684e-01 7.39344269e-03 1.78640549e+02] [ 7.43195346e-01 -6.69028527e-01 -7.84269529e-03 -1.68632802e+02] [ 1.07754029e-02 2.48105355e-04 9.99941913e-01 -1.13963547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.690385723 meters 0.01656744603364043 Centerline is valid? [True, True] Translation: X:178.60, Y:-168.59, Z:-11.40 [[-6.68466682e-01 -7.43705750e-01 7.35199645e-03 1.78604464e+02] [ 7.43664950e-01 -6.68507061e-01 -7.79431185e-03 -1.68586409e+02] [ 1.07115361e-02 2.57184293e-04 9.99942597e-01 -1.13962915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.750385723 meters 0.016753001196011145 Centerline is valid? [True, True] Translation: X:178.57, Y:-168.54, Z:-11.40 [[-6.68711437e-01 -7.43491789e-01 6.70631910e-03 1.78569344e+02] [ 7.43457864e-01 -6.68745023e-01 -7.10631121e-03 -1.68542114e+02] [ 9.76830155e-03 2.33794096e-04 9.99952262e-01 -1.13960618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.810385723 meters 0.01677841745969287 Centerline is valid? [True, True] Translation: X:178.53, Y:-168.50, Z:-11.39 [[-6.68741076e-01 -7.43467408e-01 6.44879982e-03 1.78534651e+02] [ 7.43436073e-01 -6.68772130e-01 -6.82959253e-03 -1.68495417e+02] [ 9.39035705e-03 2.27041350e-04 9.99955884e-01 -1.13948682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.870385723 meters 0.01854411525783421 Centerline is valid? [True, True] Translation: X:178.50, Y:-168.45, Z:-11.40 [[-6.69580070e-01 -7.42704359e-01 7.26395456e-03 1.78497750e+02] [ 7.42664611e-01 -6.69619425e-01 -7.68782411e-03 -1.68452565e+02] [ 1.05738656e-02 2.47068180e-04 9.99944065e-01 -1.13967647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.930385723 meters 0.016410571039736987 Centerline is valid? [True, True] Translation: X:178.47, Y:-168.40, Z:-11.40 [[-6.71648722e-01 -7.40830073e-01 7.66797754e-03 1.78465294e+02] [ 7.40785707e-01 -6.71692451e-01 -8.11091113e-03 -1.68403720e+02] [ 1.11593295e-02 2.32645076e-04 9.99937706e-01 -1.13961548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.990385723 meters 0.0156245145377608 Centerline is valid? [True, True] Translation: X:178.43, Y:-168.36, Z:-11.40 [[-6.75518752e-01 -7.37296161e-01 8.29384579e-03 1.78431900e+02] [ 7.37244048e-01 -6.75569637e-01 -8.76806121e-03 -1.68355492e+02] [ 1.20677283e-02 1.91598680e-04 9.99927164e-01 -1.13957318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.050385723 meters 0.014628366314829878 Centerline is valid? [True, True] Translation: X:178.40, Y:-168.31, Z:-11.39 [[-6.80009709e-01 -7.33157913e-01 8.14064448e-03 1.78397945e+02] [ 7.33107463e-01 -6.80058425e-01 -8.60152885e-03 -1.68306995e+02] [ 1.18423928e-02 1.18844087e-04 9.99929869e-01 -1.13948497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.110385723 meters 0.014178103272721782 Centerline is valid? [True, True] Translation: X:178.36, Y:-168.26, Z:-11.39 [[-6.84813209e-01 -7.28682914e-01 7.21658474e-03 1.78364312e+02] [ 7.28643063e-01 -6.84851232e-01 -7.62090034e-03 -1.68258986e+02] [ 1.04955068e-02 3.94211870e-05 9.99944920e-01 -1.13939556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.170385723 meters 0.014073213940202734 Centerline is valid? [True, True] Translation: X:178.33, Y:-168.21, Z:-11.39 [[-6.88415982e-01 -7.25281450e-01 7.08894897e-03 1.78329343e+02] [ 7.25242858e-01 -6.88452480e-01 -7.48193619e-03 -1.68212507e+02] [ 1.03069140e-02 -9.47484751e-06 9.99946882e-01 -1.13940514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2303857229999 meters 0.014149396731404045 Centerline is valid? [True, True] Translation: X:178.29, Y:-168.17, Z:-11.39 [[-6.91223050e-01 -7.22607790e-01 6.97694901e-03 1.78294140e+02] [ 7.22570313e-01 -6.91258259e-01 -7.35957402e-03 -1.68166358e+02] [ 1.01409591e-02 -4.57709681e-05 9.99948578e-01 -1.13930674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.290385723 meters 0.014357203189663173 Centerline is valid? [True, True] Translation: X:178.26, Y:-168.12, Z:-11.39 [[-6.92578527e-01 -7.21307359e-01 7.11889218e-03 1.78258889e+02] [ 7.21268323e-01 -6.92615110e-01 -7.50436614e-03 -1.68122250e+02] [ 1.03436068e-02 -6.27314157e-05 9.99946502e-01 -1.13929665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3503857229999 meters 0.014349466823469631 Centerline is valid? [True, True] Translation: X:178.22, Y:-168.08, Z:-11.39 [[-6.93135179e-01 -7.20767647e-01 7.59099315e-03 1.78220227e+02] [ 7.20723280e-01 -6.93176741e-01 -7.99746889e-03 -1.68078715e+02] [ 1.10262167e-02 -7.23215437e-05 9.99939207e-01 -1.13934684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.410385723 meters 0.014534157329235249 Centerline is valid? [True, True] Translation: X:178.18, Y:-168.04, Z:-11.40 [[-6.91899694e-01 -7.21946694e-01 8.23315680e-03 1.78183425e+02] [ 7.21894648e-01 -6.91948675e-01 -8.66881412e-03 -1.68035222e+02] [ 1.19553436e-02 -5.44780040e-05 9.99928531e-01 -1.13963293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4703857229999 meters 0.014197080352798609 Centerline is valid? [True, True] Translation: X:178.14, Y:-167.99, Z:-11.40 [[-6.89761960e-01 -7.23990579e-01 8.12891321e-03 1.78143694e+02] [ 7.23940048e-01 -6.89809859e-01 -8.55373864e-03 -1.67993437e+02] [ 1.18002307e-02 -1.51977180e-05 9.99930375e-01 -1.13955507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.530385723 meters 0.014187315971523564 Centerline is valid? [True, True] Translation: X:178.10, Y:-167.95, Z:-11.40 [[-6.88172232e-01 -7.25496956e-01 8.55250253e-03 1.78104264e+02] [ 7.25441207e-01 -6.88225375e-01 -8.99380165e-03 -1.67951751e+02] [ 1.24110250e-02 1.50531972e-05 9.99922980e-01 -1.13955166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5903857229999 meters 0.014517747099049773 Centerline is valid? [True, True] Translation: X:178.06, Y:-167.91, Z:-11.40 [[-6.84877424e-01 -7.28606014e-01 8.72872737e-03 1.78064383e+02] [ 7.28548263e-01 -6.84933041e-01 -9.17374869e-03 -1.67911050e+02] [ 1.26626422e-02 7.64057979e-05 9.99919823e-01 -1.13974893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.650385723 meters 0.014954905880608108 Centerline is valid? [True, True] Translation: X:178.02, Y:-167.87, Z:-11.40 [[-6.80858011e-01 -7.32360902e-01 8.93740278e-03 1.78024499e+02] [ 7.32300728e-01 -6.80916651e-01 -9.38925020e-03 -1.67869402e+02] [ 1.29619461e-02 1.52120340e-04 9.99915979e-01 -1.13988077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.710385723 meters 0.015276137213486774 Centerline is valid? [True, True] Translation: X:177.99, Y:-167.82, Z:-11.40 [[-6.79368254e-01 -7.33744517e-01 8.81818302e-03 1.77987105e+02] [ 7.33686120e-01 -6.79425457e-01 -9.25879961e-03 -1.67824976e+02] [ 1.27848915e-02 1.79643961e-04 9.99918254e-01 -1.13981123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.770385723 meters 0.01559023676108383 Centerline is valid? [True, True] Translation: X:177.95, Y:-167.78, Z:-11.40 [[-6.78633130e-01 -7.34428250e-01 8.49819260e-03 1.77949355e+02] [ 7.34374141e-01 -6.78686311e-01 -8.91698797e-03 -1.67782804e+02] [ 1.23164949e-02 1.89489425e-04 9.99924131e-01 -1.13978408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.830385723 meters 0.015790019286504402 Centerline is valid? [True, True] Translation: X:177.91, Y:-167.74, Z:-11.40 [[-6.78938708e-01 -7.34143865e-01 8.66120026e-03 1.77910619e+02] [ 7.34087706e-01 -6.78993924e-01 -9.08248202e-03 -1.67740154e+02] [ 1.25487508e-02 1.91632022e-04 9.99921243e-01 -1.13995963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.890385723 meters 0.015273905941066854 Centerline is valid? [True, True] Translation: X:177.87, Y:-167.70, Z:-11.40 [[-6.81300512e-01 -7.31956235e-01 8.34761076e-03 1.77872430e+02] [ 7.31903958e-01 -6.81351633e-01 -8.74919025e-03 -1.67695727e+02] [ 1.20916826e-02 1.48821561e-04 9.99926882e-01 -1.13987906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.950385723 meters 0.014710309836560026 Centerline is valid? [True, True] Translation: X:177.83, Y:-167.65, Z:-11.40 [[-6.82933491e-01 -7.30446183e-01 7.08667837e-03 1.77832441e+02] [ 7.30408467e-01 -6.82970250e-01 -7.42352916e-03 -1.67653372e+02] [ 1.02624790e-02 1.06393197e-04 9.99947334e-01 -1.13968593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.010385723 meters 0.014069796654502118 Centerline is valid? [True, True] Translation: X:177.79, Y:-167.61, Z:-11.40 [[-6.85398720e-01 -7.28137480e-01 6.66369511e-03 1.77792123e+02] [ 7.28104061e-01 -6.85431109e-01 -6.97651219e-03 -1.67611771e+02] [ 9.64736394e-03 7.01709476e-05 9.99953461e-01 -1.13965476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.070385723 meters 0.013885613618521557 Centerline is valid? [True, True] Translation: X:177.75, Y:-167.57, Z:-11.40 [[-6.89961631e-01 -7.23801466e-01 8.02411605e-03 1.77754718e+02] [ 7.23752777e-01 -6.90008288e-01 -8.39526258e-03 -1.67569354e+02] [ 1.16132099e-02 1.50672191e-05 9.99932564e-01 -1.13981416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.130385723 meters 0.013987939044105816 Centerline is valid? [True, True] Translation: X:177.72, Y:-167.53, Z:-11.40 [[-6.93691398e-01 -7.20225997e-01 8.17052243e-03 1.77715702e+02] [ 7.20175328e-01 -6.93739512e-01 -8.54316131e-03 -1.67527508e+02] [ 1.18212211e-02 -4.21088329e-05 9.99930126e-01 -1.13973437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.190385723 meters 0.01436496402003359 Centerline is valid? [True, True] Translation: X:177.68, Y:-167.49, Z:-11.40 [[-6.97380801e-01 -7.16661222e-01 7.53070353e-03 1.77676562e+02] [ 7.16618018e-01 -6.97421454e-01 -7.86965250e-03 -1.67486414e+02] [ 1.08919490e-02 -9.15067264e-05 9.99940677e-01 -1.13974531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.250385723 meters 0.014772628793237172 Centerline is valid? [True, True] Translation: X:177.64, Y:-167.44, Z:-11.40 [[-7.01312385e-01 -7.12825313e-01 6.40408731e-03 1.77636711e+02] [ 7.12793943e-01 -7.01341612e-01 -6.68857971e-03 -1.67443924e+02] [ 9.25924185e-03 -1.25989140e-04 9.99957124e-01 -1.13954811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.310385723 meters 0.01606981976188909 Centerline is valid? [True, True] Translation: X:177.60, Y:-167.40, Z:-11.40 [[-7.03024233e-01 -7.11133939e-01 6.74152779e-03 1.77597720e+02] [ 7.11099126e-01 -7.03056539e-01 -7.03817943e-03 -1.67402457e+02] [ 9.74476346e-03 -1.54116172e-04 9.99952507e-01 -1.13964359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.370385723 meters 0.015161431074737913 Centerline is valid? [True, True] Translation: X:177.55, Y:-167.36, Z:-11.40 [[-7.02473900e-01 -7.11678813e-01 6.60968504e-03 1.77554730e+02] [ 7.11645413e-01 -7.02504981e-01 -6.89624797e-03 -1.67364703e+02] [ 9.55125022e-03 -1.40682165e-04 9.99954376e-01 -1.13956050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.430385723 meters 0.01467180215544423 Centerline is valid? [True, True] Translation: X:177.51, Y:-167.33, Z:-11.40 [[-7.00423795e-01 -7.13694230e-01 6.85948976e-03 1.77510873e+02] [ 7.13658394e-01 -7.00457374e-01 -7.15294055e-03 -1.67326847e+02] [ 9.90979258e-03 -1.14757328e-04 9.99950890e-01 -1.13960651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.490385723 meters 0.01437786330993669 Centerline is valid? [True, True] Translation: X:177.47, Y:-167.29, Z:-11.40 [[-6.98284416e-01 -7.15776647e-01 7.91619293e-03 1.77467511e+02] [ 7.15729110e-01 -6.98329280e-01 -8.24976419e-03 -1.67289125e+02] [ 1.14330979e-02 -9.48320549e-05 9.99934636e-01 -1.13973189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.550385723 meters 0.013975674111407464 Centerline is valid? [True, True] Translation: X:177.42, Y:-167.25, Z:-11.40 [[-6.95900647e-01 -7.18094934e-01 7.87117218e-03 1.77424155e+02] [ 7.18048142e-01 -6.95945158e-01 -8.19774755e-03 -1.67250858e+02] [ 1.13646652e-02 -5.29372563e-05 9.99935419e-01 -1.13971588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.610385723 meters 0.01368219983579189 Centerline is valid? [True, True] Translation: X:177.38, Y:-167.21, Z:-11.40 [[-6.93800489e-01 -7.20133939e-01 6.92766367e-03 1.77380815e+02] [ 7.20097834e-01 -6.93835074e-01 -7.21102290e-03 -1.67211348e+02] [ 9.99955836e-03 -1.44156102e-05 9.99950003e-01 -1.13956690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.670385723 meters 0.01358338707142419 Centerline is valid? [True, True] Translation: X:177.34, Y:-167.17, Z:-11.40 [[-6.92335693e-01 -7.21548898e-01 6.20288143e-03 1.77338268e+02] [ 7.21520042e-01 -6.92363480e-01 -6.45297347e-03 -1.67171835e+02] [ 8.95078446e-03 7.87940977e-06 9.99959941e-01 -1.13952628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7303857229999 meters 0.013584857633159869 Centerline is valid? [True, True] Translation: X:177.30, Y:-167.13, Z:-11.39 [[-6.91414988e-01 -7.22441186e-01 4.90375572e-03 1.77297593e+02] [ 7.22423197e-01 -6.91432377e-01 -5.09829724e-03 -1.67132209e+02] [ 7.07383539e-03 1.75477618e-05 9.99974980e-01 -1.13940429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.790385723 meters 0.013696634439917778 Centerline is valid? [True, True] Translation: X:177.26, Y:-167.09, Z:-11.39 [[-6.90690985e-01 -7.23123328e-01 6.21421165e-03 1.77255685e+02] [ 7.23094499e-01 -6.90718938e-01 -6.45712349e-03 -1.67091389e+02] [ 8.96157030e-03 3.35852789e-05 9.99959844e-01 -1.13948080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8503857229999 meters 0.01371528129254944 Centerline is valid? [True, True] Translation: X:177.21, Y:-167.05, Z:-11.40 [[-6.90146080e-01 -7.23628884e-01 7.72190276e-03 1.77214310e+02] [ 7.23584453e-01 -6.90189276e-01 -8.01896341e-03 -1.67051264e+02] [ 1.11323280e-02 5.31926188e-05 9.99938032e-01 -1.13967265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.910385723 meters 0.013788660341019372 Centerline is valid? [True, True] Translation: X:177.17, Y:-167.01, Z:-11.40 [[-6.91161555e-01 -7.22660125e-01 7.61893753e-03 1.77173660e+02] [ 7.22616870e-01 -6.91203546e-01 -7.90684625e-03 -1.67011708e+02] [ 1.09801991e-02 4.06646424e-05 9.99939715e-01 -1.13973296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9703857229999 meters 0.013552859546242944 Centerline is valid? [True, True] Translation: X:177.13, Y:-166.97, Z:-11.40 [[-6.93731419e-01 -7.20201109e-01 6.86150618e-03 1.77133836e+02] [ 7.20165950e-01 -6.93765351e-01 -7.11632933e-03 -1.66970338e+02] [ 9.88546352e-03 4.60186820e-06 9.99951138e-01 -1.13955495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.030385723 meters 0.013528320440015075 Centerline is valid? [True, True] Translation: X:177.09, Y:-166.93, Z:-11.39 [[-6.95791971e-01 -7.18220608e-01 5.71767496e-03 1.77094368e+02] [ 7.18196159e-01 -6.95815463e-01 -5.92616538e-03 -1.66930164e+02] [ 8.23474075e-03 -1.69660943e-05 9.99966094e-01 -1.13946776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0903857229999 meters 0.013517570449981248 Centerline is valid? [True, True] Translation: X:177.05, Y:-166.89, Z:-11.40 [[-6.97522292e-01 -7.16541860e-01 5.51503164e-03 1.77053275e+02] [ 7.16519089e-01 -6.97544093e-01 -5.71257019e-03 -1.66889908e+02] [ 7.94027342e-03 -3.30196048e-05 9.99968475e-01 -1.13950137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.150385723 meters 0.013800066652079977 Centerline is valid? [True, True] Translation: X:177.01, Y:-166.85, Z:-11.40 [[-6.99138151e-01 -7.14959240e-01 6.25551710e-03 1.77012222e+02] [ 7.14929912e-01 -6.99166133e-01 -6.47603418e-03 -1.66849146e+02] [ 9.00374618e-03 -5.53862682e-05 9.99959464e-01 -1.13960421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.210385723 meters 0.013885875892014777 Centerline is valid? [True, True] Translation: X:176.97, Y:-166.81, Z:-11.39 [[-7.01034798e-01 -7.13099548e-01 6.26461467e-03 1.76969748e+02] [ 7.13070097e-01 -7.01062785e-01 -6.48138975e-03 -1.66810192e+02] [ 9.01376431e-03 -7.65703640e-05 9.99959372e-01 -1.13947463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.270385723 meters 0.014140051485676161 Centerline is valid? [True, True] Translation: X:176.93, Y:-166.77, Z:-11.40 [[-7.01815913e-01 -7.12323869e-01 7.00935379e-03 1.76927259e+02] [ 7.12287005e-01 -7.01850908e-01 -7.24738586e-03 -1.66771177e+02] [ 1.00820073e-02 -9.36590956e-05 9.99949171e-01 -1.13952710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.330385723 meters 0.014135278545086248 Centerline is valid? [True, True] Translation: X:176.88, Y:-166.73, Z:-11.39 [[-7.02140408e-01 -7.12007752e-01 6.61875290e-03 1.76883324e+02] [ 7.11974905e-01 -7.02171598e-01 -6.83971213e-03 -1.66732453e+02] [ 9.51742836e-03 -9.00522994e-05 9.99954704e-01 -1.13946281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.390385723 meters 0.014204387715635113 Centerline is valid? [True, True] Translation: X:176.84, Y:-166.69, Z:-11.39 [[-7.02272014e-01 -7.11887888e-01 5.44559132e-03 1.76839424e+02] [ 7.11865677e-01 -7.02293123e-01 -5.62390773e-03 -1.66694988e+02] [ 7.82799313e-03 -7.29834548e-05 9.99969358e-01 -1.13928990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.450385723 meters 0.014389710627992726 Centerline is valid? [True, True] Translation: X:176.80, Y:-166.66, Z:-11.39 [[-7.02215067e-01 -7.11944157e-01 5.43290429e-03 1.76796584e+02] [ 7.11922079e-01 -7.02236080e-01 -5.60720189e-03 -1.66658096e+02] [ 7.80719604e-03 -6.96571392e-05 9.99969521e-01 -1.13931938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.510385723 meters 0.014361130028001236 Centerline is valid? [True, True] Translation: X:176.75, Y:-166.62, Z:-11.39 [[-7.02574039e-01 -7.11580070e-01 6.59724725e-03 1.76752879e+02] [ 7.11547538e-01 -7.02605007e-01 -6.80479129e-03 -1.66620713e+02] [ 9.47741281e-03 -8.66146594e-05 9.99955085e-01 -1.13943018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.570385723 meters 0.014309290799779982 Centerline is valid? [True, True] Translation: X:176.71, Y:-166.58, Z:-11.39 [[-7.03802950e-01 -7.10362426e-01 6.82866507e-03 1.76709280e+02] [ 7.10327555e-01 -7.03836069e-01 -7.03931303e-03 -1.66582791e+02] [ 9.80672426e-03 -1.03700311e-04 9.99951908e-01 -1.13930787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.630385723 meters 0.014679139758355051 Centerline is valid? [True, True] Translation: X:176.67, Y:-166.54, Z:-11.39 [[-7.05358741e-01 -7.08817017e-01 6.89085552e-03 1.76665705e+02] [ 7.08781462e-01 -7.05392388e-01 -7.10055662e-03 -1.66544982e+02] [ 9.89375239e-03 -1.24329032e-04 9.99951048e-01 -1.13936983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.690385723 meters 0.014681387661657072 Centerline is valid? [True, True] Translation: X:176.62, Y:-166.51, Z:-11.39 [[-7.06240203e-01 -7.07943722e-01 6.36100201e-03 1.76623340e+02] [ 7.07913423e-01 -7.06268838e-01 -6.55092104e-03 -1.66505749e+02] [ 9.13026092e-03 -1.23485095e-04 9.99958311e-01 -1.13925466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.750385723 meters 0.0161103098320859 Centerline is valid? [True, True] Translation: X:176.58, Y:-166.47, Z:-11.39 [[-7.06479559e-01 -7.07702151e-01 6.65561576e-03 1.76580673e+02] [ 7.07669007e-01 -7.06510897e-01 -6.85048456e-03 -1.66466142e+02] [ 9.55036773e-03 -1.29754323e-04 9.99954386e-01 -1.13930639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.810385723 meters 0.014399444316489202 Centerline is valid? [True, True] Translation: X:176.54, Y:-166.43, Z:-11.39 [[-7.04795549e-01 -7.09383399e-01 6.19899893e-03 1.76538667e+02] [ 7.09354742e-01 -7.04822803e-01 -6.37697986e-03 -1.66427519e+02] [ 8.89291945e-03 -9.71777327e-05 9.99960453e-01 -1.13916766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.870385723 meters 0.013889943831419893 Centerline is valid? [True, True] Translation: X:176.49, Y:-166.39, Z:-11.39 [[-7.02233835e-01 -7.11917605e-01 6.40035042e-03 1.76494762e+02] [ 7.11887194e-01 -7.02262999e-01 -6.58052011e-03 -1.66389496e+02] [ 9.17951740e-03 -6.47363673e-05 9.99957865e-01 -1.13923439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.930385723 meters 0.013619588209501165 Centerline is valid? [True, True] Translation: X:176.45, Y:-166.35, Z:-11.39 [[-6.99931662e-01 -7.14179812e-01 6.54708501e-03 1.76451286e+02] [ 7.14148125e-01 -6.99962281e-01 -6.72760796e-03 -1.66350210e+02] [ 9.38743435e-03 -3.32773425e-05 9.99955937e-01 -1.13917954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.990385723 meters 0.013361416949066333 Centerline is valid? [True, True] Translation: X:176.41, Y:-166.31, Z:-11.39 [[-6.98132267e-01 -7.15940286e-01 6.39096675e-03 1.76409600e+02] [ 7.15910199e-01 -6.98161519e-01 -6.56351106e-03 -1.66309398e+02] [ 9.16100904e-03 -6.84058147e-06 9.99958037e-01 -1.13908482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.050385723 meters 0.013361967785382936 Centerline is valid? [True, True] Translation: X:176.37, Y:-166.27, Z:-11.39 [[-6.96953253e-01 -7.17086588e-01 6.55659321e-03 1.76368023e+02] [ 7.17055007e-01 -6.96984093e-01 -6.72986672e-03 -1.66268444e+02] [ 9.39573834e-03 1.10354929e-05 9.99955859e-01 -1.13912325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.110385723 meters 0.013273182690108685 Centerline is valid? [True, True] Translation: X:176.33, Y:-166.23, Z:-11.39 [[-6.95954635e-01 -7.18052532e-01 6.90703549e-03 1.76326969e+02] [ 7.18017572e-01 -6.95988909e-01 -7.08559654e-03 -1.66227323e+02] [ 9.89505062e-03 2.81190943e-05 9.99951042e-01 -1.13910356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.170385723 meters 0.015748830671978874 Centerline is valid? [True, True] Translation: X:176.29, Y:-166.19, Z:-11.39 [[-6.95520210e-01 -7.18472931e-01 6.94878202e-03 1.76286483e+02] [ 7.18437608e-01 -6.95554920e-01 -7.12437558e-03 -1.66185650e+02] [ 9.95193052e-03 3.71191321e-05 9.99950478e-01 -1.13932270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2303857229999 meters 0.013223747081289688 Centerline is valid? [True, True] Translation: X:176.25, Y:-166.14, Z:-11.39 [[-6.95022367e-01 -7.18957541e-01 6.63048023e-03 1.76245981e+02] [ 7.18925439e-01 -6.95053993e-01 -6.79419531e-03 -1.66143494e+02] [ 9.49327971e-03 4.47031955e-05 9.99954937e-01 -1.13913340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.290385723 meters 0.013268486269090838 Centerline is valid? [True, True] Translation: X:176.21, Y:-166.10, Z:-11.39 [[-6.95040796e-01 -7.18935884e-01 7.03466242e-03 1.76205977e+02] [ 7.18899788e-01 -6.95076393e-01 -7.20434841e-03 -1.66100902e+02] [ 1.00690924e-02 4.99012744e-05 9.99949304e-01 -1.13918521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3503857229999 meters 0.013261392538627171 Centerline is valid? [True, True] Translation: X:176.17, Y:-166.06, Z:-11.39 [[-6.95030320e-01 -7.18942493e-01 7.38550455e-03 1.76167115e+02] [ 7.18902752e-01 -6.95069557e-01 -7.55943416e-03 -1.66058120e+02] [ 1.05682378e-02 5.54235944e-05 9.99944153e-01 -1.13916023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.410385723 meters 0.013341150624450241 Centerline is valid? [True, True] Translation: X:176.13, Y:-166.02, Z:-11.39 [[-6.94780470e-01 -7.19175754e-01 8.14454357e-03 1.76127837e+02] [ 7.19127500e-01 -6.94828202e-01 -8.33117934e-03 -1.66016217e+02] [ 1.16506407e-02 6.86245640e-05 9.99932127e-01 -1.13924099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4703857229999 meters 0.013460288420285862 Centerline is valid? [True, True] Translation: X:176.09, Y:-165.97, Z:-11.39 [[-6.94222362e-01 -7.19710003e-01 8.53370259e-03 1.76088970e+02] [ 7.19657133e-01 -6.94274805e-01 -8.72390672e-03 -1.65974233e+02] [ 1.22034176e-02 8.50088144e-05 9.99925532e-01 -1.13935261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.530385723 meters 0.013311310698989023 Centerline is valid? [True, True] Translation: X:176.05, Y:-165.93, Z:-11.39 [[-6.94543499e-01 -7.19406206e-01 8.00244051e-03 1.76052623e+02] [ 7.19359754e-01 -6.94589594e-01 -8.17558470e-03 -1.65931747e+02] [ 1.14399783e-02 7.83344281e-05 9.99934558e-01 -1.13931226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5903857229999 meters 0.013274079816119283 Centerline is valid? [True, True] Translation: X:176.01, Y:-165.89, Z:-11.39 [[-6.95070026e-01 -7.18899034e-01 7.86370660e-03 1.76014400e+02] [ 7.18854200e-01 -6.95114504e-01 -8.02910606e-03 -1.65889141e+02] [ 1.12382931e-02 7.20675539e-05 9.99936846e-01 -1.13929266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.650385723 meters 0.012933659198459546 Centerline is valid? [True, True] Translation: X:175.98, Y:-165.84, Z:-11.39 [[-6.96266967e-01 -7.17749230e-01 6.95365044e-03 1.75979575e+02] [ 7.17714159e-01 -6.96301688e-01 -7.09548011e-03 -1.65843583e+02] [ 9.93461393e-03 5.03849659e-05 9.99950649e-01 -1.13903279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.710385723 meters 0.012826749592677086 Centerline is valid? [True, True] Translation: X:175.94, Y:-165.80, Z:-11.39 [[-6.97970917e-01 -7.16094935e-01 6.68156756e-03 1.75942798e+02] [ 7.16062519e-01 -6.98002897e-01 -6.81358767e-03 -1.65799741e+02] [ 9.54292913e-03 2.87340598e-05 9.99954465e-01 -1.13900890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.770385723 meters 0.013747060237955659 Centerline is valid? [True, True] Translation: X:175.91, Y:-165.75, Z:-11.39 [[-7.00658929e-01 -7.13459532e-01 7.24988234e-03 1.75906773e+02] [ 7.13421269e-01 -7.00696436e-01 -7.38896854e-03 -1.65754202e+02] [ 1.03516968e-02 -4.92652389e-06 9.99946420e-01 -1.13914344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.830385723 meters 0.013140939267433125 Centerline is valid? [True, True] Translation: X:175.87, Y:-165.71, Z:-11.39 [[-7.03584250e-01 -7.10574529e-01 7.28300020e-03 1.75871739e+02] [ 7.10535811e-01 -7.03621942e-01 -7.41784017e-03 -1.65709654e+02] [ 1.03954070e-02 -4.42430662e-05 9.99945965e-01 -1.13914257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.890385723 meters 0.01339152346684969 Centerline is valid? [True, True] Translation: X:175.83, Y:-165.66, Z:-11.39 [[-7.06748123e-01 -7.07428184e-01 7.24260538e-03 1.75834780e+02] [ 7.07389771e-01 -7.06785227e-01 -7.37255573e-03 -1.65664061e+02] [ 1.03345202e-02 -8.71949622e-05 9.99946594e-01 -1.13907320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.950385723 meters 0.013587557186570964 Centerline is valid? [True, True] Translation: X:175.80, Y:-165.62, Z:-11.39 [[-7.08855681e-01 -7.05319287e-01 6.95173166e-03 1.75797881e+02] [ 7.05283836e-01 -7.08889759e-01 -7.07248411e-03 -1.65618244e+02] [ 9.91637084e-03 -1.10426570e-04 9.99950826e-01 -1.13902407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.010385723 meters 0.01385655069066804 Centerline is valid? [True, True] Translation: X:175.76, Y:-165.58, Z:-11.39 [[-7.08894336e-01 -7.05279307e-01 7.06534149e-03 1.75760287e+02] [ 7.05242733e-01 -7.08929536e-01 -7.18333655e-03 -1.65575751e+02] [ 1.00750879e-02 -1.09445854e-04 9.99949239e-01 -1.13910981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.070385723 meters 0.013527325426521769 Centerline is valid? [True, True] Translation: X:175.72, Y:-165.53, Z:-11.39 [[-7.07296235e-01 -7.06877791e-01 7.47159083e-03 1.75720690e+02] [ 7.06837028e-01 -7.07335692e-01 -7.59173181e-03 -1.65534397e+02] [ 1.06513495e-02 -8.84062625e-05 9.99943269e-01 -1.13922612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.130385723 meters 0.013264984184804353 Centerline is valid? [True, True] Translation: X:175.68, Y:-165.49, Z:-11.39 [[-7.04654855e-01 -7.09505493e-01 7.96806862e-03 1.75681960e+02] [ 7.09459359e-01 -7.04699903e-01 -8.09100615e-03 -1.65493930e+02] [ 1.13557105e-02 -4.83459095e-05 9.99935521e-01 -1.13925767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.190385723 meters 0.013193114498502408 Centerline is valid? [True, True] Translation: X:175.64, Y:-165.45, Z:-11.39 [[-7.02565610e-01 -7.11580047e-01 7.44315790e-03 1.75642186e+02] [ 7.11539955e-01 -7.02605036e-01 -7.55347036e-03 -1.65452532e+02] [ 1.06044990e-02 -1.07042770e-05 9.99943771e-01 -1.13918380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.250385723 meters 0.014634662051927413 Centerline is valid? [True, True] Translation: X:175.60, Y:-165.41, Z:-11.39 [[-7.01078457e-01 -7.13042900e-01 7.66940593e-03 1.75602408e+02] [ 7.13000472e-01 -7.01120405e-01 -7.77847132e-03 -1.65410634e+02] [ 1.09235607e-02 1.49713790e-05 9.99940336e-01 -1.13931287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.310385723 meters 0.013596128146426498 Centerline is valid? [True, True] Translation: X:175.56, Y:-165.37, Z:-11.39 [[-6.98648601e-01 -7.15426144e-01 7.45416354e-03 1.75563439e+02] [ 7.15386249e-01 -6.98688364e-01 -7.55544083e-03 -1.65368657e+02] [ 1.06134972e-02 5.40079279e-05 9.99943674e-01 -1.13907534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.370385723 meters 0.013599612781617445 Centerline is valid? [True, True] Translation: X:175.52, Y:-165.33, Z:-11.39 [[-6.97887288e-01 -7.16164306e-01 7.87532690e-03 1.75524669e+02] [ 7.16119873e-01 -6.97931717e-01 -7.97786560e-03 -1.65325529e+02] [ 1.12099030e-02 7.20271130e-05 9.99937165e-01 -1.13907054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.430385723 meters 0.013909970720212956 Centerline is valid? [True, True] Translation: X:175.49, Y:-165.28, Z:-11.39 [[-6.97236248e-01 -7.16783743e-01 9.09282878e-03 1.75486288e+02] [ 7.16724631e-01 -6.97295530e-01 -9.20583200e-03 -1.65283168e+02] [ 1.29389796e-02 9.84145922e-05 9.99916283e-01 -1.13918652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.490385723 meters 0.013849802690420457 Centerline is valid? [True, True] Translation: X:175.45, Y:-165.24, Z:-11.39 [[-6.97051760e-01 -7.16949692e-01 1.00986976e-02 1.75448700e+02] [ 7.16876878e-01 -6.97124900e-01 -1.02183991e-02 -1.65238038e+02] [ 1.43661316e-02 1.16769739e-04 9.99896795e-01 -1.13907162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.550385723 meters 0.01420108861772769 Centerline is valid? [True, True] Translation: X:175.41, Y:-165.19, Z:-11.39 [[-6.96667526e-01 -7.17325820e-01 9.90083665e-03 1.75411574e+02] [ 7.17255963e-01 -6.96737865e-01 -1.00115401e-02 -1.65194976e+02] [ 1.40798240e-02 1.26719217e-04 9.99900866e-01 -1.13914643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.610385723 meters 0.014122868675679887 Centerline is valid? [True, True] Translation: X:175.37, Y:-165.15, Z:-11.39 [[-6.95604482e-01 -7.18364746e-01 9.30039438e-03 1.75372900e+02] [ 7.18303268e-01 -6.95666639e-01 -9.39907322e-03 -1.65151375e+02] [ 1.32219369e-02 1.42466222e-04 9.99912576e-01 -1.13898173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.670385723 meters 0.014215812144222321 Centerline is valid? [True, True] Translation: X:175.33, Y:-165.11, Z:-11.39 [[-6.94923348e-01 -7.19023964e-01 9.27785343e-03 1.75334410e+02] [ 7.18962921e-01 -6.94985261e-01 -9.37038512e-03 -1.65108718e+02] [ 1.31855028e-02 1.58733200e-04 9.99913055e-01 -1.13901940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7303857229999 meters 0.01409353010905999 Centerline is valid? [True, True] Translation: X:175.30, Y:-165.07, Z:-11.39 [[-6.94770698e-01 -7.19167576e-01 9.57468533e-03 1.75296643e+02] [ 7.19102661e-01 -6.94836648e-01 -9.66410411e-03 -1.65065466e+02] [ 1.36029526e-02 1.70845343e-04 9.99907461e-01 -1.13894840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.790385723 meters 0.013839832970998826 Centerline is valid? [True, True] Translation: X:175.26, Y:-165.02, Z:-11.39 [[-6.96860070e-01 -7.17147225e-01 9.26827457e-03 1.75259880e+02] [ 7.17086287e-01 -6.96921689e-01 -9.34969933e-03 -1.65021155e+02] [ 1.31643725e-02 1.30720474e-04 9.99913337e-01 -1.13891359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8503857229999 meters 0.013371155987507332 Centerline is valid? [True, True] Translation: X:175.22, Y:-164.98, Z:-11.39 [[-6.99124037e-01 -7.14942173e-01 9.12523521e-03 1.75223443e+02] [ 7.14882980e-01 -6.99183582e-01 -9.20022867e-03 -1.64975030e+02] [ 1.29578461e-02 9.13743221e-05 9.99916039e-01 -1.13874254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.910385723 meters 0.013409058342729626 Centerline is valid? [True, True] Translation: X:175.18, Y:-164.93, Z:-11.39 [[-7.00008109e-01 -7.14067586e-01 9.80458815e-03 1.75184680e+02] [ 7.13999256e-01 -7.00076764e-01 -9.87862517e-03 -1.64933769e+02] [ 1.39179704e-02 8.53509205e-05 9.99903137e-01 -1.13878698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9703857229999 meters 0.013646222725934212 Centerline is valid? [True, True] Translation: X:175.14, Y:-164.90, Z:-11.39 [[-6.99586397e-01 -7.14479699e-01 9.88088832e-03 1.75143097e+02] [ 7.14410433e-01 -6.99656165e-01 -9.94907469e-03 -1.64896247e+02] [ 1.40216363e-02 9.87723797e-05 9.99901687e-01 -1.13893987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.030385723 meters 0.013411403879166398 Centerline is valid? [True, True] Translation: X:175.10, Y:-164.86, Z:-11.39 [[-7.00641631e-01 -7.13444833e-01 9.88810570e-03 1.75102157e+02] [ 7.13375448e-01 -7.00711398e-01 -9.95021641e-03 -1.64856539e+02] [ 1.40276389e-02 8.23959732e-05 9.99901604e-01 -1.13892200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0903857229999 meters 0.01324186839907534 Centerline is valid? [True, True] Translation: X:175.06, Y:-164.82, Z:-11.39 [[-7.03014102e-01 -7.11107049e-01 9.89634307e-03 1.75063068e+02] [ 7.11037404e-01 -7.03083753e-01 -9.95216716e-03 -1.64816424e+02] [ 1.40350142e-02 4.01562291e-05 9.99901504e-01 -1.13901661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.150385723 meters 0.013270936760489448 Centerline is valid? [True, True] Translation: X:175.02, Y:-164.78, Z:-11.39 [[-7.04014271e-01 -7.10116467e-01 9.92516165e-03 1.75022826e+02] [ 7.10046403e-01 -7.04084230e-01 -9.97515630e-03 -1.64775343e+02] [ 1.40716725e-02 2.46729358e-05 9.99900989e-01 -1.13902070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.210385723 meters 0.013131849530013026 Centerline is valid? [True, True] Translation: X:174.98, Y:-164.73, Z:-11.39 [[-7.07161937e-01 -7.06984112e-01 9.77042319e-03 1.74982918e+02] [ 7.06916000e-01 -7.07229429e-01 -9.81344979e-03 -1.64734850e+02] [ 1.38478839e-02 -3.28296788e-05 9.99904113e-01 -1.13880304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.270385723 meters 0.013094763787960477 Centerline is valid? [True, True] Translation: X:174.94, Y:-164.70, Z:-11.39 [[-7.08637363e-01 -7.05525251e-01 8.19807131e-03 1.74941619e+02] [ 7.05477260e-01 -7.08684780e-01 -8.22906062e-03 -1.64695495e+02] [ 1.16156584e-02 -4.78669257e-05 9.99932535e-01 -1.13874275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.330385723 meters 0.013216658649606553 Centerline is valid? [True, True] Translation: X:174.90, Y:-164.66, Z:-11.39 [[-7.09382326e-01 -7.04772034e-01 8.54961333e-03 1.74900125e+02] [ 7.04719849e-01 -7.09433843e-01 -8.57657194e-03 -1.64655752e+02] [ 1.21099131e-02 -5.89863367e-05 9.99926671e-01 -1.13877632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.390385723 meters 0.013338102313343135 Centerline is valid? [True, True] Translation: X:174.86, Y:-164.62, Z:-11.39 [[-7.10638912e-01 -7.03503682e-01 8.65486996e-03 1.74859061e+02] [ 7.03450176e-01 -7.10691609e-01 -8.67675402e-03 -1.64615879e+02] [ 1.22550719e-02 -7.77692334e-05 9.99924901e-01 -1.13889003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.450385723 meters 0.013531399276101318 Centerline is valid? [True, True] Translation: X:174.82, Y:-164.58, Z:-11.39 [[-7.12289076e-01 -7.01840453e-01 8.01562704e-03 1.74818039e+02] [ 7.01794510e-01 -7.12334169e-01 -8.03096744e-03 -1.64576275e+02] [ 1.13462629e-02 -9.50473234e-05 9.99935625e-01 -1.13886892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.510385723 meters 0.013971480449082443 Centerline is valid? [True, True] Translation: X:174.78, Y:-164.54, Z:-11.39 [[-7.13703156e-01 -7.00407783e-01 7.53279529e-03 1.74778643e+02] [ 7.00367179e-01 -7.13742900e-01 -7.54241042e-03 -1.64535976e+02] [ 1.06592421e-02 -1.07319532e-04 9.99943183e-01 -1.13884598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.570385723 meters 0.013521047687094135 Centerline is valid? [True, True] Translation: X:174.74, Y:-164.50, Z:-11.39 [[-7.13297802e-01 -7.00821159e-01 7.47992861e-03 1.74735848e+02] [ 7.00781194e-01 -7.13337013e-01 -7.48491030e-03 -1.64497618e+02] [ 1.05812934e-02 -9.71767639e-05 9.99944012e-01 -1.13889156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.630385723 meters 0.013110205741031927 Centerline is valid? [True, True] Translation: X:174.69, Y:-164.46, Z:-11.39 [[-7.11612377e-01 -7.02534447e-01 7.29217723e-03 1.74692600e+02] [ 7.02496600e-01 -7.11649736e-01 -7.29248739e-03 -1.64459875e+02] [ 1.03126996e-02 -6.66945735e-05 9.99946821e-01 -1.13890907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.690385723 meters 0.012866603575607996 Centerline is valid? [True, True] Translation: X:174.65, Y:-164.42, Z:-11.39 [[-7.10147164e-01 -7.04023130e-01 6.51444251e-03 1.74651079e+02] [ 7.03993026e-01 -7.10177042e-01 -6.51066257e-03 -1.64421003e+02] [ 9.21006455e-03 -3.74064580e-05 9.99957586e-01 -1.13879718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.750385723 meters 0.013195277238381202 Centerline is valid? [True, True] Translation: X:174.07, Y:-165.04, Z:-10.53 [[-7.54431340e-01 6.56345903e-01 6.58846747e-03 1.74068075e+02] [ 6.56321044e-01 7.54460108e-01 -5.71245714e-03 -1.65039809e+02] [-8.72008373e-03 1.44931498e-05 -9.99961979e-01 -1.05267977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.810385723 meters 0.013464773117861406 Centerline is valid? [True, True] Translation: X:174.08, Y:-165.01, Z:-10.53 [[-8.00627281e-01 5.99125614e-01 6.66752269e-03 1.74082827e+02] [ 5.99104739e-01 8.00655044e-01 -5.00123183e-03 -1.65011852e+02] [-8.33475176e-03 -9.57820513e-06 -9.99965265e-01 -1.05264241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.870385723 meters 0.012741162689414637 Centerline is valid? [True, True] Translation: X:174.11, Y:-164.99, Z:-10.53 [[-8.41864787e-01 5.39658094e-01 5.72895029e-03 1.74109968e+02] [ 5.39645450e-01 8.41884280e-01 -3.69423673e-03 -1.64993621e+02] [-6.81673794e-03 -1.84458614e-05 -9.99976766e-01 -1.05277594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.930385723 meters 0.012750589667801768 Centerline is valid? [True, True] Translation: X:174.15, Y:-164.98, Z:-10.53 [[-8.76167023e-01 4.81967151e-01 6.24598399e-03 1.74147590e+02] [ 4.81954587e-01 8.76189285e-01 -3.48032692e-03 -1.64978584e+02] [-7.15006750e-03 -3.90670424e-05 -9.99974437e-01 -1.05270828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.990385723 meters 0.012646551041824442 Centerline is valid? [True, True] Translation: X:174.55, Y:-164.25, Z:-11.39 [[-8.40739525e-01 -5.41402254e-01 6.37582079e-03 1.74548734e+02] [ 5.41387246e-01 -8.40763698e-01 -4.03169242e-03 -1.64252253e+02] [ 7.54332603e-03 6.21848912e-05 9.99971547e-01 -1.13889946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.050385723 meters 0.012839338186402831 Centerline is valid? [True, True] Translation: X:174.11, Y:-164.96, Z:-10.52 [[-8.74844629e-01 4.84329713e-01 8.46194998e-03 1.74109808e+02] [ 4.84307465e-01 8.74885551e-01 -4.64241076e-03 -1.64957895e+02] [-9.65169524e-03 3.67974285e-05 -9.99953421e-01 -1.05248170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.110385723 meters 0.01443608046765547 Centerline is valid? [True, True] Translation: X:174.12, Y:-164.93, Z:-10.52 [[-9.06249120e-01 4.22658875e-01 8.48575759e-03 1.74123958e+02] [ 4.22640870e-01 9.06288846e-01 -3.90155492e-03 -1.64932691e+02] [-9.33957427e-03 5.06472602e-05 -9.99956384e-01 -1.05248376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.170385723 meters 0.012950995706360807 Centerline is valid? [True, True] Translation: X:174.49, Y:-164.19, Z:-11.39 [[-8.81634780e-01 -4.71896162e-01 5.84181954e-03 1.74485363e+02] [ 4.71884357e-01 -8.81654113e-01 -3.34341812e-03 -1.64191554e+02] [ 6.72821041e-03 -1.91010448e-04 9.99977347e-01 -1.13880792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2303857229999 meters 0.013289805194521647 Centerline is valid? [True, True] Translation: X:174.09, Y:-164.92, Z:-10.53 [[-9.05929568e-01 4.23398925e-01 4.99684998e-03 1.74092593e+02] [ 4.23392816e-01 9.05943347e-01 -2.27499705e-03 -1.64916926e+02] [-5.49009430e-03 5.46432955e-05 -9.99984928e-01 -1.05282237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.290385723 meters 0.015607067557239975 Centerline is valid? [True, True] Translation: X:174.11, Y:-164.89, Z:-10.53 [[-9.32516760e-01 3.61109854e-01 3.48785448e-03 1.74113698e+02] [ 3.61107523e-01 9.32523282e-01 -1.29857441e-03 -1.64893433e+02] [-3.72143352e-03 4.85480847e-05 -9.99993074e-01 -1.05284586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3503857229999 meters 0.014266141194815911 Centerline is valid? [True, True] Translation: X:174.41, Y:-164.13, Z:-11.39 [[-9.18133468e-01 -3.96261474e-01 2.78916067e-03 1.74408285e+02] [ 3.96259387e-01 -9.18137701e-01 -1.28844637e-03 -1.64131706e+02] [ 3.07139523e-03 -7.77346397e-05 9.99995280e-01 -1.13857652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.410385723 meters 0.014673439270624648 Centerline is valid? [True, True] Translation: X:174.08, Y:-164.88, Z:-10.53 [[-9.31540353e-01 3.63626312e-01 2.91141162e-03 1.74075025e+02] [ 3.63624738e-01 9.31544900e-01 -1.07154878e-03 -1.64875892e+02] [-3.10175398e-03 6.04703586e-05 -9.99995188e-01 -1.05289891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4703857229999 meters 0.014947845119116242 Centerline is valid? [True, True] Translation: X:174.09, Y:-164.85, Z:-10.53 [[-9.54298663e-01 2.98840362e-01 2.91549099e-03 1.74090723e+02] [ 2.98839178e-01 9.54303114e-01 -8.43887704e-04 -1.64848014e+02] [-3.03444984e-03 6.59420220e-05 -9.99995394e-01 -1.05290574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.530385723 meters 0.015822251994185545 Centerline is valid? [True, True] Translation: X:174.09, Y:-164.82, Z:-10.53 [[-9.73064746e-01 2.30512432e-01 3.00311963e-03 1.74090436e+02] [ 2.30511546e-01 9.73069378e-01 -6.42589402e-04 -1.64816959e+02] [-3.07036860e-03 6.69726572e-05 -9.99995284e-01 -1.05287370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5903857229999 meters 0.015414785359049747 Centerline is valid? [True, True] Translation: X:174.27, Y:-164.04, Z:-11.39 [[-9.66813961e-01 -2.55480086e-01 8.30936924e-04 1.74268705e+02] [ 2.55479846e-01 -9.66814305e-01 -3.85245098e-04 -1.64043291e+02] [ 9.01784156e-04 -1.60172702e-04 9.99999581e-01 -1.13862248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.650385723 meters 0.01508223444852617 Centerline is valid? [True, True] Translation: X:174.05, Y:-164.80, Z:-10.53 [[-9.74542589e-01 2.24202225e-01 3.23307071e-04 1.74051240e+02] [ 2.24202215e-01 9.74542643e-01 -6.69836790e-05 -1.64796557e+02] [-3.30094417e-04 7.20771341e-06 -9.99999946e-01 -1.05289599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.710385723 meters 0.014435677454401837 Centerline is valid? [True, True] Translation: X:174.21, Y:-164.04, Z:-11.39 [[-9.67300486e-01 -2.53632142e-01 7.12225785e-04 1.74211269e+02] [ 2.53632081e-01 -9.67300748e-01 -1.75544156e-04 -1.64044713e+02] [ 7.33460175e-04 1.08393608e-05 9.99999731e-01 -1.13869164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.770385723 meters 0.014509340888530302 Centerline is valid? [True, True] Translation: X:174.00, Y:-164.77, Z:-10.53 [[-9.75867406e-01 2.18363928e-01 2.18089232e-05 1.74003184e+02] [ 2.18363928e-01 9.75867407e-01 -3.67351542e-06 -1.64774743e+02] [-2.20847808e-05 1.17741817e-06 -1.00000000e+00 -1.05279049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.830385723 meters 0.0142345332372143 Centerline is valid? [True, True] Translation: X:174.01, Y:-164.74, Z:-10.53 [[-9.89073024e-01 1.47425241e-01 5.93530632e-04 1.74010129e+02] [ 1.47425221e-01 9.89073202e-01 -7.82578876e-05 -1.64741268e+02] [-5.98582430e-04 1.00986188e-05 -9.99999821e-01 -1.05266496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.890385723 meters 0.014227055530643164 Centerline is valid? [True, True] Translation: X:174.01, Y:-164.71, Z:-10.53 [[-9.97139210e-01 7.55869854e-02 -5.99454248e-05 1.74012870e+02] [ 7.55869853e-02 9.97139212e-01 4.48489455e-06 -1.64708206e+02] [ 6.01129331e-05 -5.90297378e-08 -9.99999998e-01 -1.05273823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.950385723 meters 0.014005569704091747 Centerline is valid? [True, True] Translation: X:174.06, Y:-163.98, Z:-11.39 [[-9.93345263e-01 -1.15162212e-01 -1.68923054e-03 1.74056223e+02] [ 1.15162187e-01 -9.93346696e-01 1.12485864e-04 -1.63982975e+02] [-1.69094570e-03 -8.27981830e-05 9.99998567e-01 -1.13863266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.010385723 meters 0.015995599929489873 Centerline is valid? [True, True] Translation: X:173.95, Y:-164.70, Z:-10.53 [[-9.97586027e-01 6.94200691e-02 -1.72395205e-03 1.73953263e+02] [ 6.94199996e-02 9.97587517e-01 1.00174413e-04 -1.64696604e+02] [ 1.72674716e-03 -1.97441556e-05 -9.99998509e-01 -1.05278258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.070385723 meters 0.0148694804408173 Centerline is valid? [True, True] Translation: X:173.99, Y:-163.99, Z:-11.39 [[-9.93508678e-01 -1.13736671e-01 -2.11571939e-03 1.73994759e+02] [ 1.13736417e-01 -9.93510931e-01 2.40342051e-04 -1.63986909e+02] [-2.12932604e-03 -1.85242872e-06 9.99997733e-01 -1.13872380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.130385723 meters 0.013158755801119845 Centerline is valid? [True, True] Translation: X:173.89, Y:-164.69, Z:-10.53 [[-9.98136414e-01 6.09818957e-02 -2.21544580e-03 1.73893326e+02] [ 6.09817808e-02 9.98138872e-01 1.19428065e-04 -1.64687508e+02] [ 2.21860552e-03 -1.58963298e-05 -9.99997539e-01 -1.05274270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.190385723 meters 0.012902392036505776 Centerline is valid? [True, True] Translation: X:173.89, Y:-164.66, Z:-10.52 [[-9.99919275e-01 -1.26752039e-02 -8.84926513e-04 1.73887113e+02] [-1.26751961e-02 9.99919666e-01 -1.43673954e-05 -1.64656593e+02] [ 8.85037533e-04 -3.14961848e-06 -9.99999608e-01 -1.05249626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.250385723 meters 0.012881949859386038 Centerline is valid? [True, True] Translation: X:173.88, Y:-163.96, Z:-11.39 [[-9.98909464e-01 -4.66887653e-02 -2.02930236e-04 1.73875082e+02] [ 4.66887550e-02 -9.98909484e-01 5.49714157e-05 -1.63962262e+02] [-2.05275485e-04 4.54369074e-05 9.99999978e-01 -1.13921010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.310385723 meters 0.01287285738995865 Centerline is valid? [True, True] Translation: X:173.82, Y:-164.66, Z:-10.52 [[-9.99788624e-01 -2.05437288e-02 -8.14047089e-04 1.73817211e+02] [-2.05437217e-02 9.99788955e-01 -1.70567461e-05 -1.64658331e+02] [ 8.14225698e-04 -3.29583878e-07 -9.99999669e-01 -1.05219994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.370385723 meters 0.012931310573933924 Centerline is valid? [True, True] Translation: X:173.81, Y:-164.63, Z:-10.52 [[-9.95870255e-01 -9.07615123e-02 -2.18695028e-03 1.73808560e+02] [-9.07612830e-02 9.95872656e-01 -2.04066205e-04 -1.64633691e+02] [ 2.19644534e-03 -4.73305070e-06 -9.99997588e-01 -1.05220411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.430385723 meters 0.013061422206614107 Centerline is valid? [True, True] Translation: X:173.80, Y:-164.61, Z:-10.52 [[-9.86866202e-01 -1.61445284e-01 -5.52444883e-03 1.73801991e+02] [-1.61442676e-01 9.86881665e-01 -9.17792085e-04 -1.64609660e+02] [ 5.60015046e-03 -1.38561862e-05 -9.99984319e-01 -1.05229851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.490385723 meters 0.012963724173916238 Centerline is valid? [True, True] Translation: X:173.79, Y:-164.59, Z:-10.52 [[-9.72802726e-01 -2.31581932e-01 -4.96637025e-03 1.73787807e+02] [-2.31578854e-01 9.72815403e-01 -1.19408274e-03 -1.64586533e+02] [ 5.10788946e-03 -1.15006113e-05 -9.99986955e-01 -1.05210221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.550385723 meters 0.012892530363138217 Centerline is valid? [True, True] Translation: X:173.76, Y:-164.57, Z:-10.52 [[-9.53844741e-01 -3.00270760e-01 -4.20489153e-03 1.73764400e+02] [-3.00267787e-01 9.53854009e-01 -1.33628619e-03 -1.64566325e+02] [ 4.41210032e-03 -1.20160781e-05 -9.99990267e-01 -1.05187272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.610385723 meters 0.012971148715624723 Centerline is valid? [True, True] Translation: X:173.73, Y:-164.55, Z:-10.52 [[-9.30330034e-01 -3.66691930e-01 -4.80171564e-03 1.73727678e+02] [-3.66686909e-01 9.30342425e-01 -1.91900791e-03 -1.64553911e+02] [ 5.17092449e-03 -2.45844261e-05 -9.99986630e-01 -1.05177318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.670385723 meters 0.01327888513241742 Centerline is valid? [True, True] Translation: X:173.67, Y:-164.56, Z:-10.52 [[-9.02245279e-01 -4.31195531e-01 -4.88565876e-03 1.73668627e+02] [-4.31188948e-01 9.02258506e-01 -2.38306721e-03 -1.64558977e+02] [ 5.43569511e-03 -4.34690730e-05 -9.99985226e-01 -1.05166647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7303857229999 meters 0.013417140890505044 Centerline is valid? [True, True] Translation: X:173.60, Y:-164.57, Z:-10.52 [[-8.68410314e-01 -4.95822635e-01 -4.84159744e-03 1.73601501e+02] [-4.95814602e-01 8.68423809e-01 -2.82280215e-03 -1.64568304e+02] [ 5.60416769e-03 -5.08157965e-05 -9.99984295e-01 -1.05151163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.790385723 meters 0.01356159949936011 Centerline is valid? [True, True] Translation: X:173.52, Y:-164.59, Z:-10.51 [[-8.29397355e-01 -5.58636965e-01 -4.97675494e-03 1.73523381e+02] [-5.58626486e-01 8.29412284e-01 -3.42221440e-03 -1.64591778e+02] [ 6.03955715e-03 -5.82284498e-05 -9.99981760e-01 -1.05148589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8503857229999 meters 0.013621773151546512 Centerline is valid? [True, True] Translation: X:173.44, Y:-164.62, Z:-10.51 [[-7.85226779e-01 -6.19187024e-01 -5.13168543e-03 1.73444307e+02] [-6.19173264e-01 7.85243545e-01 -4.12841101e-03 -1.64621443e+02] [ 6.58588138e-03 -6.43364607e-05 -9.99978311e-01 -1.05139834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.910385723 meters 0.013495196416916133 Centerline is valid? [True, True] Translation: X:173.36, Y:-164.67, Z:-10.51 [[-7.34911950e-01 -6.78146850e-01 -4.61261796e-03 1.73358481e+02] [-6.78133081e-01 7.34926423e-01 -4.32170694e-03 -1.64665272e+02] [ 6.32068676e-03 -4.81052403e-05 -9.99980023e-01 -1.05141844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9703857229999 meters 0.013261934773993686 Centerline is valid? [True, True] Translation: X:173.27, Y:-164.72, Z:-10.51 [[-6.79397882e-01 -7.33759574e-01 -3.92498022e-03 1.73270312e+02] [-7.33747096e-01 6.79409219e-01 -4.27929286e-03 -1.64719749e+02] [ 5.80663986e-03 -2.73996680e-05 -9.99983141e-01 -1.05132726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.030385723 meters 0.013141956538042 Centerline is valid? [True, True] Translation: X:173.18, Y:-164.79, Z:-10.51 [[-6.17791449e-01 -7.86335931e-01 -3.08702803e-03 1.73183033e+02] [-7.86326127e-01 6.17799162e-01 -3.92653209e-03 -1.64786932e+02] [ 4.99473659e-03 1.63284547e-06 -9.99987526e-01 -1.05120660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0903857229999 meters 0.013335732454627929 Centerline is valid? [True, True] Translation: X:173.10, Y:-164.86, Z:-10.51 [[-5.52339141e-01 -8.33616606e-01 -2.19732875e-03 1.73097072e+02] [-8.33610150e-01 5.52343511e-01 -3.28083127e-03 -1.64863921e+02] [ 3.94863571e-03 1.95840226e-05 -9.99992204e-01 -1.05101888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.150385723 meters 0.013620216186758972 Centerline is valid? [True, True] Translation: X:173.02, Y:-164.95, Z:-10.51 [[-4.84128519e-01 -8.74995384e-01 -1.62967341e-03 1.73018920e+02] [-8.74990615e-01 4.84131261e-01 -2.88886646e-03 -1.64947741e+02] [ 3.31672066e-03 2.73662995e-05 -9.99994499e-01 -1.05098035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.210385723 meters 0.013888290076676402 Centerline is valid? [True, True] Translation: X:172.95, Y:-165.03, Z:-10.51 [[-4.15174744e-01 -9.09739694e-01 -1.90308053e-03 1.72949576e+02] [-9.09730557e-01 4.15179104e-01 -4.07738527e-03 -1.65034628e+02] [ 4.49947849e-03 3.84631238e-05 -9.99989877e-01 -1.05105873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.270385723 meters 0.013943364989673286 Centerline is valid? [True, True] Translation: X:172.88, Y:-165.13, Z:-10.51 [[-3.45179854e-01 -9.38535631e-01 -1.31807139e-03 1.72884824e+02] [-9.38529089e-01 3.45182369e-01 -3.50447940e-03 -1.65134314e+02] [ 3.74405379e-03 2.73726523e-05 -9.99992991e-01 -1.05101469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.330385723 meters 0.013812675353674612 Centerline is valid? [True, True] Translation: X:172.82, Y:-165.26, Z:-10.51 [[-2.75559026e-01 -9.61283993e-01 -5.55161922e-04 1.72820278e+02] [-9.61282097e-01 2.75559585e-01 -1.90929881e-03 -1.65260507e+02] [ 1.98835857e-03 7.54269640e-06 -9.99998023e-01 -1.05076802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.390385723 meters 0.013729569468279522 Centerline is valid? [True, True] Translation: X:172.76, Y:-165.39, Z:-10.51 [[-2.00912232e-01 -9.79609236e-01 -1.39120515e-04 1.72759264e+02] [-9.79609012e-01 2.00912280e-01 -6.62546899e-04 -1.65392811e+02] [ 6.76988081e-04 3.16993467e-06 -9.99999771e-01 -1.05071726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.450385723 meters 0.013687567983835951 Centerline is valid? [True, True] Translation: X:172.72, Y:-165.46, Z:-10.51 [[-1.26717516e-01 -9.91938828e-01 1.82766114e-04 1.72720586e+02] [-9.91937789e-01 1.26717647e-01 1.43545967e-03 -1.65456674e+02] [-1.44704787e-03 6.05267454e-07 -9.99998953e-01 -1.05064209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.510385723 meters 0.013651192525713859 Centerline is valid? [True, True] Translation: X:172.68, Y:-165.58, Z:-10.51 [[-5.25400287e-02 -9.98618813e-01 1.08645685e-04 1.72681704e+02] [-9.98616411e-01 5.25401406e-02 2.19023511e-03 -1.65584719e+02] [-2.19291825e-03 6.57965206e-06 -9.99997596e-01 -1.05052887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.570385723 meters 0.013829589742340179 Centerline is valid? [True, True] Translation: X:172.65, Y:-165.70, Z:-10.50 [[ 2.21964166e-02 -9.99753623e-01 -1.11967272e-04 1.72651724e+02] [-9.99745417e-01 -2.21966881e-02 4.05069910e-03 -1.65698015e+02] [-4.05218640e-03 2.20277624e-05 -9.99991790e-01 -1.05038100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.630385723 meters 0.013896240515374213 Centerline is valid? [True, True] Translation: X:172.63, Y:-165.84, Z:-10.50 [[ 9.84532407e-02 -9.95141553e-01 -4.98946527e-04 1.72632831e+02] [-9.95130289e-01 -9.84545003e-02 4.73491848e-03 -1.65844080e+02] [-4.76103766e-03 3.03487326e-05 -9.99988666e-01 -1.05036643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.690385723 meters 0.013838660667662643 Centerline is valid? [True, True] Translation: X:172.62, Y:-165.97, Z:-10.50 [[ 1.75369254e-01 -9.84502074e-01 -1.13629877e-03 1.72620399e+02] [-9.84482796e-01 -1.75372931e-01 6.16110522e-03 -1.65965900e+02] [-6.26489691e-03 3.81981618e-05 -9.99980375e-01 -1.05024978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.750385723 meters 0.01381291530359559 Centerline is valid? [True, True] Translation: X:172.62, Y:-166.09, Z:-10.50 [[ 2.52315099e-01 -9.67643783e-01 -1.61245232e-03 1.72616698e+02] [-9.67624770e-01 -2.52320250e-01 6.06595480e-03 -1.66086749e+02] [-6.27653782e-03 2.97168175e-05 -9.99980302e-01 -1.05017245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.810385723 meters 0.013753487251576095 Centerline is valid? [True, True] Translation: X:172.63, Y:-166.21, Z:-10.50 [[ 3.27392313e-01 -9.44886757e-01 -1.81370403e-03 1.72625918e+02] [-9.44872592e-01 -3.27397337e-01 5.17390672e-03 -1.66213044e+02] [-5.48255781e-03 1.98219407e-05 -9.99984971e-01 -1.05029142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.870385723 meters 0.013808752079208644 Centerline is valid? [True, True] Translation: X:172.64, Y:-166.34, Z:-10.50 [[ 3.99399896e-01 -9.16773456e-01 -2.48061133e-03 1.72644521e+02] [-9.16756113e-01 -3.99407598e-01 5.63919595e-03 -1.66336881e+02] [-6.16064017e-03 2.18213231e-05 -9.99981023e-01 -1.05014625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.930385723 meters 0.013811171096004002 Centerline is valid? [True, True] Translation: X:172.67, Y:-166.45, Z:-10.50 [[ 4.69869163e-01 -8.82730077e-01 -3.25284723e-03 1.72670332e+02] [-8.82709177e-01 -4.69880422e-01 6.07435967e-03 -1.66454011e+02] [-6.89046921e-03 1.71638020e-05 -9.99976260e-01 -1.05007473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.990385723 meters 0.013752483364473062 Centerline is valid? [True, True] Translation: X:172.71, Y:-166.58, Z:-10.50 [[ 5.36545158e-01 -8.43862138e-01 -3.99820811e-03 1.72708714e+02] [-8.43838960e-01 -5.36560054e-01 6.25446565e-03 -1.66575842e+02] [-7.42318551e-03 1.80405130e-05 -9.99972448e-01 -1.05012471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.050385723 meters 0.01388394126884968 Centerline is valid? [True, True] Translation: X:172.76, Y:-166.69, Z:-10.50 [[ 5.99977956e-01 -8.00000216e-01 -5.10939323e-03 1.72758559e+02] [-7.99971487e-01 -5.99999711e-01 6.77991440e-03 -1.66694453e+02] [-8.48956745e-03 1.95697120e-05 -9.99963963e-01 -1.04996750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.110385723 meters 0.01385021901519773 Centerline is valid? [True, True] Translation: X:172.81, Y:-166.80, Z:-10.50 [[ 6.59052449e-01 -7.52076644e-01 -5.53094927e-03 1.72806100e+02] [-7.52050488e-01 -6.59075657e-01 6.27236480e-03 -1.66795353e+02] [-8.36261309e-03 2.57357161e-05 -9.99965032e-01 -1.05006970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.170385723 meters 0.013942215245717714 Centerline is valid? [True, True] Translation: X:172.86, Y:-166.89, Z:-10.50 [[ 7.14727344e-01 -6.99368698e-01 -6.94602820e-03 1.72858133e+02] [-6.99336078e-01 -7.14761095e-01 6.75478799e-03 -1.66890994e+02] [-9.68883801e-03 2.97764431e-05 -9.99953062e-01 -1.04995998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2303857229999 meters 0.013919550251260274 Centerline is valid? [True, True] Translation: X:172.87, Y:-166.92, Z:-10.50 [[ 7.67582852e-01 -6.40902622e-01 -7.77141921e-03 1.72873658e+02] [-6.40870098e-01 -7.67622191e-01 6.45672189e-03 -1.66915834e+02] [-1.01036438e-02 2.44011887e-05 -9.99948957e-01 -1.04992347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.290385723 meters 0.013786083420039162 Centerline is valid? [True, True] Translation: X:172.89, Y:-166.94, Z:-10.50 [[ 8.15758127e-01 -5.78339364e-01 -7.89038921e-03 1.72890241e+02] [-5.78312503e-01 -8.15796286e-01 5.57392444e-03 -1.66940505e+02] [-9.66057012e-03 1.61365748e-05 -9.99953336e-01 -1.05011127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3503857229999 meters 0.01372847508364224 Centerline is valid? [True, True] Translation: X:172.91, Y:-166.96, Z:-10.50 [[ 8.59135076e-01 -5.11692752e-01 -7.57955928e-03 1.72907570e+02] [-5.11672875e-01 -8.59168510e-01 4.51012265e-03 -1.66962457e+02] [-8.81991572e-03 3.45032649e-06 -9.99961104e-01 -1.05020064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.410385723 meters 0.015032083207006795 Centerline is valid? [True, True] Translation: X:172.93, Y:-166.98, Z:-10.50 [[ 8.97099250e-01 -4.41738521e-01 -8.94513810e-03 1.72926989e+02] [-4.41716452e-01 -8.97143845e-01 4.41554166e-03 -1.66982693e+02] [-9.97559044e-03 -9.96444401e-06 -9.99950243e-01 -1.05008663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4703857229999 meters 0.01565024250047431 Centerline is valid? [True, True] Translation: X:172.95, Y:-167.00, Z:-10.50 [[ 9.29008003e-01 -3.69867449e-01 -1.19248203e-02 1.72948499e+02] [-3.69836724e-01 -9.29084533e-01 4.76734134e-03 -1.66998549e+02] [-1.28424505e-02 -1.86617645e-05 -9.99917532e-01 -1.04985617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.530385723 meters 0.013644411446067933 Centerline is valid? [True, True] Translation: X:172.97, Y:-167.01, Z:-10.50 [[ 9.54675832e-01 -2.97399999e-01 -1.21365553e-02 1.72972553e+02] [-2.97375958e-01 -9.54752974e-01 3.78141798e-03 -1.67008191e+02] [-1.27120060e-02 -9.08586707e-07 -9.99919199e-01 -1.04987402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5903857229999 meters 0.01349260067711334 Centerline is valid? [True, True] Translation: X:173.00, Y:-167.02, Z:-10.50 [[ 9.74456252e-01 -2.24215069e-01 -1.27521003e-02 1.72996413e+02] [-2.24196300e-01 -9.74539687e-01 2.90125773e-03 -1.67019627e+02] [-1.30779336e-02 3.18249782e-05 -9.99914480e-01 -1.05018121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.650385723 meters 0.013559586788191023 Centerline is valid? [True, True] Translation: X:173.02, Y:-167.03, Z:-10.50 [[ 9.88528877e-01 -1.50556517e-01 -1.19747110e-02 1.73018588e+02] [-1.50546328e-01 -9.88601401e-01 1.75290820e-03 -1.67029528e+02] [-1.21021278e-02 6.99484009e-05 -9.99926764e-01 -1.05027878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.710385723 meters 0.013684906954669111 Centerline is valid? [True, True] Translation: X:173.04, Y:-167.04, Z:-10.50 [[ 9.97150706e-01 -7.45576464e-02 -1.14728588e-02 1.73040744e+02] [-7.45537281e-02 -9.97216701e-01 7.69424915e-04 -1.67042493e+02] [-1.14982929e-02 8.81118007e-05 -9.99933889e-01 -1.05036065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.770385723 meters 0.01374913119610359 Centerline is valid? [True, True] Translation: X:173.06, Y:-167.05, Z:-10.50 [[ 9.99934437e-01 2.83458685e-03 -1.10944768e-02 1.73064238e+02] [ 2.83335396e-03 -9.99995978e-01 -1.26842947e-04 -1.67052987e+02] [-1.10947918e-02 9.54000508e-05 -9.99938446e-01 -1.05034737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.830385723 meters 0.013776527217532537 Centerline is valid? [True, True] Translation: X:173.09, Y:-167.06, Z:-10.50 [[ 9.96629936e-01 8.11934264e-02 -1.16789655e-02 1.73086689e+02] [ 8.11866736e-02 -9.96698358e-01 -1.05192887e-03 -1.67061884e+02] [-1.17258155e-02 1.00207438e-04 -9.99931245e-01 -1.05023331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.890385723 meters 0.01362491091090851 Centerline is valid? [True, True] Translation: X:173.11, Y:-167.07, Z:-10.50 [[ 9.87101558e-01 1.59668549e-01 -1.16820008e-02 1.73111898e+02] [ 1.59656256e-01 -9.87170677e-01 -1.98340399e-03 -1.67072109e+02] [-1.18488159e-02 9.27166543e-05 -9.99929796e-01 -1.05027368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.950385723 meters 0.013534880268100773 Centerline is valid? [True, True] Translation: X:173.14, Y:-167.08, Z:-10.50 [[ 9.71436935e-01 2.37016233e-01 -1.15579298e-02 1.73137294e+02] [ 2.36998402e-01 -9.71505686e-01 -2.90854103e-03 -1.67079521e+02] [-1.19179660e-02 8.62532859e-05 -9.99928975e-01 -1.05023142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.010385723 meters 0.013537554207766015 Centerline is valid? [True, True] Translation: X:173.16, Y:-167.08, Z:-10.50 [[ 9.50203492e-01 3.11431799e-01 -1.11156478e-02 1.73163490e+02] [ 3.11409306e-01 -9.50268502e-01 -3.74419435e-03 -1.67084621e+02] [-1.17289112e-02 9.62303709e-05 -9.99931209e-01 -1.05025773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.070385723 meters 0.01361772730180612 Centerline is valid? [True, True] Translation: X:173.19, Y:-167.08, Z:-10.50 [[ 9.23198128e-01 3.84177826e-01 -1.06120086e-02 1.73187551e+02] [ 3.84151158e-01 -9.23259112e-01 -4.52769528e-03 -1.67083997e+02] [-1.15370737e-02 1.03344431e-04 -9.99933440e-01 -1.05032890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.130385723 meters 0.013504607790298042 Centerline is valid? [True, True] Translation: X:173.22, Y:-167.09, Z:-10.50 [[ 8.90425045e-01 4.55012764e-01 -1.03258905e-02 1.73215946e+02] [ 4.54980767e-01 -8.90484909e-01 -5.39710733e-03 -1.67087922e+02] [-1.16508024e-02 1.07637933e-04 -9.99932121e-01 -1.05035783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.190385723 meters 0.01354903591258349 Centerline is valid? [True, True] Translation: X:173.24, Y:-167.09, Z:-10.50 [[ 8.51692608e-01 5.23936274e-01 -1.05110461e-02 1.73243717e+02] [ 5.23894839e-01 -8.51757459e-01 -6.58999814e-03 -1.67087315e+02] [-1.24056010e-02 1.05969904e-04 -9.99923042e-01 -1.05036130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.250385723 meters 0.013380227249647913 Centerline is valid? [True, True] Translation: X:173.27, Y:-167.09, Z:-10.50 [[ 8.06740909e-01 5.90822460e-01 -9.89581809e-03 1.73272511e+02] [ 5.90776823e-01 -8.06801596e-01 -7.34371798e-03 -1.67086930e+02] [-1.23227954e-02 7.82577413e-05 -9.99924068e-01 -1.05030654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.310385723 meters 0.013238006929536628 Centerline is valid? [True, True] Translation: X:173.30, Y:-167.08, Z:-10.50 [[ 7.56164504e-01 6.54323151e-01 -8.74398861e-03 1.73300684e+02] [ 6.54278786e-01 -7.56215057e-01 -7.61952689e-03 -1.67083363e+02] [-1.15979687e-02 4.06095190e-05 -9.99932741e-01 -1.05034063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.370385723 meters 0.01306264102058775 Centerline is valid? [True, True] Translation: X:173.33, Y:-167.08, Z:-10.50 [[ 7.00032398e-01 7.14063221e-01 -8.26788708e-03 1.73328764e+02] [ 7.14013447e-01 -7.00081221e-01 -8.43094477e-03 -1.67077189e+02] [-1.18084201e-02 -1.44807663e-06 -9.99930278e-01 -1.05044985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.430385723 meters 0.013159751498288002 Centerline is valid? [True, True] Translation: X:173.36, Y:-167.07, Z:-10.50 [[ 6.39175950e-01 7.69030938e-01 -6.74688536e-03 1.73357274e+02] [ 7.68988755e-01 -6.39211557e-01 -8.05484849e-03 -1.67069028e+02] [-1.05071148e-02 -3.98135342e-05 -9.99944798e-01 -1.05049173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.490385723 meters 0.013367479577313166 Centerline is valid? [True, True] Translation: X:173.38, Y:-167.06, Z:-10.51 [[ 5.73643608e-01 8.19083235e-01 -5.97204415e-03 1.73383143e+02] [ 8.19040316e-01 -5.73674688e-01 -8.38525361e-03 -1.67056673e+02] [-1.02942312e-02 -8.11977896e-05 -9.99947010e-01 -1.05054707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.550385723 meters 0.013948589685998738 Centerline is valid? [True, True] Translation: X:173.41, Y:-167.04, Z:-10.51 [[ 5.03870484e-01 8.63761547e-01 -5.52504592e-03 1.73410008e+02] [ 8.63712484e-01 -5.03900757e-01 -9.20720134e-03 -1.67043973e+02] [-1.07369013e-02 -1.32814146e-04 -9.99942349e-01 -1.05052103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.610385723 meters 0.014671564762244729 Centerline is valid? [True, True] Translation: X:173.43, Y:-167.03, Z:-10.51 [[ 4.31697836e-01 9.02005465e-01 -4.80828585e-03 1.73434859e+02] [ 9.01953820e-01 -4.31724580e-01 -9.65372905e-03 -1.67027976e+02] [-1.07835715e-02 -1.69357845e-04 -9.99941841e-01 -1.05050907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.670385723 meters 0.014369515342864098 Centerline is valid? [True, True] Translation: X:173.46, Y:-167.01, Z:-10.51 [[ 3.59444928e-01 9.33157727e-01 -3.99995929e-03 1.73457584e+02] [ 9.33105145e-01 -3.59467143e-01 -9.90767330e-03 -1.67009318e+02] [-1.06832758e-02 -1.71119670e-04 -9.99942918e-01 -1.05058690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7303857229999 meters 0.013946033814489207 Centerline is valid? [True, True] Translation: X:173.48, Y:-166.99, Z:-10.51 [[ 2.87729778e-01 9.57704864e-01 -3.60120229e-03 1.73476696e+02] [ 9.57636721e-01 -2.87752268e-01 -1.14255797e-02 -1.66988256e+02] [-1.19785874e-02 -1.61164039e-04 -9.99928241e-01 -1.05055931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.790385723 meters 0.01367831313179703 Centerline is valid? [True, True] Translation: X:173.49, Y:-166.97, Z:-10.51 [[ 2.15092563e-01 9.76590041e-01 -2.66095614e-03 1.73493077e+02] [ 9.76522041e-01 -2.15108989e-01 -1.15250085e-02 -1.66965981e+02] [-1.18276041e-02 -1.19538696e-04 -9.99930044e-01 -1.05061470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8503857229999 meters 0.013441070924759987 Centerline is valid? [True, True] Translation: X:173.51, Y:-166.94, Z:-10.51 [[ 1.40008898e-01 9.90148845e-01 -1.66505267e-03 1.73507979e+02] [ 9.90086312e-01 -1.40018769e-01 -1.11283039e-02 -1.66942240e+02] [-1.12518159e-02 -9.04842844e-05 -9.99936692e-01 -1.05070905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.910385723 meters 0.013318321841187107 Centerline is valid? [True, True] Translation: X:173.52, Y:-166.92, Z:-10.51 [[ 6.45569495e-02 9.97913696e-01 -8.09866307e-04 1.73519921e+02] [ 9.97847087e-01 -6.45619977e-02 -1.15299721e-02 -1.66918191e+02] [-1.15582037e-02 -6.37829078e-05 -9.99933200e-01 -1.05069768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9703857229999 meters 0.013348888119593049 Centerline is valid? [True, True] Translation: X:173.53, Y:-166.89, Z:-10.51 [[-1.08159055e-02 9.99941501e-01 1.03820408e-04 1.73529988e+02] [ 9.99862818e-01 1.08163568e-02 -1.25440141e-02 -1.66892664e+02] [-1.25444032e-02 -3.18687050e-05 -9.99921315e-01 -1.05072418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.030385723 meters 0.013290357764601034 Centerline is valid? [True, True] Translation: X:173.54, Y:-166.87, Z:-10.51 [[-8.66364904e-02 9.96239422e-01 1.06466032e-03 1.73537351e+02] [ 9.96164128e-01 8.66430319e-02 -1.22480499e-02 -1.66867184e+02] [-1.22942355e-02 -5.51638889e-07 -9.99924423e-01 -1.05069944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0903857229999 meters 0.013386266222744834 Centerline is valid? [True, True] Translation: X:173.55, Y:-166.84, Z:-10.51 [[-1.59956449e-01 9.87121887e-01 2.07708450e-03 1.73545791e+02] [ 9.87043181e-01 1.59969924e-01 -1.24652589e-02 -1.66839801e+02] [-1.26370009e-02 5.62735376e-05 -9.99920148e-01 -1.05087714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.150385723 meters 0.01364760558078469 Centerline is valid? [True, True] Translation: X:173.55, Y:-166.81, Z:-10.51 [[-2.34534139e-01 9.72103130e-01 3.04000705e-03 1.73554647e+02] [ 9.72026132e-01 2.34553825e-01 -1.22352343e-02 -1.66811822e+02] [-1.26069549e-02 8.53861441e-05 -9.99920526e-01 -1.05098528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.210385723 meters 0.013697923073610625 Centerline is valid? [True, True] Translation: X:173.56, Y:-166.78, Z:-10.51 [[-3.09658924e-01 9.50839363e-01 3.98196657e-03 1.73560784e+02] [ 9.50764406e-01 3.09684513e-01 -1.19392841e-02 -1.66782488e+02] [-1.25854946e-02 8.88062226e-05 -9.99920796e-01 -1.05107207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.270385723 meters 0.013818646570256148 Centerline is valid? [True, True] Translation: X:173.57, Y:-166.75, Z:-10.51 [[-3.83522251e-01 9.23517217e-01 5.16067743e-03 1.73566956e+02] [ 9.23436711e-01 3.83556960e-01 -1.21942231e-02 -1.66751346e+02] [-1.32409887e-02 8.88031195e-05 -9.99912330e-01 -1.05114460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.330385723 meters 0.014077447476720633 Centerline is valid? [True, True] Translation: X:173.57, Y:-166.72, Z:-10.51 [[-4.55175846e-01 8.90380614e-01 6.10842363e-03 1.73567421e+02] [ 8.90302845e-01 4.55216824e-01 -1.17680748e-02 -1.66723125e+02] [-1.32587229e-02 8.18035388e-05 -9.99912096e-01 -1.05104081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.390385723 meters 0.013987261666328177 Centerline is valid? [True, True] Translation: X:173.57, Y:-166.69, Z:-10.51 [[-5.25462495e-01 8.50782229e-01 7.66586769e-03 1.73566356e+02] [ 8.50693262e-01 5.25518407e-01 -1.23035778e-02 -1.66692265e+02] [-1.44962199e-02 5.62333031e-05 -9.99894923e-01 -1.05111824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.450385723 meters 0.014012741480150038 Centerline is valid? [True, True] Translation: X:173.56, Y:-166.66, Z:-10.51 [[-5.93035604e-01 8.05122116e-01 9.33546866e-03 1.73563922e+02] [ 8.05022665e-01 5.93109078e-01 -1.26542665e-02 -1.66660634e+02] [-1.57251810e-02 1.08332934e-05 -9.99876352e-01 -1.05111244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.510385723 meters 0.014028892729887752 Centerline is valid? [True, True] Translation: X:173.56, Y:-166.63, Z:-10.51 [[-6.56691673e-01 7.54075012e-01 1.12660188e-02 1.73557964e+02] [ 7.53962931e-01 6.56788303e-01 -1.30009620e-02 -1.66628749e+02] [-1.72030899e-02 -4.34629219e-05 -9.99852015e-01 -1.05113043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.570385723 meters 0.01419793823820774 Centerline is valid? [True, True] Translation: X:173.55, Y:-166.60, Z:-10.51 [[-7.16090374e-01 6.97899519e-01 1.22815681e-02 1.73548268e+02] [ 6.97794445e-01 7.16195679e-01 -1.21104420e-02 -1.66598409e+02] [-1.72478776e-02 -1.02160950e-04 -9.99851239e-01 -1.05120585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.630385723 meters 0.01466262086952314 Centerline is valid? [True, True] Translation: X:173.57, Y:-166.58, Z:-10.51 [[-7.63734849e-01 6.45403433e-01 1.27863054e-02 1.73574821e+02] [ 6.45311435e-01 7.63841871e-01 -1.08971805e-02 -1.66579170e+02] [-1.67997931e-02 -7.14074709e-05 -9.99858871e-01 -1.05132138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.690385723 meters 0.014814210503933986 Centerline is valid? [True, True] Translation: X:173.59, Y:-166.56, Z:-10.51 [[-8.09186841e-01 5.87401190e-01 1.32852627e-02 1.73594196e+02] [ 5.87317767e-01 8.09295865e-01 -9.90164117e-03 -1.66558687e+02] [-1.65679440e-02 -2.09606912e-04 -9.99862720e-01 -1.05143482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.750385723 meters 0.014890176151920263 Centerline is valid? [True, True] Translation: X:174.01, Y:-166.00, Z:-11.40 [[-7.50614790e-01 -6.60629798e-01 1.20709572e-02 1.74008265e+02] [ 6.60547875e-01 -7.50711825e-01 -1.04048841e-02 -1.66003075e+02] [ 1.59355868e-02 1.63385192e-04 9.99873007e-01 -1.13993828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.810385723 meters 0.015296803835532296 Centerline is valid? [True, True] Translation: X:173.55, Y:-166.53, Z:-10.52 [[-8.12147903e-01 5.83325622e-01 1.21244388e-02 1.73550623e+02] [ 5.83256700e-01 8.12238372e-01 -8.96932662e-03 -1.66534915e+02] [-1.50799724e-02 -2.12759651e-04 -9.99886268e-01 -1.05162379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.870385723 meters 0.015884604003773173 Centerline is valid? [True, True] Translation: X:173.56, Y:-166.51, Z:-10.52 [[-8.52590823e-01 5.22434490e-01 1.22919569e-02 1.73564154e+02] [ 5.22376146e-01 8.52679392e-01 -7.81127567e-03 -1.66512704e+02] [-1.45619782e-02 -2.38796878e-04 -9.99893940e-01 -1.05166452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.930385723 meters 0.016766341828433673 Centerline is valid? [True, True] Translation: X:173.95, Y:-165.92, Z:-11.40 [[-7.94376784e-01 -6.07295827e-01 1.25420651e-02 1.73947477e+02] [ 6.07226386e-01 -7.94475726e-01 -9.18894382e-03 -1.65917842e+02] [ 1.55447735e-02 3.16389231e-04 9.99879123e-01 -1.14005627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.990385723 meters 0.016849432464644976 Centerline is valid? [True, True] Translation: X:173.53, Y:-166.50, Z:-10.51 [[-8.56061182e-01 5.16675757e-01 1.43323142e-02 1.73528688e+02] [ 5.16596775e-01 8.56181085e-01 -9.04006210e-03 -1.66500424e+02] [-1.69418373e-02 -3.34818954e-04 -9.99856421e-01 -1.05138346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.050385723 meters 0.01712276892497796 Centerline is valid? [True, True] Translation: X:173.54, Y:-166.48, Z:-10.51 [[-8.90811519e-01 4.54118195e-01 1.52152140e-02 1.73542111e+02] [ 4.54045131e-01 8.90941378e-01 -8.15354701e-03 -1.66482824e+02] [-1.72585378e-02 -3.54879759e-04 -9.99850997e-01 -1.05135484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.110385723 meters 0.017292524725148604 Centerline is valid? [True, True] Translation: X:173.55, Y:-166.46, Z:-10.52 [[-9.21125033e-01 3.88995067e-01 1.45434124e-02 1.73552369e+02] [ 3.88940673e-01 9.21239773e-01 -6.51405119e-03 -1.66464291e+02] [-1.59319037e-02 -3.43731001e-04 -9.99873020e-01 -1.05150728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.170385723 meters 0.017525734435777564 Centerline is valid? [True, True] Translation: X:173.83, Y:-165.76, Z:-11.40 [[-8.72672116e-01 -4.88122370e-01 1.34137677e-02 1.73826509e+02] [ 4.88069715e-01 -8.72775155e-01 -7.17516915e-03 -1.65758492e+02] [ 1.52095638e-02 2.85283734e-04 9.99884287e-01 -1.13987336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2303857229999 meters 0.017662130196953205 Centerline is valid? [True, True] Translation: X:173.51, Y:-166.46, Z:-10.52 [[-9.22234862e-01 3.86426553e-01 1.25450349e-02 1.73506606e+02] [ 3.86386618e-01 9.22320139e-01 -5.56258331e-03 -1.66457724e+02] [-1.37200682e-02 -2.82774643e-04 -9.99905835e-01 -1.05165444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.290385723 meters 0.016938081789834553 Centerline is valid? [True, True] Translation: X:173.82, Y:-165.74, Z:-11.40 [[-8.76219500e-01 -4.81814123e-01 9.72311223e-03 1.73823463e+02] [ 4.81785401e-01 -8.76273442e-01 -5.26136202e-03 -1.65741747e+02] [ 1.10551035e-02 7.43455225e-05 9.99938888e-01 -1.13964753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3503857229999 meters 0.016562493484998716 Centerline is valid? [True, True] Translation: X:173.80, Y:-165.76, Z:-11.40 [[-8.43420929e-01 -5.37191174e-01 8.17184080e-03 1.73804132e+02] [ 5.37167622e-01 -8.43460504e-01 -5.03233106e-03 -1.65756195e+02] [ 9.59594879e-03 1.45274949e-04 9.99953947e-01 -1.13968801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.410385723 meters 0.015997295340746565 Centerline is valid? [True, True] Translation: X:173.80, Y:-165.78, Z:-11.40 [[-8.07674590e-01 -5.89594812e-01 6.30199416e-03 1.73800147e+02] [ 5.89577700e-01 -8.07699171e-01 -4.49278483e-03 -1.65778898e+02] [ 7.73903808e-03 8.68070746e-05 9.99970049e-01 -1.13963446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4703857229999 meters 0.015467449943225936 Centerline is valid? [True, True] Translation: X:173.35, Y:-166.49, Z:-10.52 [[-8.56652869e-01 5.15862265e-01 5.65550332e-03 1.73347962e+02] [ 5.15850703e-01 8.56671537e-01 -3.45402811e-03 -1.66485456e+02] [-6.62671148e-03 -4.15077235e-05 -9.99978042e-01 -1.05180667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.530385723 meters 0.015421282849414361 Centerline is valid? [True, True] Translation: X:173.79, Y:-165.76, Z:-11.40 [[-8.14120190e-01 -5.80675623e-01 4.91301119e-03 1.73794721e+02] [ 5.80665081e-01 -8.14135014e-01 -3.49894507e-03 -1.65761842e+02] [ 6.03160654e-03 4.25222010e-06 9.99981810e-01 -1.13974903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5903857229999 meters 0.015334084006364395 Centerline is valid? [True, True] Translation: X:173.79, Y:-165.78, Z:-11.40 [[-7.75031183e-01 -6.31911952e-01 3.73502450e-03 1.73785071e+02] [ 6.31904646e-01 -7.75040183e-01 -3.03871710e-03 -1.65784286e+02] [ 4.81499572e-03 5.07882151e-06 9.99988408e-01 -1.13975812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.650385723 meters 0.015337622338037529 Centerline is valid? [True, True] Translation: X:173.25, Y:-166.47, Z:-10.52 [[-8.18781456e-01 5.74104691e-01 8.54950598e-04 1.73249071e+02] [ 5.74104379e-01 8.18781902e-01 -5.98489899e-04 -1.66473162e+02] [-1.04361394e-03 7.98451341e-07 -9.99999455e-01 -1.05185929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.710385723 meters 0.015366875900615876 Centerline is valid? [True, True] Translation: X:173.26, Y:-166.45, Z:-10.52 [[-8.57885333e-01 5.13841170e-01 -8.22720595e-05 1.73263520e+02] [ 5.13841168e-01 8.57885337e-01 5.13386229e-05 -1.66446966e+02] [ 9.69598914e-05 1.76788047e-06 -9.99999995e-01 -1.05175873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.770385723 meters 0.015297036543296795 Centerline is valid? [True, True] Translation: X:173.29, Y:-166.43, Z:-10.52 [[-8.92152264e-01 4.51734787e-01 -1.40910589e-04 1.73288111e+02] [ 4.51734781e-01 8.92152275e-01 7.35372128e-05 -1.66427057e+02] [ 1.58933020e-04 1.95217667e-06 -9.99999987e-01 -1.05166324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.830385723 meters 0.015169197551525411 Centerline is valid? [True, True] Translation: X:173.32, Y:-166.41, Z:-10.51 [[-9.22493424e-01 3.86012661e-01 -3.29649777e-04 1.73315925e+02] [ 3.86012635e-01 9.22493483e-01 1.41203385e-04 -1.66405047e+02] [ 3.58606065e-04 3.01021472e-06 -9.99999936e-01 -1.05149571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.890385723 meters 0.01504801773783243 Centerline is valid? [True, True] Translation: X:173.33, Y:-166.38, Z:-10.51 [[-9.47466632e-01 3.19852098e-01 -1.27184565e-03 1.73327171e+02] [ 3.19851800e-01 9.47467485e-01 4.36528781e-04 -1.66375659e+02] [ 1.34465705e-03 6.79433297e-06 -9.99999096e-01 -1.05138928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.950385723 meters 0.014900374816559757 Centerline is valid? [True, True] Translation: X:173.61, Y:-165.57, Z:-11.40 [[-9.21528425e-01 -3.88302633e-01 -2.53508555e-03 1.73614549e+02] [ 3.88301439e-01 -9.21531908e-01 9.67233977e-04 -1.65573112e+02] [-2.71174172e-03 -9.30437613e-05 9.99996319e-01 -1.14006179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.010385723 meters 0.014713800218289294 Centerline is valid? [True, True] Translation: X:173.29, Y:-166.37, Z:-10.51 [[-9.46921707e-01 3.21435989e-01 -4.26449383e-03 1.73292000e+02] [ 3.21432752e-01 9.46931310e-01 1.44246420e-03 -1.66366186e+02] [ 4.50184264e-03 -4.84732425e-06 -9.99989867e-01 -1.05138631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.070385723 meters 0.014627630958962124 Centerline is valid? [True, True] Translation: X:173.30, Y:-166.34, Z:-10.51 [[-9.66695962e-01 2.55889075e-01 -4.43819423e-03 1.73295059e+02] [ 2.55886454e-01 9.66706150e-01 1.15820517e-03 -1.66338100e+02] [ 4.58680170e-03 -1.60415184e-05 -9.99989480e-01 -1.05127261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.130385723 meters 0.01457629817489993 Centerline is valid? [True, True] Translation: X:173.52, Y:-165.51, Z:-11.40 [[-9.50179815e-01 -3.11679666e-01 -3.75568121e-03 1.73516206e+02] [ 3.11677019e-01 -9.50187236e-01 1.28556463e-03 -1.65511700e+02] [-3.96928470e-03 5.09580401e-05 9.99992121e-01 -1.14039661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.190385723 meters 0.014561709173068312 Centerline is valid? [True, True] Translation: X:173.26, Y:-166.33, Z:-10.51 [[-9.67084869e-01 2.54418327e-01 -4.26268894e-03 1.73257873e+02] [ 2.54415974e-01 9.67094263e-01 1.09464608e-03 -1.66330151e+02] [ 4.40092004e-03 -2.58804969e-05 -9.99990316e-01 -1.05102824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.250385723 meters 0.014619959814185991 Centerline is valid? [True, True] Translation: X:173.26, Y:-166.30, Z:-10.51 [[-9.82446057e-01 1.86502122e-01 -4.08702664e-03 1.73264660e+02] [ 1.86500634e-01 9.82454558e-01 7.45523831e-04 -1.66303920e+02] [ 4.15435972e-03 -2.97961116e-05 -9.99991370e-01 -1.05100765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.310385723 meters 0.014644724670195274 Centerline is valid? [True, True] Translation: X:173.43, Y:-165.46, Z:-11.41 [[-9.71534314e-01 -2.36860697e-01 -4.25281807e-03 1.73430500e+02] [ 2.36858350e-01 -9.71543622e-01 1.05472288e-03 -1.65460465e+02] [-4.38162067e-03 1.73840043e-05 9.99990401e-01 -1.14052900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.370385723 meters 0.014617917522986868 Centerline is valid? [True, True] Translation: X:173.22, Y:-166.30, Z:-10.51 [[-9.82999293e-01 1.83539585e-01 -5.06071190e-03 1.73220010e+02] [ 1.83537372e-01 9.83012319e-01 9.02248842e-04 -1.66297787e+02] [ 5.14034052e-03 -4.19197865e-05 -9.99986788e-01 -1.05093065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.430385723 meters 0.014479800555353159 Centerline is valid? [True, True] Translation: X:173.38, Y:-165.45, Z:-11.41 [[-9.72434344e-01 -2.33120254e-01 -5.13743583e-03 1.73377978e+02] [ 2.33116817e-01 -9.72447914e-01 1.26621602e-03 -1.65451466e+02] [-5.29106936e-03 3.36892569e-05 9.99986002e-01 -1.14059928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.490385723 meters 0.014320114245715143 Centerline is valid? [True, True] Translation: X:173.15, Y:-166.29, Z:-10.51 [[-9.83996066e-01 1.78136951e-01 -4.35522136e-03 1.73146967e+02] [ 1.78135335e-01 9.84005704e-01 7.59347222e-04 -1.66286084e+02] [ 4.42083046e-03 -2.86241359e-05 -9.99990228e-01 -1.05082832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.550385723 meters 0.01397372417213262 Centerline is valid? [True, True] Translation: X:173.16, Y:-166.26, Z:-10.51 [[-9.94523125e-01 1.04428271e-01 -4.30008885e-03 1.73156752e+02] [ 1.04427352e-01 9.94532421e-01 4.38364206e-04 -1.66257610e+02] [ 4.32235539e-03 -1.30835509e-05 -9.99990659e-01 -1.05083202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.610385723 meters 0.013882591199958686 Centerline is valid? [True, True] Translation: X:173.26, Y:-165.41, Z:-11.41 [[-9.85872816e-01 -1.67470807e-01 -2.88439025e-03 1.73260295e+02] [ 1.67469790e-01 -9.85877030e-01 5.92203985e-04 -1.65407055e+02] [-2.94283097e-03 1.00789581e-04 9.99995665e-01 -1.14079241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.670385723 meters 0.013840664945578472 Centerline is valid? [True, True] Translation: X:173.11, Y:-166.25, Z:-10.51 [[-9.95223021e-01 9.76040395e-02 -2.14258023e-03 1.73111581e+02] [ 9.76038145e-02 9.95225327e-01 2.09609197e-04 -1.66253107e+02] [ 2.15280881e-03 -5.16104181e-07 -9.99997683e-01 -1.05070349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7303857229999 meters 0.013829603453635769 Centerline is valid? [True, True] Translation: X:173.12, Y:-166.23, Z:-10.51 [[-9.99570938e-01 2.91023176e-02 -3.31575392e-03 1.73121132e+02] [ 2.91021867e-02 9.99576438e-01 8.77162700e-05 -1.66226619e+02] [ 3.31690224e-03 -8.81705545e-06 -9.99994499e-01 -1.05080409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.790385723 meters 0.013986162696116225 Centerline is valid? [True, True] Translation: X:173.14, Y:-165.37, Z:-11.41 [[-9.96220537e-01 -8.68104230e-02 -2.93126818e-03 1.73143664e+02] [ 8.68099575e-02 -9.96224849e-01 2.85919866e-04 -1.65366309e+02] [-2.94502303e-03 3.03759761e-05 9.99995663e-01 -1.14074239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8503857229999 meters 0.014386213564924982 Centerline is valid? [True, True] Translation: X:173.04, Y:-166.23, Z:-10.51 [[-9.99520393e-01 3.09567008e-02 -8.16195178e-04 1.73040800e+02] [ 3.09566959e-02 9.99520727e-01 1.85784739e-05 -1.66225416e+02] [ 8.16379125e-04 -6.69714244e-06 -9.99999667e-01 -1.05051762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.910385723 meters 0.01564845230161028 Centerline is valid? [True, True] Translation: X:173.06, Y:-165.36, Z:-11.41 [[-9.97441627e-01 -7.14465412e-02 2.36506298e-03 1.73061223e+02] [ 7.14467174e-02 -9.97444418e-01 -1.00166686e-05 -1.65358262e+02] [ 2.35973453e-03 1.58984944e-04 9.99997203e-01 -1.14123162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9703857229999 meters 0.017570260088035878 Centerline is valid? [True, True] Translation: X:172.95, Y:-166.23, Z:-10.50 [[-9.99198409e-01 3.99721821e-02 2.18250740e-03 1.72949282e+02] [ 3.99722026e-02 9.99200792e-01 -3.42303988e-05 -1.66231498e+02] [-2.18213139e-03 5.30366680e-05 -9.99997618e-01 -1.05024799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.030385723 meters 0.018589719087221426 Centerline is valid? [True, True] Translation: X:172.97, Y:-165.35, Z:-11.41 [[-9.98392483e-01 -5.66314487e-02 2.30825089e-03 1.72969004e+02] [ 5.66311862e-02 -9.98395151e-01 -1.78962026e-04 -1.65352937e+02] [ 2.31468137e-03 -4.79553557e-05 9.99997320e-01 -1.14125938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0903857229999 meters 0.018493247426139267 Centerline is valid? [True, True] Translation: X:172.88, Y:-166.23, Z:-10.50 [[-9.99277731e-01 3.79820214e-02 1.17613073e-03 1.72879732e+02] [ 3.79820349e-02 9.99278422e-01 -1.09127360e-05 -1.66226674e+02] [-1.17569655e-03 3.37669843e-05 -9.99999308e-01 -1.05030585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.150385723 meters 0.018426876884005548 Centerline is valid? [True, True] Translation: X:172.89, Y:-165.36, Z:-11.41 [[-9.98786865e-01 -4.91808838e-02 2.45724494e-03 1.72890716e+02] [ 4.91807693e-02 -9.98789888e-01 -1.07020086e-04 -1.65359604e+02] [ 2.45953474e-03 1.39589401e-05 9.99996975e-01 -1.14120048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.210385723 meters 0.016859641616743574 Centerline is valid? [True, True] Translation: X:172.79, Y:-166.21, Z:-10.50 [[-9.99509027e-01 3.11010017e-02 3.79894253e-03 1.72793062e+02] [ 3.11011624e-02 9.99516242e-01 -1.67958921e-05 -1.66212518e+02] [-3.79762713e-03 1.01363883e-04 -9.99992784e-01 -1.05024012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.270385723 meters 0.01748424530475611 Centerline is valid? [True, True] Translation: X:172.79, Y:-166.18, Z:-10.50 [[-9.99139636e-01 -4.12191995e-02 4.57887736e-03 1.72786421e+02] [-4.12182303e-02 9.99150121e-01 3.05887172e-04 -1.66179807e+02] [-4.58759429e-03 1.16890776e-04 -9.99989470e-01 -1.05015168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.330385723 meters 0.01716990405845994 Centerline is valid? [True, True] Translation: X:172.75, Y:-165.35, Z:-11.42 [[-9.99659256e-01 2.48281149e-02 8.05838020e-03 1.72746087e+02] [-2.48271046e-02 -9.99691735e-01 2.25405668e-04 -1.65352110e+02] [ 8.06149248e-03 2.52626144e-05 9.99967505e-01 -1.14160160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.390385723 meters 0.018110112823791765 Centerline is valid? [True, True] Translation: X:172.69, Y:-166.18, Z:-10.50 [[-9.98998189e-01 -4.31487315e-02 1.18661233e-02 1.72690201e+02] [-4.31414865e-02 9.99068597e-01 8.65981315e-04 -1.66177751e+02] [-1.18924371e-02 3.53191569e-04 -9.99929220e-01 -1.04976584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.450385723 meters 0.02008443704219563 Centerline is valid? [True, True] Translation: X:172.69, Y:-166.15, Z:-10.50 [[-9.94366005e-01 -1.05373614e-01 1.15173539e-02 1.72686740e+02] [-1.05361293e-01 9.94432602e-01 1.67301241e-03 -1.66149997e+02] [-1.16295236e-02 4.50103365e-04 -9.99932274e-01 -1.04996891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.510385723 meters 0.021782463928282383 Centerline is valid? [True, True] Translation: X:172.67, Y:-166.12, Z:-10.50 [[-9.85415275e-01 -1.69980378e-01 7.96282053e-03 1.72671313e+02] [-1.69971793e-01 9.85447378e-01 1.74771455e-03 -1.66120119e+02] [-8.14401779e-03 3.68769739e-04 -9.99966769e-01 -1.05026189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.570385723 meters 0.02295905856257625 Centerline is valid? [True, True] Translation: X:172.64, Y:-166.09, Z:-10.50 [[-9.71028312e-01 -2.38843526e-01 7.60178126e-03 1.72637617e+02] [-2.38833176e-01 9.71057995e-01 2.25471741e-03 -1.66093001e+02] [-7.92029512e-03 3.73836877e-04 -9.99968564e-01 -1.05033460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.630385723 meters 0.021654258669684602 Centerline is valid? [True, True] Translation: X:172.58, Y:-166.07, Z:-10.50 [[-9.50606846e-01 -3.10312716e-01 7.25560336e-03 1.72581693e+02] [-3.10300798e-01 9.50634468e-01 2.74275503e-03 -1.66073004e+02] [-7.74853840e-03 3.55862193e-04 -9.99969916e-01 -1.05046260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.690385723 meters 0.02377882020595781 Centerline is valid? [True, True] Translation: X:172.51, Y:-166.07, Z:-10.50 [[-9.24560922e-01 -3.80956068e-01 7.71849689e-03 1.72513550e+02] [-3.80939356e-01 9.24593063e-01 3.58816485e-03 -1.66065884e+02] [-8.50340185e-03 3.77197763e-04 -9.99963774e-01 -1.05037038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.750385723 meters 0.02399246142330219 Centerline is valid? [True, True] Translation: X:172.43, Y:-166.06, Z:-10.50 [[-8.94010302e-01 -4.47925631e-01 1.04023373e-02 1.72432308e+02] [-4.47888256e-01 8.94070658e-01 5.81102822e-03 -1.66062625e+02] [-1.19033330e-02 5.36034383e-04 -9.99929009e-01 -1.05017919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.810385723 meters 0.025370975244738487 Centerline is valid? [True, True] Translation: X:172.35, Y:-166.07, Z:-10.50 [[-8.59204413e-01 -5.11514010e-01 1.10088582e-02 1.72347147e+02] [-5.11462615e-01 8.59274712e-01 7.27759284e-03 -1.66074626e+02] [-1.31822241e-02 6.22320499e-04 -9.99912917e-01 -1.05011278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.870385723 meters 0.026862783255014313 Centerline is valid? [True, True] Translation: X:172.25, Y:-166.09, Z:-10.50 [[-8.19395930e-01 -5.73145305e-01 9.73490574e-03 1.72254332e+02] [-5.73096017e-01 8.19453537e-01 7.54025085e-03 -1.66094409e+02] [-1.22989623e-02 5.99415158e-04 -9.99924185e-01 -1.05024742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.930385723 meters 0.022695222833404905 Centerline is valid? [True, True] Translation: X:172.16, Y:-166.12, Z:-10.50 [[-7.73012802e-01 -6.34338434e-01 8.12157281e-03 1.72155718e+02] [-6.34296299e-01 7.73055294e-01 7.32927093e-03 -1.66115183e+02] [-1.09276631e-02 5.14136677e-04 -9.99940159e-01 -1.05042969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.990385723 meters 0.02247704204339811 Centerline is valid? [True, True] Translation: X:172.06, Y:-166.16, Z:-10.50 [[-7.20973681e-01 -6.92927138e-01 6.99514355e-03 1.72057266e+02] [-6.92888424e-01 7.21007479e-01 7.33806541e-03 -1.66155108e+02] [-1.01282955e-02 4.43698042e-04 -9.99948609e-01 -1.05046028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.050385723 meters 0.022634167298267147 Centerline is valid? [True, True] Translation: X:171.96, Y:-166.20, Z:-10.50 [[-6.65011491e-01 -7.46810179e-01 5.85430657e-03 1.71962905e+02] [-7.46776044e-01 6.65037149e-01 7.15053081e-03 -1.66201691e+02] [-9.23342055e-03 3.83329255e-04 -9.99957298e-01 -1.05045000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.110385723 meters 0.021583052051647473 Centerline is valid? [True, True] Translation: X:171.87, Y:-166.26, Z:-10.50 [[-6.05379449e-01 -7.95919221e-01 5.32131533e-03 1.71868530e+02] [-7.95882986e-01 6.05402724e-01 7.60354527e-03 -1.66257137e+02] [-9.27334662e-03 3.67885708e-04 -9.99956934e-01 -1.05032733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.170385723 meters 0.019485797885716725 Centerline is valid? [True, True] Translation: X:171.78, Y:-166.32, Z:-10.50 [[-5.43555089e-01 -8.39362164e-01 4.36155803e-03 1.71778016e+02] [-8.39329981e-01 5.43572482e-01 7.35793856e-03 -1.66324583e+02] [-8.54679815e-03 3.38658529e-04 -9.99963418e-01 -1.05041216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2303857229999 meters 0.019948511149985904 Centerline is valid? [True, True] Translation: X:171.70, Y:-166.40, Z:-10.50 [[-4.80627197e-01 -8.76918910e-01 3.27459460e-03 1.71695206e+02] [-8.76893981e-01 4.80638252e-01 6.61951392e-03 -1.66396105e+02] [-7.37867235e-03 3.10046128e-04 -9.99972729e-01 -1.05036302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.290385723 meters 0.02315951874451398 Centerline is valid? [True, True] Translation: X:171.62, Y:-166.48, Z:-10.50 [[-4.18823551e-01 -9.08062563e-01 3.03561456e-03 1.71622546e+02] [-9.08031493e-01 4.18834367e-01 7.52202137e-03 -1.66479198e+02] [-8.10188570e-03 3.93966082e-04 -9.99967102e-01 -1.05015277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3503857229999 meters 0.0249334739350673 Centerline is valid? [True, True] Translation: X:171.56, Y:-166.57, Z:-10.50 [[-3.54568940e-01 -9.35026683e-01 2.44327951e-03 1.71555339e+02] [-9.34995167e-01 3.54577082e-01 7.68964674e-03 -1.66568467e+02] [-8.05635580e-03 4.42055360e-04 -9.99967449e-01 -1.05014305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.410385723 meters 0.02660666340841653 Centerline is valid? [True, True] Translation: X:171.49, Y:-166.67, Z:-10.50 [[-2.86046189e-01 -9.58214628e-01 1.51773873e-03 1.71493391e+02] [-9.58193137e-01 2.86049957e-01 6.42915918e-03 -1.66665367e+02] [-6.59466347e-03 3.84749650e-04 -9.99978181e-01 -1.05022822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4703857229999 meters 0.025299959647919066 Centerline is valid? [True, True] Translation: X:171.43, Y:-166.77, Z:-10.50 [[-2.15271951e-01 -9.76553635e-01 9.92304929e-04 1.71432841e+02] [-9.76533323e-01 2.15273886e-01 6.31060979e-03 -1.66767899e+02] [-6.37626627e-03 3.89478451e-04 -9.99979596e-01 -1.05009966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.530385723 meters 0.026526496365668274 Centerline is valid? [True, True] Translation: X:171.39, Y:-166.88, Z:-10.50 [[-1.42268042e-01 -9.89827955e-01 6.50826722e-04 1.71386374e+02] [-9.89794848e-01 1.42268617e-01 8.11170573e-03 -1.66877947e+02] [-8.12178531e-03 5.09851551e-04 -9.99966888e-01 -1.04996152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5903857229999 meters 0.027667565345251225 Centerline is valid? [True, True] Translation: X:171.35, Y:-166.98, Z:-10.50 [[-6.83770622e-02 -9.97659549e-01 3.26695486e-05 1.71345389e+02] [-9.97629594e-01 6.83752628e-02 7.74705180e-03 -1.66983655e+02] [-7.73115400e-03 4.97128534e-04 -9.99969991e-01 -1.04996784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.650385723 meters 0.028961072198401386 Centerline is valid? [True, True] Translation: X:170.84, Y:-167.08, Z:-11.42 [[-6.84532856e-03 9.99976421e-01 5.46407979e-04 1.70835890e+02] [-9.99952443e-01 -6.84895813e-03 6.94285635e-03 -1.67081779e+02] [ 6.94643497e-03 -4.98855861e-04 9.99975749e-01 -1.14155395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.710385723 meters 0.030690043328292598 Centerline is valid? [True, True] Translation: X:171.33, Y:-167.25, Z:-10.50 [[-6.00370692e-02 -9.98196148e-01 -3.43926945e-05 1.71330824e+02] [-9.98158742e-01 6.00345211e-02 8.65916899e-03 -1.67248608e+02] [-8.64148438e-03 5.54200497e-04 -9.99962508e-01 -1.04978284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.770385723 meters 0.030486507660463204 Centerline is valid? [True, True] Translation: X:171.30, Y:-167.35, Z:-10.50 [[ 1.65813130e-02 -9.99862262e-01 -7.19488141e-04 1.71301718e+02] [-9.99821764e-01 -1.65871299e-02 9.01709933e-03 -1.67349211e+02] [-9.02779157e-03 5.69844556e-04 -9.99959086e-01 -1.04969719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.830385723 meters 0.030934489781056264 Centerline is valid? [True, True] Translation: X:171.28, Y:-167.47, Z:-10.50 [[ 9.34224729e-02 -9.95625800e-01 -1.22793826e-03 1.71280752e+02] [-9.95594952e-01 -9.34292633e-02 7.85263148e-03 -1.67470774e+02] [-7.93300786e-03 4.88916884e-04 -9.99968414e-01 -1.04975515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.890385723 meters 0.02699262517807924 Centerline is valid? [True, True] Translation: X:171.26, Y:-167.58, Z:-10.50 [[ 1.69640889e-01 -9.85504967e-01 -1.38884514e-03 1.71262080e+02] [-9.85487278e-01 -1.69646181e-01 5.91585428e-03 -1.67578646e+02] [-6.06571605e-03 3.65118433e-04 -9.99981537e-01 -1.04997189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.950385723 meters 0.027329846707820248 Centerline is valid? [True, True] Translation: X:171.26, Y:-167.69, Z:-10.50 [[ 2.44069330e-01 -9.69755916e-01 -1.90420450e-03 1.71260289e+02] [-9.69737255e-01 -2.44076469e-01 6.02777634e-03 -1.67689628e+02] [-6.31024328e-03 3.75382709e-04 -9.99980020e-01 -1.04999795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.010385723 meters 0.025878276100737497 Centerline is valid? [True, True] Translation: X:171.26, Y:-167.80, Z:-10.50 [[ 3.17620111e-01 -9.48213677e-01 -2.87893172e-03 1.71264209e+02] [-9.48186586e-01 -3.17632841e-01 7.18166970e-03 -1.67801536e+02] [-7.72420069e-03 4.48721710e-04 -9.99970067e-01 -1.04992226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.070385723 meters 0.025639998855486717 Centerline is valid? [True, True] Translation: X:171.28, Y:-167.91, Z:-10.50 [[ 3.88581896e-01 -9.21408875e-01 -3.12977901e-03 1.71279003e+02] [-9.21386919e-01 -3.88594287e-01 6.37386454e-03 -1.67910015e+02] [-7.08914960e-03 4.06969069e-04 -9.99974789e-01 -1.04999826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.130385723 meters 0.027813241434985776 Centerline is valid? [True, True] Translation: X:171.30, Y:-168.01, Z:-10.50 [[ 4.55468509e-01 -8.90246285e-01 -3.16043211e-03 1.71304260e+02] [-8.90230138e-01 -4.55479327e-01 5.37440254e-03 -1.68012444e+02] [-6.22405339e-03 3.65640799e-04 -9.99980564e-01 -1.05011730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.190385723 meters 0.024608539766389517 Centerline is valid? [True, True] Translation: X:171.33, Y:-168.12, Z:-10.50 [[ 5.17779957e-01 -8.55502325e-01 -4.43711244e-03 1.71331489e+02] [-8.55478567e-01 -5.17798741e-01 6.39407291e-03 -1.68115484e+02] [-7.76767548e-03 4.85131792e-04 -9.99969714e-01 -1.05017270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.250385723 meters 0.019367757068769535 Centerline is valid? [True, True] Translation: X:171.42, Y:-168.22, Z:-10.49 [[ 6.09494145e-01 -7.92693090e-01 -1.24319214e-02 1.71421279e+02] [-7.92545370e-01 -6.09620697e-01 1.53114957e-02 -1.68215413e+02] [-1.97160734e-02 5.20594775e-04 -9.99805484e-01 -1.04912459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.310385723 meters 0.036994096214950055 Centerline is valid? [True, True] Translation: X:171.63, Y:-168.29, Z:-10.48 [[ 7.16784624e-01 -6.97241204e-01 -8.63166218e-03 1.71628194e+02] [-6.97181818e-01 -7.16836409e-01 9.11455295e-03 -1.68287241e+02] [-1.25425316e-02 -5.15333479e-04 -9.99921207e-01 -1.04781697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6658.23 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%| | 0/28912 [00:00